Work-vehicle remote control device

Abstract

This work-vehicle remote control device, that includes an operation unit for remotely operating a work vehicle, comprises: a controller for acquiring a suspended-load image obtained by imaging a suspended load suspended by the work vehicle, and a drum image obtained by imaging a wire-rope winch drum mounted on the work vehicle; and a display for displaying images. The controller arranges the suspended load image and the drum image and displays the same on the display.

Description

Remote control device for work vehicles

[0001] The present invention relates to a remote control device for a work vehicle.

[0002] Conventionally, an operator remotely controls a work vehicle such as a crane from a location distant from the work vehicle. For example, Patent Document 1 discloses a configuration in which an operator remotely controls a work vehicle using a remote control terminal.

[0003] The remote control terminal is capable of communicating with the work vehicle via a communication line such as a carrier line or a satellite line, and operation information for the work vehicle input to the remote control terminal is transmitted to the work vehicle via the communication line.

[0004] The remote control terminal also has a display that can display various information. For example, the display may show a load suspended from a boom equipped on the work vehicle. This allows the operator to operate the work vehicle while checking information such as the movement of the load displayed on the display.

[0005] As described above, the remote control terminal and the work vehicle transmit and receive information via a communication line. However, communication delays can occur when the remote control terminal receives information from the work vehicle. As a result, a discrepancy can occur between the information displayed on the display and the actual movement of the work vehicle.

[0006] In this case, the operator can grasp the degree of communication delay to some extent by checking the difference between the operation timing of the remote control terminal and the movement of the suspended load or the like displayed on the display, for example.

[0007] Japanese Patent Application Laid-Open No. 2019-156529

[0008] However, when the wire is being hoisted or lowered slowly, such as when lifting or lowering a suspended load, the movement of the suspended load cannot be fully recognized on the display, which can make it difficult to grasp the degree of communication delay.

[0009] Furthermore, in order to clearly check the movement of the suspended load, it is conceivable to display multiple images, including an image of the suspended load, on a display and check these images alternately. However, if the multiple images to be checked are displayed on separate displays located at different distances, the distance that the eye must move when checking the images becomes large. As a result, there is a risk that the time that the suspended load is out of sight will increase.

[0010] Therefore, the present invention provides a remote control device for a work vehicle that can easily grasp the degree of communication delay between the work vehicle and the remote control device that remotely controls the work vehicle, and that can reduce the amount of eye movement required when checking images displayed on the display.

[0011] One aspect of the remote control device for a work vehicle according to the present invention is a remote control device for a work vehicle having an operation unit for remotely controlling the work vehicle, and is equipped with a controller that acquires a load image taken of a load suspended by the work vehicle and a drum image taken of a winch drum for a wire rope mounted on the work vehicle, and a display that displays the images, and the controller displays the load image and the drum image side by side on the display.

[0012] According to the present invention, the degree of communication delay between the remote control device and the work vehicle can be easily grasped, and the amount of eye movement required when checking an image displayed on a display can be reduced.

[0013] FIG. 1 is a schematic diagram showing a crane and a remote control device. FIG. 2 is a side view showing a crane. FIG. 3 is a plan view showing the interior of a cabin of the crane. FIG. 4 is a block diagram showing a crane operation system and a remote control device. FIG. 5 is a view showing a forward image. FIG. 6 is a view showing a suspended load image. FIG. 7 is a view showing a drum image. FIG. 8 is a view showing an overhead image. FIG. 9 is a perspective view showing the cockpit of the remote control device. FIG. 10 is a view showing an attitude information image. FIG. 11 is a view showing a site image. FIG. 12 is a view showing a display on which each image is displayed. FIG. 13 is a view showing a second embodiment of a display on which each image is displayed. FIG. 14 is a view showing a third embodiment of a display on which each image is displayed.

[0014] Next, an embodiment of the present invention will be described with reference to the accompanying drawings.

[0015] [Outline of Crane and Crane Remote Control Device] A crane 1 shown in Fig. 1 is one embodiment of a crane remotely controlled by a work vehicle remote control device according to the present invention. A remote control device 8 shown in Fig. 1 is one embodiment of a work vehicle remote control device according to the present invention.

[0016] The remote control device 8 is a device for remotely controlling the crane 1, and is set at a location remote from the crane 1. For example, the remote control device 8 is provided at a location far away from the crane 1 (hereinafter also referred to as a "remote location"). The crane 1 and the remote control device 8 can communicate via a communication line. As the communication line, a carrier line, a locally provided 5G line, a satellite line, or the like can be used.

[0017] The remote control device 8 can remotely control the crane 1 by transmitting operation information for the crane 1 input to the remote control device 8 to the crane 1 via a communication line. Information can also be transmitted from the crane 1 to the remote control device 8 via a communication line.

[0018] [Crane] As shown in Figure 2, the crane 1 is installed at a work site S. The crane 1 comprises a running body 2 and a rotating body 3 that constitute a traveling vehicle 10. The running body 2 comprises front wheels 21 and rear wheels 22. The running body 2 also comprises outriggers 23 that come into contact with the ground to stabilize the crane 1 during transport work of a load W. The running body 2 supports the rotating body 3 so that it can rotate horizontally. The rotating body 3 rotates about a rotation center X by an actuator provided on the running body 2.

[0019] The revolving unit 3 has a boom 31. The boom 31 is supported at the rear of the revolving unit 3. The boom 31 extends forward from the rear of the revolving unit 3. The boom 31 can be rotated together with the revolving unit 3 in a revolving direction A by an actuator (see arrow A in FIG. 2). The boom 31 can be extended and retracted by an actuator in a retraction direction B (see arrow B in FIG. 2). The boom 31 can be raised and lowered by an actuator in a raising and lowering direction C (see arrow C in FIG. 2).

