Excavator and autonomous flying object flying around the excavator

Abstract

An excavator (100) according to an embodiment of the present invention includes: a lower traveling body (1); an upper revolving body (3) mounted on the lower traveling body (1); and a receiving device (S2), an orientation detection device (S5), a controller (30), and a display device (40) mounted on the upper revolving body (3). The receiving device (S2) receives a captured image taken by a flying object (200), the orientation detection device (S5) detects the orientation of the excavator (100), the controller (30) generates information related to a target rotation angle of the flying object (200) based on the orientation of the excavator (100), and the display device (40) displays the captured image in the same orientation as the image that can be captured when the flying object (200) rotates by the target rotation angle.

Description

[0001] This application is a divisional application of an application with the application number 201780009042.3, the application date of January 27, 2017, and the invention title of "Excavator and Autonomous Flying Body Flying around the Excavator". Technical Field

[0002] The present invention relates to an excavator and an autonomous flying body flying around the excavator. Background Art

[0003] An excavator that uses a camera mounted on an upper slewing body is known (refer to Patent Document 1). The excavator has a display device in the cab, and the display device displays images captured by cameras facing the sides and rear of the upper slewing body. Therefore, the operator of the excavator can visually recognize the conditions of the rear and sides of the excavator by observing the display device.

[0004] Prior Art Documents

[0005] Patent Documents

[0006] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2013-124467 Summary of the Invention

[0007] Technical Problem to be Solved by the Invention

[0008] However, the excavator of Patent Document 1 only displays the images captured by the cameras mounted on the upper slewing body on the display device, so the operator of the excavator cannot visually recognize the conditions of the spaces that cannot be captured by the cameras. Spaces that cannot be captured by the cameras include, for example, the internal space of the excavated hole, the near-rear space of the counterweight, etc.

[0009] In view of the above situation, it is desirable to provide an excavator that can present the images captured by a camera to the operator of the excavator, and the camera can capture the spaces that cannot be captured by the cameras mounted on the upper slewing body.

[0010] Means for Solving the Technical Problem

[0011] The excavator according to an embodiment of the present invention includes: a lower traveling body; an upper slewing body mounted on the lower traveling body; and a receiving device, an orientation detection device, a control device, and a display device mounted on the upper slewing body. In the excavator, the receiving device receives the captured images of a camera-equipped autonomous flying body, the orientation detection device detects the orientation of the excavator, the control device generates information related to the target rotation angle of the camera-equipped autonomous flying body based on the orientation of the excavator, and the display device displays the captured images in the same orientation as the images that can be captured when the camera-equipped autonomous flying body rotates by the target rotation angle.

[0012] Advantages of the Invention

[0013] According to the above solution, an excavator can be provided that can present the operator of the excavator with images captured by the following camera, which can capture spaces that cannot be captured by the camera installed on the upper slewing body. Brief Description of the Drawings

[0014] Figure 1 It is a diagram of a work site using the work assistance system.

[0015] Figure 2 It is a system structure diagram of the work assistance system.

[0016] Figure 3 It is a flowchart of the follow-up start process.

[0017] Figure 4A It is a front view of the remote control.

[0018] Figure 4B It is a front view of the remote control.

[0019] Figure 5A It is a flowchart showing an example of the process of the follow-up process.

[0020] Figure 5B It is a flowchart showing an example of the process of the follow-up process.

[0021] Figure 6A1 It is a diagram showing an example of the target flight position of the flying object.

[0022] Figure 6A2 It is a diagram showing an example of the target flight position of the flying object.

[0023] Figure 6B1 It is a diagram showing an example of the target flight position of the flying object.

[0024] Figure 6B2 It is a diagram showing an example of the target flight position of the flying object.

[0025] Figure 7A It is a diagram showing another example of the target flight position of the flying object.

[0026] Figure 7B It is a diagram showing another example of the target flight position of the flying object.

[0027] Figure 8A It is a flowchart showing another example of the process of the follow-up process.

[0028] Figure 8B It is a flowchart showing another example of the process of the follow-up process.

[0029] Figure 9 It is a flowchart showing another example of the process of following-up processing.

[0030] Figure 10A It is a flowchart showing an example of the process of avoiding contact processing.

[0031] Figure 10B It is a flowchart showing an example of the process of avoiding contact processing.

[0032] Figure 11 It is a diagram showing the relationship between the excavator and the flying object during the execution of avoidance flight.

[0033] Figure 12A It is a flowchart showing another example of the process of avoiding contact processing.

[0034] Figure 12B It is a flowchart showing another example of the process of avoiding contact processing.

[0035] Figure 13 It is a flowchart showing another example of the process of avoiding contact processing.

[0036] Figure 14 It is a side view of the excavator, the flying object, and the dump truck.

[0037] Figure 15A1 It is a diagram showing the relative positional relationship between the excavator, the flying object, and the dump truck.

[0038] Figure 15A2 It is showing Figure 15A1 a captured video image taken by the camera of the flying object in

[0039] Figure 15B1 It is a diagram showing another example of the relative positional relationship between the excavator, the flying object, and the dump truck.

[0040] Figure 15B2 It is showing Figure 15B1 a captured video image taken by the camera of the flying object in

[0041] Figure 15C1 It is a diagram showing another example of the relative positional relationship between the excavator, the flying object, and the dump truck.

[0042] Figure 15C2 It is showing Figure 15C1 a captured video image taken by the camera of the flying object in

[0043] Figure 16A It is a flowchart showing an example of the process of image rotation processing.

[0044] Figure 16B It is a flowchart showing an example of the process of image rotation processing.

[0045] Figure 17A It is a flowchart showing another example of the process of image rotation processing.

[0046] Figure 17B It is a flowchart showing another example of the process of image rotation processing.

[0047] Figure 18A It is a flowchart showing yet another example of the process of image rotation processing.

[0048] Figure 18B It is a flowchart showing yet another example of the process of image rotation processing.

[0049] Figure 19 It is a flowchart showing yet another example of the process of image rotation processing.

[0050] Figure 20A It is a diagram showing the relative positional relationship of an excavator, a flying object, and a dump truck.

[0051] Figure 20B1 It is showing Figure 20A the captured video image taken by the camera of the flying object in

[0052] Figure 20B2 It is showing Figure 20A the captured video image taken by the camera of the flying object in

[0053] Figure 21A It is a diagram explaining the method of deriving the position and orientation of the excavator based on the captured video image taken by the flying object.

[0054] Figure 21B It is a diagram explaining the method of deriving the position and orientation of the excavator based on the captured video image taken by the flying object.

[0055] Figure 22A It is a diagram explaining the method of deriving the height or depth of the grounding surface of the excavator relative to the reference plane based on the captured video image taken by the flying object.

[0056] Figure 22B It is a diagram explaining the method of deriving the height or depth of the grounding surface of the excavator relative to the reference plane based on the captured video image taken by the flying object.

[0057] Figure 22C It is a diagram explaining the method of deriving the height or depth of the grounding surface of the excavator relative to the reference plane based on the captured video image taken by the flying object.

[0058] Figure 23A It is a flowchart showing an example of machine guidance processing.

[0059] Figure 23B It is a flowchart showing an example of machine guidance processing.

[0060] Figure 24A It is a flowchart showing another example of machine boot processing.

[0061] Figure 24B It is a flowchart showing another example of machine boot processing.

[0062] Figure 25A It is a flowchart showing yet another example of machine boot processing.

[0063] Figure 25B It is a flowchart showing yet another example of machine boot processing.

[0064] Figure 26 It is a diagram of a work site using a fluid supply system.

[0065] Figure 27 It is a system structure diagram of a fluid supply system.

[0066] Figure 28A It is a flowchart of pre - fuel - supply processing.

[0067] Figure 28B It is a flowchart of pre - fuel - supply processing.

[0068] Figure 29A It is a diagram of the upper rotating body showing the configuration of the docking device.

[0069] Figure 29B It is a diagram of the upper rotating body showing the configuration of the docking device.

[0070] Figure 30A1 It is a diagram explaining the operation of the docking device.

[0071] Figure 30A2 It is a diagram explaining the operation of the docking device.

[0072] Figure 30B1 It is a diagram explaining the operation of the docking device.

[0073] Figure 30B2 It is a diagram explaining the operation of the docking device.

[0074] Figure 31A It is a flowchart of post - fuel - supply processing.

[0075] Figure 31B It is a flowchart of post - fuel - supply processing.

[0076] Figure 32A1 It is a diagram explaining another example of the docking device.

[0077] Figure 32A2 It is a diagram explaining another example of the docking device.

[0078] Figure 32B1 This is a diagram illustrating another example of the docking device.

[0079] Figure 32B2 This is a diagram illustrating another example of the docking device. Detailed implementation

[0080] First, refer to Figure 1 to describe the work assistance system including the excavator (digging machine) 100 and the flying object 200 involved in the embodiments of the present invention. Figure 1 This is a diagram of the work site using the work assistance system.

[0081] The work assistance system mainly consists of an excavator 100, a flying object 200, and a remote controller 300. The excavator 100 that makes up the work assistance system can be one or multiple. Figure 1 An example of contains two excavators 100A and 100B.

