Patent Description:
Conventionally, a crane information display system that displays information of a crane is known (e.g., refer to PTL <NUM>).

PTL <NUM> discloses a configuration that visualizes information relating to an operating state of a crane and displays a display screen on a display unit of a mobile terminal. As a result, even a person outside the crane can grasp the operating state of the crane.

PTL <NUM> provides a method for clustering the data point groups of one or more measurement targets located in the same region from among the acquired data point groups. It discloses the preamble of claim <NUM>.

PTL <NUM> provides a remote control terminal which achieves both easy visibility and easy control by indicating the movement direction and the movement speed of a work device as a directed segment according to the operation direction and the operation amount of an operation tool.

PTL <NUM> provides a system for tracking movable crane components to assist maneuvering the crane within a jobsite includes a computing device having a processor which calculates a 3D geospatial location and orientation of a 3D coordinate system for an upperworks that has an origin chosen along an axis of rotation between the upperworks and a lowerworks.

In the configuration described in Patent Literature <NUM>, however, the information relating to the operating state of the crane is visualized and displayed by drawing the crane from above or from the side. Therefore, the configuration described in Patent Literature <NUM> has a problem that a two-dimensional examination is required.

Therefore, an object of the present invention is to provide a crane information display system capable of three-dimensionally examining information relating to a crane at a work site.

According to a main aspect, the present invention provides a crane information display system according to independent claim <NUM>. Further aspects of the present invention are set forth in the dependent claims, the drawings, and the following description. Further, according to an aspect of the present disclosure for solving the above-described problems, a crane information display system is provided with a terminal device, the terminal device mounting a camera and capturing an image of a crane with the camera to obtain a camera image. The crane information display system includes: a crane detection unit that detects the crane in the camera image based on image information of the camera image; an information processing unit that identifies a position and a posture of the crane in a coordinate system of the camera image based on an orientation of the camera with respect to the crane identified from the crane in the camera image, a position of the camera in a real space indicated by a first satellite positioning signal reception unit mounted on the camera, and a position of the crane in a real space indicated by a second satellite positioning signal reception unit mounted on the crane; a working capacity calculation unit that calculates a working capacity of the crane based on information relating to the crane inputted to an input unit of the terminal device; and an image display unit that converts the working capacity of the crane into three-dimensional image information corresponding to the position and the posture of the crane identified by the information processing unit, overlays the image information on the camera image, and displays the overlaid image.

In the crane information display system of the present invention configured as described above, the information relating to the crane can be examined three-dimensionally at the work site.

Hereinafter, embodiments for implementing a crane information display system according to the present invention will be described with reference to Examples <NUM> to <NUM> illustrated in the drawings.

<FIG> is a view illustrating a crane information display system of Example <NUM>. Hereinafter, a configuration of the crane information display system of Example <NUM> will be described.

A crane information display system <NUM> of Example <NUM> will be described with an example in which a worker M captures an image of a crane <NUM> placed at a work site with a tablet terminal <NUM> as a user terminal provided with a camera <NUM>, as illustrated in <FIG>. The crane information display system <NUM> of Example <NUM> will be described with an example in which an image of the crane <NUM> in a state in which an outrigger <NUM> does not extend is captured by the camera <NUM>. Note that the front-rear direction of the crane <NUM> is defined as a front-rear direction D.

As illustrated in <FIG>, the crane <NUM> includes a traveling body <NUM>, a turning body <NUM>, and a boom <NUM>.

The traveling body <NUM> includes a vehicle body frame <NUM>, the outrigger <NUM>, a traveling device configured for self-traveling on a road or a work site, and the like.

The outrigger <NUM> includes a rear outrigger <NUM> attached to a rear side surface of the vehicle body frame <NUM> of the traveling body <NUM> and a front outrigger <NUM> attached to a front side surface of the vehicle body frame <NUM>. The outrigger <NUM> is housed in the vehicle body frame <NUM> during traveling. On the other hand, the outrigger <NUM> extends in the horizontal direction and the vertical direction and lifts the entire vehicle body to stabilize a posture.

The turning body <NUM> is provided above the traveling body <NUM> and is rotatable about a vertical axis C1 relative to the traveling body <NUM>. The turning body <NUM> includes a cabin <NUM>. The cabin <NUM> includes operation units (e.g., a steering wheel, a shift lever, an accelerator pedal, a brake pedal, and the like) configured to control traveling of the traveling body <NUM>. Further, the cabin <NUM> includes operation units that operate the turning body <NUM>, the boom <NUM>, a winch, and the like. A worker riding in the cabin <NUM> operates the operation units to turn the turning body <NUM>, raise/lower and extend/contract the boom <NUM>, and rotate the winch to perform the work.