[0020] A wire rope 32 is stretched across the boom 31. The wire rope 32 hangs down from the tip of the boom 31. A hook 33 is attached to the tip of the wire rope 32. In this embodiment, one wire rope 32 is stretched multiple times between the tip of the boom 31 (specifically, the sheave) and the hook 33. A load W can be suspended from the hook 33. In other words, the wire rope 32 can suspend the load W via the hook 33.

[0021] A winch drum 34 is disposed near the base end of the boom 31 of the revolving body 3. The winch drum 34 is configured integrally with an actuator and winds up and down the wire rope 32. This allows the hook 33 to be freely raised and lowered by the actuator in a lifting direction D (see arrow D in FIG. 2 ).

[0022] The revolving unit 3 is provided with a cabin 35 on the side of the boom 31. In this embodiment, the boom 31 is located to the left of the cabin 35. The left-right direction is a direction perpendicular to the traveling direction and up-down direction of the traveling unit 2. As shown in Figure 3, inside the cabin 35, operating levers such as a revolving lever 51, a telescopic lever 52, a hoisting lever 53, and a winding lever 54, as well as a plurality of operating pedals 50, are provided.

[0023] The crane 1 may be configured such that a jib is attached to the tip of the boom 31. In this case, the boom 31 is extended by the jib. The jib may be configured to be extendable and hoistable.

[0024] [Crane Steering System] The crane 1 is equipped with a steering system 4 .

[0025] As shown in Figures 2 to 4, the control system 4 mainly includes a control unit 40, multiple operation pedals 50, various operation levers 51 to 54, various cameras 55 to 59, various valves 61 to 64, a display 65, and various detection sensors 71 to 76.

[0026] The control unit 40 has an information storage unit 41. The information storage unit 41 stores various programs required for controlling the crane 1. The information storage unit 41 is also capable of storing various types of data.

[0027] The control unit 40 has an information processing unit 42. The information processing unit 42 converts the amount of operation of the operation pedal 50 and the various operation levers 51 to 54 into an electric signal and transmits it to the various valves 61 to 64 that operate the actuators. In this way, the control unit 40 realizes the operation (swinging operation, extension / retraction operation, and raising / lowering operation) of the boom 31 and the winding up and winding down operation of the wire rope 32. In other words, the control unit 40 controls the operation of the crane 1.

[0028] More specifically, the boom 31 is rotatable in a rotation direction A by an actuator (see arrow A in FIG. 2). In this embodiment, the actuator that rotates the boom 31 is defined as a rotation motor 36 (see FIG. 2). The rotation motor 36 is operated appropriately by a rotation valve 61, which is a directional control valve. The rotation valve 61 is operated based on instructions from the control unit 40. The rotation angle of the boom 31 is detected by a rotation angle detection sensor 71.

[0029] The boom 31 is extendable and retractable in a telescoping direction B by an actuator (see arrow B in FIG. 2). In this embodiment, the actuator that extends and retracts the boom 31 is defined as a telescoping cylinder 37 (see FIG. 2). The telescoping cylinder 37 is operated appropriately by a telescoping valve 62, which is a directional control valve. The telescoping valve 62 is operated based on instructions from the control unit 40. The telescoping length of the boom 31 is detected by a boom length detection sensor 72.

[0030] The boom 31 can be raised and lowered in a hoisting direction C by an actuator (see arrow C in Figure 2). In this embodiment, the actuator that raises and lowers the boom 31 is defined as a hoist cylinder 38 (see Figure 2). The hoist cylinder 38 is operated appropriately by a hoist valve 63, which is a directional control valve. The hoist valve 63 is operated based on instructions from the control unit 40. The hoist angle of the boom 31 is detected by a boom angle detection sensor 73.

[0031] The hook 33 can be raised and lowered in a lifting direction D by an actuator (see arrow D in FIG. 2). In this embodiment, the actuator that raises and lowers the hook 33 is defined as a winding motor 39 (see FIG. 2). The winding motor 39 is operated appropriately by a winding valve 64, which is a directional control valve. When the winding motor 39 is operated, the winch drum 34 is rotated, and the wire rope 32 is wound up or down. The winding valve 64 is operated based on instructions from the control unit 40. The hanging length of the hook 33 is detected by a sensor (not shown).

[0032] The control system 4 is equipped with a boom-raising cylinder pressure detection sensor 74 that detects the pressure applied to the boom-raising cylinder 38, a lever operation detection sensor 75 that detects the operation state of the various operating levers 51 to 54, and an outrigger extension width detection sensor 76 that detects the extension width of the outriggers 23.

[0033] The operation system 4 is equipped with an overload prevention device 45. The overload prevention device 45 is a safety device that prevents the working moment applied to the crane 1 from becoming excessive, thereby preventing the crane 1 from tipping over or being damaged due to an overload that exceeds the rated load.

[0034] The overload prevention device 45 receives various information such as the working status of the crane 1 registered by the operator, as well as the swing angle of the boom 31 detected by the various detection sensors 71 to 76, the extension length of the boom 31, the hoisting angle of the boom 31, the pressure applied to the hoisting cylinder 38, the operating status of the various control levers 51 to 54, and the extension width of the outriggers 23. The various information input to the overload prevention device 45 can be stored in the information storage unit 41 of the control unit 40.

[0035] The overload prevention device 45 calculates the working moment and the rated moment based on the input information, and obtains the moment load factor by dividing the working moment by the rated moment. The obtained moment load factor is input from the overload prevention device 45 to the control unit 40. The obtained moment load factor can also be displayed on the display 65.

[0036] When the input moment load rate becomes 100% or more, the control unit 40 stops the operation of the crane 1 toward the dangerous side and issues a warning by displaying an error code on the display 65, sounding a buzzer, lighting an indicator light, etc. When the moment load rate becomes 100% or more, the operation of the crane 1 toward the dangerous side is stopped, but operation toward the safe side is permitted.