[0082] The flying object 200 is an autonomous flying object that can fly through remote operation or automatic control, such as including a multicopter, an airship, etc. In this embodiment, it is a quadcopter equipped with a camera. The remote controller 300 is a remote controller for remotely operating the flying object 200.

[0083] On the lower traveling body 1 of the excavator 100, an upper slewing body 3 is mounted via a slewing mechanism 2 so as to be slewing capable. An arm 4 is installed on the upper slewing body 3. A stick 5 is installed at the front end of the arm 4, and a bucket 6 is installed at the front end of the stick 5. The arm 4, the stick 5, and the bucket 6, which are work elements, constitute an example of a device, namely, a digging device. The arm 4, the stick 5, and the bucket 6 are respectively hydraulically driven by an arm cylinder 7, a stick cylinder 8, and a bucket cylinder 9. A cab 10 is provided on the upper slewing body 3, and a power source such as an engine 11 is mounted.

[0084] A transmission device S1, a receiving device S2, a positioning device S3, a posture detection device S4, an orientation detection device S5, a display device 40, etc. are installed on the upper slewing body 3.

[0085] The transmission device S1 sends information to the outside of the excavator 100. The transmission device S1, for example, repeatedly sends information that can be received by at least one of the flying object 200 and the remote controller 300 at a specified cycle. In this embodiment, the transmission device S1 repeatedly sends information that can be received by the flying object 200 at a specified cycle. The transmission device S1 can also send information to the flying object 200 only when it receives the information sent by the flying object 200.

[0086] The receiving device S2 receives information from the exterior of the excavator 100. The receiving device S2 receives, for example, information transmitted by at least one of the flying object 200 and the remote controller 300. In the present embodiment, the receiving device S2 receives the information transmitted by the flying object 200.

[0087] The positioning device S3 acquires information related to the position of the excavator 100. In the present embodiment, the positioning device S3 is a GNSS (GPS) receiver, and measures the latitude, longitude, and altitude of the position where the excavator 100 exists.

[0088] The posture detection device S4 detects the posture of the excavator. The posture of the excavator is, for example, the posture of the working device. In the present embodiment, the posture detection device S4 includes an arm angle sensor, a boom angle sensor, a bucket angle sensor, and a body tilt sensor. The arm angle sensor is a sensor that acquires the arm angle, and includes, for example, a rotation angle sensor that detects the rotation angle of the arm mounting pin, a stroke sensor that detects the stroke amount of the arm cylinder 7, an inclination (acceleration) sensor that detects the inclination angle of the arm 4, and the like. The same applies to the boom angle sensor and the bucket angle sensor. The body tilt sensor is a sensor that acquires the body tilt angle, and detects, for example, the tilt angle of the upper swing body 3 with respect to the horizontal plane. In the present embodiment, the body tilt sensor is a biaxial acceleration sensor that detects the tilt angles around the front - rear axis and the left - right axis of the upper swing body 3. In addition, the front - rear axis and the left - right axis of the upper swing body 3 are, for example, orthogonal to each other and pass through a point on the rotation axis of the excavator 100, that is, the excavator center point. The body tilt sensor may also be a triaxial acceleration sensor.

[0089] The orientation detection device S5 detects the orientation of the excavator 100. The orientation detection device S5 is composed of a geomagnetic sensor, a resolver or an encoder related to the rotation axis of the swing mechanism 2, a gyro sensor, and the like. The orientation detection device S5 may also be composed of a GNSS compass including two GNSS receivers. In the present embodiment, the orientation detection device S5 is composed of a combination of a triaxial geomagnetic sensor and a gyro sensor.

[0090] The display device 40 is a device that displays various information, and is arranged near the driver's seat in the cab 10. In the present embodiment, the display device 40 can display the image captured by the flying object 200.

[0091] Next, with reference to Figure 2 , the structure of the operation assistance system will be described. Figure 2 is the system structure diagram of the operation assistance system.

[0092] The excavator 100 is composed of an engine 11, a main pump 14, a pilot pump 15, a control valve 17, an operation device 26, a controller 30, an engine control device 74, and the like.

[0093] The engine 11 is the drive source of the excavator 100, for example, a diesel engine that operates in a manner to maintain a specified rotational speed. The output shaft of the engine 11 is connected to the input shafts of the main pump 14 and the pilot pump 15.

[0094] The main pump 14 is a swash plate type variable displacement hydraulic pump that supplies working oil to the control valve 17 via the high-pressure hydraulic line 16. The main pump 14 changes the discharge flow rate per rotation according to the change in the swash plate deflection angle. The swash plate deflection angle is controlled by the regulator 14a. The regulator 14a changes the swash plate deflection angle according to the change in the control current from the controller 30.

[0095] The pilot pump 15 is a fixed displacement hydraulic pump that supplies working oil to various hydraulic control machines such as the operating device 26 via the pilot line 25.

[0096] The control valve 17 is a flow control valve group that controls the flow of working oil related to the hydraulic actuator. The control valve 17 selectively supplies the working oil received from the main pump 14 through the high-pressure hydraulic line 16 to one or more hydraulic actuators according to the change in the pilot pressure corresponding to the operation direction and operation amount of the operating device 26. The hydraulic actuators include, for example, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, the left travel hydraulic motor 1A, the right travel hydraulic motor 1B, the swing hydraulic motor 2A, etc.

[0097] The operating device 26 is a device used by the operator of the excavator 100 to operate the hydraulic actuator. The operating device 26 receives the supply of working oil from the pilot pump 15 via the pilot line 25 and generates a pilot pressure. Moreover, the pilot pressure is applied to the pilot port of the corresponding flow control valve through the pilot line 25a. The pilot pressure changes according to the operation direction and operation amount of the operating device 26. The pilot pressure sensor 15a detects the pilot pressure and outputs its detected value to the controller 30.

[0098] The controller 30 is a control device for controlling the excavator 100. In this embodiment, the controller 30 is composed of a computer equipped with a CPU, RAM, ROM, etc. The CPU of the controller 30 realizes the functions corresponding to these programs by reading the programs corresponding to various functions from the ROM and loading and executing them in the RAM.

[0099] The engine control device 74 is a device that controls the engine 11. The engine control device 74 controls, for example, the fuel injection amount, etc., to achieve the engine rotational speed set via the input device.

[0100] The transmission device S1, the reception device S2, the positioning device S3, the posture detection device S4, and the orientation detection device S5 are respectively connected to the controller 30. The controller 30 performs various calculations based on the information output by the reception device S2, the positioning device S3, the posture detection device S4, and the orientation detection device S5, and transmits the information generated according to the calculation results from the transmission device S1 to the outside.

[0101] The flying object 200 includes a control device 201, a transmission device 202, a reception device 203, an autonomous navigation device 204, a camera 205, and the like.

[0102] The control device 201 is a device for controlling the flying object 200. In this embodiment, the control device 201 is composed of a computer having a RAM, a ROM, and the like. The CPU of the control device 201 reads programs corresponding to various functions from the ROM and loads and executes them in the RAM, thereby realizing the functions corresponding to these programs respectively.

[0103] The transmission device 202 transmits information to the outside of the flying object 200. The transmission device 202 repeats, for example, at a prescribed cycle, transmitting information that can be received by at least one of the excavator 100 and the remote controller 300. In this embodiment, the transmission device 202 repeats, at a prescribed cycle, transmitting information that can be received by the excavator 100 and the remote controller 300. Information that can be received by the excavator 100 and the remote controller 300 includes, for example, the captured video images of the camera 205.

[0104] The reception device 203 receives information from the outside of the flying object 200. The reception device 203 receives, for example, the information transmitted by the excavator 100 and the remote controller 300 respectively.

[0105] The autonomous navigation device 204 is a device for realizing the autonomous navigation of the flying object 200. In this embodiment, the autonomous navigation device 204 includes a flight control device, an electric motor, and a storage battery. Also, the flying object 200 may be equipped with a GNSS receiver to independently determine the position of the flying object 200. Also, the flying object 200 may be equipped with multiple GNSS receivers to independently determine the position and orientation of the flying object 200. Also, when using an external power source on the ground instead of the storage battery through a wired connection, a converter for voltage conversion may also be equipped. Also, the flying object 200 may be equipped with a solar panel. The flight control device includes various sensors such as a gyro sensor, an acceleration sensor, a geomagnetic sensor (azimuth sensor), a pressure sensor, a positioning sensor, and an ultrasonic sensor, and realizes functions such as attitude maintenance function and altitude maintenance function. The electric motor receives power supply from the storage battery and rotates the propeller. In the autonomous navigation device 204, for example, if it receives information related to the target flight position from the control device 201, it individually controls the rotation speeds of the four propellers, and while maintaining the attitude and altitude of the flying object 200, moves the flying object 200 to the target flight position. Information related to the target flight position is, for example, the latitude, longitude, and altitude of the target flight position. The control device 201, for example, obtains information related to the target flight position from the outside through the receiving device 203. The autonomous navigation device 204 may also receive information related to the target orientation from the control device 201 and change the orientation of the flying object 200.

