Remote operation terminal for crane, image display method for remote operation terminal, and crane operation method using remote operation terminal

Abstract

To provide a remote operation terminal of a crane for automatically rotating video data from a suspended load camera and displaying it on the remote operation terminal in consideration of the direction of the remote operation terminal and the direction of the suspended load camera attached to a mobile crane.SOLUTION: A remote operation terminal 10 is composed of an azimuth acquisition part 14 for acquiring a terminal azimuth to which the remote operation terminal 10 is directed, a display part 18 for displaying a video acquired by a video acquisition part 16, a video rotation part 20 for rotating the video and providing it to the display part 18, and a control part 22 for controlling each part of the remote operation terminal 10. The controller 22 sends, to the image rotator 20, an image rotation angle signal S1 generated based on the camera orientation of the suspended load camera 124 acquired from the crane control device 107 and the device orientation acquired from the orientation acquirer 14, and the image rotator 20 provides the display 18 with an image rotated based on the image rotation angle signal S1.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a remote control terminal for a crane, a method for displaying an image on a remote control terminal, and a method for operating a crane using a remote control terminal. [Background technology]

[0002] BACKGROUND ART For mobile cranes, remote control terminals for remotely controlling the mobile cranes have been proposed (for example, Patent Document 1).

[0003] The remote control terminal disclosed in Patent Document 1 includes an image acquisition unit that acquires images captured by a load camera attached to a mobile crane, a display unit that displays the images acquired by the image acquisition unit, an image rotation operation unit that receives an image rotation operation by the operator and rotates the image displayed on the display unit to correspond to the image rotation operation, and a control unit.

[0004] When an image rotation operation is performed, the control unit rotates the image displayed on the display unit in the direction of the image rotation operation by an amount of rotation corresponding to the amount of operation of the image rotation operation, and also rotates the coordinate system in the opposite direction to the image rotation direction by an amount of rotation, thereby correcting the movement direction of the tip of the boom determined based on the crane movement operation.

[0005] This is said to prevent malfunctions even if the relative position of the remote control terminal with respect to the crane device is changed, making it easy to remotely control the mobile crane. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Patent No. 7416063 specification Summary of the Invention [Problem to be solved by the invention]

[0007] However, in the case of the remote control terminal of Patent Document 1, the operator operating the remote control terminal had to operate the image rotation control unit of the remote control terminal himself, taking into consideration the orientation of the remote control terminal and the orientation of the load camera attached to the mobile crane (the orientation of the boom of the mobile crane).

[0008] This posed a problem in that the operator had to become accustomed not only to remotely controlling the mobile crane, but also to rotating the image.

[0009] The present invention was developed in consideration of these problems with the prior art. Therefore, a primary object of the present invention is to provide a remote control terminal for a crane, a method for displaying images on a remote control terminal, and a method for operating a crane using a remote control terminal, which automatically rotates image data from a load camera attached to a mobile crane and displays it on the remote control terminal, taking into account the orientation of the remote control terminal and the orientation of a load camera attached to a mobile crane, without the need for an operator to perform any operation. [Means for solving the problem]

[0010] According to one aspect of the present invention, A remote control terminal for a crane equipped with a suspended load camera, a crane operation unit that receives a crane operation by an operator and generates an operation signal for remotely operating the crane based on the crane operation; an orientation acquisition unit that acquires a terminal orientation in which the remote control terminal is facing; an image acquisition unit that acquires images captured by the suspended load camera; a display unit that displays the image acquired by the image acquisition unit; an image rotation unit that rotates the image acquired by the image acquisition unit and provides the image to the display unit when the image is displayed on the display unit; a control unit configured to be able to communicate with a crane control device arranged on the crane and controlling each unit of the remote control terminal, the control unit sends to the image rotation unit an image rotation angle signal generated based on the camera orientation in which the suspended load camera is facing, obtained from the crane control device, and the terminal orientation obtained from the orientation acquisition unit; The image rotation unit provides the image rotated based on the image rotation angle signal to the display unit. A remote control terminal is provided.

