Cranes, monitoring systems

Abstract

This technology provides the ability to monitor the conditions around a crane, even when it is not operating normally, including during crane lifting operations. [Solution] A peripheral monitoring system MS according to one embodiment of the present disclosure includes an imaging unit 40 provided on the crane 100 for imaging the area around the crane 100, and a display unit 120 that displays a peripheral image representing the area around the crane 100 based on the imaging unit 40 when the crane 100 is transported in a state loaded on a trailer, or when the crane 100 is disassembled or assembled before or after such transport.

Description

Technical Field

[0001] The present disclosure relates to a crane or the like.

Background Art

[0002] For example, a crane may be disassembled into a plurality of parts and then loaded onto a trailer for transportation (see Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, for example, since a crane is a very large structure, when a person around the crane or a passenger on the trailer views the crane, the range of blind spots may be relatively large. Therefore, it is desirable to be able to monitor the situation around the crane even during normal operations other than the lifting operation of the crane, such as during transportation when loaded on a trailer, during disassembly or assembly before and after that.

[0005]

Means for Solving the Problems

[0006] <X000033> To achieve the above object, in one embodiment of the present disclosure, an imaging unit that images the periphery of the crane, an output unit, and is provided with The output unit outputs the output image from the imaging unit, or a peripheral image representing the area around the crane, generated based on the output image from the imaging unit, to the first display unit during the transport of the crane while it is loaded on a trailer, or during the disassembly or assembly of the crane before or after such transport. A crane will be provided.

[0007] In other embodiments of this disclosure, An imaging unit is installed on the crane and takes images of the area around the crane, The system includes a first display unit that displays a peripheral image representing the surroundings of the crane based on the imaging unit, during the transport of the crane while it is loaded on a trailer, or during the disassembly or assembly of the crane before or after such transport. A monitoring system will be provided. [Effects of the Invention]

[0008] According to the above-described embodiment, the conditions around the crane can be monitored at times other than during normal operations, including crane lifting operations. [Brief explanation of the drawing]

[0009] [Figure 1] This is a perspective view showing an example of a crane. [Figure 2] This is a perspective view showing an example of the main body of a crane. [Figure 3] This is a perspective view showing an example of the crane body in a transport position. [Figure 4] This diagram shows specific examples of crane transportation methods. [Figure 5] This is a diagram showing an example configuration of a peripheral monitoring system. [Figure 6] This figure shows an example of a surrounding image displayed on the cabin's display panel. [Figure 7] This figure shows the first example of a surrounding image displayed on the external display unit. [Figure 8] This figure shows a second example of a surrounding image displayed on the external display unit. [Figure 9]It is a flowchart diagram schematically showing an example of a process related to the peripheral monitoring of a crane.

Mode for Carrying Out the Invention

[0010] Hereinafter, the mode for carrying out the invention will be described with reference to the drawings.

[0011] [Overview of Crane] Referring to FIG. 1, the overview of the crane 100 according to the present embodiment will be described.

[0012] FIG. 1 is a perspective view showing an example of a crane.

[0013] Hereinafter, in the present embodiment, when the crane 100 is viewed from directly above, the direction from the base end to the tip of the boom 4 will be expressed as the "front" of the crane 100 or the upper slewing body 3, and based on that direction, the front, rear, left, and right directions of the crane 100 or the upper slewing body 3 may be expressed. Also, in the present embodiment, when the crane 100 is viewed from directly above, one end side (in other words, the drive wheel side) where the traveling hydraulic motor 2M of the crawler 2C is provided will be expressed as the "rear" of the lower traveling body 2, and based on that direction, the front, rear, left, and right directions of the lower traveling body 2 may be expressed.

[0014] The crane 100 is an example of a mobile crane. In this example, the crane 100 is a crawler crane.

[0015] The crane 100 includes a crane main body 1, a boom 4, a lifting tool HK, a mast 5, a pendant rope 6, winches 7 and 8, a counterweight CW, and a cab 10.

[0016] The crane main body 1 is the main body of the crane 100 (also referred to as the "airframe"). The crane main body 1 includes a lower traveling body 2 and an upper slewing body 3.

[0017] The lower running body 2 includes a pair of left and right crawlers 2C. The lower running body 2 can move in accordance with the movement of the pair of left and right crawlers 2C.

[0018] The upper rotating body 3 is mounted on the lower traveling body 2 so as to be able to rotate relative to the lower traveling body 2 via a rotating mechanism incorporated into the lower traveling body 2. For example, the rotating mechanism is driven by an actuator such as a hydraulic motor or an electric motor, allowing the upper rotating body 3 to rotate relative to the lower traveling body 2.

[0019] The boom 4 is mounted to the front center of the upper slewing body 3 in a luffable manner. The boom 4 includes a lower boom 4A, an intermediate boom 4B, and an upper boom 4C.

[0020] The lower boom 4A is mounted to the front center of the upper slewing body 3 in a luffable manner. In other words, the lower boom 4A corresponds to the base end of boom 4. The intermediate boom 4B is mounted to the tip of the lower boom 4A. The upper boom 4C is mounted to the tip of the intermediate boom 4B. The upper boom 4C corresponds to the tip of boom 4.

[0021] The intermediate boom 4B is composed of one or more (two in the example in Figure 1) intermediate boom members (intermediate boom members) connected in series. By increasing or decreasing the number of intermediate boom members, the height of the boom 4 from the base to the tip can be changed.

[0022] The HK lifting device is used to suspend loads. The HK lifting device includes hooks HK1 and HK2.

[0023] Sheaves SV11 and SV2 are installed at the tip of boom 4 (specifically, the upper boom 4C), and wire ropes W1 and W2 are suspended from sheaves SV11 and SV2, respectively. Hooks HK1 and HK2 are attached to the lower ends of wire ropes W1 and W2, respectively.

[0024] Note that the HK2 hook may be omitted.

[0025] The mast 5 is attached to the upper slewing body 3 (specifically, the slewing frame 3AC described later) so as to be rotatable about an axis of rotation parallel to the axis of rotation of the boom 4, behind the base end of the boom 4 on the upper slewing body 3. A spreader 5S containing multiple sheaves is provided at the tip of the mast 5.

[0026] One end of the pendant rope 6 is attached to the tip of the boom 4 (specifically, the upper boom 4C). The other end of the pendant rope 6 is provided with a spreader 6S containing multiple sheaves.

[0027] The winch 7 is mounted on the upper slewing body 3 (specifically, the slewing frame 3AC described later). The winch 7 is driven by an actuator such as a hydraulic motor or an electric motor to wind up and unwind the wire rope W3.

[0028] A wire rope W3 is wrapped around the spreaders 5S and 6S multiple times, and one end of the wire rope W3 is connected to the winch 7. As a result, the distance between the spreaders 5S and 6S can be expanded or contracted by unwinding and rewinding the wire rope W3 with the winch 7, and consequently the boom 4 can be raised and lowered.

[0029] The winch 8 is mounted on the upper slewing body 3, for example, in front of the winch 7. The winch 8 is used to raise and lower the lifting device HK. The winch 8 includes winches 8A and 8B.

[0030] The winch 8A is driven by an actuator, such as a hydraulic motor or an electric motor, to wind up and unwind the wire rope W1. This allows the winch 8A to raise and lower the hook HK1 attached to the end of the wire rope W1 via the sheaves SV11 and SV12.

[0031] The winch 8B is mounted on the upper slewing body 3, for example, behind the winch 8A. The winch 8B is driven by an actuator such as a hydraulic motor or an electric motor, and winds in and unwinds the wire rope W2. This allows the hook HK2 attached to the end of the wire rope W2 to be raised and lowered.

[0032] The counterweight CW is installed at the rear end of the upper slewing body 3 (specifically, the slewing frame 3AC described later) to balance the weight of the boom 4 and the suspended load.

[0033] The cabin (also called the "cab") 10 is a control room (also called the "operator's cabin") where the operator sits to operate the crane 100. The cabin 10 is mounted, for example, on the front right side of the upper slewing body 3.

[0034] The cabin 10 is provided with glass windows on its front, rear, left and right sides, and top, allowing the operator to see outside. The cabin 10 is equipped with a driver's seat and operating devices (e.g., operating levers and pedals), and the operator can operate the crane 100 by sitting in the driver's seat and operating the operating devices while checking the outside of the cabin 10. The cabin 10 is also equipped with a display device (e.g., a display unit 50 described later) capable of displaying various information images, and the operator can operate the crane 100 while checking various information images.

[0035] The crane 100 is operated, for example, by an operator boarding the cabin 10, who operates various actuators.