[0106] The camera 205 is an object detection device for acquiring an image as object detection information. In this embodiment, the camera 205 is installed on the flying object 200 so as to be able to photograph directly below the flying object 200. The captured image taken by the camera 205, for example, includes information related to the flight position of the flying object 200, that is, the imaging position, and is used to generate three-dimensional terrain data. Also, as the object detection device, a laser rangefinder, an ultrasonic sensor, a millimeter wave sensor, etc. may also be used.

[0107] The remote controller 300 is composed of a control device 301, a transmitting device 302, a receiving device 303, a display device 304, an operation input device 305, etc.

[0108] The control device 301 is a device for controlling the remote controller 300. In this embodiment, the control device 301 is composed of a computer having a RAM, a ROM, etc. The CPU of the control device 301 realizes functions corresponding to these programs respectively by reading programs corresponding to various functions from the ROM and loading and executing them in the RAM.

[0109] The transmitting device 302 transmits information to the outside of the remote controller 300. For example, the transmitting device 302 repeatedly transmits information that can be received by the flying object 200 at a prescribed cycle. It is also possible to transmit information that can be received by the excavator 100. In the present embodiment, the transmitting device 302 repeatedly transmits information that can be received by the flying object 200 at a prescribed cycle. The information that can be received by the flying object 200 includes, for example, information related to the target flight position of the flying object 200.

[0110] The receiving device 303 receives information from the outside of the remote controller 300. The receiving device 303 receives, for example, information transmitted by at least one of the excavator 100 and the flying object 200. In the present embodiment, the receiving device 303 receives the information transmitted by the flying object 200. The information transmitted by the flying object 200 includes, for example, a captured image taken by the camera 205 of the flying object 200.

[0111] The display device 304 is a device for displaying various information. In the present embodiment, the display device 304 is a liquid crystal display and displays information related to the operation of the flying object 200. It is also possible to display a captured image taken by the camera 205 of the flying object 200.

[0112] The operation input device 305 is a device for receiving an operation input from an operator of the flying object 200. In the present embodiment, the operation input device 305 is a touch panel arranged on the liquid crystal display.

[0113] Next, with reference to Figure 3 , the functions of the work support system will be described. Figure 3 is a flowchart of a process for starting the follow-up function of the work support system (hereinafter, referred to as "follow-up start process"). The follow-up function is a function in which the flying object 200 automatically follows the excavator 100, captures the surroundings of the excavator 100, and transmits them to the excavator 100.

[0114] First, the operator of the flying object 200 determines the excavator to be the follow-up target (step ST1). For example, the operator uses the operation input device 305 of the remote controller 300 to determine the excavator 100 that the flying object 200 is to follow.

[0115] If the excavator to be the follow-up target is determined, the process of making the flying object 200 follow the excavator (hereinafter, referred to as "follow-up process") is started (step ST2). Moreover, the flying object 200 starts transmitting the captured image (step ST3). For example, the flying object 200 repeatedly transmits information including the captured image taken by the camera 205 from the transmitting device 202 at a prescribed cycle.

[0116] Here, with reference to FIG. 4, a method for the operator to determine the excavator to be the follow-up target using the remote controller 300 will be described. Figure 4A and Figure 4BIt is the front view of the remote controller 300. Figure 4A and Figure 4B In each of the examples of Figure 4A and Figure 4B , the remote controller 300 is a smart phone having a liquid crystal display as the display device 304 and a touch panel as the operation input device 305.

[0117] Figure 4A It shows a situation where there are three excavators within the receivable range of the flying object 200. The flying object 200 verifies the excavators by receiving, for example, the excavator ID numbers via wireless communication. The selection buttons G1 to G3 are software buttons respectively corresponding to the verified excavators. The remote controller 300 displays the selection buttons in a number corresponding to the number of the identified excavators. Each selection button is attached with an excavator ID number. The operation button G5 is a software button for making the flying object 200 ascend, descend, rotate left or rotate right. The operator can send an ascending instruction from the remote controller 300 to the flying object 200 to make the flying object 200 ascend by touching the upper part (the part displayed as "ascend") of the operation button G5. The same applies to descending, rotating left and rotating right. The operation button G6 is a software button for making the flying object 200 move forward, backward, left or right. The operator can send a forward instruction from the remote controller 300 to the flying object 200 to make the flying object 200 move forward by touching the upper part (the part displayed as "front") of the operation button G6. The same applies to moving in other directions.

[0118] The operator touches the operation buttons G5 and G6 to make the flying object 200 fly above the work site. If the flying object 200 verifies the excavators, the remote controller 300 displays the selection buttons G1 to G3 respectively corresponding to the three verified excavators according to the information received from the flying object 200. The operator determines the excavator to be followed by touching one of the selection buttons G1 to G3. The flying object 200 approaches the excavator to be followed by using the information received from the excavator to be followed, for example. Moreover, it performs following flight in such a way as to maintain the relative position relationship with the excavator to be followed.

[0119] Figure 4B It shows a situation where there are four excavators within the imaging range of the camera 205 of the flying object 200. The flying object 200 identifies the excavators existing within the imaging range of the camera 205 by performing image processing on the captured imaging image of the camera 205, for example. The camera image G10 is the captured imaging image of the camera 205 and includes four excavator images G11 to G14 respectively corresponding to the four excavators existing within the imaging range of the camera 205. The remote controller 300 displays the camera image G10 in real time by using the information received from the flying object 200.

[0120] The operator determines the excavator to be the following object by performing a touch operation on one of the four excavator images G11 to G14. Thereafter, the flying object 200 follows and flies, for example, in such a manner that the excavator image of the excavator to be the following object occupies a specified size at a specified position in the captured image. That is, the following flight is performed in such a manner that the relative positional relationship between the excavator to be the following object and the flying object 200 is maintained as a specified relative positional relationship.

[0121] Next, with reference to FIG. 5, an example of the following process will be described. Figure 5A is a flowchart showing the process in the excavator 100, Figure 5B is a flowchart showing the process in the flying object 200.

[0122] First, the controller 30 of the excavator 100 acquires the position information of the excavator 100 (step ST11). The controller 30 acquires, for example, the latitude, longitude, and altitude of the excavator 100 based on the output of the positioning device S3. Further, the controller 30 may also acquire, for example, the attitude information of the excavation device, the orientation information of the excavator 100, the operation information of the excavator 100, and the like. For example, the controller 30 may acquire the boom angle, the arm angle, the bucket angle, and the body tilt angle based on the output of the attitude detection device S4. Further, the controller 30 may acquire the absolute azimuth angle of the excavator 100 based on the output of the orientation detection device S5. Further, the controller 30 may acquire the operation content of the excavator 100 based on the output of the pilot pressure sensor 15a.

[0123] Thereafter, the controller 30 transmits the position information to the outside (step ST12). For example, the controller 30 transmits the position information to the flying object 200 through the transmission device S1. Further, the controller 30 may also transmit the orientation information of the excavator 100, the operation information of the excavator 100, the attitude information of the excavation device, and the like to the flying object 200.

[0124] Moreover, by repeatedly executing step ST11 and step ST12 at a specified control cycle, the controller 30 can continuously transmit the position information of the excavator 100 to the flying object 200.

[0125] The control device 201 of the flying object 200 receives the position information of the excavator 100 (step ST21). For example, the control device 201 receives the position information of the excavator 100 transmitted by the controller 30 of the excavator 100 through the receiving device 203. The control device 201 may also receive, for example, the orientation information of the excavator 100, the operation information of the excavator 100, the attitude information of the excavation device, and the like.

[0126] After that, the control device 201 determines the target flight position (step ST22). For example, the control device 201 determines the target flight position of the flying body 200 based on the position information of the excavator 100. The target flight position is, for example, a position that is a specified height above a specified point on the excavator 100 and is separated from the specified point by a specified distance. The specified point is, for example, a point on the rotation axis of the excavator 100, and its position coordinates are derived based on the current position of the excavator 100, that is, the current position of the positioning device S3.

[0127] The control device 201 can derive one target flight position from the position coordinates of the specified point, or can also derive multiple target flight positions. For example, the control device 201 can also derive all positions that satisfy the condition of being a specified height above a specified point on the excavator 100 and being separated from the rotation axis by a specified distance as the target flight positions. And when obtaining the posture information of the excavation device, the control device 201 can also use the current turning radius of the excavation device as the above-mentioned specified distance. And when obtaining the orientation information of the excavator 100, the control device 201 can also derive one position in front of the excavator 100 in the top view among the positions that satisfy the above conditions as the target flight position. And when obtaining the operation information of the excavator 100, the control device 201 can also switch the target flight position according to the operation content of the excavator 100. For example, the target flight position can be switched during the traveling and excavation of the excavator 100.

[0128] When multiple target flight positions are derived, the control device 201 can also determine one target flight position by additionally considering the current position information of the flying body 200 output by the autonomous navigation device 204. For example, the target flight position closest to the current position of the flying body 200 among the multiple target flight positions can be determined as the final target flight position.