[0037] The control unit 40 performs overload control based on the moment load rate input from the overload prevention device 45, for example, by controlling the crane 1 to stop operation toward the dangerous side and issue an alarm when the moment load rate is 100% or more, by issuing an alarm to call attention when the moment load rate is 90% or more but less than 100%, and by indicating that it is safe when the moment load rate is less than 90%.

[0038] 2 and 4, the crane 1 is equipped with a front camera 55, a load camera 56, a drum camera 57, a first wide-angle camera 58, and a second wide-angle camera 59. The front camera 55, the load camera 56, the drum camera 57, the first wide-angle camera 58, and the second wide-angle camera 59 are connected to the control unit 40.

[0039] The front camera 55 is provided inside the cabin 35. The front camera 55 is configured to be able to capture images in front of the cabin 35. The front camera 55 is also configured to be able to capture images over a wide range, including the inside of the cabin 35, the area above the cabin 35, and the left and right sides of the cabin 35, in addition to the area in front of the cabin 35. The front camera 55 can also be provided outside the cabin 35.

[0040] 5 is obtained by capturing an image of the area in front of the cabin 35 with the front camera 55. The front image P1 captured by the front camera 55 can be stored in the information storage unit 41 of the control unit 40, for example.

[0041] The front image P1 displays the scenery in front of, above, to the left, and to the right of the cabin 35, as well as the interior of the cabin 35. The front image P1 shown in Figure 5 shows a load pick-up position S1 for the load W located in front of the cabin 35, and the load W suspended from the tip of the boom 31 located above the cabin 35.

[0042] The suspended load camera 56 is attached to the tip of the boom 31. The suspended load camera 56 is configured to be able to photograph the suspended load W suspended by the wire rope 32 hanging down from the tip of the boom 31 from above.

[0043] The suspended load image P2 shown in Fig. 6 is obtained by photographing the suspended load W from above using the suspended load camera 56. The suspended load image P2 photographed by the suspended load camera 56 can be stored in the information storage unit 41 of the control unit 40, for example.

[0044] The drum camera 57 is disposed around the winch drum 34. The drum camera 57 is configured to be able to photograph the winch drum 34 and the wire rope 32 wound around the winch drum 34.

[0045] 7 is obtained by photographing the winch drum 34 and the wire rope 32 with the drum camera 57. The drum image P3 photographed by the drum camera 57 can be stored in the information storage unit 41 of the control unit 40, for example.

[0046] The first wide-angle camera 58 is attached to the lower side surface of the boom 31, and the second wide-angle camera 59 is attached to the upper side surface of the boom 31. The first wide-angle camera 58 and the second wide-angle camera 59 are disposed at the tip of the base boom, which is located at the most proximal end of the boom 31, and are positioned higher than the cabin 35 when the boom 31 is in an upright position (for example, the position shown in FIG. 2). The first wide-angle camera 58 and the second wide-angle camera 59 are also disposed so as to be at the same height when the boom 31 is at a predetermined angle (for example, the angle shown in FIG. 2).

[0047] The first wide-angle camera 58 and the second wide-angle camera 59 are wide-angle cameras equipped with wide-angle lenses such as fisheye lenses, and are configured, for example, so that the sum of the angles of view of the first wide-angle camera 58 and the second wide-angle camera 59 is 360 degrees or more. In this embodiment, the angles of view of the first wide-angle camera 58 and the second wide-angle camera 59 are both 210 degrees.

[0048] The first wide-angle camera 58 is configured to be able to photograph at least the front part of the crane 1 from above when the boom 31 is in the erected position. The second wide-angle camera 59 is configured to be able to photograph at least the rear part of the crane 1 from above when the boom 31 is in the erected position.

[0049] An image of the front of the crane 1 is obtained by photographing the front of the crane 1 with the first wide-angle camera 58, and an image of the rear of the crane is obtained by photographing the rear of the crane 1 with the second wide-angle camera 59.

[0050] The image of the front of the crane taken by the first wide-angle camera 58 and the image of the rear of the crane taken by the second wide-angle camera 59 are corrected and combined in the information processing unit 42 of the control unit 40 to generate the overhead image P4 shown in Fig. 8. The overhead image P4 generated based on the images taken by the first wide-angle camera 58 and the second wide-angle camera 59 can be stored in the information storage unit 41 of the control unit 40, for example.

[0051] 8 shows the crane 1 viewed from above and the load W suspended by the wire ropes 32. A first region P4a in the bird's-eye view image P4 showing the front of the crane 1 is an region generated based on an image of the front of the crane captured by the first wide-angle camera 58, and a second region P4b in the bird's-eye view image P4 showing the rear of the crane 1 is an region generated based on an image of the rear of the crane captured by the second wide-angle camera 59.

[0052] The display 65 displays various images. The display 65 is attached in front of the driver's seat inside the cabin 35 so that the operator can see it while operating the various control levers 51 to 54 (see FIG. 3). The display 65 is connected to the control unit 40, and the control unit 40 can provide information to the operator in the cabin 35 through the display 65.

[0053] The control unit 40 can display, on the display 65, for example, a forward image P1 captured by the forward camera 55, a suspended load image P2 captured by the suspended load camera 56, a drum image P3 captured by the drum camera 57, and an overhead image P4 generated based on images captured by the first wide-angle camera 58 and the second wide-angle camera 59. The display 65 can be configured, for example, as a multi-function display that has a touch panel and is capable of displaying and inputting various information and performing various operations.

[0054] The operation system 4 includes a vehicle-side communication unit 43. The vehicle-side communication unit 43 is connected to the control unit 40 and is configured to be able to communicate with the remote control device 8 via a communication line. The control unit 40 is able to transmit various types of information, such as a forward image P1, a suspended load image P2, a drum image P3, an overhead image P4, and attitude information relating to the attitude of the crane 1, to the remote control device 8 via the vehicle-side communication unit 43.

