Crane safety support system and safety support method

Abstract

For example, in a crane equipped with a rotating body, which is a rotating base, and a support part, such as a jib, extending from it, a configuration is provided that enables a more optimal position of a suspended load to be grasped in three-dimensional space, thereby supporting safety in crane operation, for example, safety management. [Solution] A safety support system S for a crane in one embodiment includes an information acquisition unit 301 that acquires information regarding the horizontal and vertical positions of a hoisting device 22, and a position understanding support unit 305 that reflects the acquired position information of the hoisting device 22 in known three-dimensional information of the crane 10 to generate a three-dimensional image DG of the crane 10 and provides the generated three-dimensional image DG.

Description

[Technical Field]

[0001] The present invention relates to a safety support system and a safety support method for a crane. [Background technology]

[0002] Patent Document 1 discloses a remote crane control terminal equipped with a GNSS receiver that calculates the current position of the boom tip. The terminal acquires crane attitude information and the current position of the boom tip from the crane's control device and generates a 3D image of the current crane and features based on the information acquired from the control device and the 3D information acquired by a 3D information acquisition unit. The terminal displays the generated 3D image on the terminal's display device at the viewpoint position and viewpoint direction input into the viewpoint change operating device. The terminal generates a crane control signal so that the boom tip of the 3D image of the crane displayed on the display device moves in the direction input into the load movement operating device. The terminal's display device then displays a suspended load image captured by the crane's load camera, rotated by the rotation angle around the Z axis of the 3D image of the crane. According to Patent Document 1, this configuration allows information about features and other information not reproduced in the 3D image in virtual space to be displayed in the suspended load image, thereby preventing operational errors during remote operation of the mobile crane and enabling easy and simple remote operation of the mobile crane. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2020 / 235679 Summary of the Invention [Problem to be solved by the invention]

[0004] When controlling a crane, it is desirable to know the exact position of the hoisting equipment (or load) hanging from the tip of the jib (boom). However, for example, if there is an object between the driver's seat and the hoisting equipment that blocks the view, the hoisting equipment cannot be seen from the driver's seat.

[0005] In particular, when operating tower cranes used in the construction of skyscrapers, visibility (visual confirmation) of the load can be lost for some time due to the work environment and environmental conditions. In such cases, operators are forced to operate with extra caution from a safety-first perspective, which can often be stressful. Factors that generally hinder visibility of the load include weather conditions in the work environment (fog, rain, clouds, etc.), backlighting from sunlight, insufficient lighting during nighttime work, and obstacles (barriers) such as existing structures or temporary structures. In such operations, crane operators and riggers typically make extensive use of signal diagrams and two-way radios, coordinating the operation and management of the load within their own delusions to ensure safe work. This relationship is based on a tremendous mutual trust between the driver and the signal person.

[0006] On the other hand, from the viewpoint of reducing labor and improving productivity, the introduction of remote control technology to tower cranes is being considered. At the same time, one of the issues is how to respond to, deal with, and avoid new risk assessments related to remote operation of tower cranes.

[0007] However, the technology in Patent Document 1 merely displays an image of the load captured by the crane's load camera on the display device of the crane's remote control terminal in addition to a three-dimensional image in virtual space. This is only intended to confirm the horizontal position of the load relative to features, and there are further issues with grasping the position of the load in three-dimensional space.

[0008] The object of the present invention is to provide a configuration that enables a more optimal position of a hoisting device or load in three-dimensional space to be grasped in a crane that has a rotating body, such as a rotating base, and a support part, such as a jib, extending from the rotating body, thereby enabling greater support for safety in crane operation, for example, safety management. [Means for solving the problem]

[0009] A first aspect of the present invention is A safety support system for a crane having a rotating body on a base and a support part to which a sling is connected to a rope extending from the rotating body and hanging down from a tip part, an information acquisition unit that acquires information about the horizontal and vertical positions of the sling; a position grasping support unit that generates a three-dimensional image of the crane by reflecting the acquired position information of the lifting tool in known three-dimensional information of the crane, and provides the generated three-dimensional image; Safety support system equipped with to provide.