[0129] After that, the control device 201 moves the flying body 200 to the target flight position (step ST23). For example, the control device 201 outputs information related to the target flight position to the autonomous navigation device 204. The autonomous navigation device 204 uses GNSS (GPS) navigation, inertial navigation, or hybrid navigation that combines GPS navigation and inertial navigation to move the flying body 200 to the target flight position. When using GPS navigation, the autonomous navigation device 204 only needs to obtain the absolute position (latitude, longitude, altitude) of the excavator 100 as the information related to the target flight position. When using inertial navigation, the autonomous navigation device 204 only needs to obtain information related to the change between the position of the excavator 100 received last time and the position of the excavator 100 received this time as the information related to the target flight position. At this time, the receiving device 203 of the flying body 200 only needs to continuously receive the position information of the excavator 100.

[0130] Moreover, each time the position information of the excavator 100 is received, the control device 201 can make the flying object 200 continuously follow the excavator 100 by repeatedly executing step ST22 and step ST23.

[0131] In addition, when the flying object 200 is equipped with a plurality of GNSS receivers, the control device 201 can grasp the position and orientation (the rotation angle with respect to the reference azimuth) of the flying object 200. At this time, in the control device 201, if the position information and orientation information of the excavator 100 are obtained, the respective positions and orientations of the excavator 100 and the flying object 200 can be compared. Moreover, the position and orientation of the flying object 200 can be changed according to the changes in the position and orientation of the excavator 100, so that the flying object 200 follows the excavator 100.

[0132] Next, with reference to FIG. 6, a specific example of the target flight position of the flying object 200 will be described. Figure 6A1 and Figure 6A2 FIG. 11 shows a state where the position separated from the rotation axis L1 is set as the target flight position. Figure 6B1 and Figure 6B2 FIG. 15 shows a state where the position on the rotation axis L1 is set as the target flight position. Figure 6A1 and Figure 6B1 FIGS. 19 and 20 are side views of the excavator 100 and the flying object 200, Figure 6A2 and Figure 6B2 FIGS. 21 and 22 are top views of the excavator 100 and the flying object 200.

[0133] Figure 6A1 and Figure 6A2 In the example of FIGS. 27 and 28, the target flight position is set at a position separated from the rotation axis L1 by a rear distance T on the front-rear axis L2 of the upper slewing body 3 at a height H from the specified point P1 of the excavator 100. The specified point P1 is the intersection of the ground contact surface of the excavator 100 (lower traveling body 1) and the rotation axis L1. At this time, the front-rear axis L2 of the upper slewing body 3 rotates according to the rotation of the excavator 100. Therefore, the target flight position also moves according to the rotation of the excavator 100. In the flying object 200, if the front-rear axis L2 rotates around the rotation axis L1 to change the target flight position, it moves to a new target flight position at a position separated from the rotation axis L1 by a rear distance T on the rotated front-rear axis L2 while maintaining the height H.

[0134] The target flight position can also be set at a position separated from the rotation axis L1 by a specified front distance on the front-rear axis L2 of the upper slewing body 3 at a specified height from the specified point P1 of the excavator 100. The specified distance is, for example, a position directly above the position of the front end of the arm. Such a target flight position is suitable, for example, when the excavator 100 performs excavation work or compaction work.

[0135] Figure 6B1 and Figure 6B2 In the example of Figure 6B2 , the target flight position is set on the rotation axis L1 and at a position separated by a height H from a specified point P1. At this time, the target flight position does not move even when the excavator 100 rotates. This is because the position of the rotation axis L1 does not change. Therefore, the flying body 200 remains stationary and continues to fly even when the excavator 100 rotates. Such a target flight position is suitable, for example, when the excavator 100 is traveling.

[0136] Next, referring to FIG. 7, another specific example of the target flight position of the flying body 200 will be described. Figure 7A and Figure 7B are top views of an excavator 100 that performs excavation / loading operations, a flying body 200 that flies following the excavator 100, and a dump truck 400 that receives the sand and soil discharged by the excavator 100. Figure 7A represents a state in which the excavator 100 performs an excavation operation with the excavation device facing the +Y direction, Figure 7B represents a state in which, after the excavation operation, a left rotation is performed and the excavation device faces the +X direction.

[0137] Figure 7A and Figure 7B In the example of Figure 7B , the target flight position is set at a position directly above the position of the front end of the arm. At this time, the position of the front end of the arm changes according to the change in the posture of the excavation device and the rotation of the excavator 100. Therefore, the target flight position also moves according to the change in the posture of the excavation device and the rotation of the excavator 100. In the flying body 200, when the target flight position is changed due to a change in at least one of the posture of the excavation device and the orientation of the excavator 100, it moves to a new target flight position corresponding to the new position of the front end of the arm while maintaining the height H.

[0138] According to the above structure, the excavator 100 can display the captured image taken by the camera 205 mounted on the flying body 200 on the display device 40 in the cab 10 and present it to the operator of the excavator 100. The camera 205 is a camera capable of photographing a space that cannot be photographed by the camera mounted on the upper swing body 3.

[0139] Moreover, the excavator 100 can make the flying body 200 fly following the excavator 100 by transmitting information related to the target flight position of the flying body 200 from the transmitting device S1. For example, the excavator 100 can make the flying body 200 fly following it in such a way that a specified horizontal distance between a specified part such as the front end position of the boom of the excavation device and the flying body 200 is maintained at a specified distance.

[0140] Moreover, the excavator 100 can make the flying object 200 follow the excavator 100 without receiving the information transmitted by the flying object 200. This is because the flying object 200 can determine the target flight position of the flying object 200 based on the position information of the excavator 100, and because the excavator 100 can transmit only the position information of the excavator 100.

[0141] Moreover, the flying object 200 can follow the excavator 100 while maintaining a prescribed relative position relationship between the excavator 100 and the flying object 200. Therefore, it is possible to detect changes in the terrain caused by the work performed by the excavator 100 using various sensors including the camera 205. As a result, it is possible to more accurately grasp the construction status of the excavator 100 based on the data acquired by the flying object 200.

[0142] Next, with reference to FIG. 8, another example of the following process will be described. Figure 8A is a flowchart showing the process in the excavator 100, Figure 8B is a flowchart showing the process in the flying object 200. In terms of the controller 30 of the excavator 100 calculating and transmitting the target flight position, the example of FIG. 8 is different from the example of FIG. 5. In the example of FIG. 5, the controller 30 transmits the position information of the excavator 100, and the control device 201 of the flying object 200 calculates the target flight position based on the position information of the excavator 100.

[0143] First, the controller 30 acquires the position information of the excavator 100 (step ST31). The controller 30 acquires, for example, the latitude, longitude, and altitude of the excavator 100 based on the output of the positioning device S3. Moreover, the controller 30 can also acquire, separately, the posture information of the excavation device, the orientation information of the excavator 100, and the like.

[0144] After that, the controller 30 acquires the position information of the flying object 200 (step ST32). For example, the controller 30 receives the position information of the flying object 200 via the receiving device S2.

[0145] After that, the controller 30 determines the target flight position of the flying object 200 (step ST33). For example, the controller 30 determines the target flight position of the flying object 200 based on the position information of the excavator 100 and the position information of the flying object 200. Specifically, the controller 30 derives all positions that satisfy the condition of being at a specified height above a specified point on the excavator 100 and at a specified distance from the rotation axis as the target flight positions. Moreover, the target flight position that is closest to the current position of the flying object 200 among the target flight positions that satisfy the above conditions is derived as the final target flight position. When the orientation information of the excavator 100 is acquired, the controller 30 may also derive one position that is in front of the excavator 100 in the top view among the positions that satisfy the above conditions as the target flight position. At this time, the step ST32 of acquiring the position information of the flying object 200 may also be omitted.

[0146] After that, the controller 30 sends the target flight position to the outside (step ST34). For example, the controller 30 sends the target flight position to the flying object 200 through the sending device S1.

[0147] Moreover, by repeatedly executing steps ST31 to ST34 at a specified control cycle, the controller 30 can continuously transmit information related to the target flight position to the flying object 200.

[0148] The control device 201 of the flying object 200 repeatedly sends the position information of the flying object 200 at a specified control cycle (step ST41). For example, the control device 201 sends the position information of the flying object 200 to the excavator 100.

[0149] Moreover, the control device 201 receives the target flight position (step ST42). For example, the control device 201 receives the target flight position sent by the controller 30 of the excavator 100 through the receiving device 203.

[0150] After that, the control device 201 moves the flying object 200 to the target flight position (step ST43). For example, the control device 201 outputs information related to the target flight position to the autonomous navigation device 204. The autonomous navigation device 204 uses radio wave navigation, GNSS (GPS) navigation, inertial navigation, hybrid navigation that combines GPS navigation and inertial navigation, etc., to move the flying object 200 to the target flight position.

[0151] Moreover, every time the target flight position is received, the control device 201 can make the flying object 200 continuously follow the excavator 100 by repeatedly executing step ST43.

[0152] Based on the above structure, the excavator 100 displays the captured image taken by the camera 205 of the flying object 200 on the display device 40 in the cab 10 and presents it to the operator of the excavator 100.

[0153] Moreover, the excavator 100 can make the flying object 200 follow the excavator 100 by sending information related to the target flight position of the flying object 200 from the sending device S1.

[0154] Furthermore, the excavator 100 can make the flying object 200 follow the excavator 100 without performing the operation for deriving the target flight position of the flying object 200 in the flying object 200. This is because the flying object 200 can perform following flight only based on the information related to the target flight position generated by the excavator 100.