[0055] [Remote Control Device] The remote control device 8 is a device used by an operator located away from the crane 1 when remotely operating the crane 1. As shown in Figures 4 and 9 , the remote control device 8 includes an operating-side communication unit 81, a controller 82, an operation unit 83, a display 84, a display switching unit 85, a touch panel display 88, etc., and a site camera 87.

[0056] The operating-side communication unit 81 is configured to be able to communicate with the vehicle-side communication unit 43 of the crane 1 via a communication line. The operating-side communication unit 81 is an example of a communication unit that can communicate with a work vehicle. The operating-side communication unit 81 is connected to the controller 82.

[0057] The controller 82 is capable of transmitting operation information for the crane 1 input to the remote control device 8 to the crane 1 via the operating-side communication unit 81. The controller 82 is also capable of receiving information related to the crane 1 via the operating-side communication unit 81. The controller 82 is capable of acquiring, for example, a forward image P1, a suspended load image P2, a drum image P3, an overhead image P4, and posture information for the crane 1, which are stored in the control unit 40 of the crane 1, via the operating-side communication unit 81.

[0058] The cockpit CP is configured to resemble the interior of the cabin 35 of the crane 1, and the crane 1 can be operated by performing operations similar to those performed inside the cabin 35.

[0059] The operating unit 83 has a plurality of operating pedals 831 and a plurality of operating levers 832. The operating pedals 831 and operating levers 832 are provided corresponding to the operating pedal 50 and operating levers 51 to 54 of the crane 1, respectively.

[0060] Operation information such as the operation amount of the operation pedal 831 and the operation lever 832 is input to the controller 82. The controller 82 transmits the input operation information to the crane 1 via the operation-side communication unit 81.

[0061] The crane 1 receives the operation information transmitted from the remote control device 8 via the vehicle-side communication unit 43. The operation information received by the crane 1 is input to the control unit 40, and the control unit 40 controls the operation of the crane 1 based on the input operation information. In this way, the operation unit 83 is configured to be able to operate the crane 1 via the operation-side communication unit 81.

[0062] The cockpit CP is provided with a seat 86 where an operator who operates an operation pedal 831 and an operation lever 832 sits.

[0063] The display 84 can display various types of information acquired by the controller 82. For example, the display 84 can display a forward image P1, a suspended load image P2, a drum image P3, an overhead image P4, and posture information of the crane 1 acquired by the controller 82.

[0064] The attitude information of the crane 1 acquired by the controller 82 can be displayed on the display 84 as an attitude information image P5 shown in Fig. 10. The attitude information image P5 may display at least one type of information from the hoisting angle of the boom 31, the length of the boom 31, the rotation angle of the rotating body 3, the height to the tip of the boom 31, and the extension width of the outriggers 23. The various types of information displayed on the attitude information image P5 can be based on information input to the overload prevention device 45, for example.

[0065] As shown in FIG. 9, the display 84 has a plurality of displays, such as a first display 841, a second display 842, and a third display 843.

[0066] The first display 841 is disposed in front of the seat 86 , the second display 842 is disposed to the left of the first display 841 , and the third display 843 is disposed to the right of the first display 841 .

[0067] The touch panel display 88 is disposed on the left front side of the seat 86, closer to the seat 86 than the second display 842. In other words, the touch panel display 88 is disposed apart from the display 84.

[0068] The touch panel display 88 is a display having a touch panel that can be operated by an operator by touching it. The touch panel display 88 can be configured, for example, as a multi-function display that has a touch panel and that can display and input various types of information about the crane 1, similar to the display 65, and can also perform various operations.

[0069] The touch panel display 88 may display at least one type of image, for example, a forward image P1, a suspended load image P2, a drum image P3, an overhead image P4, and a posture information image P5. The touch panel display 88 can be operated by the operator while an image such as the posture information image P5 is displayed. As with the display 65, the touch panel display 88 can be used to perform operations to set the state of the crane 1, such as setting whether to perform main boom work or jib work, resetting the amount of movement of the hook 33, and changing the amount of oil in the operating lever.

[0070] The display switching unit 85 is disposed on the front right side of the seat 86, closer to the seat 86 than the third display 843. In other words, the display switching unit 85 is disposed apart from the display 84. The display switching unit 85 can switch the information displayed on the display 84. The display switching unit 85 may have the same function as a hard switch (rocker switch or turning brake ON / OFF) provided in the cabin 35. The touch panel display 88 and the display switching unit 85 may be swapped left and right. The function of the display switching unit 85 may also be provided in the touch panel display 88.

[0071] As shown in Fig. 1, the on-site camera 87 is disposed at the work site S where the crane 1 is installed, and is configured to be able to capture images of the overall appearance of the crane 1 and the surroundings of the crane 1 at the work site S. By capturing images of the crane 1 and the work site S with the on-site camera 87, a on-site image P6 shown in Fig. 11 is obtained. The on-site image P6 can be stored in a memory unit provided in the controller 82, for example. The display 84, the touch panel display 88, and the display 65 can display the on-site image P6.

[0072] [Display of each image on the display] The controller 82 can display at least one type of image from the front image P1, the suspended load image P2, the drum image P3, the overhead image P4, the posture information image P5, and the site image P6 on the display 84.

[0073] In this case, the controller 82 can display the images P1 to P6 side by side as shown in Fig. 12. That is, the front image P1 can be displayed in the center of the display area of ​​the display 84, the suspended load image P2, the drum image P3, the posture information image P5, and the site image P6 can be displayed to the left of the front image P1, and the overhead image P4 can be displayed to the right of the front image P1. The overhead image P4 is located adjacent to the right side of the front image P1.

[0074] To the left of the forward image P1, the suspended load image P2 is located above, the site image P6 is located below, and the drum image P3 and the posture information image P5 are located between the suspended load image P2 and the site image P6. The drum image P3 is located to the right of the posture information image P5.