A crane reception unit <NUM> is attached to the turning body <NUM>. The crane reception unit <NUM> (corresponding to a "second satellite positioning signal reception unit" of the present invention) receives a global navigation satellite system (GNSS) signal from a GNSS satellite serving as a satellite <NUM>, for example, to execute positioning, and acquires position information of a turning center of the crane <NUM> in the real space.

A base end side of the boom <NUM> is supported by the turning body <NUM>, and is attached to the turning body <NUM> so as to be raised and lowered. The boom <NUM> is raised and lowered by a derricking cylinder <NUM> provided in the turning body <NUM>, and is expanded and contracted by a telescopic cylinder (not illustrated).

The boom <NUM> includes intermediate booms <NUM> to <NUM> between a base end boom <NUM> on the base end side and a distal end boom <NUM> on a distal end side. The intermediate booms <NUM> to <NUM> and the distal end boom <NUM> are telescopically stored in the base end boom <NUM> in sequence.

A sheave <NUM> is arranged in a boom head 36a provided at a distal end of the distal end boom <NUM>. A wire rope <NUM> for a suspended load is wound around the winch provided near the base end of the boom <NUM> of the turning body <NUM>. The wire rope <NUM> is arranged along the axial direction of the boom <NUM> from the winch to the sheave <NUM>, and the wire rope <NUM> wound around the sheave <NUM> is suspended downward in the vertical direction from the sheave <NUM>. A hook <NUM> is provided at the lowermost portion of the wire rope <NUM>.

A load is suspended on the hook <NUM>, and the wire rope <NUM> wound around the winch is unwound to lower the hook <NUM>, and the wire rope <NUM> is wound up to raise the hook <NUM>.

The crane <NUM> configured in this manner moves the load suspended on the hook <NUM> to a predetermined position by unwinding and winding the wire rope <NUM> by the winch, raising/lowering and extending/contracting the boom <NUM>, and turning the turning body <NUM>.

As illustrated in <FIG>, the tablet terminal <NUM> includes the camera <NUM>, an image display unit <NUM>, an input unit <NUM>, and a camera reception unit <NUM>.

An image captured by the camera <NUM> is displayed on the image display unit <NUM>. The image display unit <NUM> is also configured as a touch panel serving as the input unit <NUM>.

The camera reception unit <NUM> (corresponding to a "first satellite positioning signal reception unit" of the present invention) receives a global navigation satellite system (GNSS) signal from the GNSS satellite serving as the satellite <NUM>, for example, to execute positioning, and acquires a position of the camera <NUM> in the real space, that is, position information of the tablet terminal <NUM>.

<FIG> is a block diagram illustrating a functional configuration of the crane information display system <NUM> of Example <NUM>. <FIG> is a table showing performance information of the crane stored in a storage unit <NUM> of Example <NUM>. <FIG> is a view illustrating an image displayed on the image display unit <NUM> of Example <NUM>. Hereinafter, a functional configuration of the crane information display system <NUM> of Example <NUM> will be described.

In the crane information display system <NUM>, the position information of the camera <NUM> received from the satellite <NUM> by the camera reception unit <NUM>, the position information of the turning center of the crane <NUM> received from the satellite <NUM> by the crane reception unit <NUM>, and input information inputted by the input unit <NUM> are inputted to a control unit <NUM> (control unit built in the tablet terminal <NUM> in the present embodiment), and information controlled by the control unit <NUM> is outputted by the image display unit <NUM>.

The camera <NUM> can be configured as, for example, the camera <NUM> provided in the general tablet terminal <NUM>. The camera <NUM> can capture an image of the crane <NUM> and a surrounding site environment of the crane <NUM>.

Information relating to the crane <NUM> can be inputted to the input unit <NUM>. The input unit <NUM> includes a working radius input unit 52a, a hoisting load input unit 52b, and an extension amount input unit 52c.

A working radius of the crane <NUM> can be inputted to the working radius input unit 52a. The working radius is a horizontal distance from a vertical line drawn from the center of the hook <NUM> to the vertical axis C1 which is the turning center of the turning body <NUM>. The working radius is inputted by tapping a touch panel serving as the input unit <NUM>.

A hoisting load to be worked can be inputted to the hoisting load input unit 52b. The hoisting load is the weight (mass) of the suspended load and is the load applied to the crane <NUM>.