[0010] According to the above-described configuration of the first aspect, information regarding the horizontal and vertical directions of the hoisting device is acquired, and this information is reflected in the known three-dimensional information of the crane to generate a three-dimensional image of the crane, and the three-dimensional image of the crane is then provided. Because the provided three-dimensional image reflects information regarding the horizontal and vertical directions of the hoisting device, i.e., its position information, using this three-dimensional image makes it possible to more optimally grasp the position of the hoisting device, for example, the load suspended therefrom, in three-dimensional space. This can further support safety in crane operation, for example, safety management.

[0011] Preferably, the information acquisition unit acquires information from a first measurement unit configured to output a signal corresponding to the horizontal position of the hoisting device, and acquires information from a second measurement unit configured to output a signal corresponding to the vertical position of the hoisting device. This configuration allows the horizontal position information of the hoisting device based on information from the first measurement unit and the vertical position information of the hoisting device based on information from the second measurement unit to be reflected in known three-dimensional information of the crane, thereby generating a three-dimensional image of the crane. Therefore, using this three-dimensional image makes it possible to more optimally determine the position of the hoisting device, e.g., a load suspended therefrom, in three-dimensional space. This can further support safety in crane operation, e.g., safety management.

[0012] Preferably, the positioning assistance unit provides an image of the crane in a field of view that intersects the vertical direction. With this configuration, by using the provided image, it is possible to preferably confirm the vertical positions of the crane's hoisting equipment or the load and, for example, a feature on the ground.

[0013] Preferably, the positioning assistance unit provides an image of the crane in a field of view perpendicular to the vertical direction. This configuration allows for the provision of an image in a lateral field of view, making it possible to more appropriately confirm the vertical positions of the crane's hoisting equipment or the load and, for example, features on the ground.

[0014] Preferably, the position recognition assistance unit provides the three-dimensional image of the crane that is generated so that it can be displayed from a plurality of viewpoints. With this configuration, the three-dimensional image of the crane can be displayed from a plurality of viewpoints, thereby enabling a more appropriate recognition of the surrounding environment of the crane's hoisting gear or the suspended load.

[0015] A second aspect of the present invention is A safety support method for a crane having a rotating body on a base and a support part having a hoisting device connected to a rope extending from the rotating body and hanging down from a tip end, comprising: obtaining information regarding the horizontal and vertical positions of the sling; generating a three-dimensional image of the crane by reflecting the acquired position information of the lifting tool on known three-dimensional information of the crane, and providing the generated three-dimensional image; A method comprising: to provide.

[0016] According to the above configuration of the second aspect, information about the horizontal and vertical directions of the hoisting device is acquired, and this information is reflected in the known three-dimensional information of the crane to generate a three-dimensional image of the crane, and the three-dimensional image of the crane is then provided. Because the provided three-dimensional image reflects information about the horizontal and vertical directions of the hoisting device, i.e., its position information, using this three-dimensional image makes it possible to more optimally grasp the position of the hoisting device, for example, the load suspended therefrom, in three-dimensional space. This can further support safety in crane operation, for example, safety management. [Effects of the Invention]

[0017] According to each of the first and second aspects of the present invention, the above configuration makes it possible to grasp a more optimal position of the hoisting device or load in three-dimensional space in a crane equipped with a rotating body and a support extending therefrom, thereby further supporting safety in crane operation, etc. [Brief explanation of the drawings]

[0018] [Figure 1] 1 shows a schematic diagram of a wide-area construction work site situation of a crane equipped with a safety support system according to an embodiment of the present invention. [Figure 2] FIG. 2 shows a schematic diagram of a work site for a crane at the construction work site shown in FIG. [Figure 3] FIG. 3 is a block diagram showing the control configuration of the crane in FIG. 2. [Figure 4] 3 is a flowchart relating to the control of the crane in FIG. 2. [Figure 5] 3 is a schematic diagram showing an example of a three-dimensional image of a crane displayed on the display unit of the crane in FIG. 2.

[0023] FIG. [Figure 6] 3 is a schematic diagram showing an example of a three-dimensional image of a crane displayed on the display unit of the crane in FIG. 2.

[0023] FIG. DETAILED DESCRIPTION OF THE INVENTION

[0019] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. The same components (or configurations) are denoted by the same reference numerals, and the names and functions of these components are also the same. Therefore, detailed description thereof will not be repeated.