[0075] As a result, the suspended load image P2, drum image P3, and site image P6 are positioned adjacent to the left side of the forward image P1. The posture information image P5 is positioned adjacent to the left side of the drum image P3. The posture information image P5 and drum image P3 are positioned adjacent to the lower side of the suspended load image P2. The site image P6 is positioned adjacent to the lower side of the posture information image P5 and drum image P3.

[0076] That is, on the display 84, the suspended load image P2 and the drum image P3 are displayed side by side in the vertical direction.

[0077] Furthermore, the front image P1 and the suspended load image P2 are displayed side by side in the left-right direction. Furthermore, the front image P1 and the drum image P3 are displayed side by side in the left-right direction. Furthermore, the front image P1, the suspended load image P2, and the drum image P3 are displayed side by side with each other.

[0078] Furthermore, the posture information image P5 and the suspended load image P2 are displayed side by side in the vertical direction. Furthermore, the posture information image P5 and the drum image P3 are displayed side by side in the horizontal direction. Furthermore, the posture information image P5, the suspended load image P2, and the drum image P3 are displayed side by side with each other.

[0079] 12, the images P1 to P6 can be displayed side by side on the display 84, for example, the forward image P1 can be displayed on the first display 841, the suspended load image P2, the drum image P3, the posture information image P5, and the site image P6 can be displayed on the second display 842, and the overhead image P4 can be displayed on the third display 843. In this way, the images P1 to P6 can be displayed separately on multiple displays. Alternatively, the images P1 to P6 can be displayed together on a single display.

[0080] The display can be specified and switched by operating the display switching unit 85, such as which of the images P1 to P6 to display on the display 84, at which position on the display 84 each of the images P1 to P6 is to be displayed, and on which of the first display 841, the second display 842, the third display 843, and the fourth display 844 each of the images P1 to P6 is to be displayed.

[0081] [Operating the crane using a remote control device] In the remote control device 8, the operator can operate the crane 1 by operating the operation unit 83 while checking the images P1 to P6 displayed on the display 84 as described above.

[0082] For example, the operation of the operator when transporting a suspended load from a load-receiving position S1 to a load-unloading position S2 shown in Fig. 11 will be described. In Fig. 11, the load-unloading position S2 is set in front of the crane 1 at the work site S, and the load-unloading position S2 is set on the roof of a building B at the work site S.

[0083] First, the operator checks the state of the load receiving position S1 where the load W is placed, the position of the worker slinging the load W onto the hook 33 of the crane 1, etc., using the forward image P1.

[0084] When the worker starts the slinging operation of the load W on the hook 33 at the load-receiving position S1, the operator checks the slinging status of the load W on the load image P2. In this case, the operator can adjust the magnification of the image taken by the load camera 56 using the operation unit 83 to zoom in on the slinging portion displayed in the load image P2, thereby making it possible to clearly check the slinging status.

[0085] When the operator confirms from the front image P1 that the worker has completed the slinging work and issued a command to lift the load, he operates the operation unit 83 while checking the suspended load image P2 and the drum image P3 to wind up the wire rope 32. When the operation unit 83 winds up the wire rope 32, the wire rope 32 is wound up by the winch drum 34, and the load W is lifted.

[0086] In this case, by checking the load image P2, it is possible to confirm the lifting status of the load W. When the winding speed of the wire rope 32 is low and the movement speed of the load W is slow, it may be difficult to confirm the lifting status of the load W from the load image P2, but by checking the winding status of the wire rope 32 by the winch drum 34 from the drum image P3, it is possible to easily infer the lifting status of the load W.

[0087] When checking the lifting status of the load W using the load image P2 and the drum image P3, the load image P2 and the drum image P3 are displayed side by side in the vertical direction, so that the movement of the line of sight can be reduced even when checking the load image P2 and the drum image P3 alternately. This makes it easy to check the lifting status of the load W, and reduces operator fatigue.

[0088] Furthermore, when an operator remotely operates the crane 1 using the remote control device 8, by checking multiple images, various information such as the state of the load W and the attitude of the boom 31 can be obtained. In this case, in order to improve the safety of operating the crane 1, it is preferable to, for example, always keep the suspended load image P2 in view or minimize the time spent looking away from the suspended load image P2.

[0089] However, for example, if the suspended load image P2 is displayed on the display 84 and the drum image P3 is placed at a separate location within the display 84 that displays various images such as the images P1 to P6, or if the drum image P3 is displayed on a touch panel display 88 that is located at a distance from the display 84, the time required to move the eyes between the suspended load image P2 and the drum image P3 will increase, and the time spent looking away from the suspended load image P2 will increase.

[0090] Therefore, by displaying the suspended load image P2 and the drum image P3 side by side on the display 84, the amount of eye movement, such as the distance and time that the eye has to move, is reduced, and the time that the suspended load image P2 is out of sight is reduced, thereby improving the safety of operating the crane 1.

[0091] Furthermore, the lifting status of the load W can be confirmed not only by the load image P2 and the drum image P3 but also by the forward image P1. In this case, the forward image P1 and the drum image P3 are displayed side by side in the left-right direction, so that the operator's line of sight movement can be reduced even when alternately checking the forward image P1 and the drum image P3. This allows the operator to easily check the lifting status of the load W and reduces operator fatigue. Furthermore, compared to, for example, when the load image P2 is displayed on the display 84 and the drum image P3 is displayed on the touch panel display 88, or when the load image P2 and the drum image P3 are not displayed side by side but are arranged separately on the display 84, the amount of line of sight movement between the forward image P1 and the drum image P3 is reduced. In other words, the time the load image P2 is out of the operator's field of vision is reduced. As a result, the safety of operating the crane 1 can be improved.