An extension amount of the outrigger <NUM> can be inputted to the extension amount input unit 52c. The extension amount of the outrigger <NUM> is an extension amount in the width direction of the crane <NUM>.

Further, a length of the boom <NUM> and the like can be inputted to the input unit <NUM>. The length of the boom <NUM> is a length of the boom <NUM> in a state in which the distal end boom <NUM> and the intermediate booms <NUM> to <NUM> are stored in the base end boom <NUM> (fully contracted state), a length of the boom <NUM> in a state in which the distal end boom <NUM> is extended, a length in a state in which the distal end boom <NUM> and the intermediate booms <NUM> to <NUM> are extended (fully extended state), or the like.

The control unit <NUM> includes the storage unit <NUM>, a crane detection unit <NUM>, an information processing unit <NUM>, and a working capacity calculation unit <NUM>. Note that the control unit <NUM> is a known microcomputer including, for example, a central processing unit (CPU), a random access memory (RAM), a read only memory (ROM), and the like. The functions (the crane detection unit <NUM>, the information processing unit <NUM>, and the working capacity calculation unit <NUM>) of the control unit <NUM> are achieved, for example, by the CPU referring to a control program and various types of data stored in the storage unit <NUM> (e.g., an HDD), the ROM, or the RAM.

The storage unit <NUM> stores performance information of the crane <NUM>. The performance information includes a rated total load table G associated with the extension amount of the outrigger <NUM>. <FIG> illustrates, as an example, a rated total load according to the length of the boom <NUM> and the working radius in a case where the extension amount of the outrigger <NUM> is <NUM> [m]. The rated total load is a limit value of the load that can be lifted with a predetermined length of the boom <NUM> and a predetermined working radius. In other words, the rated total load, the length of the boom <NUM>, and the working radius are mutually related, and a limit value of the length of the boom <NUM>, a limit value of a derricking angle of the boom <NUM>, a limit value of a lifting height of the crane <NUM>, and the like are specified when the rated total load and the working radius are determined, for example.

For example, in a case where the extension amount of the outrigger <NUM> is <NUM> [m], the working radius is <NUM> [m] and the length of the boom <NUM> is <NUM> [m], the rated total load becomes <NUM> [t]. In a case where the extension amount of the outrigger <NUM> is <NUM> [m], the working radius is <NUM> [m], and the length of the boom <NUM> is <NUM> [m], the rated total load becomes <NUM> [t].

The crane detection unit <NUM> detects the crane <NUM> in the image captured by the camera <NUM> by image authentication on the basis of the image captured by the camera <NUM> of the crane <NUM> placed at the work site. Further, the crane detection unit <NUM> detects the turning center of the crane <NUM> in the image captured by the camera <NUM>. As a result, an orientation of the crane <NUM> in the image from the camera <NUM> (that is, an orientation of the camera <NUM> with respect to the crane <NUM>) is detected.

The information processing unit <NUM> performs processing of associating the turning center of the crane <NUM> detected by the crane detection unit <NUM> with the position information of the camera <NUM> received by the camera reception unit <NUM> and the position information of the turning center of the crane <NUM> received by the crane reception unit <NUM>.

Specifically, the information processing unit <NUM> acquires the orientation of the crane <NUM> in the image from the camera <NUM> (that is, the orientation of the camera <NUM> with respect to the crane <NUM>) on the basis of the turning center of the crane <NUM> detected by the crane detection unit <NUM>. Further, the information processing unit <NUM> associates the position of the camera <NUM> and the position of the turning center of the crane <NUM> with the image captured by the camera <NUM> on the basis of the orientation of the camera <NUM>, the position information of the camera <NUM> received by the camera reception unit <NUM>, and the position information of the turning center of the crane <NUM> received by the crane reception unit <NUM>. That is, the information processing unit <NUM> identifies the position and posture of the crane <NUM> in the coordinate system of the image from the camera <NUM> on the basis of the orientation of the camera <NUM> with respect to the crane <NUM>, the position information of the camera <NUM> in the real space received by the camera reception unit <NUM>, and the position information of the turning center of the crane <NUM> in the real space received by the crane reception unit <NUM>.

The working capacity calculation unit <NUM> calculates the working capacity of the crane <NUM> on the basis of the information relating to the crane <NUM> inputted to the input unit <NUM>. In Example <NUM>, the working capacity calculation unit <NUM> refers to the rated total load table G stored in the storage unit <NUM> on the basis of the working radius inputted to the working radius input unit 52a and the extension amount of the outrigger <NUM> inputted to the extension amount input unit 52c and calculates a maximum rated total load of the crane <NUM>, a length of the boom <NUM> (that is, a limit value of the length of the boom <NUM>), a derricking angle of the boom <NUM> (that is, a limit value of the derricking angle of the boom <NUM>), and a lifting height of the crane <NUM> (that is, a limit value of the lifting height of the crane <NUM>).