[0155] Next, with reference to Figure 9 , another example of the following process will be described. Figure 9 is a flowchart showing the process in the flying object 200. In terms of not receiving information from the excavator 100 and the control device 201 of the flying object 200 determining the target flight position, Figure 9 the example of

[0156] is different from the examples of FIGS. 5 and 8 respectively.

[0157] First, the control device 201 of the flying object 200 acquires a captured image including an excavator image (step ST51). For example, the control device 201 acquires the captured image taken by the camera 205 of the flying object 200 flying above the excavator 100. The captured image includes the image of the excavator 100, that is, the excavator image.

[0158] The control device 201 can also derive the relative orientation of the excavator 100 with respect to the flying object 200 based on the identified excavator image. The relative orientation of the excavator 100 with respect to the flying object 200 is derived, for example, based on the angle between the extending direction of the image of the excavation device in the captured image and the vertical axis of the captured image. The vertical axis of the captured image corresponds to the orientation of the flying object 200.

[0159] After that, the control device 201 determines the target flight position (step ST53). For example, the control device 201 determines the target flight position based on the relative position of the excavator 100 derived in step ST52. Specifically, the control device 201 derives the movement (required action) of the flying object 200 required to display the excavator image at a specified position in a specified size in the captured image. For example, when it is possible to display the excavator image at a specified position in a specified size in the current captured image if it ascends 1 meter and moves 2 meters northward, the required actions of the flying object 200 are "ascend 1 meter" and "move 2 meters northward". This means that the target flight position is set at a position 1 meter higher and 2 meters apart northward from the current position of the flying object 200. That is, the control device 201 can determine the target flight position by deriving the required actions of the flying object 200.

[0160] The specified position in the captured image is, for example, one or more regions from the center of the captured image or a specified number of pixels away from the center. The excavator image being located at the center of the captured image indicates, for example, that the excavator 100 is directly below the flying object 200.

[0161] When the relative orientation is also derived in addition to the relative position of the excavator 100, the control device 201 can, for example, specify a region that is a specified number of pixels away from the center of the captured image in a specified direction as the specified position in the captured image.

[0162] After that, the control device 201 moves the flying object 200 to the target flight position (step ST54). For example, the control device 201 outputs information related to the target flight position to the autonomous navigation device 204. The autonomous navigation device 204 uses GNSS (GPS) navigation, inertial navigation, or hybrid navigation that combines GPS navigation and inertial navigation to move the flying object 200 to the target flight position.

[0163] Moreover, every time a captured image is acquired, the control device 201 can make the flying object 200 continuously follow the excavator 100 by repeatedly executing steps ST52 to ST54.

[0164] According to the above structure, the excavator 100 displays the captured image taken by the camera 205 mounted on the flying object 200 on the display device 40 in the cab 10 and presents it to the operator of the excavator 100.

[0165] The flying object 200 can derive the position of the excavator 100 based on the captured image of the camera 205. Therefore, it can follow the excavator 100 in flight without receiving the information generated by the excavator 100.

[0166] Moreover, Figure 9 In the example of, the use of the camera 205 as the object detection device is shown. However, as the object detection device, a laser rangefinder, an ultrasonic sensor, a millimeter-wave sensor, etc. can also be used. In this case, information based on laser, ultrasonic, millimeter-wave, etc. rather than the camera image can be adopted as the object detection information.

[0167] Next, referring to FIG. 10, another function of the work assistance system will be described. FIG. 10 is a flowchart of a process (hereinafter referred to as "contact avoidance process") for the work assistance system to avoid contact between the excavator 100 and the flying object 200. Figure 10A is a flowchart showing the process flow in the excavator 100, Figure 10B is a flowchart showing the process flow in the flying object 200. In the example of FIG. 10, the flying object 200 is remotely operated by an operator via the remote controller 300. However, the following description also applies equally to the case of autonomous flight without relying on the remote operation of the operator.

[0168] First, the controller 30 of the excavator 100 acquires the position information of the excavator 100 (step ST61). The controller 30 acquires, for example, the latitude, longitude, and altitude of the excavator 100 based on the output of the positioning device S3. Moreover, the controller 30 can also acquire, in addition, the posture information of the excavation device, the orientation information of the excavator 100, the operation information of the excavator 100, etc. For example, the controller 30 can acquire the boom angle, the arm angle, the bucket angle, and the body tilt angle based on the output of the posture detection device S4. Moreover, the controller 30 can acquire the absolute azimuth angle of the excavator 100 based on the output of the orientation detection device S5. Moreover, the controller 30 can acquire the operation content of the excavator 100 based on the output of the pilot pressure sensor 15a.

[0169] After that, the controller 30 sends the position information to the outside (step ST62). For example, the controller 30 sends the position information to the flying object 200 via the sending device S1. Moreover, the controller 30 can also send the orientation information of the excavator 100, the operation information of the excavator 100, the posture information of the excavation device, etc. to the flying object 200.

[0170] Furthermore, by repeatedly executing step ST61 and step ST62 at a prescribed control cycle, the controller 30 can continuously transmit the position information of the excavator 100 to the flying object 200.

[0171] The control device 201 of the flying object 200 receives the position information of the excavator 100 (step ST71). For example, the control device 201 receives the position information of the excavator 100 sent by the controller 30 of the excavator 100 through the receiving device 203. The control device 201 may also receive, in addition, the orientation information of the excavator 100, the operation information of the excavator 100, the posture information of the excavation device, and the like.

[0172] After that, the control device 201 determines a flight prohibited space (step ST72). For example, the control device 201 determines the flight prohibited space of the flying object 200 based on the position information of the excavator 100. The flight prohibited space is, for example, a space within a specified distance from a specified point on the excavator 100. The specified point is, for example, a point on the rotation axis of the excavator 100, and its position coordinates are derived from the current position of the excavator 100, that is, the current position of the positioning device S3. At this time, the flight prohibited space may also be, for example, the reachable range of the excavation device.

[0173] When acquiring the posture information of the excavation device, the control device 201 may also determine the above-mentioned specified distance based on the current turning radius of the excavation device. At this time, the flight prohibited space may also be, for example, the reachable range of the excavation device when the excavation device is turned while maintaining its current posture.

[0174] Furthermore, when acquiring the orientation information of the excavator 100, the control device 201 may also determine the shape of the flight prohibited space based on the orientation of the excavator 100. For example, a sector-shaped flight prohibited space in a top view centered on the rotation axis of the excavator 100 may be set. At this time, the flight prohibited space may also be set to be bisected by a plane including the central axis of the excavation device.

[0175] Furthermore, when acquiring the operation information of the excavator 100, the control device 201 may also change the shape of the flight prohibited space according to the operation content of the excavator 100. For example, when a left turn operation is performed, the sector-shaped flight prohibited space in the top view may be set such that the plane including the central axis of the excavation device becomes its right end face. Also, it may be set such that the larger the operation amount of the turning operation lever, the larger the central angle of the sector becomes.

[0176] After that, the control device 201 determines whether the flying object 200 exists within the flight prohibited space (step ST73). For example, the control device 201 derives the current position of the flying object 200 based on the output of the autonomous navigation device 204, thereby deriving the distance between a specified point on the excavator 100 and the current position of the flying object 200. Moreover, when this distance is equal to or less than a specified distance, it is determined that the flying object 200 exists within the flight prohibited space. When determining the flight prohibited space in consideration of the orientation information, operation information, posture information, etc. of the excavator 100, the control device 201 can also, for example, derive the existence direction of the flying object 200 related to the specified point on the excavator 100 based on the output of the autonomous navigation device 204.

[0177] When it is determined that the flying object 200 exists within the flight prohibited space (Yes in step ST73), the control device 201 performs avoidance flight (step ST74). For example, the control device 201 moves the flying object 200 to the target avoidance position. Specifically, the control device 201 outputs information related to the target avoidance position to the autonomous navigation device 204. The autonomous navigation device 204 uses GNSS (GPS) navigation, inertial navigation, or hybrid navigation that combines GPS navigation and inertial navigation to move the flying object 200 to the target avoidance position.

[0178] The target avoidance position is a target flight position set outside the flight prohibited space. For example, it is the position closest to the current position of the flying object 200 among the positions outside the flight prohibited space. And when the flying object 200 is located in the overlapping part of multiple flight prohibited spaces from multiple excavators, the target avoidance position is set to the position closest to the current position of the flying object 200 among the positions outside all the flight prohibited spaces. However, the information related to the target avoidance position can also be only the target flight direction and the target flight distance. For example, it can also be an order to make the flying object 200 ascend a specified height vertically upward.

[0179] When performing avoidance flight, regardless of the content of the remote operation by the operator via the remote controller 300, the control device 201 forcibly moves the flying object 200 to the target avoidance position. For example, even when the operator makes the flying object 200 hover, the flying object 200 is forcibly moved to the target avoidance position.

[0180] The control device 201 can also send an operation restriction instruction to the excavator 100. The excavator 100 that receives the operation restriction instruction, for example, forcibly deactivates or stops the movement of the hydraulic actuator. This is to more reliably prevent contact between the excavator 100 and the flying object 200.