[0036] Furthermore, the crane 100 may be operated by remotely controlling various actuators by an external operator.

[0037] For example, images showing the suspended load and images showing the surroundings of the crane 100 (for example, images from the imaging unit 40 described later, or surrounding images generated based on the images from the imaging unit 40) are transmitted from the crane 100 to a remote control room located in a remote location separate from the crane 100's work site. Then, on a remote control display device installed in the remote control room, images showing the suspended load and images showing the surroundings of the crane 100 are displayed based on the images received from the crane 100. This allows the operator in the remote control room to check the status of the suspended load and the surroundings of the crane 100.

[0038] Furthermore, the remote control room is equipped with a driver's seat and remote control devices (e.g., operating levers and pedals), and data on the operations of the remote control devices performed by the operator seated in the driver's seat is transmitted to the crane 100 via a predetermined communication line. The predetermined communication line includes, for example, a wide area network (WAN) such as a mobile communication network with a base station as its endpoint, a satellite communication network using communication satellites, or the Internet. The predetermined communication line may also include a local area network (LAN) or a short-range wireless communication line based on communication standards such as WiFi or Bluetooth®. The crane 100 then operates various actuators according to the operations of the remote control devices received from the remote control room. As a result, the operator in the remote control room can operate the crane 100 by operating the remote control devices.

[0039] Furthermore, for example, the operator carries a portable control terminal device, and the data of the operation content of the control terminal device is transmitted to the crane 100 via a predetermined communication line. The crane 100 then operates various actuators according to the operation content of the control terminal device received from the control terminal device. As a result, the operator carrying the portable control terminal device can operate the crane 100 by operating the control terminal device while checking the suspended load and the surrounding area of ​​the crane 100 from a location where the crane 100 is visible.

[0040] Furthermore, the crane 100 may transmit images representing the suspended load and images representing the surroundings of the crane 100 (for example, images from the imaging unit 40 described later, or surrounding images generated based on the images from the imaging unit 40) to the operating terminal device. The display unit of the operating terminal device will then display images representing the suspended load and images representing the surroundings of the crane 100, based on the images received from the crane 100. This allows an operator carrying a portable operating terminal device to check the status of the suspended load and the surroundings of the crane 100 through the display unit.

[0041] Furthermore, the crane 100 may have an automatic operation function that automatically operates some or all of its actuators. The automatic operation function may include a semi-automatic operation function that automatically operates other actuators different from the target of operation in response to the operator's operation of one actuator. The automatic operation function may also include a fully automatic operation function that automatically operates the actuators without any operation by the operator.

[0042] [Crane body section] In addition to Figure 1, the crane body 1 according to this embodiment will be described with reference to Figure 2.

[0043] Figure 2 is a perspective view showing an example of the crane body 1.

[0044] As described above, the crane body 1 includes a lower traveling body 2 and an upper slewing body 3.

[0045] As shown in Figure 2, the lower running body 2 includes a track frame 2TF and a pair of left and right crawlers 2C.

[0046] The track frame 2TF supports the upper rotating body 3 so that it can rotate freely.

[0047] Crawler 2C includes crawler frame 2CF, travel hydraulic motor 2M, and crawler shoe 2CS.

[0048] The crawler frame 2CF is attached to the left and right sides of the track frame 2TF. The crawler frame 2CF supports the crawler shoe 2CS via upper and lower rollers, an idler wheel at the front end, and a drive wheel at the rear end.

[0049] The hydraulic motor 2M is located at the rear end of the crawler frame 2CF and drives the crawler shoe 2CS via the drive wheel. As a result, the lower traveling body 2 can move under its own power through the operation of the crawler shoe 2CS.

[0050] The upper rotating body 3 includes a frame section 3A, house sections 3BL and 3BR, catwalks 3DL and 3DR, a ladder 3F, handrails 3GL, 3GR, 3HL, and 3HR, and a cabin 10.

[0051] The frame section 3A corresponds to the bottom of the upper rotating body 3. It includes the rotating frame 3AC and the beds 3AL and 3AR.

[0052] The slewing frame 3AC is mounted on the track frame 2TF so as to be able to rotate freely via a slewing mechanism. The slewing frame 3AC is equipped with actuators, such as hydraulic motors or electric motors, to drive the slewing mechanism. The slewing frame 3AC is also equipped with the lower boom 4A, the mast 5, and the winches 7 and 8.

[0053] Bed 3AL is connected adjacent to the left side of the slewing frame 3AC. Bed 3AR is connected adjacent to the right side of the slewing frame 3AC. Various equipment for the crane 100 (for example, hydraulic drive system equipment and electric drive system equipment, etc.) are mounted on beds 3AL and 3AR.

[0054] House section 3BL is the outer panel that covers the front, rear, left, right, and top of the equipment mounted on bed 3AL. House section 3BR is the outer panel that covers the front, rear, left, right, and top of the equipment mounted on bed 3AR.

[0055] Catwalks 3DL and 3DR are platforms for operators and workers to walk on. Catwalk 3DL is installed adjacent to the left side of bed 3AL, extending from the front to the rear end of bed 3AL. Catwalk 3DR is installed adjacent to the right side of bed 3AR, extending from the front to the rear end of bed 3AR. For example, catwalks 3DL and 3DR are each divided into three members in the front-to-back direction. Each member may also be foldable toward beds 3AL and 3AR.

[0056] Ladder 3F is a ladder used to ascend and descend between the catwalk 3DR and the upper surface of the house section 3BR. For example, ladder 3F is installed adjacent to the right side of the rear end of the house section 3BL.

[0057] Furthermore, if workers can ascend and descend between the catwalk 3DR and the upper surface of the house section 3BR, the ladder 3F may be placed at any location other than the rear end of the house section 3BL. Alternatively, instead of, or in addition to, the ladder 3F, a staircase-like means of ascending and descending between the catwalk 3DR and the upper surface of the house section 3BR may be provided.

[0058] Handrails 3GL, 3HL, and 3GR, 3HR are handrails for workers on the upper surface of housing section 3BL and housing section 3BR, respectively.

[0059] The handrail 3GL is positioned at the left end of the upper surface of the housing section 3BL, extending from the front end to the rear end. The handrail 3GL is positioned at the rear end of the upper surface of the housing section 3BL.

[0060] The handrail 3GL includes a support column 3GL1 fixed to the upper surface of the housing section 3BL, and a main body 3GL2 attached to the upper part of the support column 3GL1. The handrail 3HL includes a support column 3HL1 fixed to the upper surface of the housing section 3BL, and a main body 3HL2 attached to the upper part of the support column 3HL1.

[0061] Handrail 3GR is positioned at the left end of the upper surface of housing section 3BR, extending from the front end to the rear end. Handrail 3HR is positioned at the rear end of the upper surface of housing section 3BR.

[0062] The handrail 3GR includes a support column 3GR1 fixed to the upper surface of the housing section 3BR, and a main body 3GR2 attached to the upper part of the support column 3GR1. The handrail 3HR includes a support column 3HR1 fixed to the upper surface of the housing section 3BR, and a main body 3HR2 attached to the upper part of the support column 3HR1.

[0063] Cabin 10 is installed adjacent to the front of bed 3AR.

[0064] Furthermore, as shown in Figure 2, the upper rotating body 3 is equipped with cameras 40F, 40B, 40L, and 40R, which are components of the imaging unit 40 (see Figure 5). Hereinafter, any one of cameras 40F, 40B, 40L, and 40R may be referred to as "camera 40X".

[0065] Camera 40X is, for example, a monocular camera. Alternatively, camera 40X may be a three-dimensional camera capable of acquiring not only two-dimensional images but also information about the distance to objects in the image, such as a stereo camera or a depth camera.

[0066] Camera 40F captures the view in front of the upper slewing body 3. For example, camera 40F is mounted at the tip of bracket 40FB, which is positioned to extend forward from the left end of the upper surface of cabin 10, with the optical axis tilted downward. This prevents situations where, for example, the front end of the upper slewing body 3, such as cabin 10, is captured in the image, creating a blind spot near the ground close to the crane 100. In addition, camera 40F can capture the view of the ground close to the front of the upper slewing body 3, which is a blind spot from the perspective of the operator in cabin 10.

[0067] Camera 40B captures images of the area behind the upper rotating body 3. For example, camera 40B is mounted at the tip of a bracket 40BB1 that extends rearward from the upper surface of the counterweight CW, with its optical axis tilted downward. This prevents situations where, for example, the rear end of the upper rotating body 3, such as the counterweight CW, is captured in the image, creating a blind spot near the ground close to the crane 100.

