Camera attitude detection device and work region line display device

1. A camera attitude detection device comprising:

a camera provided at a tip of a boom of a working machine;

a monitor configured to display an image, captured by the camera, of a hook suspended from the tip of the boom; and

an attitude angle calculation device configured to calculate, based on hook image position information on a screen displayed on the monitor and hook position information in a real space, an attitude angle of the camera, wherein

the hook image position information comprises a hook position on a screen actually displayed on the monitor and a reference hook position of the hook on the screen displayed on the monitor associated with a reference condition of when the camera is facing directly downward,

the hook position information in the real space comprises a distance in a height direction between the camera and the hook, and

the attitude angle calculation device is implemented via at least one processor.

2. The camera attitude detection device according to claim 1 , wherein

the camera attitude detection device comprises reference hook position calculation means for calculating the reference hook position,

the attitude angle calculation device comprises:

a hook position calculation unit configured to calculate a hook position on the screen of the monitor;

a shift amount calculation unit configured to calculate a shift amount between the hook position on the screen calculated by the hook position calculation unit and the reference hook position calculated by the reference hook position calculation means; and

camera attitude angle calculation means for calculating the attitude angle of the camera based on the shift amount calculated by the shift amount calculation unit and the distance in the height direction between the camera and the hook,

wherein the reference hook position calculation means, the hook position calculation unit, the shift amount calculation unit, and the camera attitude angle calculation means are each implemented via at least one processor.

3. The camera attitude detection device according to claim 2 , wherein the distance in the height direction is calculated from an attitude angle of the boom and an unwound amount of the hook.

4. The camera attitude detection device according to claim 2 , further comprising:

an image recognition unit configured to extract a hook image displayed on the monitor and calculate a size of the extracted hook image, wherein

the distance in the height direction is calculated based on the size of the hook image calculated by the image recognition unit, and

the image recognition unit is implemented via at least one processor.

5. The camera attitude detection device according to claim 2 , further comprising:

a touch panel attached on the screen of the monitor, wherein

the hook position calculation unit calculates the hook position on the screen of the monitor based on a touching, by a user through the touch panel, of a position on the touch panel associated with the hook image displayed on the monitor.

6. The camera attitude detection device according to claim 2 , wherein the hook position on the screen of the monitor is recognized by performing image processing to the hook image displayed on the monitor and calculated as a center position of the recognized hook image.

7. The camera attitude detection device according to claim 1 , wherein

the hook image position information indicates that the camera is inclined to position the hook image at a set position on the screen,

the hook position information comprises information regarding an unwound amount of the hook when the hook image is positioned at the set position, an offset amount between a turn supporting position of the camera and a center of a sheave provided at the tip of the boom, and a derricking angle of the boom, and

the attitude angle calculation device calculates the attitude angle of the camera based on the unwound amount of the hook, the offset amount of the camera, and the derricking angle of the boom.

8. A work region line display device comprising:

a work region calculation device configured to calculate, based on a load weight of a suspended load suspended by the hook, a work region line indicating a region where the suspended load is movable;

an image combining unit configured to combine the work region line calculated by the work region calculation device on an image captured by the camera, the image combined by the image combining unit being displayed on the monitor; and

the camera attitude detection device according to any one of claims 1 to 7 , wherein

the work region calculation device calculates, based on an attitude angle of the camera detected by the camera attitude detection device, a precise position of the work region line on the image,

the image combining unit combines the work region line on the precise position calculated by the work region calculation device and displays the combined image on the monitor, and

the work region calculation device, the image combining unit, and the camera attitude detection device are each implemented via at least one processor.

9. The camera attitude detection device according to claim 1 , further comprising:

attitude operation means for operating an attitude of the camera so as to position the hook displayed on the monitor at a predetermined position on the screen, wherein

the attitude angle calculation device comprises calculation means for calculating the attitude angle of the camera based on position information of the hook when the hook is positioned at the predetermined position on the screen and position information of the tip of the boom, and

the attitude operation means is implemented via at least one processor.

10. A work region line display device comprising the camera attitude detection device according to claim 9 , the work region line display device comprising:

a work region calculation device configured to calculate, based on a load weight of a suspended load to be suspended by the hook, a work region line indicating a region where the suspended load is movable; and

an image combining unit configured to combine the work region line calculated by the work region calculation device on an image captured by the camera, wherein

the work region calculation device calculates, based on the attitude angle of the camera detected by the camera attitude detection device, a precise position of the work region line on the image,

the image combining unit combines the work region line on the precise position calculated by the work region calculation device and displays the combined image on the monitor, and

the work region calculation device and the image combining unit are each implemented via at least one processor.

11. The work region line display device according to claim 10 further comprising:

setting means for setting, when the hook is positioned at a predetermined position of the screen of the monitor by operating the attitude operation means, the position of the hook and the attitude angle of the camera at this time as a reference value, and

after the reference value is set by the setting means, when determining, based on the attitude of the boom and operation of a winch to wind up/wind out the hook, that the position of the hook deviates from a predetermined position of a monitor screen by predetermined distance, the work region calculation device determines that an error occurs,

wherein the setting means is implemented via at least one processor.

12. The work region line display device according to claim 10 further comprising:

setting means for setting, when the hook is positioned at the predetermined position on the screen of the monitor by operating the attitude operation means, the position of the hook and the attitude angle of the camera at this time as a reference value, wherein

the work region calculation device calculates a precise position of the work region line on the image from the reference value set by the setting means, and determines that an error occurs when the camera is operated by the attitude operation means, and

the setting means is implemented via at least one processor.

13. The work region line display device according to any one of claims 10 to 12 , wherein

a frame indicating the predetermined position of the screen of the monitor is displayed, and

the attitude operation means is operated so as to position the hook in the frame.

14. The work region line display device according to claim 13 , wherein

when the camera is operated by the attitude operation means after the work region line is displayed, the camera attitude detection device considers that operation to fit the hook in the frame is performed, and calculates, based on the position information of the hook and the position information of the tip of the boom, the attitude angle of the camera, and

the work region calculation device recalculates, according to the attitude angle of the camera calculated by the camera attitude detection device, a precise position of the work region line on the image, and rewrites the work region line to the recalculated position.

15. The work region line display device according to any one of claims 10 to 12 , wherein the predetermined position is a center position of the screen of the monitor.

16. The work region line display device according to any one of claims 10 to 12 , wherein the position information of the hook comprises information on an unwound amount of the hook and the attitude of the boom.