Here, the length of the boom <NUM>, the derricking angle of the boom <NUM>, and the lifting height of the crane <NUM> calculated by the working capacity calculation unit <NUM> are a limit value within a range that the length of the boom <NUM> can take, a limit value within a range that the derricking angle of the boom <NUM> can take, and a limit value within a range that the lifting height of the crane <NUM> can take under conditions of the working radius inputted to the working radius input unit 52a, the extension amount of the outrigger <NUM> inputted to the extension amount input unit 52c, and the maximum rated total load of the crane <NUM> identified from the rated total load table G.

For example, in a case where the working radius inputted to the working radius input unit 52a is <NUM> [m] and the extension amount of the outrigger <NUM> inputted to the extension amount input unit 52c is <NUM> [m] as illustrated in <FIG>, the working capacity calculation unit <NUM> refers to the rated total load table G and calculates the maximum rated total load of the crane <NUM> as <NUM> [t]. Further, the working capacity calculation unit <NUM> calculates the length of the boom <NUM> at that time as <NUM> [m]. Further, the working capacity calculation unit <NUM> calculates the derricking angle of the boom <NUM> and the lifting height of the crane <NUM> on the basis of the working radius inputted to the working radius input unit 52a and the calculated length of the boom <NUM>.

Here, the working capacity calculation unit <NUM> selects <NUM> [t] as the maximum rated total load under conditions that the working radius is <NUM> [m] and the extension amount of the outrigger <NUM> is <NUM> [m] from among rated total loads of the crane <NUM> defined in the rated total load table G of <FIG>, and calculates the length and the like of the boom <NUM> so as to correspond to the rated total load. However, when the length of the boom <NUM> can be inputted to the input unit <NUM>, the working capacity calculation unit <NUM> may determine the rated total load of the crane <NUM> on the basis of the working radius inputted to the input unit <NUM>, the extension amount of the outrigger <NUM>, and the length of the boom <NUM>.

As illustrated in <FIG>, the image display unit <NUM> superimposes, on the image of the crane <NUM> and the surrounding site environment thereof captured by the camera <NUM>, a working radius E1 inputted to the working radius input unit 52a, an extension amount E2 of the outrigger <NUM> inputted to the extension amount input unit 52c, a maximum rated total load F1 of the crane <NUM>, a length F2 of the boom <NUM> (that is, the limit value of the length of the boom <NUM>), a derricking angle F3 of the boom <NUM> (that is, the limit value of the derricking angle of the boom <NUM>), and a lifting height F4 of the crane <NUM> (that is, the limit value of the lifting height of the crane <NUM>), on the basis of the information processed by the information processing unit <NUM>, and displays the superimposed image.

At this time, the image display unit <NUM> displays at least a part of the information of the maximum rated total load F1 of the crane <NUM>, the length F2 of the boom <NUM>, the derricking angle F3 of the boom <NUM>, and the lifting height F4 of the crane <NUM> as a three-dimensional image to be overlaid on the crane <NUM> or the surrounding environment of the crane <NUM> in the image from the camera <NUM> such that a user can three-dimensionally examine how the site environment is affected by each part of the crane <NUM> at the time of actually operating the crane <NUM> at the site. In <FIG>, pieces of the information on the length F2 of the boom <NUM> and the derricking angle F3 of the boom <NUM> are displayed as a three-dimensional image by a dotted line so as to be overlaid on the crane <NUM> in the image from the camera <NUM>.

<FIG> is a flowchart illustrating a flow of processing performed by the control unit <NUM> of the crane information display system <NUM> of Example <NUM>. Hereinafter, the flow of processing performed by the control unit <NUM> of the crane information display system <NUM> of Example <NUM> will be described.

When the worker M captures an image of the crane <NUM> installed at a work site and a surrounding work environment thereof with the camera <NUM> of the tablet terminal <NUM>, the control unit <NUM> acquires information on a position of a turning center of the crane <NUM> inputted from the crane reception unit <NUM> and information on a position of the camera <NUM> inputted from the camera reception unit <NUM>, as illustrated in <FIG> (step S101).

Next, the crane detection unit <NUM> detects the turning center of the crane <NUM> on the basis of the image obtained by capturing the crane <NUM> placed at the work site with the camera <NUM> (step S102).