[0068] Camera 40L captures an image of the area to the left of the upper rotating body 3. For example, camera 40L is mounted at the tip of a bracket 40LB that extends to the left from the main body 3GL2 of the handrail 3GL, with its optical axis tilted downward. This prevents the left end of the upper rotating body 3, such as the housing section 3BL, from being captured in the image, thus preventing a blind spot near the ground close to the crane 100.

[0069] Camera 40R captures the area to the right of the upper rotating body 3. For example, camera 40R is mounted at the tip of a bracket 40RB that extends to the right from the main body 3GR2 of the handrail 3GR, with its optical axis tilted downward. This prevents the right end of the upper rotating body 3, such as the housing section 3BR, from being captured in the image, thus preventing a blind spot near the ground close to the crane 100.

[0070] [Crane transportation methods] Referring to Figure 3, the transportation configuration of crane 100 will be explained.

[0071] The crane 100 is disassembled into multiple components (hereinafter referred to as the "transport configuration"), transported by trailer or the like, and assembled at the work site. Hereinafter, "transport configuration" refers to the orientation of the transport configuration or the components included in the transport configuration when transported by trailer or the like, and in particular, the crane body 1 in the transport configuration may be conveniently referred to as the "crane body 1t in transport configuration". Furthermore, in this embodiment, the explanation will focus on the case where the transport configuration 100t of the crane 100 includes the crane body 1t in transport configuration.

[0072] Figure 3 is a diagram showing a specific example of the transport configuration of the crane 100. Specifically, Figure 3 is a diagram showing a specific example of a transport configuration of 100t, including the crane body 1t in the transport position, and includes Figures 3a to 3c showing the first to third examples of the transport configuration of 100t.

[0073] <Example 1> For example, as shown in Figure 3a, the transport configuration 100t of the crane 100 includes the crane body 1t in transport position, the lower boom 4A, and the mast 5.

[0074] The 100-ton transport configuration of the crane 100 is transported by being loaded onto a trailer TR, which is towed by a trailer head TH.

[0075] In this example, the crane body 1t in transport position is loaded rearward onto the trailer TR with the lower boom 4A and mast 5 attached to the upper slewing body 3 and tilted forward. Specifically, the front of the upper slewing body 3 of the crane body 1t in transport position faces the rear of the trailer TR, and the tips of the lower boom 4A and mast, which are tilted to the rear of the trailer TR, protrude as the crane body 1t in transport position is loaded onto the trailer TR.

[0076] <Example 2> For example, as shown in Figure 3b, the transport configuration 100t of the crane 100 includes the crane body 1t in transport position and the mast 5.

[0077] In this example, the mast 5 is attached to the upper slewing body 3 and tilted forward, and the crane body 1 ton in transport position is loaded facing forward onto the trailer TR. Specifically, the front of the upper slewing body 3 of the crane body 1 ton in transport position faces the front of the trailer TR, and the mast 5, which is tilted towards the front of the trailer TR (i.e., the trailer head TH side), protrudes as the crane body 1 ton in transport position is loaded onto the trailer TR.

[0078] <Example 3> For example, as shown in Figure 3c, the transport configuration 100t of the crane 100 includes only the crane body 1t in the transport position.

[0079] In this example, the crane body 1t in transport position is loaded facing forward on the trailer TR. In this example, the cabin 10 is configured to rotate around a vertical axis of rotation located to the left of the front end, and in the transport position of the crane body 1t, the cabin 10 is rotated 90 degrees counterclockwise around its axis of rotation.

[0080] [Crane body in transport position] In addition to Figures 1 to 3, Figure 4 will be used to explain the crane body portion 1t in the transport position.

[0081] Hereinafter, the crane body 1 used during normal operations, including lifting operations where loads are suspended from hooks HK1 and HK2 and moved, may be referred to as "crane body 1 during normal operations" for convenience. Normal operations of crane 100 refer to all operations performed when crane 100 is capable of performing work, excluding situations where crane 100 cannot perform work, such as during transport, disassembly before and after transport, or assembly.

[0082] Figure 4 is a perspective view showing an example of a crane body with a capacity of 1 ton.

[0083] As shown in Figure 4, in the transport position, the crane body 1t has the left and right crawlers 2C removed from the state of the crane body 1 during normal operation, and the slewing position of the upper slewing body 3 is adjusted so that the front-to-back direction of the upper slewing body 3 matches the left-to-right direction of the track frame 2TF.

[0084] Furthermore, the crane body 1t in the transport position has the counterweight CW, catwalks 3DL and 3DR, and ladder 3F removed from the crane body 1 used in normal operation. The length in the front-to-back direction and the width in the left-to-right direction of the crane body 1 in the transport position can be reduced.

[0085] Furthermore, as mentioned above, if the catwalks 3DL and 3DR are foldable, in the transport position of the crane body 1t, the catwalks 3DL and 3DR may be folded instead of being removed. In this case, the folding of the catwalks 3DL and 3DR may be performed manually by an operator, or it may be performed automatically by a predetermined actuator.

[0086] Furthermore, in the transport configuration, the crane body 1t has its handrails 3GL, 3GR, 3HL, and 3HR folded compared to the normal operating configuration. This reduces the vertical height of the crane body 1t in the transport configuration.

[0087] Furthermore, the folding of handrail 3GL may be performed manually by an operator, or it may be performed automatically by a predetermined actuator. The same applies to the folding of handrails 3GR, 3HL, and 3HR. In addition, handrails 3GL, 3GR, 3HL, and 3HR may be partially or completely removed instead of being folded, or in addition to being folded. For example, the parts of handrails 3GL, 3GR, 3HL, and 3HR that are not used to install cameras 40L or 40R, as described later, may be removed.

[0088] For example, as shown in Figure 4, the support column 3GL1 of the handrail 3GL is configured to rotate so that its upper part tilts backward around its middle section when a predetermined fixing structure is released. The main body 3GL2 of the handrail 3GL is configured to rotate so that it tilts around the tip of the support column 3GL1 when a predetermined fixing structure between the main body 3GL2 and the support column 3GL1 is released. As a result, in the transport position of the crane body 1t, the handrail 3GL tilts approximately 90° backward around its middle section, and the main body 3GL2 folds while maintaining a state parallel to the front-to-back axis in accordance with the backward tilt of the support column 3GL1.

[0089] Similarly, as shown in Figure 4, for example, the support column 3GR1 of the handrail 3GR is configured to rotate so that its upper part tilts backward around its middle section when a predetermined fixing structure is released. The main body 3GR2 of the handrail 3GR is configured to rotate around the tip of the support column 3GR1 when a predetermined fixing structure between the main body 3GR2 and the support column 3GR1 is released. As a result, in the transport position of the crane body 1t, the handrail 3GR is folded so that the support column 3GR1 tilts approximately 90° backward around its middle section, and the main body 3GR2 maintains a state parallel to the front-to-back axis in accordance with the backward tilt of the support column 3GR1.

[0090] Furthermore, as shown in Figure 4, for example, the support column 3HL1 of the handrail 3HL is configured to rotate so that its upper part tilts forward around its middle section when a predetermined fixing structure is released. As a result, in the crane body 1t in the transport position, the handrail 3HL is folded so that it tilts forward by approximately 90° around the middle section of the support column 3HL1.

[0091] Similarly, as shown in Figure 4, for example, the support column 3HR1 of the handrail 3HR is configured to rotate so that its upper part tilts forward around its middle section when a predetermined fixing structure is released. As a result, in the crane body 1t in the transport position, the handrail 3HR is folded so that it tilts forward by approximately 90° around the middle section of the support column 3HR1.

[0092] Furthermore, in the transport position, the crane body 1t has its position and orientation changed from the state of the crane body 1 during normal operation. The positions and orientations of cameras 40B, 40L, and 40R are altered.

[0093] For example, as shown in Figure 4, the camera 40B is removed from the counterweight CW along with the bracket 40BB1 and attached to the tip (upper end) of a column-type bracket 40BB2, which is attached to the rear end of the slewing frame 3AC of the upper slewing body. Specifically, the bracket 40BB1 is attached so as to extend rearward from the upper end of the bracket 40BB2, and the camera 40B is attached at the tip of the bracket 40BB1 so as to be tilted along its optical axis.

[0094] Furthermore, as shown in Figure 4, for example, the bracket 40LB is configured to rotate backward around a rotation axis along the vertical direction of the base end when a predetermined fixing structure at the base end is released. As a result, in the crane body 1t in the transport position, the bracket 40LB is folded backward from the state of the crane body 1 during normal operation, and the main body 3GL2 of the handrail 3GL is folded downward. The bracket 40LB may be folded manually by an operator or automatically by a predetermined actuator. Therefore, in the crane body 1 in the transport position, the position of the camera 40L is changed to the right in the left-right direction to move closer to the house 3BL, to the rear in the front-back direction, and to the downward in the up-down direction, compared to the state of the crane body 1 during normal operation. Thus, the width of the crane body 1 in the transport position can be reduced.