[0181] As a part of avoiding flight, the control device 201 can also control the flying object 200 to avoid entering the flight prohibited space. For example, even when the operator of the flying object 200 performs a remote operation to make the flying object 200 enter the flight prohibited space, the control device 201 makes the flying object 200 fly statically to prevent it from entering the flight prohibited space.

[0182] When performing avoiding flight, the remote controller 300 can also notify the operator that the avoiding flight has been executed. For example, the remote controller 300 can also display a text message indicating that the avoiding flight has been executed on the display device 304.

[0183] Similarly, when performing avoiding flight, especially when the operation of the hydraulic actuator is restricted as the avoiding flight is executed, the controller 30 of the excavator 100 can also notify the operator of the excavator 100 that the avoiding flight has been executed. For example, the controller 30 displays a text message indicating that the avoiding flight has been executed on the display device 40.

[0184] Moreover, every time the position information of the excavator is received, the control device 201 can make the flying object 200 continuously fly outside the flight prohibited space by repeatedly executing step ST72 to step ST74.

[0185] When adopting the contact avoidance process of FIG. 10, the receiving device S2 of the excavator 100 can also be omitted.

[0186] Figure 11 FIG. is a diagram showing the relationship between the excavator 100 and the flying object 200 when performing avoiding flight. The figure shows the situation where the excavator 100 is rotated around the rotation axis L1 by the operator of the excavator 100 facing the +X direction to face the -X direction. The flying object 200 is located within the flight prohibited space, and if the excavator 100 faces the -X direction, it may cause contact with the excavation device.

[0187] When it is determined that the flying object 200 exists within the flight prohibited space, the control device 201 forcibly moves the flying object 200 to a target avoidance position located outside the flight prohibited space. Figure 11 The arrow AR1 in... indicates the situation where the flying object 200 is forcibly moved to the target avoidance position.

[0188] When it is determined that the flying object 200 does not exist within the flight prohibited space (No in step ST73), the control device 201 does not perform avoiding flight and ends this process.

[0189] Based on the above structure, contact between the excavator 100 and the flying object 200 can be prevented. Specifically, the excavator 100 can cause the flying object 200 to perform an avoidance flight as needed by transmitting information related to the flight prohibited space set around the excavator 100 to the flying object 200. Also, the excavator 100 can restrict the operation of the hydraulic actuator when the flying object 200 is within the flight prohibited space. Therefore, the operator of the excavator 100 can focus on the operation of the excavator 100 without worrying about contact between the excavator 100 and the flying object 200. The flying object 200 autonomously flies in such a way that it does not enter the flight prohibited space belonging to the excavator 100. Also, when it is within the flight prohibited space, it autonomously flies in such a way that it quickly exits the flight prohibited space. Therefore, the operator of the flying object 200 can focus on the operation of the flying object 200 without worrying about contact between the excavator 100 and the flying object 200.

[0190] Next, referring to FIG. 12, another example of the contact avoidance process will be described. FIG. 12 is a flowchart showing another example of the flow of the contact avoidance process. Figure 12A is a flowchart showing the flow of the process in the excavator 100, Figure 12B is a flowchart showing the flow of the process in the flying object 200. In terms of the controller 30 of the excavator 100 determining the flight prohibited space, the example of FIG. 12 is different from the example of FIG. 10. In the example of FIG. 10, the controller 30 transmits the position information of the excavator 100, and the control device 201 of the flying object 200 determines the flight prohibited space based on the position information of the excavator 100.

[0191] First, the controller 30 of the excavator 100 acquires the position information of the excavator 100 (step ST81). The controller 30 acquires, for example, the latitude, longitude, and altitude of the excavator 100 based on the output of the positioning device S3. Also, the controller 30 can additionally acquire the posture information of the excavating device, the orientation information of the excavator 100, the operation information of the excavator 100, etc. For example, the controller 30 can acquire the boom angle, arm angle, bucket angle, and body tilt angle based on the output of the posture detection device S4. Also, the controller 30 can acquire the absolute azimuth angle of the excavator 100 based on the output of the orientation detection device S5. Also, the controller 30 can acquire the operation content of the excavator 100 based on the output of the pilot pressure sensor 15a.

[0192] After that, the controller 30 acquires the position information of the flying object 200 (step ST82). For example, the controller 30 receives the position information of the flying object 200 via the receiving device S2.

[0193] After that, the controller 30 determines a flight prohibited space related to the excavator 100 (step ST83). For example, the controller 30 determines the flight prohibited space based on the position information of the excavator 100. Similarly to the above, the controller 30 can also determine the flight prohibited space by additionally considering the orientation information of the excavator 100, the operation information of the excavator 100, the posture information of the excavation device, etc.

[0194] After that, the controller 30 determines whether the flying object 200 exists within the flight prohibited space (step ST84). For example, when the distance between a specified point on the excavator 100 and the current position of the flying object 200 is below a specified distance, the controller 30 determines that the flying object 200 exists within the flight prohibited space.

[0195] When it is determined that the flying object 200 exists within the flight prohibited space (Yes in step ST84), the controller 30 sends information related to avoiding flight (step ST85). For example, the controller 30 sends the information related to avoiding flight to the flying object 200 through the sending device S1. The information related to avoiding flight includes, for example, information related to the target avoidance position.

[0196] At this time, the controller 30 can also forcibly restrict the operation of the hydraulic actuator. For example, if the excavator 100 is rotating, the controller 30 can also dull or stop the rotation. This is to more reliably prevent contact between the excavator 100 and the flying object 200.

[0197] When restricting the operation of the hydraulic actuator on the assumption that the flying object 200 exists within the flight prohibited space, the controller 30 can also notify the operator of the excavator 100 that the flying object 200 exists within the flight prohibited space. For example, the controller 30 can also display a text message indicating that the flying object 200 exists within the flight prohibited space on the display device 40.

[0198] When it is determined that the flying object 200 does not exist within the flight prohibited space (Yes in step ST84), the controller 30 ends this process without sending the information related to avoiding flight.

[0199] Moreover, by repeatedly executing steps ST81 to ST85 at a specified control cycle, the controller 30 can continuously transmit the information related to avoiding flight to the flying object 200 when the flying object 200 is located within the flight prohibited space.

[0200] The control device 201 of the flying object 200 repeats and sends the position information of the flying object 200 at a specified control cycle (step ST91). For example, the control device 201 sends the position information of the flying object 200 to the excavator 100.

[0201] Furthermore, the control device 201 determines whether it has received information related to avoidance flight (step ST92).

[0202] When it is determined that information related to avoidance flight has been received (Yes in step ST92), the control device 201 performs avoidance flight (step ST93). For example, the control device 201 moves the flying object 200 to a target avoidance position. Specifically, the control device 201 outputs information related to the target avoidance position to the autonomous navigation device 204. The autonomous navigation device 204 uses GNSS (GPS) navigation, inertial navigation, or hybrid navigation that combines GPS navigation and inertial navigation to move the flying object 200 to the target avoidance position.

[0203] When performing avoidance flight, regardless of the content of the remote operation by the operator via the remote controller 300, the control device 201 forcibly moves the flying object 200 to the target avoidance position. For example, even when the operator makes the flying object 200 hover, the flying object 200 is forcibly moved to the target avoidance position.

[0204] As part of the avoidance flight, the control device 201 can also control the flying object 200 to avoid entering a no-fly zone. For example, even when the operator of the flying object 200 performs a remote operation to make the flying object 200 enter the no-fly zone, the control device 201 makes the flying object 200 hover to prevent it from entering the no-fly zone.

[0205] When performing avoidance flight, regardless of the content of the remote operation by the operator via the remote controller 300, the control device 201 forcibly moves the flying object 200 to the target avoidance position. For example, even when the operator makes the flying object 200 hover, the flying object 200 is forcibly moved to the target avoidance position.

[0206] When performing avoidance flight, the remote controller 300 can also notify the operator that avoidance flight has been performed. For example, the remote controller 300 can display a text message indicating that avoidance flight has been performed on the display device 304.

[0207] When it is determined that no information related to avoidance flight has been received (No in step ST92), the control device 201 does not perform avoidance flight and ends this process.

[0208] Moreover, whenever information related to avoidance flight is received, the control device 201 repeats step ST93 to prevent the flying object 200 from entering the no-fly zone or to quickly withdraw the flying object 200 from the no-fly zone.

[0209] Based on the above structure, contact between the excavator 100 and the flying object 200 can be prevented. Specifically, different from the example in FIG. 10, the excavator 100 does not transmit the position information of the excavator 100, but transmits information related to avoidance flight generated based on its position information. Therefore, the control device 201 of the flying object 200 does not need to perform processing for generating information related to avoidance flight, but can perform avoidance flight of the flying object 200.

[0210] Moreover, when the flying object 200 is equipped with multiple GNSS receivers, the control device 201 can grasp the position and orientation (rotation angle relative to the reference azimuth) of the flying object 200. At this time, if the position information, orientation information of the excavator 100, and the posture information of the excavation device are acquired, the control device 201 can compare the positions of the specified part of the excavation device and the flying object 200 respectively, and can compare the orientations of the excavation device and the flying object 200 respectively. Furthermore, the flying object 200 can be made to perform avoidance flight according to changes in the posture and orientation of the excavation device.