[0092] When the winch drum 34 has completed lifting the load W, the operator operates the operation unit 83 to adjust the hoisting angle, swivel angle, length, etc. of the boom 31, and move the load W toward the load unloading position S2. In this case, the operator can perform the movement operation of the load W while checking the position of the load W on the front image P1 and the suspended load image P2.

[0093] When checking the position of the load W using the front image P1 and the suspended load image P2, the front image P1 and the suspended load image P2 are displayed side by side in the left-right direction, so that the amount of eye movement can be reduced even when alternately checking the front image P1 and the suspended load image P2. This makes it easy to check the lifting status of the load W, reducing operator fatigue. Furthermore, compared to, for example, when the suspended load image P2 is displayed on the display 84 and the front image P1 is displayed on the touch panel display 88, or when the suspended load image P2 and the front image P1 are not displayed side by side but are arranged separately within the display 84, the amount of eye movement between the front image P1 and the suspended load image P2 is reduced. In other words, the time the suspended load image P2 is out of the operator's field of vision is reduced. As a result, the safety of operating the crane 1 can be improved.

[0094] When the moving load W approaches the load-drop position S2, the operator adjusts the position of the load W while checking the load image P2 so that the load W is positioned above the load-drop position S2.

[0095] In cases where the load unloading position S2 is set on the roof of the building B, for example, it may be difficult to confirm the load W using the forward image P1 when the load W approaches the load unloading position S2. Therefore, by confirming the load W approaching the load unloading position S2 using the load image P2, it becomes possible to easily move the load W above the load unloading position S2.

[0096] When the load W reaches above the lowering position S2, the operator uses the operating unit 83 to wind down the wire rope 32 based on instructions from the worker waiting at the lowering position S2, and brings the load W to the ground at the lowering position S2.

[0097] When winding down the wire rope 32, the operator operates the operation unit 83 while checking the suspended load image P2 and the drum image P3. When the operation to wind down the wire rope 32 is performed using the operation unit 83, the wire rope 32 is wound down by the winch drum 34, and the suspended load W descends and touches down at the load lowering position S2.

[0098] In this case, the operator can confirm the descent state of the load W by checking the load image P2. Furthermore, when the winding-down speed of the wire rope 32 is low and the movement speed of the load W is slow, it may be difficult to confirm the descent state of the load W from the load image P2. However, even in this case, the operator can easily infer the descent state of the load W by checking the drum image P3 to see how the wire rope 32 is being wound down by the winch drum 34.

[0099] When checking the descent status of the load W using the suspended load image P2 and the drum image P3, the suspended load image P2 and the drum image P3 are displayed side by side in the vertical direction, so that the amount of eye movement can be reduced even when alternately checking the suspended load image P2 and the drum image P3. This makes it easy to check the descent status of the load W and reduces operator fatigue. Furthermore, compared to, for example, when the suspended load image P2 is displayed on the display 84 and the drum image P3 is displayed on the touch panel display 88, or when the suspended load image P2 and the drum image P3 are not displayed side by side but are arranged separately on the display 84, the amount of eye movement between the suspended load image P2 and the drum image P3 is reduced. In other words, the time the suspended load image P2 is out of sight is reduced. As a result, the safety of operating the crane 1 can be improved.

[0100] In addition, since the posture information image P5 is displayed on the display 84, the operator can perform winding and lowering operations on the wire rope 32 while checking the posture information image P5 in addition to the suspended load image P2 and drum image P3.

[0101] In this case, the operator memorizes the attitude of the boom 31, the height position of the load W, etc. when the lifting of the load W is completed and when the load W touches the ground at the lowering position S2. Then, when performing the winding-up operation and the winding-down operation of the wire rope 32, the operator checks the attitude of the boom 31, the height position of the load W, etc. on the attitude information image P5, and operates the operation unit 83 so that the attitude and position displayed in the attitude information image P5 approach the memorized attitude and position.

[0102] In this way, by checking the posture information image P5 in addition to the suspended load image P2 and drum image P3, the suspended load W can be moved more quickly than when checking only the suspended load image P2 and drum image P3, thereby reducing operator fatigue.

[0103] Furthermore, when checking the posture information image P5, the suspended load image P2, the drum image P3, and the posture information image P5 are displayed side by side. This reduces the amount of eye movement required when alternately checking the suspended load image P2 and the posture information image P5, or the drum image P3 and the posture information image P5. This allows the operator to easily check the lifting and lowering states of the load W, reducing operator fatigue. Furthermore, compared to, for example, when the suspended load image P2 and the drum image P3 are displayed on the display 84 and the posture information image P5 is displayed on the touch panel display 88, or when the suspended load image P2, the drum image P3, and the posture information image P5 are arranged separately but not side by side on the display 84, the amount of eye movement required between the suspended load image P2, the drum image P3, and the posture information image P5 is reduced. In other words, the time the suspended load image P2 and the drum image P3 are out of sight is reduced. As a result, the safety of operating the crane 1 can be improved.

[0104] Furthermore, the posture information image P5 can be checked in addition to the forward image P1 and the suspended load image P2 when the suspended load W is moved from the lifting completion position toward the load unloading position S2. For example, when the suspended load W is moved from the lifting completion position toward the load unloading position S2, the posture of the crane 1 when the suspended load W reaches the load unloading position S2 is stored, and the posture information image P5 is checked while operating the crane 1 to move the suspended load W. This makes it possible to move the suspended load W quickly and reduce operator fatigue.

[0105] When the operator operates the operation unit 83 to operate the crane 1 while checking the images P1 to P6 displayed on the display 84, a communication delay may occur when the remote control device 8 receives information from the crane 1 via a communication line. If such a communication delay occurs, a discrepancy may occur between the movement of the crane 1 displayed on the images P1 to P6 and the actual movement of the crane 1.

[0106] In this case, the operator can grasp the degree of communication delay by, for example, checking the discrepancy between the operation timing of the operation unit 83 and the movement of the suspended load W, etc., displayed on the display 84.

