Remote operation terminal and mobile crane provided with remote operation terminal

A remote operation terminal of a mobile crane including a position detection unit that detects a current position of a tip of a boom, the mobile crane being a vehicle mounting a crane device having the boom, the remote operation terminal comprising:

• a three-dimensional information acquisition unit that acquires three-dimensional information of each of the mobile crane and a planimetric feature within a movable range of the mobile crane;
• a display unit that displays, in a virtual space, a three-dimensional image of each of the mobile crane and the planimetric feature within the movable range of the mobile crane;
• a crane operation unit that receives a crane operation done by an operator and remotely operates the mobile crane so as to correspond to the crane operation;
• an image operation unit that receives an image display changing operation done by the operator and controls a viewpoint position and a viewpoint direction in the three-dimensional image displayed on the display unit so as to correspond to the image display changing operation;
• and
• a control unit that is configured to be communicable with a control device of the mobile crane and controls each unit of the remote operation terminal,
• wherein the control unit
• acquires attitude information of the mobile crane, movable range information of the mobile crane, and current position information of the tip of the boom from the control device of the mobile crane,
• generates the three-dimensional image of the current mobile crane and the three-dimensional image of the planimetric feature within the movable range of the current mobile crane, on the basis of the information acquired from the control device of the mobile crane and the three-dimensional information acquired by the three-dimensional information acquisition unit,
• displays the generated three-dimensional image in the virtual space of the display unit at the viewpoint position and the viewpoint direction input to the image operation unit, and
• when the crane operation is input to the crane operation unit, associates a coordinate system of a horizontal plane of the three-dimensional image displayed on the display unit with an operation direction of the crane operation on the basis of the viewpoint position and the viewpoint direction, and generates a control signal for remotely operating the mobile crane so that the tip of the boom displayed on the display unit moves horizontally toward the operation direction of the crane operation, and
• wherein, by the crane operation, the tip of the boom of the actual mobile crane is moved so as to correspond to the movement of the tip of the boom of the mobile crane displayed on the display unit.