Patent ID: 12187584

DESCRIPTION OF EMBODIMENTS

Hereinafter, a crane1, which is an embodiment of a work vehicle according to the present invention, will be described with reference toFIGS.1and2. Note that a rough terrain crane will be described in the present embodiment, but any work vehicle having a boom, such as an all-terrain crane, a truck crane, a loading truck crane, and a high-place work vehicle, may be used.

As illustrated inFIG.1, the crane1is the mobile crane that can move to an unspecified place. The crane1includes a remote operation terminal39(seeFIG.2) capable or remotely opera ting a vehicle2which is a traveling body, a crane device6which is a work device, a control device30, and a crane device6. In addition, the crane1includes an image system.31(seeFIG.2).

The vehicle2is a moving body that carries the crane device6. The vehicle2has a plurality of wheels3and travels with an engine4as a power source. The vehicle2is provided with an outrigger5. The vehicle2can expand an operable range of the crane1by extending the outrigger5in the width direction of the vehicle2and grounding the jack cylinder.

The crane device6is a device that lifts a load W with a wire rope. The crane device6includes a rotating base7, a turning hydraulic motor8, a boom9, a main hook block10, a sub hook block11, a raising hydraulic cylinder12, a main winch13, a main hydraulic motor13a, a main wire rope14, a sub winch15, a sub hydraulic motor15a, a sub wire rope16, a cabin17, and the like.

The rotating base7is a device that turns the crane device6. The rotating base7is configured to be rotatable about a center of the annular bearing as a center of rotation. The rotating base7is provided with a turning hydraulic motor8which is an actuator. The rotating base7is configured to be capable of turning in one direction and the other direction by the turning hydraulic motor8.

The turning hydraulic motor8is rotationally operated by a turning valve23(seeFIG.2) which is an electromagnetic proportional switching valve. The turning valve23can control a flow rate of the hydraulic oil supplied to the turning hydraulic motor8to an arbitrary flow rate. The rotating base7is provided with a turning sensor27(seeFIG.2) that detects a turning angle92, which is a turning angle of the rotating base7, from a reference position.

The boom9is a beam member that supports the wire rope to a state of being capable of lifting the load W. The boom9is provided such that a proximal end of a base boom member is swingable substantially at the center of the rotating base7. The boom9is configured to be freely elongated/contracted in the axial direction by moving each boom member by an elongation/contraction hydraulic cylinder (not illustrated) which is an actuator. In addition, the boom9is provided with a jib9a.

A suspended load camera9b(seeFIG.2) is an image capturing device that captures images of the load h and features in the vicinity of the load W. The suspended load camera9bis provided at a distal end portion of the boom9. The suspended load camera9bis configured to be capable of capturing images of the load W and features or terrain in the vicinity of the crane1from vertically above the load W.

The elongation/contraction hydraulic cylinder is operated to be elongated/contracted by an elongation/contraction valve24(seeFIG.2) which is an electromagnetic proportional switching valve. The boom9is provided with an elongation/contraction sensor28that detects the length of the boom9, a weight sensor that detects the weight of the load W, and the like.

The main hook block10and the sub hook block11are members for suspending the load W. The main hook block10is provided with a plurality of hook sheaves around which the main wire rope14is wound, and a main hook10afor suspending the load W. The sub hook block11is provided with a sub hook11afor suspending the load W.

The raising hydraulic cylinder12is an actuator that raises and lowers the boom9and holds an attitude of the boom9. The raising hydraulic cylinder12is operated to be elongated/contracted by a raising valve25(seeFIG.2) which is an electromagnetic proportional switching valve. The boom9is provided with a raising sensor29(seeFIG.2) that detects a raising angle91of the boom9.

The main winch13and the sub winch15wind up (reel up) and feed out (release) the main wire rope14and the sub wire rope16. The main winch13is configured such that a main drum around which the main wire rope14is wound is rotated by a main hydraulic motor13a, which is an actuator, and the sub winch15is configured such that a sub drum around which the sub wire rope16is wound is rotated by a sub hydraulic motor15awhich is an actuator.

The main hydraulic motor13ais rotationally operated by a main valve26m(seeFIG.2) which is an electromagnetic proportional switching valve. The main winch13is configured such that the main hydraulic motor13ais controlled by the main valve26mand can be operated at an arbitrary winding-up and feeding-out speed. Similarly, the sub winch15is configured such that the sub hydraulic motor15ais controlled by a sub valve26s(seeFIG.2), which is an electromagnetic proportional switching valve, and can be operated at an arbitrary winding-up and feeding-out speed.