Next, the information processing unit <NUM> acquires the orientation of the camera <NUM> on the basis of the turning center of the crane <NUM> detected by the crane detection unit <NUM> (step S103).

Next, the information processing unit <NUM> performs processing of associating the position of the camera <NUM> and the position of the turning center of the crane <NUM> with the image captured by the camera <NUM> on the basis of the orientation of the camera <NUM>, the position information of the camera <NUM> received by the camera reception unit <NUM>, and the position information of the turning center of the crane <NUM> received by the crane reception unit <NUM> (step S104).

Next, the control unit <NUM> acquires the working radius E1 inputted to the working radius input unit 52a and the extension amount E2 of the outrigger <NUM> inputted to the extension amount input unit 52c (step S105).

Next, the working capacity calculation unit <NUM> calculates the maximum rated total load F1 of the crane <NUM>, the length F2 of the boom <NUM>, the derricking angle F3 of the boom <NUM>, and the lifting height F4 of the crane <NUM> on the basis of the working radius E1 inputted to the working radius input unit 52a and the extension amount E2 of the outrigger <NUM> inputted to the extension amount input unit 52c (step S106).

Next, the image display unit <NUM> superimposes, on the image of the crane <NUM> and the surrounding site environment thereof captured by the camera <NUM>, the working radius E1 inputted to the working radius input unit 52a, the extension amount E2 of the outrigger <NUM> inputted to the extension amount input unit 52c, the maximum rated total load F1 of the crane <NUM>, the length F2 of the boom <NUM>, the derricking angle F3 of the boom <NUM>, and the lifting height F4 of the crane <NUM>, displays the superimposed image (step S107), and ends the processing.

Note that, in a case where the orientation of the camera <NUM> is changed, a vector from the time of initialization may be acquired by a SLAM technique or an acceleration sensor to follow the vector.

Hereinafter, functions and effects of the crane information display system <NUM> of Example <NUM> will be described.

The crane information display system <NUM> of Example <NUM> includes: the crane detection unit <NUM> that detects the crane <NUM> placed at a work site on the basis of an image of the crane <NUM> captured by the camera <NUM>; the camera reception unit <NUM> that is mounted on the camera <NUM> and receives position information of the camera <NUM> from the satellite <NUM>; the crane reception unit <NUM> that is mounted on the crane <NUM> and receives position information of the crane <NUM> from the satellite <NUM>; the information processing unit <NUM> that performs processing of associating the crane <NUM> detected by the crane detection unit <NUM> with the position information of the camera <NUM> received by the camera reception unit <NUM> and the position information of the crane <NUM> received by the crane reception unit <NUM>; the input unit <NUM> that inputs information relating to the crane <NUM>; the working capacity calculation unit <NUM> that calculates the working capacity of the crane <NUM> based on the information relating to the crane <NUM> inputted to the input unit <NUM>; and the image display unit <NUM> that displays the working capacity of the crane <NUM> calculated by the working capacity calculation unit <NUM> on the image captured by the camera <NUM> based on the information processed by the information processing unit <NUM> (<FIG> and <FIG>).

As a result, the working capacity of the crane <NUM> can be overlaid on the image of the actual crane <NUM> arranged at the work site. Therefore, the crane <NUM>, the surrounding environment thereof, and the working capacity of the crane <NUM> can be confirmed by the three-dimensional image in real time. As a result, a work plan of the crane <NUM> can be examined in real time at the work site.

In the crane information display system <NUM> of Example <NUM>, the input unit <NUM> includes the working radius input unit 52a to which the working radius E1 of the crane <NUM> is inputted, and the working capacity calculation unit <NUM> calculates the maximum rated total load F1 of the crane <NUM> on the basis of an input value of the working radius input unit 52a (<FIG> and <FIG>).

As a result, it is possible to know a maximum rated total load at a desired point. Therefore, it is possible to know a maximum rated total load during the movement of the suspended load from a start position to an end position by the crane <NUM>.

In the crane information display system <NUM> of Example <NUM>, the working capacity calculation unit <NUM> calculates the length F2 of the boom <NUM> and the derricking angle F3 of the boom <NUM> on the basis of an input value of the input unit <NUM> (<FIG> and <FIG>).

As a result, the posture of the crane <NUM> during the work can be known.

In the crane information display system <NUM> of Example <NUM>, the input unit <NUM> includes the extension amount input unit 52c that inputs the extension amount E2 of the outrigger, and the working capacity calculation unit <NUM> calculates the working capacity of the crane <NUM> on the basis of an input value of the extension amount input unit 52c (<FIG> and <FIG>).