[0095] Furthermore, as shown in Figure 4, for example, the bracket 40RB is configured to rotate forward around a rotation axis along the vertical direction of the base end when a predetermined fixing structure at the base end is released. As a result, in the crane body 1t in the transport position, the bracket 40RB is folded forward from the state of the crane body 1 during normal operation, and the main body 3GR2 of the handrail 3GR is folded downward. The bracket 40RB may be folded manually by an operator or automatically by a predetermined actuator. Therefore, in the crane body 1 in the transport position, the position of the camera 40R is changed to the left in the left-right direction to move closer to the house 3BR, changed to the front-rear direction to move forward, and changed to the up-down direction to move downward compared to the state of the crane body 1 during normal operation. Thus, the width of the crane body 1 in the transport position can be reduced.

[0096] Furthermore, the position and orientation of camera 40B may be changed by employing a movable (e.g., foldable) bracket, similar to cameras 40L and 40R. In this case, the movable part of the bracket may be moved manually by an operator or by a predetermined actuator. Also, the position and orientation of camera 40F may be changed in the crane body 1t in the transport position. In this case, the position of camera 40F may be changed by removing it from the cabin 10, or, as described above, by employing a movable (e.g., foldable) bracket. In the latter case, the movable part of the bracket may be moved manually by an operator or by a predetermined actuator. Also, in the crane body 1t in the transport position, the position and orientation of at least one of cameras 40B, 40L, and 40R may not be changed compared to the crane body 1 during normal operation. Furthermore, in the crane body section 1t in the transport position, at least one of the cameras 40F, 40B, 40L, and 40R may have only one of its position or orientation changed.

[0097] [Peripheral monitoring system] Referring to Figure 5, the peripheral monitoring system MS according to this embodiment will be described.

[0098] Figure 5 shows an example of the configuration of a peripheral monitoring system (MS).

[0099] As shown in Figure 5, the peripheral monitoring system MS includes a peripheral monitoring device MA mounted on the crane 100, a display unit 120, and an external power supply 130.

[0100] The peripheral monitoring device MA includes a controller 30, an imaging unit 40, a display unit 50, a communication unit 60, an information acquisition unit 70, a switch 80, and an input unit 82.

[0101] The peripheral monitoring device MA operates using power from a power source (not shown) mounted on the crane 100 (hereinafter referred to as the "internal power source") during normal operation of the crane 100. Specifically, during normal operation of the crane 100, all low-voltage electrical equipment (hereinafter referred to as the "low-voltage equipment") of the crane 100, including the peripheral monitoring device MA, can operate using power from the internal power source. Low-voltage equipment is electrical equipment that operates at relatively low voltages (for example, voltages on the order of several tens of volts, such as 24V). The internal power source is, for example, a lead-acid battery or lithium-ion battery with a relatively small output voltage (for example, on the order of several tens of volts, such as approximately 24V). On the other hand, the peripheral monitoring device MA operates using power from the external power source 130 during transportation of the crane 100, and during disassembly and assembly before and after transportation. For example, during the transport of the crane 100, and during disassembly and assembly before and after transport, power from the external power supply 130 is used to supply power only to a portion of the low-voltage equipment in the 100t transport configuration, including the peripheral monitoring device MA. This allows power from the external power supply 130 to be supplied only to the low-voltage equipment necessary during the transport of the crane 100, and during disassembly and assembly before and after transport, resulting in energy savings. Alternatively, during the transport of the crane 100, and during disassembly and assembly before and after transport, the entire low-voltage equipment of the 100t transport configuration may be powered by the external power supply.

[0102] Furthermore, among the components of the peripheral monitoring device MA, the display unit 50 does not necessarily need to be supplied with power from the external power supply 130.

[0103] In the crane 100, the power system that supplies power from the internal power source to the peripheral monitoring device MA and the power system that supplies power from the external power source 130 to the peripheral monitoring device MA may be the same or they may be separate.

[0104] The controller 30 is a control device that performs various processes related to monitoring the surroundings of the crane 100.

[0105] The functions of the controller 30 can be arbitrarily realized by predetermined hardware, or by a predetermined combination of hardware and software. For example, the controller 30 is mainly composed of a computer including a processor, a memory device (also called "main memory"), an auxiliary storage device, and an interface device for input / output with the outside. The processor includes, for example, a CPU (Central Processing Unit). The processor may also include a GPU (Graphics Processing Unit), an FPGA (Field Programmable Gate Array), an ASIC (Application Specific Integrated Circuit), etc. In this case, for example, the controller 30 can realize various functions by loading a program installed in the auxiliary storage device into the memory device and executing it with the processor.

[0106] The imaging unit 40 captures images representing the surroundings of the crane 100. The imaging unit 40 includes cameras 40F, 40B, 40L, and 40R, as described above.

[0107] Camera 40X acquires and outputs images representing the surroundings of the crane 100 at predetermined intervals (for example, 1 / 30th of a second). The images output from camera 40X are received by controller 30 via a one-to-one communication line or an in-vehicle network.

[0108] The display unit 50 is installed inside the cabin 10 in a location easily visible to the operator seated in the driver's seat, and under the control of the controller 30, it displays informational images to the operator in the cabin 10. The display unit 50 is, for example, a liquid crystal display or an organic EL (electroluminescence) display.

[0109] For example, during normal operation of the crane 100, the display unit 50 displays a surrounding image representing the conditions around the crane 100 based on the output image (captured image) from the imaging unit 40. Specifically, the controller 30 outputs the surrounding image to the display unit 50 based on the captured image acquired from the camera 40X, and displays it on the display unit 50. As a result, the operator in the cabin 10 can operate the crane 100 while broadly monitoring the conditions around the crane 100, including areas that cannot be directly seen, by viewing the surrounding image on the display unit 50. Therefore, the safety of the crane 100 can be improved.

[0110] The peripheral image is a viewpoint-transformed image generated based on, for example, an image captured by at least one of the cameras 40F, 40B, 40L, and 40R. The controller 30 can generate the peripheral image as a viewpoint-transformed image by applying known viewpoint transformation processing and synthesis processing, etc., based on the image captured by camera 40X. The viewpoint-transformed image is, for example, an overhead view from above the crane 100. The viewpoint of the viewpoint-transformed image may be fixed directly above the crane 100, or it may be arbitrarily varied according to input from the operator. The peripheral image may also be the image captured by camera 40X itself. In this case, the display unit 50 may display only the image captured by one of the cameras 40F, 40B, 40L, and 40R, or it may display images captured by multiple cameras 40X.

[0111] Furthermore, when the crane 100 is remotely operated, the surrounding images are displayed on the display unit in the remote control room or on the display unit of a portable operation terminal device. In this case, for example, the controller 30 transmits the surrounding images to the remote control room or operation terminal device via the communication unit 60, thereby displaying the surrounding images on the display units of the remote control room or operation terminal device. Alternatively, if the surrounding images are viewpoint-shifted images, the controller 30 may transmit the images captured by the camera 40X to the remote control room or operation terminal device via the communication unit 60, and the processing unit in the remote control room or the operation terminal device may generate viewpoint-shifted images based on the images captured by the camera 40X.

[0112] The communication unit 60 communicates with external equipment of the crane 100 via a predetermined communication line.

[0113] The specified communication line is, for example, a wide area network (WAN). Alternatively, the specified communication line may be a wireless local network at the work site (for example, a local 5G mobile communication network) or a short-range communication line.

[0114] Furthermore, the communication unit 60 may communicate with equipment brought into the cabin 10 (for example, a mobile device such as a smartphone or tablet owned by the operator) via a local network or short-range communication line.

[0115] The information acquisition unit 70 acquires and outputs information regarding the status of the crane 100. Specifically, the information acquisition unit 70 acquires and outputs information indicating whether the crane 100 is in normal operation, during transport, or during disassembly or assembly before and after transport.