[0020] 1 shows a schematic diagram of a wide-area work site situation of a crane 10 equipped with a safety support system S according to one embodiment. FIG. 2 shows a schematic diagram of a work site of a crane 10 at the construction work site shown in FIG. 1.

[0021] 1, the crane 10 is a tower crane used in the construction of high-rise buildings. The crane 10 lifts a load W, such as a steel beam, from the ground and carries it to a predetermined location for installation or temporary storage.

[0022] As shown in Figure 2, the crane 10 comprises a post 14, a swivel 16, a jib 18, a gantry 20, and a hoisting device (hook) 22. The crane 10 can lift a load W placed on a work surface, such as the ground G (see Figure 1), and move it to another location. The jib 18 is a support part.

[0023] The post 14 is an example of a base, and here it is erected at the top of the structure of a building under construction, but it may be erected at other locations. The post 14 is a columnar structure and may also be called a mast or a leg. The post 14 may be configured to have various heights, and for example, the base may be a running body.

[0024] The swivel base 16 is an example of a swivel body, and is provided at the upper end of the post 14. In this case, the swivel base 16 is rotatable about an axis C that is determined to extend vertically at the post 14. Note that the axis C is not limited to being the axis of the post 14, and may be parallel to the axis of the post 14. An operator's cab 23 is provided on the upper part of the swivel base 16. The jib 18 is connected to the swivel base 16. The jib 18 is provided on the swivel base 16 so as to extend from a base end 18a on the swivel base 16 side.

[0025] The gantry 20 is erected on the rotating base 16. The rotating base 16, a gantry top 20a which is the upper end of the gantry 20, and the tip end 18b of the jib 18 are mutually supported by a wire rope WR1. As the wire rope WR1 is wound and unwound by the winch 24, the jib 18 performs a raising and lowering operation with its base end 18a as a fulcrum.

[0026] Furthermore, the wire rope WR2 extends vertically downward from the tip 18b of the jib 18, with the tip 18b as a fulcrum, and a hoisting device 22 is connected to the hanging tip of the wire rope WR2. As the wire rope WR2 is wound up and unwound by the winch 26, the hoisting device 22 moves up and down.

[0027] The hoisting tool 22 is a device that is connected to a load W to enable the load W to be lifted by the crane 10. The hoisting tool 22 is a hook in this case, and can be connected to the wire rope of the load W, for example.

[0028] Here, a turning guide device 27 is suspended from the hoisting device 22, and multiple wire ropes WR3 hang from the turning guide device 27. A load W is suspended from hooks 27a at the ends of the wire ropes WR3. Therefore, as the hoisting device 22 moves up and down due to the winding and unwinding of the wire rope WR2, the turning guide device 27 moves up and down along with the hoisting device 22 and the load W. The turning guide device 27 has a box-shaped body and includes multiple jet spray devices (not shown) in the front, rear, left, and right directions except for the vertical direction. The turning guide device 27 generates a propulsive force in the horizontal direction, thereby suppressing the swaying of the load W. The turning guide device 27 may also be referred to as a sway suppression device, and its operation is controlled by a control system 28, which will be described below. A detailed description of the turning guide device 27 and its control will be omitted in this specification. Alternatively, the load W may be suspended directly from the hoisting device 22 via a wire rope without using the turning guide device 27.

[0029] FIG. 3 shows a block diagram of the control system 28 of the crane 10. The control system 28 includes a control device 30 provided in the cab 23. The control device 30 is a device that controls the entire crane 10. The control device 30, which is a control unit, includes a processor (e.g., a CPU), memory (e.g., a ROM, a RAM), a communication interface, and the like. In other words, the control device 30 is configured as a computer. The control device 30 realizes various functions by, for example, executing programs stored in the memory on the processor. The control device 30 may be configured from multiple computers. Furthermore, the control device 30 may be provided in a location other than the cab 23.