Therefore, the working capacity of the crane <NUM> based on the extension amount E2 of the outrigger <NUM> can be examined.

A crane information display system of Example <NUM> is different from the crane information display system of Example <NUM> in that a working capacity calculation unit has a different configuration.

<FIG> is a view illustrating an image displayed on an image display unit of Example <NUM>. Hereinafter, a configuration of the crane information display system of Example <NUM> will be described. Note that the same or equivalent portions as the content described in Example <NUM> will be described using the same terms or the same reference signs.

The working capacity calculation unit <NUM> calculates the working capacity of the crane <NUM> on the basis of the information relating to the crane <NUM> inputted to the input unit <NUM>. In Example <NUM>, the working capacity calculation unit <NUM> refers to the rated total load table G stored in the storage unit <NUM> on the basis of a hoisting load inputted to the hoisting load input unit 52b and an extension amount of the outrigger <NUM> inputted to the extension amount input unit 52c and calculates a maximum working radius of the crane <NUM>, a length of the boom <NUM> (that is, a limit value of the length of the boom <NUM>), a derricking angle of the boom <NUM> (that is, a limit value of the derricking angle of the boom <NUM>), and a lifting height of the crane <NUM> (that is, a limit value of the lifting height of the boom <NUM>).

For example, in a case where the hoisting load inputted to the hoisting load input unit 52b is <NUM> [t] and the extension amount of the outrigger <NUM> inputted to the extension amount input unit 52c is <NUM> [m] as illustrated in <FIG>, the working capacity calculation unit <NUM> refers to the rated total load table G and calculates the maximum working radius of the crane <NUM> as <NUM> [m]. Further, the working capacity calculation unit <NUM> calculates the length of the boom <NUM> at that time as <NUM> [m]. Further, the working capacity calculation unit <NUM> calculates the derricking angle of the boom <NUM> and the lifting height of the crane <NUM> on the basis of the calculated maximum working radius and the calculated length of the boom <NUM>.

As illustrated in <FIG>, the image display unit <NUM> superimposes, on an image of the crane <NUM> and a surrounding site environment thereof captured by the camera <NUM>, a hoisting load G1 of a suspended load <NUM> to be worked, which has been inputted to the hoisting load input unit 52b, an extension amount G2 of the outrigger <NUM> inputted to the extension amount input unit 52c, a maximum working radius H1 of the crane <NUM>, a length H2 of the boom <NUM>, a derricking angle H3 of the boom <NUM>, and a lifting height H4 of the crane <NUM>, on the basis of the information processed by the information processing unit <NUM>, and displays the superimposed image.

When the worker M captures an image of the crane <NUM> installed at a work site and a surrounding work environment thereof with the camera <NUM> of the tablet terminal <NUM>, the control unit <NUM> acquires information on a position of a turning center of the crane <NUM> inputted from the crane reception unit <NUM> and information on a position of the camera <NUM> inputted from the camera reception unit <NUM>, as illustrated in <FIG> (step S201).

Next, the crane detection unit <NUM> detects the turning center of the crane <NUM> on the basis of the image obtained by capturing the crane <NUM> placed at the work site with the camera <NUM> (step S202).

Next, the information processing unit <NUM> acquires the orientation of the camera <NUM> on the basis of the turning center of the crane <NUM> detected by the crane detection unit <NUM> (step S203).

Next, the information processing unit <NUM> performs processing of associating the position of the camera <NUM> and the position of the turning center of the crane <NUM> with the image captured by the camera <NUM> on the basis of the orientation of the camera <NUM>, the position information of the camera <NUM> received by the camera reception unit <NUM>, and the position information of the turning center of the crane <NUM> received by the crane reception unit <NUM> (step S204).

Next, the control unit <NUM> acquires the hoisting load G1 inputted to the hoisting load input unit 52b and the extension amount G2 of the outrigger <NUM> inputted to the extension amount input unit 52c (step S105).

Next, the working capacity calculation unit <NUM> calculates the maximum working radius H1 of the crane <NUM>, the length H2 of the boom <NUM>, the derricking angle H3 of the boom <NUM>, and the lifting height H4 of the crane <NUM> on the basis of the hoisting load G1 inputted to the hoisting load input unit 52b and the extension amount G2 of the outrigger <NUM> inputted to the extension amount input unit 52c (step S206).