[0011] According to another aspect of the present invention, A remote control terminal for a crane, a crane operation unit that receives a crane operation by an operator and generates an operation signal for remotely operating the crane based on the crane operation; an orientation acquisition unit that acquires a terminal orientation in which the remote control terminal is facing; a control unit configured to be able to communicate with a crane control device disposed on the crane and controlling each unit of the remote control terminal; and a crane operating means, When the operator inputs the movement direction of the crane to the crane operation means based on the terminal direction, The control unit transmits a crane movement direction signal generated based on the movement direction input by the operator and the terminal direction to the crane. A remote control terminal is provided.

[0012] Preferably, The camera orientation and the terminal orientation are both 360°, The image rotation angle signal is the difference between the camera orientation value and the terminal orientation value.

[0013] Preferably, Further provided with a crane operating means, When the operator inputs the moving direction of the crane to the crane operation means based on the rotated image displayed on the display unit, The control unit transmits to the crane a crane movement orientation signal generated based on the movement orientation input by the operator and the terminal orientation.

[0014] According to another aspect of the present invention, A method for displaying an image on a remote control terminal of a crane equipped with a suspended load camera, comprising: Acquire the camera direction in which the suspended load camera is facing, and acquire the terminal direction in which the remote control terminal is facing, both of which are obtained from the crane control device; generating a video rotation angle signal based on the camera orientation and the terminal orientation; When the image acquired by the image acquisition unit is displayed on the display unit, the image rotation angle signal is sent to an image rotation unit that rotates the image and provides it to the display unit; The image rotated based on the image rotation angle signal is provided to a display unit. A method for displaying video on a remote control terminal is provided.

[0015] According to another aspect of the present invention, A crane operation method using a remote control terminal, comprising: Acquire the terminal direction in which the remote control terminal is facing; When an operator inputs a crane movement direction to a crane operation means based on the terminal direction, a crane movement direction signal generated based on the movement direction input by the operator and the terminal direction is transmitted to the crane. A method for operating a crane using a remote control terminal is provided. [Effects of the Invention]

[0016] According to the remote control terminal of the present invention, the control unit sends an image rotation angle signal generated based on the camera orientation of the suspended load camera obtained from the crane control device and the terminal orientation obtained from the orientation acquisition unit to the image rotation unit, and the image rotation unit provides the image rotated based on the image rotation angle signal to the display unit.

[0017] This has made it possible to provide a remote control terminal that automatically rotates and displays the image from the suspended load camera, taking into consideration the direction of the remote control terminal (terminal orientation) and the direction of the suspended load camera attached to the crane (camera orientation), without the need for an operator to perform any operation. The operator does not need to consider the relative positions of himself / herself and the crane, and can view natural images on the remote control terminal 10. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a diagram showing an example of a crane 100 to which the present invention is applied. [Figure 2] 1 is a diagram showing an example of a remote control terminal 10 to which the present invention is applied. [Figure 3] 1 is a diagram showing an example of the configuration of a remote control terminal 10 to which the present invention is applied. [Figure 4] 1 is a plan view showing a state in which a load W is suspended by a crane 100 (north is up). [Figure 5] 10 is a diagram showing an image Z captured by a suspended load camera 124. FIG. [Figure 6] 10 is a diagram showing an image TZ displayed on the display unit 18 of the remote control terminal 10, obtained by rotating the image Z captured by the suspended load camera 124. FIG. [Figure 7] FIG. 10 is a diagram showing an image TZ obtained by rotating an image Z captured by the suspended load camera 124, which shows the moving direction instructed by the operator X in Modification 1. [Figure 8] 10 is a plan view (north=0° is up) showing a state in which a suspended load W actually moves based on the movement direction instructed by an operator X. FIG. [Figure 9] FIG. 10 is a diagram showing an image TZ obtained by rotating an image Z captured by the suspended load camera 124, which shows another moving direction instructed by the operator X in Modification 1. [Figure 10] 10 is a plan view (north=0° is up) showing a state in which a suspended load W actually moves based on another movement direction instructed by an operator X. FIG. [Figure 11] 10 is a plan view (north=0° is up) showing a state in which a suspended load W actually moves based on the movement direction instructed by an operator X. FIG. [Figure 12] 10 is a plan view (north=0° is up) showing a state in which a suspended load W actually moves based on the movement direction instructed by an operator X. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0019] (Configuration of remote control terminal 10 and crane 100) An example of a remote control terminal 10 to which the present invention is applied and a crane 100 operated by the remote control terminal 10 will be described below with reference to the drawings.