[0030] The control device 30 is connected to and capable of communicating with various sensors and receivers. For example, outputs from GPS positioning devices 32 and 34 are input to the control device 30. The GPS positioning device 32 is a positioning unit of a satellite positioning system and is provided at the tip 18b of the jib 18. More specifically, the GPS positioning device 32 is configured to output a signal corresponding to the horizontal position and is provided to acquire the position of the tip 18b, i.e., position information. The GPS positioning device 34 is also a positioning unit of the satellite positioning system and corresponds to a first measurement unit. It is configured to output a signal corresponding to the horizontal position and is provided in the turning guidance device 27 in this example. The GPS positioning device 34 is integrated into a mounting unit 33 together with a barometer 36, which is an example of a vertical position measurement unit, and is detachably attached to the turning guidance device 27. For example, the mounting unit 33 can be detachably attached to the turning guidance device 27 using a magnet in the mounting unit 33. Here, the GPS positioning device 34 corresponds to the first measurement unit, and the barometer 36 corresponds to the second measurement unit. However, since the GPS positioning device 32 is provided at the tip 18b of the jib 18 and the hoisting device 22 is located vertically below it, the first measurement unit may also be the GPS measurement unit 32. The first measurement unit may also be the GPS positioning devices 32, 34, and the horizontal position of the hoisting device 22 may be derived based on signals from these devices. Note that the GPS positioning device 34 and the barometer 36 are not limited to being provided in the turning guidance device 27, and may be provided in the load W, for example. The GPS positioning device 34 may be a component independent of the barometer 36.

[0031] The GPS positioning devices 32, 34 have the same configuration here, but may have different configurations. Each of the GPS positioning devices 32, 34 is a device that measures its own position. The GPS positioning devices 32, 34 are configured with a Global Positioning System (GPS) receiver, i.e., a satellite signal receiver, that measures its position in coordinates on the Earth by receiving signals from satellites, and also include a communication unit that can communicate with the control device 30.

[0032] The GPS positioning devices 32, 34 receive signals from GPS satellites AS, which are multiple artificial satellites orbiting the Earth. The control device 30 acquires the respective positions, i.e., position information, based on the signals received by the GPS positioning devices 32, 34. Note that the satellite positioning system, i.e., Global Navigation Satellite System (GNSS), is not limited to GPS. Position information may be detected based on signals from various satellite positioning systems. The GNSS is not limited to GPS and may include a Quasi-Zenith Satellite System, such as the European "Galileo" and the Japanese "Michibiki," which is operated in conjunction with GPS. In other words, the satellite signal receiver is not limited to a GPS receiver and may be various GNSS receivers.

[0033] The barometer 36 outputs a signal corresponding to the air pressure, or in other words, a signal corresponding to the vertical position. As described above, the barometer 36 is provided in the turning guidance device 27, and therefore outputs a signal corresponding to the vertical position of the turning guidance device 27. The position of the turning guidance device 27 is approximated to the position of the hoisting device 22, and similarly, is approximated to the position of the suspended load W. Like the GPS positioning device 34, the barometer 36 also has a communication unit capable of communicating with the control device 30. Note that the communication unit of the barometer 36 may be integrated into the communication unit of the GPS positioning device 34.

[0034] In addition to the GPS positioning devices 32, 34 and the barometer 36, an operation unit 38 and a display unit 40 are connected to the control device 30. The operation unit 38 is an operation lever, a switch, a touch panel, etc., and is provided in the driver's cab 23 together with the display unit 40.

[0035] Furthermore, a terminal device 42 is connected to the control device 30. The terminal device 42 is equipped with a processor (e.g., a CPU), memory (e.g., a ROM, a RAM), a communication interface, etc., and is configured as a computer, and can be connected to the control device 30 via a network. Control information for the crane 10 can be input from this terminal device 42, and the control information is input to and acquired by the control device 30 via the terminal device 42. This allows the control device 30 to remotely control and automatically operate the crane 10.

[0036] The control device 30 controls the crane 10 based on information input from the GPS positioning devices 32, 34, barometer 36, operation unit 38, and terminal device 42. The control device 30 realizes various functions by executing programs stored in memory on a processor, and has the following functional modules. The control device 30 has, as its functional modules, an information acquisition unit 301, a hoisting device control unit 303 having an automatic control unit 3031, and a position determination support unit 305. The safety support system S is configured with this position determination support unit 305.