Next, the image display unit <NUM> superimposes, on the image of the crane <NUM> and the surrounding site environment thereof captured by the camera <NUM>, the hoisting load G1 inputted to the hoisting load input unit 52b, the extension amount G2 of the outrigger <NUM> inputted to the extension amount input unit 52c, the maximum working radius H1 of the crane <NUM>, the length H2 of the boom <NUM>, the derricking angle H3 of the boom <NUM>, and the lifting height H4 of the crane <NUM>, displays the superimposed image (step S207), and ends the processing.

In the crane information display system <NUM> of Example <NUM>, the input unit <NUM> includes the hoisting load input unit 52b that inputs the hoisting load G1, and the working capacity calculation unit <NUM> calculates the maximum working radius H1 of the crane <NUM> on the basis of an input value of the hoisting load input unit 52b (<FIG> and <FIG>).

As a result, the maximum working radius H1 can be calculated for a suspended load to be worked. Therefore, it is possible to easily examine a start position and an end position between which the crane <NUM> is moved with respect to the suspended load to be worked. Further, it is also possible to examine an installation position where the crane <NUM> is installed next. Further, when the maximum working radii H1 of a plurality of cranes are confirmed by the image display unit <NUM>, the interference between the cranes can be avoided.

Other configurations as well as functions and effects are substantially the same as those of the above example and, thus, the description thereof will not be repeated.

The working capacity calculation unit <NUM> calculates the working capacity of the crane <NUM> on the basis of the information relating to the crane <NUM> inputted to the input unit <NUM>. In Example <NUM>, the working capacity calculation unit <NUM> refers to the rated total load table G stored in the storage unit <NUM> on the basis of a working radius inputted to the working radius input unit 52a, a hoisting load inputted to the hoisting load input unit 52b, and an extension amount of the outrigger <NUM> inputted to the extension amount input unit 52c and calculates a lowest lifting height of the crane <NUM>, a length of the boom <NUM> (that is, a limit value of the length of the boom <NUM>), and a derricking angle of the boom <NUM> (that is, a limit value of the derricking angle of the boom <NUM>).

For example, in a case where the working radius inputted to the working radius input unit 52a is <NUM> [m], the hoisting load inputted to the hoisting load input unit 52b is <NUM> [t], and the extension amount of the outrigger <NUM> inputted to the extension amount input unit 52c is <NUM> [m] as illustrated in <FIG>, the working capacity calculation unit <NUM> refers to the rated total load table G and calculates the lowest lifting height of the crane <NUM> and the length of the boom <NUM>. Further, the working capacity calculation unit <NUM> calculates the derricking angle of the boom <NUM> on the basis of the input working radius and the calculated length of the boom <NUM>.

As illustrated in <FIG>, the image display unit <NUM> superimposes, on an image of the crane <NUM> and a surrounding site environment thereof captured by the camera <NUM>, a working radius M1 inputted to the working radius input unit 52a, a hoisting load M2 inputted to the hoisting load input unit 52b, an extension amount M3 of the outrigger <NUM> inputted to the extension amount input unit 52c, a lowest lifting height N1 of the crane <NUM>, a length N2 of the boom <NUM>, and a derricking angle N3 of the boom <NUM>, on the basis of the information processed by the information processing unit <NUM>, and displays the superimposed image.

When the worker M captures an image of the crane <NUM> installed at a work site and a surrounding work environment thereof with the camera <NUM> of the tablet terminal <NUM>, the control unit <NUM> acquires information on a position of a turning center of the crane <NUM> inputted from the crane reception unit <NUM> and information on a position of the camera <NUM> inputted from the camera reception unit <NUM>, as illustrated in <FIG> (step S301).

Next, the crane detection unit <NUM> detects the turning center of the crane <NUM> on the basis of the image obtained by capturing the crane <NUM> placed at the work site with the camera <NUM> (step S302).

Next, the information processing unit <NUM> acquires the orientation of the camera <NUM> on the basis of the turning center of the crane <NUM> detected by the crane detection unit <NUM> (step S303).

Next, the information processing unit <NUM> performs processing of associating the position of the camera <NUM> and the position of the turning center of the crane <NUM> with the image captured by the camera <NUM> on the basis of the orientation of the camera <NUM>, the position information of the camera <NUM> received by the camera reception unit <NUM>, and the position information of the turning center of the crane <NUM> received by the crane reception unit <NUM> (step S304).

Next, the control unit <NUM> acquires the working radius M1 inputted to the working radius input unit 52a, the hoisting load M2 inputted to the hoisting load input unit 52b, and the extension amount M3 of the outrigger <NUM> inputted to the extension amount input unit 52c (step S305).