[0020] The crane 100 may be a mobile crane that can be moved to any location, or a slewing crane that is fixed to a location. In this embodiment, as shown in FIG. 1, a rough terrain crane, which is a mobile crane, is used as an example, but the crane may also be an all-terrain crane, a truck crane, a loading truck crane, or an aerial work platform. In any case, due to the characteristics of the present invention, it is preferable that the crane be a type in which the direction in which the crane faces (the direction in which the suspended load camera 124 faces) can be changed.

[0021] This crane 100 generally includes a vehicle portion 102, a crane device 104, a crane control device 106, a crane communication device 107, and a camera orientation acquisition unit 109.

[0022] The vehicle portion 102 is a portion for moving the crane device 104, and is provided with a plurality of wheels 108 and the like for movement.

[0023] The crane apparatus 104 is a device for hoisting and lowering a load W with a wire rope 120. The crane apparatus 104 generally includes a crane swivel device 110, a boom 112, a boom raising and lowering hydraulic cylinder 116, a winch 118, a wire rope 120, a hook 122, a load camera 124, and a crane manual operation device 126.

[0024] The crane rotation device 110 is a device that rotates other devices that constitute the crane device 104 substantially horizontally.

[0025] The boom 112 is a beam member that holds the wire rope 120 in a state that allows it to lift a load W. The boom 112 has a base end attached to the crane rotation device 110 and is configured to be extendable and contractible in the axial direction.

[0026] The boom raising and lowering hydraulic cylinder 116 has the role of raising or lowering the boom 112 and maintaining the attitude of the boom 112.

[0027] The winch 118 is a device that winds up and down the wire rope 120. When the winch 118 winds up the wire rope 120, the hook 122 attached to the tip of the wire rope 120 and the suspended load W rise, and when the wire rope 120 is wound down, the hook 122 and the suspended load W descend.

[0028] The suspended load camera 124 is a photographing device that photographs the state of the suspended load W and the surrounding conditions, and is attached so as to face downward at the tip of the boom 112. Note that the suspended load camera 124 may be attached at a position other than the tip of the boom 112, as long as it can photograph the state of the suspended load W and the surrounding conditions, and may be attached, for example, near the hook 122.

[0029] The crane manual operation device 126 is a device that allows the operator X to manually operate other devices that make up the crane device 104, and may be placed inside a cabin that accommodates the operator X, or may be placed in an exposed position on the side of the crane 100, for example.

[0030] The crane control device 106 is a device for controlling the operation of the crane device 104, and in this specification, of all the control operations performed by the crane control device 106, only the control operations necessary for explaining the invention will be described.

[0031] The crane communication device 107 is a device that receives control signals from the remote control terminal 10 via a wide area information communication network or the like and delivers them to the crane control device 106, as well as transmits the image Z captured by the suspended load camera 124 and other control information from the crane device 104 to the remote control terminal 10 also via a wide area information communication network or the like.