[0107] On the other hand, for example, when lifting the load W from the loading position S1 or when placing the load W at the unloading position S2, the winding or lowering speed of the wire rope 32 may be so slow that the movement of the load W, etc. displayed on the display 84 cannot be fully recognized, making it difficult to grasp the degree of communication delay.

[0108] However, since the remote control device 8 is configured to display the drum image P3 on the display 84 in addition to the forward image P1 and the suspended load image P2, it is possible to easily check the operation of the winch drum 34 using the drum image P3 even when the movement of the suspended load W is small and difficult to check. Therefore, by checking the difference between the operation timing of the operation unit 83 and the operation of the winch drum 34 on the drum image P3, it is possible to easily grasp the degree of communication delay between the remote control device 8 and the crane 1.

[0109] [Relationship between the position of the boom relative to the cabin and the display position of each image] In the crane 1, the boom 31 is located to the left of the cabin 35, and the front image P1 shows the boom 31 extending from the left side of the image toward the center in the left-right direction. Meanwhile, on the display 84, the controller 82 displays a suspended load image P2 and a drum image P3 to the left of the front image P1.

[0110] The load W displayed in the load image P2 is suspended by a wire rope 32 hanging from the tip of the boom 31, and the winch drum 34 displayed in the drum image P3 winds up and down the wire rope 32 stretched across the boom 31, and the load image P2 and the drum image P3 display content related to the boom 31.

[0111] Therefore, in correspondence with the boom 31 arranged on the left side of the cabin 35, the suspended load image P2 and drum image P3 displaying content related to the boom 31 are arranged to the left of the front image P1 displaying content related to the cabin 35. In other words, the suspended load image P2 and drum image P3 are arranged so that the position of the boom 31 relative to the cabin 35 on the crane 1 and the display positions of the suspended load image P2 and drum image P3 relative to the front image P1 on the display 84 are on the same side in the left-right direction.

[0112] With this arrangement, the positional relationship between the forward image P1, the suspended load image P2, and the drum image P3 can be made to match the positional relationship between the cabin 35 and the boom 31 when the crane 1 is actually viewed from behind, and the operator does not feel uncomfortable when moving his or her gaze between the forward image P1, the suspended load image P2, and the drum image P3.

[0113] Furthermore, if the crane 1 is configured so that the boom 31 is positioned to the right of the cabin 35, the controller 82 can display a suspended load image P2 and a drum image P3 on the display 84 to the right of the forward image P1.

[0114] By arranging the suspended load image P2 and the drum image P3 to the right of the forward image P1, even when the boom 31 is located to the right of the cabin 35, the operator will not feel uncomfortable when moving his or her eyes between the forward image P1 and the suspended load image P2 and drum image P3.

[0115] In this way, the controller 82 can change the display positions of the suspended load image P2 and the drum image P3 relative to the forward image P1 on the display 84, depending on the positions of the boom 31 and the cabin 35 of the crane 1. This prevents the operator from feeling uncomfortable when moving his or her line of sight between the forward image P1 and the suspended load image P2 and drum image P3, making it possible to reduce operator fatigue.

[0116] [Second embodiment of display of images on display] The images P1 to P3, and P5 can be displayed on the display 84 as shown in Fig. 13. On the display 84 shown in Fig. 13, a suspended load image P2, a drum image P3, and a posture information image P5 are displayed above the forward image P1. The suspended load image P2, the drum image P3, and the posture information image P5 are positioned adjacent to and above the forward image P1.

[0117] Above the forward image P1, a suspended load image P2 is located in the center left and right, a drum image P3 is located adjacent to the suspended load image P2 on the left, and a posture information image P5 is located adjacent to the suspended load image P2 on the right.

[0118] That is, on the display 84 shown in FIG. 13, the suspended load image P2 and the drum image P3 are displayed side by side in the left-right direction.

[0119] In addition, the front image P1 and the suspended load image P2 are displayed side by side in the vertical direction, and the front image P1 and the drum image P3 are displayed side by side in the vertical direction, and the front image P1, the suspended load image P2, and the drum image P3 are displayed side by side with each other.

[0120] In this way, because the suspended load image P2 and the drum image P3 are displayed side by side in the left-right direction, the movement of the line of sight can be reduced even when alternately checking the suspended load image P2 and the drum image P3. Moreover, because the front image P1 and the drum image P3 are displayed side by side in the top-bottom direction, the movement of the line of sight can be reduced even when alternately checking the front image P1 and the drum image P3. Furthermore, because the front image P1 and the suspended load image P2 are displayed side by side in the top-bottom direction, the movement of the line of sight can be reduced even when alternately checking the front image P1 and the suspended load image P2. This can reduce the operator's fatigue. Furthermore, compared to, for example, when the front image P1, the suspended load image P2, and part of the drum image P3 are displayed on the display 84 and the other parts are displayed on the touch panel display 88, and when the front image P1, the suspended load image P2, and the drum image P3 are arranged apart from each other within the display 84, the amount of eye movement between the images displayed on the display 84 and the images displayed on the touch panel display 88, as well as the amount of eye movement within the display 84, is reduced, reducing the time that the suspended load image P2 is out of sight, thereby making it possible to improve the safety of operating the crane 1.

[0121] Furthermore, the posture information image P5 and the suspended load image P2 are displayed side by side in the left-right direction, and the posture information image P5 and the front image P1 are displayed side by side in the up-down direction. Therefore, when alternately checking the posture information image P5 and the suspended load image P2 and when alternately checking the posture information image P5 and the front image P1, the amount of eye movement can be reduced. This reduces operator fatigue. Furthermore, compared to, for example, when the front image P1 and the suspended load image P2 are displayed on the display 84 and the posture information image P5 is displayed on the touch panel display 88, or when the front image P1 and the suspended load image P2 and the posture information image P5 are arranged separately but not side by side on the display 84, the amount of eye movement between the front image P1 and the suspended load image P2 and the posture information image P5 is reduced, thereby reducing the time the suspended load image P2 is out of sight, and making it possible to improve the safety of operating the crane 1.