The cabin.17is mounted on the rotating base7. An operator's seat (not illustrated) is provided. The operator's seat is provided with an operation tool for operating the vehicle2to travel and a turning operation tool18for operating the crane device6, a raising operation tool19, an elongation contraction operation tool20, a main drum operation tool21m, a sub drum operation tool21s, and the like.

As illustrated inFIG.2, a communication device22is a device that receives a control signal from the remote operation terminal39via a wide-area information communication network or the like, and transmits control information or the like from the crane device6via the wide-area information communication network or the like. The communication device22is provided in the cabin17. The communication device22is configured to transfer the control signal or the like received from the remote operation terminal39to the control device30of the crane1.

The control device30is a device that controls the actuators of the crane1via each operation valve. The control device30is provided in the cabin17. In practice, the control device30may be configured such that a CPU, a RPM, a RAM, an HDD, and the like are connected via a bus, or may be configured using a one-chip LSI or the like. The control device30stores various programs and data in order to control the operations of the respective actuators, switching valves, sensors, and the like.

The control device30is connected to the suspended load camera9b, the turning operation tool18, the raising operation tool19, the elongation/contraction operation tool20, the main drum operation tool21m, and the sub drum operation tool21s, and can acquire a video of the suspended load camera9band acquire an operation amount of each of the turning operation tool18, the raising operation tool19, the main drum operation tool21m, and the sub drum operation tool21s.

The control device30is connected to the communication device22, acquires the control signal from the remote operation terminal39, and can transmit the control information from the crane device6, the video from the suspended load camera9b, and the like.

The control device30is connected to the turning valve23, the elongation/contraction valve24, the raising valve25, the main valve26m, and the sub valve26s, and can transfer a control signal to the turning valve23, the raising valve25, the main valve26m, and the sub valve26s.

The control device30is connected to the turning sensor27, the elongation/contraction sensor28, and the raising sensor29, and can acquire attitude information such as the turning angle θ2 of the rotating base7, the boom length, and the raising angle θ1, and the weight of the load W.

The control device30can generate a control signal corresponding to each operation tool based on the operation amount of each of the turning operation tool18, the raising operation tool19, the elongation/contraction operation tool20, the main drum operation tool21m, and the sub drum operation tool21s.

The image system31is a system that combines a vicinity image and an upper image of the crane1to Generate an image of a range extending over the entire circumference of the crane1. The image system31is provided in the cabin17of the crane1and is connected to the control device30.

The image system31is connected to the control device30, and can acquire the turning angle θ2 of the rotating base7and the raising angle θ1 of the boom9from the control device30. In addition, the image system31can acquire an operation signal for grounding the lack cylinder of the outrigger a from the control device30.

The crane1configured in this manner can move the crane device6to an arbitrary position by causing the vehicle2to travel. In addition, the crane1can increase a lifting height and an operating radius of the crane device6by raising the boom9at an arbitrary raising angle θ1 by the raising hydraulic cylinder12with the operation of the raising operation tool19and extending the boom9to an arbitrary boom length with the operation of the elongation/contraction operation tool20. In addition, the crane1can carry the load P by lifting the load. P with the operation of the sub drum operation tool21sand the like and rotating the rotating base7by operating the turning operation tool18.

Next, the image system31will be specifically described with reference toFIGS.3and4. The image system31is a system that combines a bird's-eye-view image21in the vicinity of the crane1and a supplementary image22extracted from an upper image to generate a composite image23in a range extending over the entire circumference of the crane1including the crane1. The image in the range extending over the entire circumference of the crane1is an image including the vehicle2of the crane1and the ground (traveling surface) and features surrounding the vehicle2when viewed from the upper side (above) in the vertical direction of the crane1, and is an image including the ground and features in a region from a position adjacent to the vehicle2to a position at a predetermined distance around the vehicle2(seeFIGS.6Aand GB).

As illustrated inFIGS.3and4, the image system.31includes a vehicle body front camera32, a vehicle body rear camera33, a vehicle body right camera34, and a vehicle body left camera35, which are vehicle body cameras provided in the vehicle2, an upper camera36provided in the boom9, a display device37, and an image processing device38. Note that the vehicle body front camera32, the vehicle body rear camera33, the vehicle body right camera34, the vehicle body left camera35, and the upper camera36correspond to the “image capturing device” of the present invention, and are connected to the image processing device38to be capable of communicating with each other.