[0032] The camera orientation acquisition unit 109 has a role of acquiring the camera orientation CD in which the suspended load camera 124 faces. The "camera orientation CD in which the suspended load camera 124 faces" can be considered to be, for example, the direction in which the boom 112 of the crane apparatus 104 extends. This "direction in which the boom 112 extends" is preferable because it is easy to imagine as the direction in which the crane apparatus 104 is heading.

[0033] The camera direction CD acquired by the camera direction acquisition unit 109 is sent to the communication device 24 of the remote control terminal 10 via the crane communication device 107.

[0034] Regarding the "camera orientation CD," there are various types, such as the 360° type, the 90° type, and the dotted line type, but it is preferable to use the 360° type because it is easier for the image rotation unit 20 to perform calculations when rotating the image Z, as will be described later.

[0035] The crane 100 configured in this manner can move the crane apparatus 104 to any desired position using the vehicle portion 102. Furthermore, the crane 100 can determine the lifting height and working range of a load W suspended by the crane apparatus 104 by operating the boom hoisting hydraulic cylinder 116 to raise and lower the boom 112 to any desired angle and by extending and retracting the boom 112 using the crane manual operating device 126 or the remote control terminal 10. Furthermore, the winch 118 can be operated to wind up and lower the wire rope 120 to raise and lower the load W, and the crane slewing device 110 can be operated to rotate other crane apparatuses 104.

[0036] Next, the remote control terminal 10 for operating this crane device 104 will be described with reference to Figures 2 and 3. In this embodiment, a smartphone is used as the remote control terminal 10. That is, by using a remote control app installed on the smartphone, the smartphone is used as the remote control terminal 10. Of course, the remote control terminal 10 may not be a smartphone or the like, but may be a dedicated product.

[0037] The remote control terminal 10 generally comprises a crane operation unit 12, a direction acquisition unit 14, an image acquisition unit 16, a display unit 18, an image rotation unit 20, a control unit 22, and a communication device 24.

[0038] The crane operating unit 12 has a role of receiving a crane operation from the operator X and generating an operation signal S1 for remotely operating the crane 100 based on the crane operation.

[0039] Specifically, the crane operating device 26 is displayed on the display unit 18 of the remote control terminal 10 (for example, "forward," "backward," "left," "right," "up," and "down" buttons), and the operator X selects the desired operation (=crane operation) of this crane operating device 26. The crane operating unit 12, which receives the operation, generates an operation signal S1 corresponding to the operation, and the control unit 22 transmits the generated operation signal S1 to the crane communication device 107 via the communication device 24, and the signal reaches the crane control device 106, causing the operation corresponding to the operation to be carried out by the crane 100.

[0040] The crane operation by the operator X is not limited to being performed based on the crane operation tool 26 displayed on the display unit 18, but may instead be performed by, for example, mounting a voice input device 28 on the remote control terminal 10, and having the operator X utter a predetermined command (e.g., "turn right," "move left," "hoist up," "lower down") to the crane operation tool 26, which causes the crane operation unit 12 to generate an operation signal S1 corresponding to the utterance based on information from the voice input device 28 that receives the utterance. The means by which the operator X operates the crane using the remote control terminal 10, such as the crane operation tool 26 and the voice input device 28, are collectively referred to as "crane operation means."

[0041] The direction acquisition unit 14 has a role of acquiring the terminal direction TD in which the remote control terminal 10 is facing. The "terminal direction TD in which the remote control terminal 10 is facing" can be, for example, the direction in which the upper part of the remote control terminal 10 (see FIG. 2) is facing. This "direction in which the upper part of the remote control terminal 10 is facing" coincides with the direction in which the face of the operator X faces when the operator X looks at the display unit 18 of the remote control terminal 10, and is therefore suitable for less discomfort when operating a crane.

[0042] The orientation acquisition unit 14 acquires the orientation of "the direction in which the top of the remote control terminal 10 is facing" as the terminal orientation TD and transmits it to the control unit 22. The "terminal orientation TD" can be expressed in 360°, 90°, or stippled formats, but it is preferable to use the 360° format because it is easier for the image rotation unit 20 to calculate when rotating the image Z, as will be described later.