[0122] [Third embodiment of display of images on display] Various images P1 to P3, and P5 can be displayed on the display 84 as shown in Fig. 14. On the display 84 shown in Fig. 14, a suspended load image P2, a drum image P3, and a posture information image P5 are displayed above a forward image P1. The suspended load image P2 and the drum image P3 are positioned adjacent to each other above the forward image P1.

[0123] Above the forward image P1, a suspended load image P2 is located on the left, and a drum image P3 and a posture information image P5 are located on the right of the suspended load image P2. The drum image P3 is located adjacent to and below the posture information image P5.

[0124] 14, the suspended load image P2 and the drum image P3 are displayed side by side in the left-right direction. Because the suspended load image P2 and the drum image P3 are displayed side by side in the left-right direction, the amount of eye movement required can be reduced even when alternately checking the suspended load image P2 and the drum image P3. This reduces operator fatigue. Furthermore, compared to, for example, a case where the suspended load image P2 is displayed on the display 84 and the drum image P3 is displayed on the touch panel display 88, or a case where the suspended load image P2 and the drum image P3 are not displayed side by side but are arranged separately within the display 84, the amount of eye movement required between the suspended load image P2 and the drum image P3 is reduced, reducing the time the suspended load image P2 is out of sight, thereby improving the safety of operating the crane 1.

[0125] In addition, the suspended load image P2 and the drum image P3 are displayed side by side in the left-right direction, the suspended load image P2 and the posture information image P5 are displayed side by side in the left-right direction, the drum image P3 and the posture information image P5 are displayed side by side in the up-down direction, and the posture information image P5, the suspended load image P2, and the drum image P3 are displayed side by side with each other.

[0126] Therefore, when alternately checking the suspended load image P2 and the posture information image P5, or alternately checking the drum image P3 and the posture information image P5, the amount of eye movement can be reduced. This reduces operator fatigue. Furthermore, compared to, for example, when the suspended load image P2 and the drum image P3 are displayed on the display 84 and the posture information image P5 is displayed on the touch panel display 88, or when the suspended load image P2, the drum image P3, and the posture information image P5 are arranged separately but not side by side on the display 84, eye movement between the suspended load image P2, the drum image P3, and the posture information image P5 is reduced, reducing the time the suspended load image P2 and the drum image P3 are out of sight, thereby making it possible to improve the safety of operating the crane 1.

[0127] The images P1 to P6, etc., can be displayed on the display 84 not only in the layout shown in FIGS. 12 to 14 but also in any other suitable layout on the display 84.

[0128] (Additional Note) In the above-described embodiment, the controller 82 of the remote control device 8 acquires various images (forward image P1, suspended load image P2, drum image P3, and overhead image P4) from the crane 1.

[0129] However, the controller 82 may acquire images from a device other than the crane 1. The controller 82 may acquire various images from a plurality of devices (hereinafter referred to as "external devices").

[0130] Here, the "external device" may be a device that is installed at a location other than the crane 1 and captures an image of a predetermined area at the work site. Specific examples of external devices include a fixed camera installed at the work site, a camera mounted on a drone that can fly above the work site, and a camera carried by a worker at the work site.

[0131] For example, the controller 82 may acquire the suspended load image P2 from an external device. In this case, the suspended load image P2 is preferably an image of the suspended load W captured from an angle at which the movement of the suspended load W along the lifting direction D can be easily recognized.

[0132] The disclosures of the specification, drawings, and abstract contained in Japanese Patent Application No. 2024-118934, filed on July 24, 2024, are incorporated herein by reference in their entirety.

[0133] REFERENCE SIGNS LIST 1 Crane 2 Traveling body 3 Swinging body 8 Remote control device 10 Traveling vehicle 31 Boom 32 Wire rope 34 Winch drum 35 Cabin 40 Control unit 55 Front camera 56 Suspended load camera 57 Drum camera 81 Operation side communication unit 82 Controller 83 Operation unit 84 Display P1 Front image P2 Suspended load image P3 Drum image P5 Attitude information image W Suspended load

Claims

1. A remote control device for a work vehicle having an operation unit for remotely controlling the work vehicle, the remote control device comprising: a controller that acquires images of a load suspended by the work vehicle and images of a winch drum for a wire rope mounted on the work vehicle; and a display that displays images, wherein the controller displays the images of the load and the drum images side by side on the display.

2. The remote control device for a work vehicle according to claim 1, wherein the controller acquires the suspended load image and the drum image from the work vehicle.

3. The remote control device for a work vehicle described in claim 1, wherein the controller acquires a forward image from the work vehicle, which is an image taken of the front from the cabin of the work vehicle, and displays the forward image, the suspended load image, and the drum image side by side on the display.

4. A remote control device for a work vehicle as described in claim 3, wherein the controller changes the display positions of the suspended load image and the drum image relative to the forward image on the display depending on the positions of the boom and the cabin on the work vehicle.

5. A remote control device for a work vehicle as described in claim 3, wherein the controller causes the display to display the forward image, the load image, and the drum image so that the left-right position of the boom relative to the cabin of the work vehicle and the left-right display positions of the load image and the drum image relative to the forward image on the display are on the same side.

6. A remote control device for a work vehicle as described in claim 3, wherein the controller causes the display to display the forward image, the suspended load image, and the drum image so that the suspended load image and the drum image are positioned above the forward image.

7. A remote control device for a work vehicle as described in claim 1, wherein the work vehicle is equipped with a control unit that controls the operation of the work vehicle, and the controller acquires posture information of the work vehicle from the work vehicle, and displays the posture information of the work vehicle, the suspended load image, and the drum image side by side on the display.

Images