[0116] For example, the information acquisition unit 70 is a non-contact switch capable of outputting a signal indicating whether or not parts that are normally removed from the crane body 1 during normal operation have been removed from the crane body 1 in the transport position. The information acquisition unit 70 may also be a position sensor or attitude sensor that acquires data representing the position and attitude of the camera 40X. The information acquisition unit 70 may also be an input unit that receives input from a user such as an operator or worker indicating whether the crane 100 is in normal operation, transport, or during disassembly or assembly before and after transport. The input unit may be a mechanical input unit capable of receiving mechanical input such as a button, toggle, or lever. The input unit may also be a voice input unit that receives voice input from the user, a gesture input unit that receives gesture input, or a biometric input unit that receives input using the user's biometric information. Biometric information may be, for example, information such as the user's fingerprint, voiceprint, or iris. For example, the peripheral monitoring device MA has pre-configured operating modes for the crane 100 during normal operation (normal operation mode) and for the crane 100 during transport, disassembly, assembly, etc. (transportation mode), which are set by input from the input unit. In this case, the input indicating whether the crane 100 is in normal operation mode or during transport, or during disassembly or assembly before and after transport, is, for example, the input that sets the operating mode in the peripheral monitoring device MA.

[0117] The information output from the information acquisition unit 70 is received by the controller 30 via a one-to-one communication line or an in-vehicle network. Based on the information received from the information acquisition unit 70, the controller 30 can determine whether the crane 100 is in normal operation, or during transportation, disassembly before or after transportation, or assembly.

[0118] Furthermore, the way the crane body 1 is depicted in the output image (captured image) of the imaging unit 40, the types of parts shown, and the presence or absence of specific parts (e.g., crawler 2C) differ between normal operation of the crane 100 and during transportation, disassembly before and after transportation, and assembly. This is because at least one of the position and orientation of the imaging unit 40 is changed, or specific parts are removed, during transportation, disassembly before and after transportation, and assembly of the crane 100. Therefore, the controller 30 may determine whether the crane 100 is in normal operation or during transportation, disassembly before and after transportation, and assembly, based on the output image of the imaging unit 40. In this case, the function of the information acquisition unit 70 is realized by the imaging unit 40.

[0119] Switch 80 switches the ON / OFF of the power supply from the external power supply 130 to the peripheral monitoring device MA (specifically, the controller 30, camera 40X, display unit 50, communication unit 60, and information acquisition unit 70, etc.) in response to user input received by the input unit 82. In the crane 100, switch 80 is located at the upstream end of the power system that electrically connects the external power supply 130 with the controller 30, camera 40X, display unit 50, communication unit 60, and information acquisition unit 70.

[0120] The input unit 82 receives input from users, such as workers engaged in the transportation of the crane 100, and the disassembly and assembly operations before and after transportation, for the operation of the switch 80. This allows users to activate (power on) or deactivate (power off) the peripheral monitoring device MA by inputting to the input unit 82. The input unit 82 is located, for example, in the crane body 1t in the transport position, in a place easily accessible to users such as workers on the ground. The input unit 82 is a mechanical input unit that receives mechanical input from users, such as a button, toggle, or lever. The input unit may also be a voice input unit that receives voice input from users, a gesture input unit that receives gesture input, or a biometric input unit that receives input using the user's biometric information.

[0121] Furthermore, user input for switching the switch 80 ON / OFF may be received externally from the crane 100. For example, user input for switching the switch 80 ON / OFF may be input from a dedicated mobile terminal such as a dedicated remote control or a general-purpose mobile terminal such as a smartphone, and the content of the input is transmitted from the mobile terminal and received by the communication unit 60. As a result, the signal received by the communication unit 60 is input to the controller 30, and in response to the input signal, the controller 30 can switch the switch 80 ON / OFF by outputting a command signal to the switch 80. In this case, even when the crane 100 is completely stopped, the communication unit 60 and the controller 30 operate in a low-power mode such as sleep mode using power from the internal power supply.

[0122] The display unit 120 is used by workers during the transport of the crane 100, as well as during disassembly and assembly before and after transport. It receives and displays images of the crane 100's surroundings transmitted from the controller 30 via the communication unit 60. Specifically, during the transport of the crane 100, as well as during disassembly and assembly before and after transport, the controller 30 outputs images of the crane 100's surroundings based on the output image (captured image) of the camera 40X and transmits them to the display unit 120 via the communication unit 60. This allows the controller 30 to display images of the crane 100's surroundings on the display unit 120 during the transport of the crane 100, as well as during disassembly and assembly before and after transport. Therefore, by allowing workers to view the images of the surroundings on the display unit 120 during the transport of the crane 100, as well as during disassembly and assembly before and after transport, the blind spots around the transport configuration 100t can be reduced. Therefore, for example, when transporting the crane 100, it is possible to suppress entanglement or contact in blind spots that cannot be directly seen from the driver's seat of the trailer head, such as when the trailer is reversing or turning left or right. In addition, when transporting the crane 100, the situation around the trailer can be monitored without installing any additional equipment on the trailer side. Furthermore, workers can use the surrounding images displayed on the display unit 120 to align the transport configuration 100t when loading it onto the trailer.

[0123] The display unit 120 is, for example, a display (e.g., an LCD display or an OLED display) installed in the driver's seat of a trailer head that tows a trailer used when transporting the crane 100. Alternatively, the display unit 120 may be a portable terminal such as a smartphone carried by a worker during the transport of the crane 100, or during disassembly and assembly before and after such transport. Furthermore, the display unit 120 may be a portable auxiliary display that is usually installed in the cabin 10 and can be taken outside the cabin 10. It may also be the aforementioned portable operating terminal device used for remote operation of the crane 100.

[0124] Furthermore, if the display unit 50 is a portable display that can be taken outside from the cabin 10, the display unit 50 may also perform the functions of the display unit 120, and the display unit 120 may be omitted.

[0125] The position and orientation of camera 40X differ between the crane 100 during normal operation and the transport configuration 100t. Therefore, the controller 30 uses different camera calibration data when generating peripheral images based on the images captured by camera 40X for the crane 100 during normal operation and during transport, disassembly, and assembly of the crane 100. In other words, two or more types of camera calibration data are pre-prepared in the internal storage unit of the controller 30, such as an auxiliary storage device, or in the internal storage unit of an external storage device that is communicatively connected to the controller 30, to correspond to changes in the position and orientation of camera 40X. The camera calibration data includes, for example, internal parameters, external parameters, and distortion coefficients, of which the external parameters correspond to the position and orientation of camera 40X. The two or more types of camera calibration data pre-prepared to correspond to changes in the position and orientation of camera 40X have at least one external parameter that differs from the other among the internal parameters, external parameters, and distortion coefficients. This allows the controller 30 to generate appropriate peripheral images in accordance with changes in the position and orientation of camera 40X.

[0126] For example, the controller 30 switches the type of camera calibration data to be used in response to input from a user such as an operator or worker. In other words, the type of camera calibration data used by the controller 30 may be switched manually. Specifically, for example, the controller 30 switches the camera calibration data according to the operating mode of the peripheral monitoring device MA, which is set by input from the user. The controller 30 may also, based on information acquired by the information acquisition unit 70, notify the user to input a switch in the type of camera calibration data to be used, assuming that the controller 30 switches the type of camera calibration data to be used in response to input from the user. The controller 30 may also switch the type of camera calibration data to be used automatically. For example, the controller 30 automatically switches the type of camera calibration data by determining, based on information acquired by the information acquisition unit 70, whether the crane 100 is in normal operation, or during transportation, disassembly before or after transportation, or assembly. Furthermore, if the controller 30 can receive a predetermined output signal from the display unit 120 via the communication unit 60, the controller 30 may automatically switch the type of camera calibration data depending on whether or not there is an output signal from the display unit 120, which is in operation. Specifically, if the controller 30 does not receive a predetermined output signal from the display unit 120 via the communication unit 60, it determines that the display unit 120 is not in use and that the crane 100 is in normal operation, and selects camera calibration data of the type corresponding to the normal operation of the crane 100. On the other hand, if the controller 30 receives a predetermined output signal from the display unit 120 via the communication unit 60, it determines that the display unit 120 is in use and that the crane 100 is being transported, or disassembled or assembled before or after transport, and selects camera calibration data corresponding to the transport, disassembly, or assembly of the crane 100.Furthermore, if the power supply system from the internal power supply to the controller 30 and the power supply system from the external power supply 130 to the controller 30 are separate, the controller 30 may switch the type of camera calibration data by determining which of the two power supply systems is actually supplying power. Specifically, if the controller 30 is receiving power from a power supply system electrically connected to the internal power supply, it determines that the crane 100 is operating normally and selects the type of camera calibration data corresponding to the normal operation of the crane 100. On the other hand, if the controller 30 is receiving power from a power supply system electrically connected to the external power supply 130, it determines that the crane 100 is being transported, or disassembled or assembled before and after transport, and selects the camera calibration data corresponding to the transport, disassembly, or assembly of the crane 100.