[0043] The image acquisition unit 16 has the role of acquiring the image Z captured by the suspended load camera 124. Specifically, the image Z captured by the suspended load camera 124 is delivered to the image acquisition unit 16 from the communication device 24 of the remote control terminal 10 via the crane communication device 107 of the crane device 104.

[0044] The display unit 18 has a role of displaying the image TZ, which is the image Z acquired by the image acquisition unit 16, after it has been rotated at a predetermined angle by the image rotation unit 20. In addition to the image Z, the display unit 18 also displays the above-mentioned crane operation tool 26 and other items necessary for operating the crane 100.

[0045] The image rotation unit 20 has a role of rotating the image Z acquired by the image acquisition unit 16 and providing it to the display unit 18 when displaying the image Z on the display unit 18. Specifically, the control unit 22 sends to the image rotation unit 20 an image rotation angle signal S2 generated based on the camera orientation CD in which the suspended load camera 124 is facing, which is acquired from the crane control device 106 of the crane 100, and the terminal orientation TD acquired from the orientation acquisition unit 14. The image rotation unit 20 provides the display unit 18 with the image TZ rotated based on this image rotation angle signal S2.

[0046] Here, the procedure for rotating the image Z by the image rotation unit 20 will be specifically described. As shown in Fig. 4, "north" is set to an orientation of 0°, and the boom 112 of the crane 100 extends from west to east. In other words, the "camera orientation CD in which the load camera 124 faces" is 90°. In addition, a load W is suspended directly below the load camera 124.

[0047] On the other hand, the operator X is positioned at 20° from the suspended load camera 124 in a plan view, and points the remote control terminal 10 toward the suspended load camera 124. In other words, the "terminal direction TD in which the upper part of the remote control terminal 10 faces" is 200°.

[0048] At this time, the image Z captured by the suspended load camera 124 is oriented upward at an angle of 90° as shown in FIG.

[0049] Then, based on the camera orientation CD of the suspended load camera 124 obtained from the crane control device 106 of the crane 100 and the terminal orientation TD obtained from the orientation acquisition unit 14, the control unit 22 of the remote control terminal 10 sends the difference (-110°) between the value of the camera orientation CD (90°) and the value of the terminal orientation TD (200°) as an image rotation angle signal S2 to the image rotation unit 20. The image rotation unit 20 then rotates the image Z captured by the suspended load camera 124 by the amount of this image rotation angle signal S2 (counterclockwise if the difference is negative), to generate an image TZ (see FIG. 6), and displays it on the display unit 18. That is, the rotated image TZ of FIG. 6 is displayed on the remote control terminal 10.

[0050] In addition, if the difference (=90°) between the value of the camera orientation CD (e.g., 180°) and the value of the terminal orientation TD (e.g., 90°) is positive, the image rotation unit 20 will generate an image TZ by rotating (clockwise) the image Z captured by the suspended load camera 124 by the amount of this image rotation angle signal S2, and display it on the display unit 18.

[0051] This eliminates the need for the operator X to perform any operation; the image Z from the load camera 124 is automatically rotated and displayed on the remote control terminal 10, taking into consideration the orientation of the remote control terminal 10 (terminal orientation TD) and the orientation of the load camera 124 attached to the crane 100 (camera orientation CD). Therefore, the operator X does not need to consider the relative positions of himself and the crane 100, and can view a natural image TZ on the remote control terminal 10.

[0052] (Variation 1) In the above-described embodiment, the image Z from the load camera 124 is automatically rotated and displayed on the remote control terminal 10, taking into consideration the orientation of the remote control terminal 10 (terminal orientation TD) and the orientation of the load camera 124 attached to the crane 100 (camera orientation CD). However, this may also be applied to the operation of the crane 100 using the remote control terminal 10.