The vehicle body front camera32, the vehicle body rear camera33, the vehicle body right camera34, and the vehicle body left camera35are configured using wide-angle cameras each of which has an angle of view of approximately 180 degrees, for example. The vehicle body front camera32is provided at a front end portion which is an end portion on a side in the forward direction of the vehicle2. The vehicle body front camera32captures an image of the front of the vehicle2. The vehicle body rear camera33is provided at a rear end portion which is an end portion on a side in the reverse direction of the vehicle2. The vehicle body rear camera33captures an image of the rear of the vehicle2. The vehicle body right camera34is provided on a right side surface in the traveling direction of the vehicle2. The vehicle body right camera34captures an image of the right of the vehicle2. The vehicle body left camera35is provided on a left side surface in the traveling direction of the vehicle2. The vehicle body left camera35captures an image of the left of the vehicle2. Note that each of the vehicle body cameras may be provided at a position where an image of the vicinity of the vehicle2can be acquired without discontinuity over the entire circumference.

The upper camera36is configured using, for example, a wide-angle camera which has an angle of view of approximately 180 degrees. The upper camera36is provided at a distal end portion of a base boom member swingably supported by the rotating base7in the boom9(seeFIG.1) The upper camera36acquires an upper image of the crane1, which is an image including the vehicle2and the vicinity of the vehicle2captured from above the vehicle2, in a raised state of the boom9. Note that the upper camera36is provided to the base boom member in the present embodiment, but may be provided in a part where the upper image of the crane1, which is the image including the vehicle2and the vicinity of the vehicle2captured from above the vehicle2, can be acquired.

The display device37is a device that displays the images of the vehicle body cameras and the upper camera36. The display device37is disposed inside the cabin17. Note that the display device37may be provided in the remote operation terminal39that remotely operates the crane1outside the cabin17.

The image processing device38is a processing device that converts and combines vicinity images of the crane1captured by the respective vehicle body cameras and the upper image of the crane1captured by the upper camera36. The image processing device38is provided inside the cabin17. In practice, the image processing device38may be configured such that a CPU, a RUM, a RAM, an HDD, and the like are connected via a bus, or may be configured using a one-chip LSI or the like. The image processing device38stores various programs and data configured to control the respective vehicle body cameras, the upper camera36, and the respective sensors, acquire images and signals from the sensors, and perform image processing.

The image processing device38is connected to the vehicle body front camera32, the vehicle body rear camera33, the vehicle body right camera34, the vehicle body left camera35, and the upper camera36, and can acquire the vicinity images of the crane1captured by the vehicle body front camera32, the vehicle body rear camera33, the vehicle body right camera34, and the vehicle body left camera35and the upper image of the crane1captured by the upper camera36. In addition, the image processing device38is connected to the display device37, and can transmit generated images to the display device37.

The image processing device38performs control of a process of generating the bird's-eye-view image P1(image data thereof) based on signals from the respective vehicle body cameras, the supplementary image P2(image data thereof) based on a signal from the upper camera36, and the composite image P3(image data thereof) of the bird's-eye-view image P1and the supplementary image P2, a display process of displaying the composite image P3on the display device37, an acquisition process of acquiring various types of acquired information, and the like.

The image processing device38can perform a bird's-eye-view image generation process of generating the bird's-eye-view image P1from the vicinity images of the crane1captured by the vehicle body front camera32, the vehicle body rear camera33, the vehicle body right camera34, and the vehicle body left camera35every unit time (seeFIG.10). The bird's-eye-view image generation process includes, for example, a distortion correct iron process (step S121), a bird's-eye view conversion process (step S122), and an image combination process (step S123). Note that the image processing device38may perform these processes simultaneously or perform processes of other contents as long as the bird's-eye-view image P1is generated,

As the distortion correction process, the image processing device38multiplies a coordinate value of an input pixel of an image captured by each of the vehicle body cameras by a coefficient based on a lens distortion coefficient, an aspect ratio, or the like to convert the coordinate value into a coordinate value of an output pixel, thereby correcting distortion due to a lens.

As the bird's-eye view conversion process, the image processing device38multiplies coordinate values of appropriately selected input pixels by various coefficients based on a camera attachment angle or the like to form all of coordinate values of output pixels, thereby converting the image into a captured image (individual bird's-eye-view image) looking downward from a virtual viewpoint set above the crane1.