[0127] The external power supply 130 supplies power from outside the crane 100 to operate the crane 100's peripheral monitoring device MA during transport, disassembly before and after transport, and assembly. The external power supply 130 is a battery mounted on the trailer carrying the 1-ton crane body in transport position, or on the trailer head towing the trailer. Alternatively, the external power supply 130 may be a generator. The generator may be a general-purpose generator prepared separately from the crane 100, or a dedicated generator prepared in advance as equipment for the crane 100. The external power supply 130 and the crane 100 are connected by a power cable 140.

[0128] The power cable 140 is stored in a designated storage location during normal operation of the crane 100, for example. During transport of the crane 100, or during disassembly and assembly before and after transport, it is taken out of storage by the user, and the connector at its end is connected to a connector on the external power supply 130. Alternatively, the power cable 140 may be provided so as to extend from the external power supply 130, and the connector at its end may be connected to a connector on the crane 100 (specifically, the crane body 1t in the transport position). This allows for an electrical connection between the external power supply 130 and the internal power system of the crane 100.

[0129] Furthermore, during the transport of the crane 100, and during disassembly and assembly before and after transport, the peripheral monitoring device MA may be operated using power from the internal power supply. In this case, for example, unlike during normal operation of the crane 100, only a portion of the low-voltage equipment in the 100t transport configuration, including the peripheral monitoring device MA, can be operated using power from the internal power supply. This allows power from the internal power supply to be supplied only to the low-voltage equipment necessary during the transport of the crane 100, and during disassembly and assembly before and after transport, resulting in energy savings. For example, a separate power supply system is provided that supplies power only to a portion of the low-voltage equipment, including the peripheral monitoring device MA, in addition to the power supply system that supplies power to all the low-voltage equipment of the crane 100 from the internal power supply. This allows the operation of only a portion of the low-voltage equipment, including the peripheral monitoring device MA, using power from the internal power supply by turning on a switch to energize the latter power supply system in response to input from the user when the crane 100 is stopped. Furthermore, just as during normal operation of the crane 100, the entire low-voltage equipment of the transport configuration 100t, including the peripheral monitoring device MA, may be powered by electricity from the internal power supply.

[0130] [Specific examples of surrounding images during normal crane operation] Referring to Figure 6, a specific example of the surrounding image displayed on the display unit 50 during normal operation of the crane 100 will be explained.

[0131] Figure 6 shows an example of a surrounding image EP displayed on the display unit 50 of the cabin 10.

[0132] As shown in Figure 6, the display unit 50 displays a monitoring image MP including a crane image CG and a surrounding image EP.

[0133] The crane image CG is a schematic representation of the crane body 1 as seen from a predetermined viewpoint. In this example, the crane image CG is an image of the crane body 1 as seen from directly above. In this example, the crane image CG is positioned on the display unit 50 screen so that the top corresponds to the front of the crane 100.

[0134] The peripheral image EP is a viewpoint-transformed image generated based on images captured by cameras 40F, 40B, 40L, and 40R, representing the surrounding area of ​​the crane 100 as seen from a predetermined viewpoint. In this example, the peripheral image EP is a viewpoint-transformed image representing the surrounding area of ​​the crane 100 as seen from a viewpoint directly above the crane 100.

[0135] The surrounding image EP shows the left and right crawlers 2C. The surrounding image EP also shows worker WK1 located behind the upper slewing body 3, and worker WK2 located to the left of the upper slewing body 3. This allows the operator to operate the crane 100 while confirming the positions of workers WK1 and WK2 around the crane 100.

[0136] The surrounding image EP is positioned around the crane image CG on the monitoring image MP, in accordance with the actual positional relationship between the crane 100 and the objects surrounding it. This allows the operator to properly understand the positional relationship between the objects shown in the surrounding image EP on the display unit 50 and the crane 100.

[0137] Furthermore, when the crane 100 is remotely operated, a monitoring image similar to the monitoring image MP in Figure 6 is displayed on the display unit in the remote control room and on the display unit of the portable operation terminal device.

[0138] [Specific examples of surrounding images taken during crane transport, etc.] Referring to Figures 7 and 8, the surrounding images EP displayed on the display unit 120 during the transportation of the crane 100, as well as during disassembly and assembly before and after such transportation.

[0139] In the following, components that are the same as or correspond to the specific example in Figure 6 will be denoted by the same reference numerals, and the explanation will focus on the differences from the specific example in Figure 6.

[0140] <Example 1> Figure 7 shows a first example of a peripheral image EP displayed on the display unit 120.

[0141] As shown in Figure 7, the display unit 120 displays a monitoring image MP including a crane image CG and a surrounding image EP, similar to the case of the display unit 50 in Figure 6.

[0142] In this example, the 1-ton crane body of the 100-ton transport configuration is loaded forward onto the trailer bed of the trailer TR, and the surrounding image EP shows the surroundings of the 100-ton transport configuration as seen from the trailer bed of the trailer TR. Specifically, the surrounding image EP shows the trailer TR and the trailer head TH that is towing the trailer TR.

[0143] As described above, the surrounding image EP is positioned around the crane image CG on the monitoring image MP in accordance with the actual positional relationship between the crane 100 and the objects surrounding the crane 100. This allows the surrounding image EP to be positioned around the crane image CG as if it were actually placed on the trailer TR. Therefore, users such as workers can confirm the position of the transport configuration 100t on the trailer TR. Thus, users can utilize the surrounding image EP on the display unit 120 to align the transport configuration 100t on the trailer TR. Furthermore, the driver and operators of the trailer head TH can operate the trailer head TH or provide driving assistance while understanding the positional relationship between the transport configuration 100t and the objects surrounding the trailer TR during the transport of the crane 100.

[0144] <Example 2> Figure 8 shows a second example of the peripheral image EP displayed on the display unit 120.

[0145] As shown in Figure 8, the display unit 120 displays a monitoring image MP, which includes a crane image CG and a surrounding image EP, similar to the first example described above (Figure 7). In addition, unlike the first example described above, the monitoring image MP also includes a mask image MK.

[0146] In this example, unlike the first example described above, the surrounding image EP only shows the rear, left, and right sides of the 100t transport configuration, while a blacked-out mask image MK is displayed in the area corresponding to the front of the 100t transport configuration. Therefore, the surrounding image EP only shows the trailer TR of the trailer head TH, and the trailer head TH in front of the 100t transport configuration is not shown.

[0147] During the transport of crane 100, the positional relationship between trailer head TH and transport configuration 100t is unlikely to be a problem. Therefore, there is no problem in excluding the image representing the view in front of trailer head TH from the perspective of transport configuration 100t from the surrounding image EP. Furthermore, the range around transport configuration 100t displayed as the surrounding image EP is limited to the range where the positional relationship between crane 100 and surrounding objects becomes a problem when transporting crane 100, as viewed from transport configuration 100t. As a result, the monitoring burden on users such as trailer head TH drivers and workers can be reduced, and users can more appropriately monitor the positional relationship between transport configuration 100t and surrounding objects.

[0148] For example, the controller 30 generates a peripheral image as a viewpoint transformation image based on all the images captured by cameras 40F, 40B, 40L, and 40R, and displays the peripheral image EP on the display unit 120 by superimposing a mask image MK onto the generated peripheral image. Alternatively, the controller 30 may generate the peripheral image EP as a viewpoint transformation image by using only the images captured by cameras 40B, 40L, and 40R out of the cameras 40F, 40B, 40L, and 40R.

[0149] As shown in Figure 3a, the transport configuration 100t may be loaded facing backward relative to the trailer TR, with the trailer head TH located behind the transport configuration 100t. In this case, for example, a mask image MK is displayed in the area corresponding to the rear of the transport configuration 100t, and the surrounding image EP includes an image representing the area in front of the transport configuration 100t. In addition, images representing areas in directions other than the direction in which the trailer head TH is located, as viewed from the transport configuration 100t, may be excluded from the surrounding image EP. For example, if it is sufficient to monitor only the positional relationship between the transport configuration 100t and objects on the left and right, the image of the area corresponding to the rear of the trailer TR is excluded from the surrounding image EP, and the mask image MK is displayed in that area.

[0150] Of the surrounding directions as seen from the transport configuration 100t, the range of directions excluded from the surrounding image EP (i.e., the range of directions in which the mask image MK is displayed) is set manually, for example, in response to user input. Alternatively, the controller 30 may recognize the direction in which the trailer head TH is located based on the images captured by cameras 40F and 40B, and automatically display the surrounding image EP on the display unit 120 in a manner that excludes the range in the direction in which the trailer head TH is located from the surrounding image EP.

[0151] [Control processing related to peripheral monitoring] Referring to Figure 9, the control process for monitoring the surroundings of the crane 100 will be explained.