[0053] That is, as described in the embodiment, when the operator X moves the position of the hook 122 of the crane device 104 using crane operating means such as the crane operating tool 26 and the voice input device 28 while looking at the rotated image TZ displayed on the display unit 18, for example, when the operator X issues an instruction (for the movement direction) such as "move in a 90° direction (clockwise with the terminal direction TD being 0°)" (see FIG. 7), the control unit 22 of the remote control terminal 10 transmits a crane movement direction signal S3 to the crane control device 106 based on the value of the movement direction and the direction of the remote control terminal 10 (terminal direction TD).

[0054] For example, when the orientation of the remote control terminal 10 (terminal orientation TD) is 200° and operator X issues an instruction to "move in the 90° direction," the control unit 22 of the remote control terminal 10 sets the orientation of 200° + 90° = 290° as the crane movement orientation signal S3. This crane movement orientation signal S3 (= 290°) is then sent to the crane control device 106, which then operates each device of the crane device 104 so that the position of the hook 122 moves in the 290° direction (see FIG. 8).

[0055] When the orientation of the remote control terminal 10 (terminal orientation TD) is 200°, if the operator X issues an instruction to "move in the 270° direction (clockwise from terminal orientation TD being 0°)" (see FIG. 9), 200° + 270° = 470°, which is "more than 360°," the control unit 22 of the remote control terminal 10 subtracts 360° from the orientation value and sets the orientation of 470° - 360° = 110° as the crane movement orientation signal S3 (see FIG. 10).

[0056] This eliminates the need for the operator X to consider the relative positions of himself and the crane 100, and allows him to instruct the direction of movement of the crane 100 based on the image TZ displayed on the display unit 18, without creating any sense of incongruity in terms of direction.

[0057] (Variation 2) Furthermore, taking into consideration the orientation of the remote control terminal 10 (terminal orientation TD) and the orientation of the load camera 124 attached to the crane 100 (camera orientation CD), the crane 100 may be operated directly using the remote control terminal 10 without displaying the image Z from the load camera 124 on the remote control terminal 10.

[0058] That is, for example, using a remote control terminal 10 that does not have a display unit 18, an operator X can move the position of the hook 122 of the crane device 104 using crane operation means such as a crane operating tool 26 and a voice input device 28 while directly looking at the crane 100 and the load W.

[0059] Of course, in the case of Modification 2, the load camera 124 in the crane 100, the display unit 18, image acquisition unit 16, image rotation unit 20 in the remote control terminal 10, and functions related to handling of image Z in the control unit 22 are not required. Therefore, the "direction of the load camera 124 (camera orientation CD)" can also be rephrased as the "direction in which the boom 112 extends (boom orientation)."

[0060] Specifically, for example, when the operator X issues an instruction (for the movement direction) such as "move in a 45° direction (clockwise with the terminal direction TD being 0°)", the control unit 22 of the remote control terminal 10 transmits a crane movement direction signal S3 to the crane control device 106 based on the value of the movement direction and the direction of the remote control terminal 10 (terminal direction TD).

[0061] For example, when the orientation of the remote control terminal 10 (terminal orientation TD) is 200° and operator X issues an instruction to "move in the 45° direction," the control unit 22 of the remote control terminal 10 sets the orientation of 200° + 45° = 245° as the crane movement orientation signal S3. This crane movement orientation signal S3 (= 245°) is then sent to the crane control device 106, which then operates each device of the crane device 104 so that the position of the hook 122 moves in the 245° direction (see FIG. 11).

[0062] If the direction of the remote control terminal 10 (terminal direction TD) is 200° and the operator X issues an instruction to "move 290° in the direction clockwise (with terminal direction TD being 0°)," then 200° + 290° = 490°, which is "more than 360°," so the control unit 22 of the remote control terminal 10 subtracts 360° from the direction value and sets the direction of 490° - 360° = 130° as the crane movement direction signal S3 (see FIG. 12).