As the image combination process, the image processing device38connects adjacent individual bird's-eye-view images from the respective vehicle body cameras, which have been subjected to the above-described processes, as one image while eliminating a sense of incompatibility at a joint by performing linear interpolation or the like on the brightness of the corresponding coordinate value, thereby generating the bird's-eye-view image P1.

The image processing device38can perform a superimposed image generation process of generating the supplementary image P2that is an image of a part, which corresponds to a missing part in the bird's-eye-view image P1, in the upper image of the crane1captured by the upper camera36, and generating the composite image P3in which the supplementary image P2is superimposed on the missing part in the bird's-eye-view image P1every unit time (seeFIG.11), The superimposed image generation process includes, for example, a region extraction process (step S152), a matching process (step S153), and a superimposition process (step S154). Note that the image processing device38may perform these processes simultaneously or perform processes of other contents as long as the composite image P3is generated, Note that the missing part in the bird's-eye-view image P1is a part corresponding to images of the vehicle2and the rotating base7of the crane1that are not included in the field of view of each of the vehicle body cameras.

As the region extraction process, the image processing device extracts a closed region by a known method, such as binarization, from the upper image of the crane1captured by the upper camera36.

As the matching process, the image processing device36slides a reference image on the upper image using an image of the vehicle2registered in advance as the reference image, and compares the region extracted from the upper image with the reference image. The image processing device38specifies a region having high similarity with the reference image as the supplementary image P2corresponding to the vehicle2.

As the superimposition process, the image processing device38cuts out the specified supplementary image P2, and corrects distortion by multiplying the specified supplementary image P2by a coefficient based on a lens distortion coefficient, an aspect ratio, or the like so as to conform to the missing part in the bird's-eye-view image P1. Further, the image processing device38generates the composite image P3in a state in which the corrected supplementary image P2is superimposed on the bird's-eye-view image P1.

The image system31configured in this manner can generate the bird's-eye-view image P1every unit time from the vicinity images of the crane1captured by the vehicle body front camera32, the vehicle body rear camera33, the vehicle body right camera34, and the vehicle body left camera35which are the vehicle body cameras. In addition, the image system31can generate the supplementary image P2, which is the image of the part corresponding to the missing part in the bird's-eye-view image P1, every unit time from the upper image of the crane1captured by the upper camera36. Further, the image system31can form the composite image P3in which the supplementary image P2is superimposed on the missing part in the bird's-eye-view image P1generated from the image of the vicinity of a vehicle body2every unit time.

Next, control of the image system31in a travel mode in which the crane1can travel and in a work mode of the crane device6will be described with reference toFIGS.5to8. In the present embodiment, the time of traveling of the crane1refers to a state in which the use of the boom9is not practical and is lowered up to a reference angle α or less at which it is difficult to sufficiently secure the Field of view of the upper camera36. In addition, the work mode of the crane1refers to a state in which the boom9is raised exceeding the reference angle α.

When the crane1is activated, the image processing device38of the image system31starts capturing the surroundings of the crane1by the vehicle body front camera32, the vehicle body rear camera33, the vehicle body right camera34, and the vehicle body left camera35.

As illustrated inFIG.5, the image processing device38acquires the raising angle θ1 of the boom9from the control device30of the crane1. When the raising angle θ1 of the boom9is equal to or smaller than the reference angle α, the image processing device38determines that the crane1is in the travel mode. On the other hand, when the raising angle θ1 of the boom9acquired from the control device30of the crane1is larger than the reference angle α, the image processing device38determines that the crane1is in the work mode.

As illustrated inFIG.6k, the image processing device38performs the bird's-eye-view image generation process and generates the bird's-eye-view image P1from the vicinity images of the crane1captured by the respective vehicle body cameras every unit time. The image processing device38generates a front captured image (hereinafter, simply referred to as a “bird's-eye-view image”) A1looking downward from a virtual viewpoint set above the crane1from the image captured by the vehicle body front camera32. Similarly, the image processing device38generates a rear bird's-eye-view image42from the image captured by the vehicle body rear camera33, generates a right bird's-eye-view image A3from the image captured by the vehicle body right camera34, and Generates a left bird's-eye-view image A4from the image captured by the vehicle body left camera35. The image processing device38connects the front bird's-eye-view image A1, the rear bird's-eye-view image A2, the right bird's-eye-view image A3, and the left bird's-eye-view image A4as one bird's-eye-view image to generate the bird's-eye-view image81. At this time, a part of the crane1corresponding to the vehicle2is generated as a missing part A5that is not capturable by the vehicle body camera Note that a range surrounded by a circular ring inFIGS.7,8, and12is a range displayed on the display device37.