[0152] Figure 9 is a flowchart illustrating a schematic example of the control process related to monitoring the surroundings of crane 100.

[0153] This flowchart is executed repeatedly at predetermined processing cycles, for example, while the peripheral monitoring device MA is in operation. Furthermore, if the function of peripheral monitoring of the crane 100 by the peripheral monitoring device MA can be switched on and off by user input, this flowchart may be executed repeatedly at predetermined processing cycles when the peripheral monitoring function of the crane 100 is enabled.

[0154] As shown in Figure 9, in step S102, the controller 30 determines whether or not the crane 100 is in normal operation based on the information acquired from the information acquisition unit 70. If the crane 100 is in normal operation, the controller 30 proceeds to step S104. If the crane 100 is not in normal operation, i.e., if it is being transported or disassembled or assembled before or after transport, the controller 30 proceeds to step S110.

[0155] In step S104, the controller 30 selects and sets the camera calibration data to be used as the type of camera calibration data corresponding to the normal operation of the crane 100.

[0156] Once the processing in step S104 is complete, the controller 30 proceeds to step S106.

[0157] In step S106, the controller 30 generates a peripheral image based on the image captured by the camera 40X, using the camera calibration data set in step S104.

[0158] Once the process in step S106 is complete, proceed to step S108.

[0159] In step S108, the controller 30 outputs and displays the surrounding image generated in step S106 on the display unit 50 of the cabin 10.

[0160] Furthermore, if the crane 100 is to be operated remotely, in step S108, the controller 30 transmits and displays surrounding images to the remote control room or the display unit of a portable operation terminal.

[0161] Once step S108 is completed, the controller 30 terminates the processing of this flowchart.

[0162] Meanwhile, in step S110, the controller 30 selects and sets the type of camera calibration data to be used that corresponds to the transport of the crane 100, as well as the disassembly and assembly before and after transport.

[0163] In step S112, the controller 30 generates a peripheral image based on the image captured by the camera 40X, using the camera calibration data set in step S110.

[0164] Once the processing in step S112 is complete, the controller 30 proceeds to step S114.

[0165] In step S114, the controller 30 determines whether or not it is possible to output the surrounding image to the display unit 120 outside the surrounding monitoring device MA. For example, if the controller 30 receives a predetermined signal from the display unit 120 via the communication unit 60, it determines that the display unit 120 is operational and capable of outputting the surrounding image to the display unit 120. If the predetermined signal is not received, it determines that it is not possible to output the surrounding image to the display unit 120. If the controller 30 determines that it is possible to output the surrounding image to the display unit 120, it proceeds to step S116. On the other hand, if the controller 30 determines that it is not possible to output the surrounding image to the display unit 120, it proceeds to step S108. As a result, when the controller 30 is not able to output the surrounding image to the display unit 120, it can display the surrounding image on the display unit 50 of the cabin 10, or on the display unit of the remote control room or a portable control terminal device.

[0166] Furthermore, in step S114, if the controller 30 is unable to output the surrounding image to the display unit 120, it may terminate the processing of this flowchart.

[0167] In step S116, the controller 30 outputs and displays the surrounding image generated in step S114 on the display unit 120.

[0168] Once the process in step S116 is complete, the controller 30 terminates the process in this flowchart.

[0169] Furthermore, as described above, if the display unit 50 is a portable display that can be taken outside the cabin 10, and the display unit 50 also performs the functions of the display unit 120, then steps S114 and S116 are omitted. In this case, once step S106 or step S112 is completed, the controller 30, for example, performs a process to determine whether or not it is possible to output a surrounding image to the display unit 50. In this process, if the controller 30 determines that it is possible to output a surrounding image to the display unit 50, it proceeds to step S108 and displays the surrounding image on the portable display unit 50. If it is not possible to output a surrounding image to the display unit 50, the process of this flowchart is terminated.

[0170] [Effect] The operation of the crane and monitoring system according to this embodiment will be described.

[0171] In a first aspect of this embodiment, the crane includes an imaging unit for imaging the area around the crane and an output unit. The crane is, for example, the crane 100 described above. The imaging unit is, for example, the imaging unit 40 described above. The output unit is, for example, the communication unit 60 or controller 30 described above. Specifically, the output unit outputs the output image from the imaging unit, or a peripheral image representing the area around the crane generated based on the output image from the imaging unit, to a first display unit when the crane is transported while loaded on a trailer, or when the crane is disassembled or assembled before or after such transport. The first display unit is, for example, the display unit 120 described above. Alternatively, the first display unit may be a display unit 50 that is a portable display that can be taken out of the cabin 10 described above.

[0172] This allows the first display unit to show a surrounding image of the crane's surroundings during trailer transport, disassembly before and after transport, and assembly. Therefore, workers engaged in trailer transport, disassembly before and after transport, and assembly can monitor the situation around the crane by visually checking the surrounding image on the first display unit during trailer transport, disassembly before and after transport, and assembly. Furthermore, since no additional equipment is required on the trailer, the function of monitoring the crane's surroundings during trailer transport, disassembly before and after transport, and assembly can be introduced more easily and at a lower initial cost. In addition, by checking the surrounding image displayed on the first display unit, workers can more accurately align the crane's transport configuration on the trailer's cargo bed.

[0173] Furthermore, in a second aspect of this embodiment, based on the first aspect described above, a second display unit, different from the first display unit, which is provided for the operator to view during crane operation, may be capable of displaying a surrounding image representing the area around the crane based on the output image of the imaging unit during normal operation, including crane lifting operations. The first display unit and the second display unit are, for example, the display unit 120 and the display unit 50 described above. "Normal operation" means, for example, all operations that can be performed when the crane 100 is in a state in which it can perform operations, and is different from times when the crane 100 cannot perform operations, such as during transport of the crane, or during disassembly and assembly before and after such transport.

[0174] This allows the crane to display surrounding images representing the conditions around the crane on a first display unit, which is different from the second display unit used by the operator during normal operation, when transporting the crane using a trailer, or when disassembling and assembling it before or after such transport.

[0175] Furthermore, in a third aspect of this embodiment, based on the first or second aspect described above, the crane may be equipped with a control unit. The control unit is, for example, a controller 30. Specifically, the control unit may, during transport, disassembly, or assembly, output from the output unit the output image of the imaging unit, or a surrounding image representing the area around the crane generated based on the output image of the imaging unit, thereby displaying the surrounding image representing the area around the crane on the first display unit.

[0176] This allows the crane to display surrounding images on the first display unit during transport on a trailer, as well as during disassembly and assembly before and after such transport.

[0177] Furthermore, in a fourth aspect of this embodiment, based on any one of the first to third aspects described above, the imaging unit may have a different position and orientation during normal operation, including the lifting operation of the crane, during transportation, or during disassembly or assembly.

[0178] This allows the crane to reduce blind spots around the crane within the imaging range of the imaging unit during normal operation, while also suppressing proximity to and contact with objects around the crane during transportation, dismantling, and disassembly before and after such transportation.

[0179] Furthermore, in a fifth aspect of this embodiment, based on any one of the first to fourth aspects described above, at least some of the electrical equipment mounted on the crane, including the imaging unit and the output unit, may be operated by power supplied from an external power source. The electrical equipment is, for example, the low-voltage equipment described above. The external power source is, for example, the external power supply 130 described above.

[0180] As a result, during transportation, disassembly, and assembly of the crane, the imaging unit and output unit can be powered by an external power source, allowing the crane's surroundings to be displayed on the first display unit.

[0181] Furthermore, in a sixth aspect of this embodiment, assuming any one of the first to fifth aspects described above, the crane may be equipped with an input unit capable of receiving input from a user other than the operator. A user other than the operator is, for example, a worker engaged in the work of transporting the crane 100, or during disassembly and assembly before and after such transport. The input unit is, for example, the input unit 82 described above. At least some of the electrical equipment mounted on the crane, including the imaging unit and the output unit, may be capable of switching their power on and off in response to the input received by the input unit. The electrical equipment is, for example, the low-voltage equipment described above. For example, an input unit such as a switch provided inside the cabin 10 described above is basically used to receive input from the operator, and therefore does not fall under the category of "an input unit capable of receiving input from a user other than the operator" in this embodiment.

[0182] This allows a user other than the operator to, for example, during crane transport, disassembly before and after transport, and assembly, to switch the power of the imaging unit and output unit from off to on by making an input to the input unit, thereby activating the surrounding monitoring function that displays images of the crane 100's surroundings on the first display unit.