Next, the working capacity calculation unit <NUM> calculates the extension amount M3 of the outrigger <NUM> inputted to the extension amount input unit 52c, the lowest lifting height N1 of the crane <NUM>, the length N2 of the boom <NUM>, and the derricking angle N3 of the boom <NUM> on the basis of the working radius M1 inputted to the working radius input unit 52a, the hoisting load M2 inputted to the hoisting load input unit 52b, and the extension amount M3 of the outrigger <NUM> inputted to the extension amount input unit 52c (step S306).

Next, the image display unit <NUM> superimposes, on the image of the crane <NUM> and the surrounding site environment thereof captured by the camera <NUM>, the working radius M1 inputted to the working radius input unit 52a, the hoisting load M2 inputted to the hoisting load input unit 52b, the extension amount M3 of the outrigger <NUM> inputted to the extension amount input unit 52c, the lowest lifting height N1 of the crane <NUM>, the length N2 of the boom <NUM>, and the derricking angle N3 of the boom <NUM>, displays the superimposed image (step S307), and ends the processing.

In the crane information display system <NUM> of Example <NUM>, the input unit <NUM> includes the working radius input unit 52a to which the working radius M1 of the crane <NUM> is inputted and the hoisting load input unit 52b to which the hoisting load M2 is inputted, and the working capacity calculation unit <NUM> calculates the lowest lifting height N1 of the crane <NUM> on the basis of an input value of the working radius input unit 52a and an input value of the hoisting load input unit 52b.

As a result, the lowest lifting height N1 can be calculated for a hoisting load to be worked at a desired position. Therefore, it is possible to examine the lowest lifting height to move a suspended load to be worked from a start position to an end position by the crane <NUM>. As a result, it is possible to perform an examination for reducing a work area of the crane <NUM>.

The crane information display system of the present invention has been described above with reference to Examples <NUM> to <NUM>. However, a specific configuration is not limited to these examples, and combinations of the examples, design changes, additions, and the like are allowed as far as they do not depart from the gist of the invention according to each one of the claims.

Examples <NUM> to <NUM> have illustrated the example in which the touch panel serving as the input unit <NUM> is tapped to input the working radius to the working radius input unit 52a. However, a reception unit that receives a global navigation satellite system (GNSS) signal from a GNSS satellite serving as the satellite <NUM> may be installed at a target point of the work site, and the signal from the reception unit may be inputted to the input unit.

Examples <NUM> to <NUM> have illustrated the example in which the working radius does not take into consideration a bending amount of the boom <NUM>. However, the working radius can also take into account the amount of bending of the boom.

Examples <NUM> to <NUM> have illustrated the example in which the user terminal is the tablet terminal <NUM> including the camera <NUM>, the input unit <NUM>, and the image display unit <NUM>. However, the user terminal may be a smart phone. Further, the user terminal may include a camera and an image display unit which are separate bodies.

Examples <NUM> to <NUM> have illustrated the example in which the present invention is applied to the crane <NUM> including the boom <NUM>. However, the present invention can be applied to a crane including a jib.

Claim 1:
A crane information display system (<NUM>) that is provided with a terminal device (<NUM>), the terminal device (<NUM>) mounting a camera (<NUM>) and capturing an image of a crane (<NUM>) with the camera (<NUM>) to obtain a camera image,
characterized in that the terminal device (<NUM>) comprises:
a crane detection unit (<NUM>) that detects the crane (<NUM>) in the camera image based on image information of the camera image;
an information processing unit (<NUM>) that identifies a position and a posture of the crane (<NUM>) in a coordinate system of the camera image based on an orientation of the camera (<NUM>) with respect to the crane (<NUM>) identified from the crane (<NUM>) in the camera image, a position of the camera (<NUM>) in a real space indicated by a first satellite positioning signal reception unit (<NUM>) mounted on the camera (<NUM>), and a position of the crane (<NUM>) in a real space indicated by a second satellite positioning signal reception unit (<NUM>) mounted on the crane (<NUM>);
a working capacity calculation unit (<NUM>) that calculates a working capacity of the crane (<NUM>) based on information relating to the crane (<NUM>) inputted to an input unit (<NUM>) of the terminal device (<NUM>); and
an image display unit (<NUM>) that converts the working capacity of the crane (<NUM>) into three-dimensional image information corresponding to the position and the posture of the crane (<NUM>) identified by the information processing unit (<NUM>), overlays the image information on the camera image, and displays the overlaid image.