As illustrated inFIG.6B, when determining that the crane1is in the work mode, the image processing device38performs the superimposed image generation process and generates the supplementary image P2that is a part, which corresponds to the missing part A5of the bird's-eye-view image81, in the upper image of the crane1captured by the upper camera36.

As illustrated inFIG.7, the image processing device38performs the superimposed image generation process and superimposes the supplementary image P2on the missing part A5of the bird's-eye-view image81to generate the composite image P3based on the bird's-eye-view image P1every unit time.

In addition, the image processing device38acquires the turning angle92of the rotating base7from the control device30of the crane1as illustrated inFIG.8A. When the rotating base7turns clockwise by an angle θ2 from the reference position, the image processing device38acquires the turning angle θ2.

As illustrated inFIG.8B, the image processing device38rotates the composite image P3counterclockwise by the angle θ2 and displays the rotated composite image P3on the display device37. That is, when the rotating base7has turned in one direction by an arbitrary angle, the image processing device38causes the composite image P3in which the missing part in the bird's-eye-view image P1is compensated by the supplementary image P2to be rotated in the other direction by the angle at which the rotating base7has turned and displayed. With such control, the image system31displays the composite image P3on the display device37in conjunction with the turning of the rotating base7using the rotating base7as the reference. As a result, the range extending over the entire circumference of the crane1including the entire crane1and the near vicinity of the crane1is displayed using the operator's seat as the reference, and thus, an operator can easily grasp a positional relationship between the vicinity of the crane1and the boom9.

Hereinafter, image processing control for generating the bird's-eye-view image P1, the supplementary image P2, and the composite image P3by the image system31will be specifically described with reference toFIGS.9to11. In the following embodiment, the crane1is operated by the operation tools provided in the cabin17, but may be controlled by the remote operation terminal39.

As illustrated inFIG.9, the image processing device38starts capturing by the vehicle body front camera32, the vehicle body rear camera33, the vehicle body right camera34, and the vehicle body left camera35and acquires the vicinity images of the crane1in step S110of the image processing control, and the step is shifted to step S120.

In step S120, the image processing device38starts a bird's-eye-view image generation process A, and the step is shifted to step S121(seeFIG.10).

As illustrated inFIG.10, the image processing device38corrects distortion due to the lens in the acquired images as the distortion correction process in step S121in the bird's-eye-view image generation process A, and the step is shifted to step S122.

In step S122, the image processing device38converts the acquired vicinity images of the crane1into the front bird's-eye-view image A1, the rear bird's-eye-view image A2, the right bird's-eye-view image A3, and the left bird's-eye-view image A4as the bird's-eye view conversion process, and the step is shifted to step S123.

In step S123, the image processing device38connects adjacent individual bird's-eye-view images captured from the vehicle body cameras, which have been subjected to the respective processes, as one image to generate the bird's-eye-view image31as the image combination process, and ends the bird's-eye-view image generation process A, and the step is shifted to step S130(seeFIG.9).

As illustrated inFIG.9, in step S130, the image processing device38acquires the raising angle θ1 of the boom9from the control device30of the crane1, and the step is shifted to step S140.

In step S140, the image processing device38determines whether the acquired raising angle θ1 of the boom9is larger than the reference angle α. As a result, when the raising angle θ1 of the boom9is larger than the reference angle α, that is, when the crane1is in the work mode, the image processing device36shifts the step to step S150. On the other hand, when the raising angle θ1 of the boom9is equal to or smaller than the reference angle α, that is, when the crane1is in the travel mode, the image processing device38shifts the step to step S160.

In step S150, the image processing device38starts a superimposed image generation process13, and the step is shifted to step S151(seeFIG.11).

As illustrated inFIG.11, the image processing device38starts capturing by the upper camera36and acquires the upper image of the crane1in step S151in the superimposed image generation process B, and the step is shifted to step S152.

In step S152, the image processing device38extracts a closed region from the upper image of the crane1by a known method such as binarization as the region extraction process, and the step is shifted to step S153.