[0037] The information acquisition unit 301 acquires horizontal position information based on the outputs of the GPS positioning devices 32 and 34, atmospheric pressure information as vertical position information based on the output of the barometer 36, information input from the operation unit 38, and information input from the terminal device 42. In this manner, the information acquisition unit 301 acquires information related to the horizontal and vertical positions of the hoisting device 22. The information acquisition unit 301 can also acquire three-dimensional information about the crane 10 (e.g., information about the three-dimensional shape of the crane 10) and three-dimensional information about features within the movement range of the crane 10 (e.g., information about the three-dimensional shape of the features) from BIM (Building Information Modeling) of the management server 43, etc. This acquired three-dimensional information corresponds to known three-dimensional information about the crane 10. The information acquisition unit 301 then stores the acquired information in memory or transmits it to other functional modules. The known three-dimensional information of the crane 10 is not limited to being held or stored in the management server 43, but may be stored in advance in the memory of the control device 30 or the memory of the terminal device 42, for example.

[0038] The hoisting gear control unit 303 transmits command signals to the drive unit 44 of the crane 10 based on information input from, for example, the operation unit 38 and the terminal device 42. The drive unit 44 receives command signals from the control device 30 and drives each drive mechanism of the crane 10. The drive unit 44 includes a motor for rotating the swivel base 16, a winch 24 for raising and lowering the jib 18, and a winch 26 for moving the hoisting gear 22 up and down. The winch 24 for raising and lowering the jib 18 includes a motor for winding and unwinding the wire rope WR1, and the winch 26 for moving the hoisting gear 22 up and down includes a motor for winding and unwinding the wire rope WR2.

[0039] The hoisting device control unit 303 includes an automatic control unit 3031. The automatic control unit 3031 is configured to automatically control the swivel base 16 and the jib 18 in response to automatic control commands from the operation unit 38 or the terminal device 42. The automatic control unit 3031 can also automatically control the hoisting device 22 so as to position the hoisting device 22 or the load W at a predetermined position, based on input from the GPS positioning device 34 and the barometer 36 provided in the slewing guidance device 27. The automatic control unit 3031 sends a command signal to the drive unit 44 to automatically control the position of the tip 18b of the jib 18, based on the value of the pulse counter of the slewing motor of the swivel base 16.

[0040] Here, the automatic control unit 3031 of the hoisting device control unit 303 is configured to be able to automatically control the up-down position, i.e., the vertical position, of the hoisting device 22 in addition to the swivel base 16 and jib 18, in response to automatic control commands from the operation unit 38 or the terminal device 42. The automatic control unit 3031 can control the winch 26, which winds and unwinds the wire rope WR2, so as to position the hoisting device 22 or the load W at a predetermined vertical position determined relative to the vertical position based on the output of the barometer 36.

[0041] The positioning support unit 305 generates a three-dimensional image DG of the crane 10 by reflecting the position information of the hoisting device 22 acquired based on the signal, i.e., information, from the GPS positioning device 34, which is the first measurement unit, and the signal, i.e., information, from the barometer 36, which is the second measurement unit, into the above-mentioned known three-dimensional information of the crane 10, and provides the generated three-dimensional image DG. This three-dimensional image DG is provided (i.e., transmitted) to the display unit 40, and the three-dimensional image DG can be displayed on the display unit 40. This provision (i.e., transmission) is also performed to the terminal device 42, and the three-dimensional image DG can also be displayed on the display unit 42a of the terminal device 42. The positioning support unit 305 has an image generation or correction function, and the control device 30 has or can access the programs and data necessary for this purpose.

[0042] The three-dimensional image DG generated by the positioning support unit 305 is generated so that it can be displayed from multiple viewpoints. The multiple viewpoints may have different viewpoint positions and / or viewpoint directions. Therefore, the positioning support unit 305 can provide an image of the crane 10 in a field of view that intersects the vertical direction, for example, an image of the crane in a field of view that is perpendicular to the vertical direction. The viewpoint of the three-dimensional image DG displayed on the display unit 40 can be changed based on the operation of the viewpoint change lever 38a, which is an example of a viewpoint change means of the operation unit 38. The viewpoint of the three-dimensional image DG displayed on the display unit 42a of the terminal device 42 can be changed based on the operation of the viewpoint change lever 42b, which is an example of a viewpoint change means of the terminal device 42. Based on this three-dimensional image DG, the automatic control unit 3031 can be caused to automatically control the hoisting device.