[0183] In a seventh aspect of this embodiment, the monitoring system comprises an imaging unit and a first display unit. The monitoring system is, for example, the surrounding monitoring system MS described above. The imaging unit is, for example, the imaging unit 40 described above. The first display unit is, for example, the display unit 120 described above. Alternatively, it may be a display unit 50 as a portable display that can be taken out of the cabin 10 described above. Specifically, the imaging unit is provided on the crane and images the area around the crane. The first display unit displays a surrounding image representing the area around the crane based on the imaging unit when the crane is transported while loaded on a trailer, or when the crane is disassembled or assembled before or after such transport.

[0184] This allows the first display unit to show a surrounding image of the crane's surroundings during trailer transport, disassembly before and after transport, and assembly. Therefore, workers engaged in trailer transport, disassembly before and after transport, and assembly can monitor the situation around the crane by visually checking the surrounding image on the first display unit during trailer transport, disassembly before and after transport, and assembly. Furthermore, since no additional equipment is required on the trailer, the function of monitoring the crane's surroundings during trailer transport, disassembly before and after transport, and assembly can be introduced more easily and at a lower initial cost. In addition, by checking the surrounding image displayed on the first display unit, workers can more accurately align the crane's transport configuration on the trailer's cargo bed.

[0185] Furthermore, in an eighth aspect of this embodiment, based on the seventh aspect described above, the monitoring system may include a second display unit different from the first display unit for the operator to view during crane operation. The first and second display units are, for example, the display unit 120 and the display unit 50 described above. Specifically, the second display unit may be capable of displaying a surrounding image representing the area around the crane based on the output image of the imaging unit during normal operation, including crane lifting operations.

[0186] This allows the monitoring system to display surrounding images representing the conditions around the crane on a first display unit, which is different from the second display unit used by the operator during normal operation, when the crane is being transported on a trailer, or during disassembly and assembly before and after such transport.

[0187] Furthermore, in the ninth aspect of this embodiment, based on the eighth aspect described above, a storage unit may be provided that stores two or more types of information defining the position and orientation of the imaging unit. The storage unit may be, for example, an auxiliary storage device inside the controller 30 described above, or an external storage device that is communicably connected to the controller 30. The first display unit may also display a peripheral image representing the area around the crane based on the first type of information among the two or more types of information defining the position and orientation of the imaging unit and the output image of the imaging unit. The information defining the position and orientation of the imaging unit is, for example, the camera calibration data described above. The first type of information is, for example, camera calibration data corresponding to the time of transport of the crane 100, and the time of disassembly and assembly before and after such transport. The second display unit may also display a peripheral image representing the area around the crane based on the second type of information, which is different from the first type of information among the two or more types of information defining the position and orientation of the imaging unit, and the output image of the imaging unit. The second type of information is, for example, camera calibration data of the type corresponding to the normal operation of the crane 100 described above.

[0188] This allows the monitoring system to appropriately display surrounding images on the first and second display units from the output image of the imaging unit, in accordance with changes in the position and orientation of the imaging unit during normal crane operation and during crane transport, disassembly, and assembly before and after such transport.

[0189] Furthermore, in the tenth aspect of this embodiment, the monitoring system may include an information acquisition unit and an information generation unit, based on any one of the seventh to ninth aspects described above. The information acquisition unit is, for example, the information acquisition unit 70 described above. The generation unit is, for example, the controller 30 described above. Specifically, the information acquisition unit may acquire information regarding the state of the crane. The generation unit may then generate a surrounding image representing the area around the crane based on one of two or more types of information defining the position and orientation of the imaging unit, selected based on the information acquired by the information acquisition unit, and the output image of the imaging unit.

[0190] This allows the monitoring system to generate images of the crane's surroundings based on the output images from the imaging unit, in accordance with changes in the position and orientation of the imaging unit, and to display these images on the first display unit, etc.

[0191] Furthermore, in the 11th embodiment of this embodiment, based on the 10th embodiment described above, the information acquisition unit may acquire information regarding the current position and orientation of the imaging unit.

[0192] This allows the monitoring system to generate images of the crane's surroundings based on the output images from the imaging unit, in accordance with changes in the position and orientation of the imaging unit, and to display these images on the first display unit, etc.

[0193] Furthermore, in the 12th embodiment of this embodiment, based on any one of the 7th to 11th embodiments described above, the first display unit may display a peripheral image representing the area around the crane, corresponding to only a portion of the imaging range of the imaging unit. The portion of the imaging range of the imaging unit is, for example, the area corresponding to the mask image MK in the peripheral image EP of Figure 8 described above, that is, the area in front of the transport configuration 100t.

[0194] This allows the monitoring system to limit the area to be monitored to specific areas requiring monitoring by allowing users, such as workers, to visually view the surrounding images. Therefore, users can more effectively monitor the conditions around the crane by visually viewing the surrounding images during crane transport, disassembly before and after transport, and assembly.

[0195] Although embodiments have been described in detail above, this disclosure is not limited to these specific embodiments, and various modifications and changes are possible within the scope of the gist described in the claims. [Explanation of Symbols]

[0196] 1.1t Crane Body 2 Lower running body 2C Crawler 2TF Track Frame 3. Upper rotating body 4 Boom 4A Lower Boom 4B Intermediate Boom 4C Upper Boom 5 Mast 10 cabins 30 controllers 40 Imaging Unit 40B, 40F, 40L, 40R Camera 50 Display 60 Communications Department 70 Information acquisition department 80 switches 82 Input section 100 Cranes 100t transport configuration 120 Display section 130 External power supply 140 Power Cable CG crane image EP surrounding images MA Peripheral Monitoring Device MK Mask Image MP surveillance images MS Peripheral Monitoring System TH Trailer Head TR Trailer

Claims

1. An imaging unit that images the area around the crane, It includes an output section, The output unit outputs the output image from the imaging unit, or a peripheral image representing the area around the crane, generated based on the output image from the imaging unit, to the first display unit during the transport of the crane while it is loaded on a trailer, or during the disassembly or assembly of the crane before or after such transport. crane.

2. A second display unit, distinct from the first display unit, is provided for the operator's visual confirmation during crane operation. During normal operations, including crane lifting, the second display unit can display a surrounding image representing the area around the crane based on the output image from the imaging unit. The crane according to claim 1.

3. During the aforementioned transport, disassembly, or assembly, the control unit is configured to output from the output unit an output image from the imaging unit, or a surrounding image representing the area around the crane generated based on the output image from the imaging unit, thereby displaying the surrounding image representing the area around the crane on the first display unit. The crane according to claim 1 or 2.

4. The imaging unit has a position and orientation that differs in at least one way between normal operations, including the lifting operation of the crane, and during transportation, disassembly, or assembly. The crane according to claim 1 or 2.

5. At least some of the electrical equipment mounted on the crane, including the imaging unit and the output unit, can be operated by power supplied from an external power source. The crane according to claim 1 or 2.

6. It is equipped with an input section that can accept input from a user other than the operator, At least some of the electrical equipment mounted on the crane, including the imaging unit and the output unit, can be switched on and off in response to the input received by the input unit. The crane according to claim 1 or 2.

7. An imaging unit is installed on the crane and takes images of the area around the crane, The system includes a first display unit that displays a peripheral image representing the surroundings of the crane based on the imaging unit, during the transport of the crane while it is loaded on a trailer, or during the disassembly or assembly of the crane before or after such transport. A monitoring system.

8. A second display unit, different from the first display unit, for the operator to view during the operation of the crane, comprising the second display unit capable of displaying a surrounding image representing the area around the crane based on the output image of the imaging unit during normal operation, including the lifting operation of the crane. The monitoring system according to claim 7.

9. It includes a storage unit that stores two or more types of information defining the position and orientation of the imaging unit, The first display unit displays a surrounding image representing the area around the crane based on the first type of information among two or more types of information defining the position and orientation of the imaging unit, and the output image of the imaging unit. The second display unit displays a surrounding image representing the area around the crane, based on two or more types of information defining the position and orientation of the imaging unit, which are different from the first type of information, and the output image of the imaging unit. The monitoring system according to claim 8.

10. An information acquisition unit that acquires information regarding the status of the crane, The system includes a generation unit that generates a surrounding image representing the area around the crane based on one of two or more types of information defining the position and orientation of the imaging unit, selected based on the information acquired by the information acquisition unit, and the output image of the imaging unit. The monitoring system according to any one of claims 7 to 9.

11. The information acquisition unit acquires information regarding the current position and orientation of the imaging unit. The monitoring system according to claim 10.

12. The first display unit displays a surrounding image representing the area around the crane, which corresponds to only a portion of the imaging range of the imaging unit. The monitoring system according to any one of claims 7 to 9.

Images