In step S153, the image processing device38compares the region extracted from the upper image of the crane1with the reference image, specifies a region having high similarity as the supplementary image P2corresponding to the vehicle2as the matching process, and the step is shifted to step154.

In step S154, the image processing device38cuts out and corrects the supplementary image P2to conform to a missing part in the bird's-eye-view image P1and superimposes the supplementary image P2on the bird's-eye-view image P1to generate the composite image P3based on the bird's-eye-view image P1as the super imposition process, and ends the superimposed image generation process B, and the step is shifted to step S160(seeFIG.9).

As illustrated inFIG.9, the image processing device38displays the generated image on the display device37in step S160, and the step is shifted to step S110.

With this configuration, the image processing device38of the image system31determines whether the crane1is in the travel mode or the work mode based on the raising angle θ1 of the boom9. For this reason, the image system31constantly captures the upper image of the crane1as long as the upper camera36can capture the upper image of the crane1. That is, in an image processing system, the range extending over the entire circumference of the crane1is captured by a camera suitable for capturing in accordance with a state of the crane1. The image system31generates the bird's-eye-view image P1in the travel mode, and generates the composite image P3based on the bird's-eye-view image P1in the work mode. Since the composite image P3is obtained by superimposing the supplementary image P2of the vehicle2captured by the upper camera36, a part that is not capturable by the vehicle body camera is supplemented. Therefore, the composite image P3of the image system is displayed in real time even when a worker or the like mores up on the vehicle2during work. As a result, it as possible to generate an image of the range extending over the entire circumference of the crane1including the crane1and the near vicinity of the crane1from an image that is being actually captured.

Note that the supplementary image P2is superimposed on the missing part in the bird's-eye-view image P1generated based on the vicinity image of the crane1captured by the vehicle body camera in the composite image93in the present embodiment. However, a corresponding part of the bird's-eye-view image91may be superimposed and displayed on a missing part in the upper image of the crane1captured by the upper camera36.

As illustrated inFIG.12A, the boom9enters the field of view of the upper camera36depending on the raising angle θ1 of the boom9, and a missing part A6in which a capturing region is blocked is generated in the upper image of the crane1. Therefore, the missing part A6, blocked by the boom9according to the raising angle θ1 of the boom9, in the capturing region of the upper camera36is registered for each raising angle θ1 of the boom.9in the image processing device38of the image system31.

As illustrated inFIG.12B, the image processing device38specifies a region having a shape corresponding to the missing part A6in the upper image from the raising angle θ1 of the boom9. Further, the image processing device38specifies a position corresponding to the missing part A6in the upper image from the turning angle θ2 of the rotating base7in the bird's-eye-view image P1. Then, the image processing device38cuts out the specified position in the region having the specified shape from the bird's-eye-view image P1and generates the cut-out as a supplementary image P4.

As illustrated inFIG.12C, the image processing device38generates a composite image P5in which the supplementary image P4is superimposed on the upper image of the crane1, That is, the image processing device38generates the composite image P5based on the upper image of the crane1. With this configuration, the missing part in the upper image is compensated by the image that is being actually captured by the composition of the supplementary image P4and the bird's-eye-view image P1in the image system31. As a result, it is possible to generate an image of the range extending over the entire circumference of the crane1including the entire crane1and the near vicinity of the crane1from the image that is being actually captured.

Note that the vehicle body cameras are provided at the front end portion, the rear end portion, and the left and right side surfaces of the vehicle2in the crane1in the present embodiment, but may be provided at a front end portion, a rear end portion, and left and right side surfaces of the rotating base7. In addition, the image processing device38of the image system31determines the travel mode or the work mode of the crane1based on the raising angle θ1 of the boom9, but may determine the travel mode or the work mode of the crane1based on a state that always occurs only in the work mode, such as an operating state of the outrigger5and the turning angle θ2 of the rotating base7, or a control signal.

The above-described embodiment merely illustrates a typical form, and various modifications can be implemented within a scope not departing from a gist of the embodiment. Needless to say, the present invention can be implemented in various forms, and the scope of the present invention encompasses those illustrated in the description of the claims, those having meanings equivalent to those in the claims, and all alterations within the scope.

REFERENCE SIGNS LIST

1crane6crane device9boom30control device31image system32vehicle body front camera33vehicle body rear camera34vehicle body right camera35vehicle body left camera36upper camera37display deviceP1bird's-eye-view imageP2supplementary imageP3composite image