[0043] This three-dimensional image DG may be used in conjunction with virtual reality (VR). The display unit 40 and / or the display unit 42a of the terminal device 42 may be so-called VR goggles. In this case, the display unit 40 and / or the display unit 42a of the terminal device 42 includes an image conversion unit that converts the provided three-dimensional image DG into a stereoscopic image (video) and provides it. The image conversion technology of the image conversion unit is known, so a detailed description thereof will be omitted here. In this case, the three-dimensional image DG is converted so that an image or video in a direction corresponding to a direction detection means that detects changes in the facial direction and posture of the user wearing the VR goggles is displayed on the VR goggles.

[0044] Based on the flowchart in FIG. 4, the process from obtaining the position information of the sling 22 to generating and providing the three-dimensional image DG will be described.

[0045] The information acquisition unit 301 of the control device 30 acquires position information of the hoisting device 22 based on a signal from the GPS positioning device 34, which is the first measurement unit, and a signal from the barometer 36, which is the second measurement unit (step S401). The horizontal position information based on the output of the GPS positioning device 34 and the atmospheric pressure information as vertical position information based on the output of the barometer 36 are essentially the horizontal position information and the vertical position information of the hoisting device 22. Then, the position grasping support unit 305 of the control device 30 reflects the acquired position information of the hoisting device 22 in the above-mentioned known three-dimensional information of the crane 10, generates a three-dimensional image DG of the crane 10, and provides the generated three-dimensional image DG (step S403).

[0046] 5 and 6 show examples of a three-dimensional image DG of the crane 10 displayed on the display unit 40. The images in FIGS. 5 and 6 are images Ga and Gb of the crane 10 in a field of view perpendicular to the vertical direction, i.e., a lateral field of view. Image Gb in FIG. 6 is an enlarged view of a portion of image Ga in FIG. 5. In this way, the three-dimensional image DG generated by the positioning support unit 305 can also be enlarged or reduced and displayed on the display unit 40 and the display unit 42a of the terminal device 42.

[0047] The following describes the effects of the safety support system S for the crane 10 having the above configuration.

[0048] The crane 10 includes a rotating platform 16, which is a rotating body mounted on a post 14, which is a base, and a jib 18, which is a support part to which a hoisting device 22 is connected via a rope WR2 extending from the rotating platform 16 and hanging down from a tip 18b. The safety support system S for the crane 10 includes an information acquisition unit 301 and a position determination support unit 305. The information acquisition unit 301 acquires information regarding the horizontal and vertical positions of the hoisting device. Specifically, the information acquisition unit 301 acquires information from a GPS positioning device 34, which is a first measurement unit configured to output a signal corresponding to the horizontal position of the hoisting device 22, and acquires information from a barometer 36, which is a second measurement unit configured to output a signal corresponding to the vertical position of the hoisting device 22. The position determination support unit 305 generates a three-dimensional image DG of the crane 10 by incorporating the position information of the hoisting device 22 acquired by the information acquisition unit 301 into known three-dimensional information of the crane 10, and provides the generated three-dimensional image DG. Therefore, this safety support system S executes a safety support method that includes acquiring information regarding the horizontal and vertical positions of the hoisting device 22, reflecting the acquired position information of the hoisting device 22 in known three-dimensional information about the crane 10 to generate a three-dimensional image DG of the crane 10, and providing the generated three-dimensional image DG. Because the provided three-dimensional image DG reflects the horizontal position information and vertical position information of the hoisting device 22, use of this three-dimensional image DG makes it possible to more appropriately grasp the position of the hoisting device 22, i.e., the load W suspended therefrom, in three-dimensional space. Therefore, the safety support system S or safety support method can more appropriately and further support safety in the operation of the crane 10, for example, safety management.

[0049] For example, as shown in FIGS. 2 and 5 , when an obstacle (barrier) A, such as an existing structure or temporary structure, exists between the driver's seat 23 of the crane 10 and the hoisting device 22, the driver in the driver's seat 23 cannot see the hoisting device 22 or its surroundings. Additionally, depending on the work environment and environmental conditions, the driver may often lose sight (visual confirmation) of the hoisting device 22 (or the load W). This can also occur with users, such as the operator of the terminal device 42. Even when the driver loses sight (visual confirmation) of the hoisting device 22 (or the load W), the safety support system S and method disclosed herein can obtain a three-dimensional image DG to appropriately grasp the hoisting device 22 and its surroundings, for example, the vertical positional relationship of the load W. This allows for appropriate control of the hoisting device 22, making it possible to more safely perform tasks such as attaching and detaching the load W to and from the hoisting device 22 and transporting the load W. The safety support system S and the safety support method for the crane 10 may also be referred to as a position recognition support system and a position recognition support method for the crane 10.