[0063] This eliminates the need for the operator X to consider the relative positions of himself and the crane 100, and allows him to instruct the direction of movement of the crane 100 without feeling any discomfort while looking directly at the crane 100 and the suspended load W.

[0064] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0065] 10... remote control terminal, 12... crane operation unit, 14... azimuth acquisition unit, 16... image acquisition unit, 18... display unit, 20... image rotation unit, 22... control unit, 24... communication device, 26... crane operation tool, 28... voice input device 100...Crane, 102...Vehicle part, 104...Crane device, 106...Crane control device, 107...Crane communication device, 108...Wheel, 109...Camera direction acquisition unit, 110...Crane rotation device, 112...Boom, 116...Boom raising and lowering hydraulic cylinder, 118...Winch, 120...Wire rope, 122...Hook, 124...Load camera, 126...Crane manual operation device W... Hanging load, CD... Camera direction, TD... Terminal direction, Z... Image, TZ... Rotated image

Claims

1. A remote control terminal for a crane equipped with a suspended load camera, a crane operation unit that receives a crane operation by an operator and generates an operation signal for remotely operating the crane based on the crane operation; an orientation acquisition unit that acquires a terminal orientation in which the remote control terminal is facing; an image acquisition unit that acquires images captured by the suspended load camera; a display unit that displays the image acquired by the image acquisition unit; an image rotation unit that rotates the image acquired by the image acquisition unit and provides the image to the display unit when the image is displayed on the display unit; a control unit configured to be able to communicate with a crane control device arranged on the crane and controlling each unit of the remote control terminal, the control unit sends to the image rotation unit an image rotation angle signal generated based on the camera orientation in which the suspended load camera is facing, obtained from the crane control device, and the terminal orientation obtained from the orientation acquisition unit; The image rotation unit provides the image rotated based on the image rotation angle signal to the display unit. Remote control terminal.

2. A remote control terminal for a crane, a crane operation unit that receives a crane operation by an operator and generates an operation signal for remotely operating the crane based on the crane operation; an orientation acquisition unit that acquires a terminal orientation in which the remote control terminal is facing; a control unit configured to be able to communicate with a crane control device disposed on the crane and controlling each unit of the remote control terminal; and a crane operating means, When the operator inputs the movement direction of the crane to the crane operation means based on the terminal direction, The control unit transmits a crane movement direction signal generated based on the movement direction input by the operator and the terminal direction to the crane. Remote control terminal.

3. The camera orientation and the terminal orientation are both 360°, The image rotation angle signal is the difference between the camera orientation value and the terminal orientation value.

3. The remote control terminal according to claim 1 or 2.

4. Further provided with a crane operating means, When the operator inputs the moving direction of the crane to the crane operation means based on the rotated image displayed on the display unit, The control unit transmits a crane movement direction signal generated based on the movement direction input by the operator and the terminal direction to the crane. The remote control terminal according to claim 1 .

5. A method for displaying an image on a remote control terminal of a crane equipped with a suspended load camera, comprising: Acquire the camera direction in which the suspended load camera is facing, and acquire the terminal direction in which the remote control terminal is facing, both of which are obtained from the crane control device; generating a video rotation angle signal based on the camera orientation and the terminal orientation; When the image acquired by the image acquisition unit is displayed on the display unit, the image rotation angle signal is sent to an image rotation unit that rotates the image and provides it to the display unit; The image rotated based on the image rotation angle signal is provided to a display unit. A method for displaying images on a remote control terminal.

6. A crane operation method using a remote control terminal, comprising: Acquire the terminal direction in which the remote control terminal is facing; When an operator inputs a crane movement direction to a crane operation means based on the terminal direction, a crane movement direction signal generated based on the movement direction input by the operator and the terminal direction is transmitted to the crane. A method for operating a crane using a remote control terminal.

Images