[0211] Next, referring to Figure 13 , another example of the contact avoidance process will be described. Figure 13 is a flowchart showing another example of the process of the contact avoidance process. In terms of determining the flight prohibited space by the control device 201 of the flying object 200 without receiving information from the excavator 100, Figure 13 the example is different from the examples of FIG. 10 and FIG. 12 respectively.

[0212] First, the control device 201 of the flying object 200 acquires a captured image including an excavator image (step ST101). For example, the control device 201 acquires a captured image taken by the camera 205 of the flying object 200 flying above the excavator 100. The captured image includes an image of the excavator 100, that is, an excavator image.

[0213] After that, the control device 201 derives the relative position of the excavator 100 (step ST102). For example, the control device 201 finds the excavator image in the captured image by performing image processing such as pattern matching on the captured image. Moreover, based on the positional relationship between the image position of the found excavator image and the center of the captured image, the relative position of the excavator 100 in the actual space relative to the flying object 200 can be derived. This is because the image position and direction of the excavator image relative to the center of the captured image correspond to the position and direction of the excavator 100 relative to the flying object 200 in the top view. The relative position of the excavator 100 includes the vertical distance and the horizontal distance between the excavator 100 and the flying object 200. The vertical distance is derived based on the size of the excavator image in the captured image. The horizontal distance is derived based on the position of the excavator image in the captured image.

[0214] The control device 201 can also derive the relative orientation of the excavator 100 with respect to the flying object 200 based on the identified excavator image. The relative orientation of the excavator 100 with respect to the flying object 200 is derived, for example, based on the angle between the extending direction of the image of the excavating device in the captured image and the vertical axis of the captured image. The vertical axis of the captured image corresponds to the orientation of the flying object 200.

[0215] After that, the control device 201 determines a flight prohibited space (step ST103). For example, the control device 201 determines the flight prohibited space based on the relative position of the excavator 100 derived in step ST102. Specifically, the control device 201 derives the intersection point of the ground contact surface of the excavator 100 and the rotation axis as the relative position of the excavator 100, and derives the space within a specified distance from this intersection point as the flight prohibited space.

[0216] After that, the control device 201 determines whether the flying object 200 exists within the flight prohibited space (step ST104). For example, the control device 201 determines whether the flying object 200 exists within the flight prohibited space based on the position and size of the excavator image in the captured image. Specifically, when the excavator image of the excavator 100 exists within a range of a specified number of pixels from the center of the captured image and the size of this excavator image is equal to or greater than a specified size, it is determined that the flying object 200 exists within the flight prohibited space belonging to the excavator 100. This is because when the flying object 200 exists within the flight prohibited space belonging to the excavator 100, the excavator image of the excavator 100 is reflected in a specified range with a size greater than or equal to the specified size on the captured image.

[0217] Alternatively, the control device 201 can also derive the current position of the flying object 200 based on the output of the autonomous navigation device 204, and thus derive the distance between the above intersection point and the current position of the flying object 200. Moreover, when this distance is equal to or less than the specified distance, it can also be determined that the flying object 200 exists within the flight prohibited space. When determining the flight prohibited space in consideration of the orientation information, operation information, posture information, etc. of the excavator 100, the control device 201 can also derive, for example, the existence direction of the flying object 200 related to the intersection point based on the output of the autonomous navigation device 204.

[0218] When it is determined that the flying object 200 exists within the flight prohibited space (Yes in step ST104), the control device 201 performs an avoidance flight (step ST105). For example, the control device 201 moves the flying object 200 to a target avoidance position.

[0219] When performing avoidance flight, regardless of the content of the remote operation by the operator via the remote controller 300, the control device 201 forcibly moves the flying object 200 to the target avoidance position. Further, the control device 201 may also send an operation restriction instruction to the excavator 100. Further, as a part of the avoidance flight, the control device 201 may also control the flying object 200 to avoid entering the flight prohibited space.

[0220] When performing avoidance flight, the remote controller 300 may also notify the operator that the avoidance flight has been performed. Similarly, when performing avoidance flight, especially when the operation of the hydraulic actuator is restricted as the avoidance flight is performed, the controller 30 of the excavator 100 may also notify the operator of the excavator 100 that the avoidance flight has been performed.

[0221] When it is determined that the flying object 200 is not present in the flight prohibited space (No in step ST104), the control device 201 does not perform avoidance flight and ends the present process.

[0222] Thus, each time the captured image is acquired, the control device 201 repeats the execution of steps ST102 to ST105 to prevent the flying object 200 from entering the flight prohibited space or to cause the flying object 200 to quickly exit the flight prohibited space.

[0223] When adopting Figure 13 the contact avoidance process, the receiving device S2 of the excavator 100 may also be omitted.

[0224] According to the above configuration, mutual contact between the excavator 100 and the flying object 200 can be prevented. Specifically, different from the examples in FIGS. 8 and 10, the flying object 200 can specify the flight prohibited space belonging to the excavator 100 without receiving the information generated by the excavator 100. Further, the flying object 200 can autonomously fly in such a manner as not to enter the flight prohibited space belonging to the excavator 100, and when located in the flight prohibited space, can autonomously fly in such a manner as to quickly exit the flight prohibited space.

[0225] Next, with reference to Figure 14 FIGS. 14 and 15, another function of the work support system, namely, the image rotation function, will be described. The image rotation function is a function of rotating the captured image of the camera 205 of the flying object 200 so that the captured image is displayed in a predetermined orientation on the display device 40 of the excavator 100. Figure 14 FIG. 14 is a side view of the excavator 100 that performs excavation / loading work, the flying object 200 that follows the excavator 100 in flight, and the dump truck 400 that receives the sand and soil discharged by the excavator 100. FIG. 15 shows three combinations of the relative positional relationship among the excavator 100, the flying object 200, and the dump truck 400 and the captured image displayed on the display device 40.Figure 15A1 , Figure 15B1 , Figure 15C1 represent relative positional relationships, Figure 15A2 , Figure 15B2 , Figure 15C2 represent the captured images displayed on the display device 40. Moreover, Figure 15A1 corresponds to Figure 15A2 , Figure 15B1 corresponds to Figure 15B2 , Figure 15C1 corresponds to Figure 15C2 .

[0226] Figure 14 and Figure 15A1 In the example shown, the excavator 100 performs an excavation operation with the excavation device facing the +Y direction. Moreover, as shown by the arrow AR2 in Figure 14 , the excavation device is turned left to face the +X direction and the sand is discharged into the carriage of the dump truck 400 for a loading operation. The flying object 200 performs a following flight while maintaining a prescribed flight altitude so as to fly near directly above the position of the front end of the arm of the excavation device.

[0227] Moreover, as shown in Figure 15A1 , when the excavator 100 performs an excavation operation with the excavation device facing the +Y direction, the flying object 200 faces the same +Y direction as the orientation of the excavation device. Figure 15A1 The black triangle located at the flying object 200 in Figure 15A2 indicates that the flying object 200 faces the +Y direction. At this time, as shown in

[0228] Figure 15B1 , the display device 40 displays the captured image such that the image of the front end position of the arm is at the center of the screen and the image of the excavation device extends parallel to the vertical axis of the display device 40. Figure 15B2 If a left turn is performed after the excavation operation so that the excavation device faces the +X direction, then as shown in

[0229] , the front end position of the arm moves above the carriage of the dump truck 400. At this time, if the orientation of the flying object 200 that follows the movement of the front end position of the arm is fixed, then as shown in , the display device 40 displays the captured image such that the image of the excavation device extends parallel to the horizontal axis of the display device 40.

[0230] However, if the orientation of the image of the excavation device displayed on the display device 40 changes in this way according to the rotation of the upper swing body 3, it may cause confusion for the operator observing the image. Figure 15C1In the example shown, the flying object 200 that follows the movement of the front end position of the arm changes its orientation according to the change in the rotation angle of the upper slewing body 3. Therefore, when the excavating device is oriented in the +X direction, the flying object 200 is also oriented in the +X direction. As a result, as Figure 15C2 shown, the display device 40 displays the captured image such that the image of the excavating device extends parallel to the vertical axis of the display device 40. That is, the display device 40 can display the captured image such that the image of the excavating device extends parallel to the vertical axis of the display device 40 regardless of the change in the rotation angle of the upper slewing body 3.

[0231] Next, referring to FIG. 16, an example of a process for implementing an image rotation function (hereinafter referred to as "image rotation process") will be described. Figure 16A is a flowchart showing the process in the excavator 100, Figure 16B is a flowchart showing the process in the flying object 200. In the example of FIG. 16, the flying object 200 autonomously follows and flies directly above the front end position of the arm using the position information of the excavator 100 and the posture information of the excavating device. However, the following description also applies to the case where the flying object 200 is remotely operated by an operator using a remote controller 300.

[0232] First, the controller 30 of the excavator 100 acquires the orientation information of the excavator 100 (step ST111). The controller 30 acquires, for example, the absolute azimuth angle of the excavator 100 based on the output of the orientation detection device S5.

[0233] After that, the controller 30 sends the orientation information to the outside (step ST112). For example, the controller 30 sends the orientation information to the flying object 200 through the sending device S1.