[0050] 5 and 6, the position understanding support unit 305 can provide three-dimensional images DG, Ga, Gb of the crane in a field of view that intersects the vertical direction, specifically a field of view that is perpendicular to the vertical direction. With this configuration, by using the provided three-dimensional images, it is possible to preferably confirm the vertical positions of the hoisting tool 22 of the crane 10, i.e., the load W, and, for example, a feature on the ground.

[0051] The position understanding support unit 305 then provides a three-dimensional image DG of the crane that is generated so that it can be displayed from multiple viewpoints. Therefore, the driver of the driver's seat 23 or the user of the terminal device 42 can display the three-dimensional image DG from different viewpoints by operating the viewpoint change levers 38a, 42b. This allows the driver of the driver's seat 23 or the user of the terminal device 42 to more appropriately understand the surrounding environment of the hoisting device 22 of the crane 10 or the load W.

[0052] The three-dimensional image DG of the crane 10 in the safety support system S and safety support method of the present disclosure may be used together with an image from a camera (photography device) mounted vertically downward on the tip 18b of the jib 18, or together with various other information obtained in addition to the above. This makes it possible to more appropriately ensure a clear view of the crane 10, particularly of the hoisting device 22 and its surroundings, thereby enabling various tasks to be performed on the crane 10 more safely.

[0053] Although the embodiments and modifications of the present invention have been described above, the present invention is not limited thereto. Various substitutions and modifications are possible without departing from the spirit and scope of the present invention as defined by the claims of this application.

[0054] In the above embodiment, horizontal position information of the sling 22 was acquired from the first measurement unit and vertical position information of the sling 22 was acquired from the second measurement unit to generate a three-dimensional image as described above. However, vertical position information of the sling 22 may also be acquired based on signal information from a GNSS receiver such as a GPS receiver. In this case, the first measurement unit and the second measurement unit may be combined into a measurement unit equipped with a GNSS receiver such as a GPS receiver. For example, the GPS positioning device 34, which is the first measurement unit, may function not only as the first measurement unit but also as the second measurement unit. [Explanation of symbols]

[0055] 10 Crane 14 posts 16 Swivel table (swivel body) 18 Jib (support part) 18b Tip 20 Gantry 22 Hanging device (hook) 27 Turning Guidance Device 28 Control System 30 Control device 32, 34 GPS positioning device (first measurement unit) 36 Barometer (second measuring unit) S Safety Support System W Hanging load

Claims

1. A safety support system for a crane having a rotating body on a base and a support part to which a sling is connected to a rope extending from the rotating body and hanging down from a tip part, an information acquisition unit that acquires information about the horizontal and vertical positions of the sling; a position grasping support unit that generates a three-dimensional image of the crane by reflecting the acquired position information of the lifting tool in known three-dimensional information of the crane, and provides the generated three-dimensional image; A safety support system equipped with

2. The information acquisition unit acquires information from a first measurement unit configured to output a signal corresponding to the horizontal position of the sling, and acquires information from a second measurement unit configured to output a signal corresponding to the vertical position of the sling. The safety support system according to claim 1 .

3. The position recognition assistance unit provides an image of the crane in a field of view that intersects vertically. The safety support system according to claim 1 .

4. The position recognition assistance unit provides an image of the crane in a field of view perpendicular to the vertical direction. The safety support system according to claim 3 .

5. the position recognition support unit provides the three-dimensional image of the crane generated so as to be displayable from a plurality of viewpoints; The safety support system according to claim 1 .

6. A safety support method for a crane having a rotating body on a base and a support part having a hoisting device connected to a rope extending from the rotating body and hanging down from a tip part, comprising: obtaining information regarding the horizontal and vertical positions of the sling; generating a three-dimensional image of the crane by reflecting the acquired position information of the lifting tool on known three-dimensional information of the crane, and providing the generated three-dimensional image; A method comprising:

Images