[0234] Moreover, the controller 30 can repeatedly execute step ST111 and step ST112 at a prescribed control cycle, and can continuously transmit the orientation information of the excavator 100 to the flying object 200.

[0235] The control device 201 of the flying object 200 receives the orientation information of the excavator 100 (step ST121). For example, the control device 201 receives the orientation information of the excavator 100 sent by the controller 30 of the excavator 100 through the receiving device 203.

[0236] After that, the control device 201 determines a target rotation angle (step ST122). For example, the control device 201 determines the target rotation angle of the flying object 200 based on the orientation information of the excavator 100 and the orientation information of the flying object 200. The target rotation angle is the rotation angle of the flying object 200 that becomes the target when changing the orientation of the flying object 200. For example, when making the orientation of the flying object 200 coincide with the orientation of the excavator 100 (excavation device), the angle between the orientation of the excavator 100 and the orientation of the flying object 200 is set as the target rotation angle. The control device 201 derives the orientation information of the flying object 200 based on the output of the autonomous navigation device 204.

[0237] Alternatively, the control device 201 may also determine the target rotation angle of the flying object 200 based on the change in the orientation of the excavator 100. For example, the angle between the orientation of the excavator 100 received in the previous process and the orientation of the excavator 100 received in the current process may be used as the target rotation angle.

[0238] After that, the control device 201 rotates the flying object 200 by the target rotation angle (step ST123). For example, the control device 201 outputs information related to the target rotation angle to the autonomous navigation device 204. The autonomous navigation device 204 rotates the flying object 200 by the target rotation angle, for example, by adjusting the rotational speeds of two propellers with the same rotational direction among the four propellers. Even when the flying object 200 is remotely operated, the control device 201 forcibly rotates the flying object 200 by the target rotation angle.

[0239] Moreover, every time the orientation information of the excavator 100 is received, the control device 201 can continuously change the orientation of the flying object 200 according to the orientation of the excavator 100 by repeatedly executing step ST122 and step ST123.

[0240] According to the above structure, the excavator 100 can display the captured image taken by the camera 205 mounted on the flying object 200 on the display device 40 in the cab 10 in a specified orientation and present it to the operator of the excavator 100. The specified orientation is, for example, the orientation in which the image of the excavation device extends parallel to the vertical axis of the display device 40, and changes according to the rotation angle of the upper swing body 3.

[0241] Further, the excavator 100 can rotate the flying object 200 by transmitting information related to the orientation of the flying object 200 from the transmitting device S1. For example, the excavator 100 can rotate the flying object 200 so that the orientation of the excavator 100 coincides with the orientation of the flying object 200. As a result, the flying object 200 can fly following the excavator 100 while maintaining the relative angle between the orientation of the excavator 100 and the orientation of the flying object 200. Therefore, the display device 40 can display the captured image, for example, such that the image of the excavation device always extends parallel or perpendicular to the vertical axis of the display device 40.

[0242] Further, the excavator 100 can rotate the flying object 200 without receiving the information transmitted by the flying object 200. This is because the flying object 200 can determine the target rotation angle of the flying object 200 based on the orientation information of the excavator 100, and because the excavator 100 only needs to transmit the orientation information of the excavator 100.

[0243] Further, in the example of FIG. 16, the flying object 200 autonomously performs following flight directly above the position of the bucket arm tip, and no position offset occurs between the position of the bucket arm tip (XY coordinates or XYZ coordinates) and the position of the flying object 200 (XY coordinates or XYZ coordinates). Therefore, an image of the position of the bucket arm tip is always displayed at the center of the screen of the display device 40. However, the operation support system can also handle the case where a position offset occurs.

[0244] For example, in step ST121, when the control device 201 receives not only the orientation information of the excavator 100 but also the position information of the excavator 100 and the posture information of the excavation device, the control device 201 can derive the direction and magnitude of the position offset. Specifically, based on the position information of the excavator 100, the posture information of the excavation device, and the position information of the flying object 200 output by the autonomous navigation device 204, the direction and magnitude of the position offset can be derived. Moreover, based on the direction and magnitude of the position offset, the position of the pixel that should be the center of the captured image can be derived, and thus the captured image can be generated such that this pixel is the center of the captured image. The pixel that should be the center of the captured image is, for example, the pixel constituting the image of the position of the bucket arm tip. As a result, even when a position offset occurs, the image of the position of the bucket arm tip can be displayed at the center of the screen of the display device 40.

[0245] Next, with reference to FIG. 17, another example of the image rotation process will be described. Figure 17A is a flowchart showing the process in the excavator 100, Figure 17BIt is a flowchart showing the process of processing in the flying object 200. In terms of the controller 30 of the excavator 100 calculating and sending the target rotation angle, the example in Fig. 17 is different from the example in Fig. 16. In the example of Fig. 16, the controller 30 sends the orientation information of the excavator 100, and the control device 201 of the flying object 200 calculates the target rotation angle based on the orientation information of the excavator 100. Also, in the example of Fig. 17, the flying object 200 also uses the position information of the excavator 100 and the posture information of the excavation device to perform follow-up flight directly above the position of the bucket rod tip.

[0246] First, the controller 30 acquires the orientation information of the excavator 100 (step ST131). The controller 30 acquires the absolute azimuth angle of the excavator 100 based on the output of the orientation detection device S5, for example.

[0247] After that, the controller 30 acquires the orientation information of the flying object 200 (step ST132). For example, the controller 30 receives the orientation information of the flying object 200 via the receiving device S2. The flying object 200 sends the orientation information of the flying object 200 derived based on the output of the autonomous navigation device 204 to the excavator 100.

[0248] After that, the controller 30 determines the target rotation angle of the flying object 200 (step ST133). For example, the controller 30 determines the target rotation angle of the flying object 200 based on the orientation information of the excavator 100 and the orientation information of the flying object 200. Or, the controller 30 can also determine the target rotation angle of the flying object 200 based on the change in the orientation of the excavator 100.

[0249] After that, the controller 30 sends the target rotation angle to the outside (step ST134). For example, the controller 30 sends the target rotation angle to the flying object 200 through the sending device S1.

[0250] Moreover, by repeatedly executing step ST131 to step ST134 at a prescribed control cycle, the controller 30 can continuously transmit the information related to the target rotation angle to the flying object 200.

[0251] The control device 201 of the flying object 200 repeats and sends the orientation information of the flying object 200 at a prescribed control cycle (step ST141). For example, the control device 201 sends the orientation information of the flying object 200 to the excavator 100.

[0252] Moreover, the control device 201 receives the target rotation angle (step ST142). For example, the control device 201 receives the target rotation angle sent by the controller 30 of the excavator 100 through the receiving device 203.

[0253] Thereafter, the control device 201 rotates the flying object 200 by a target rotation angle (step ST143).

[0254] Moreover, every time the target rotation angle is received, the control device 201 can continuously change the orientation of the flying object 200 according to the orientation of the excavator 100 by repeatedly executing step ST143.

[0255] According to the above structure, similar to the example of FIG. 16, the excavator 100 can display the captured image taken by the camera 205 mounted on the flying object 200 on the display device 40 in the cab 10 in a specified orientation and present it to the operator of the excavator 100.

[0256] Furthermore, the excavator 100 can rotate the flying object 200 by sending information related to the target rotation angle of the flying object 200 from the sending device S1. Therefore, the excavator 100 can rotate the flying object 200 without performing an operation for deriving the target rotation angle of the flying object 200 in the flying object 200. This is because the flying object 200 can rotate according to the information related to the target rotation angle generated by the excavator 100.

[0257] Also, in the example of FIG. 17, similar to the example of FIG. 16, the operation assistance system can also handle the case where a position offset occurs.

[0258] For example, in step ST132, when in addition to receiving the orientation information of the flying object 200, the position information of the flying object 200 is also received, the controller 30 can derive the direction and magnitude of the position offset based on the position information of the excavator 100, the posture information of the excavating device, and the position information of the flying object 200. Moreover, the position of the pixel that should be the center of the captured image can be derived based on the direction and magnitude of the position offset, and thus the information related to the position of this pixel can be sent to the flying object 200. The control device 201 of the flying object 200 that receives the information related to the position of this pixel can generate a captured image such that this pixel becomes the center of the captured image. As a result, even when a position offset occurs, the desired image can be displayed in the center of the screen of the display device 40.

[0259] Next, referring to FIG. 18, another example of the image rotation process will be described. Figure 18A It is a flowchart showing the process in the excavator 100. Figure 18BIt is a flowchart showing the process of processing in the flying object 200. In that the step ST163 of rotating the captured image by the target rotation angle is provided instead of the step ST143 of rotating the flying object 200 by the target rotation angle by the control device 201 of the flying object 200, the example in FIG. 18 is different from the example in FIG. 17. Steps ST151 to ST154 are the same as steps ST131 to ST134, and steps ST161 to ST162 are the same as steps ST141 to ST142. Therefore, in the example of FIG. 18, the flying object 200 performs following flight directly above the position of the front end of the arm without changing its orientation, using the position information of the excavator 100 and the posture information of the excavation device.

[0260] According to the above structure, similar to the cases of FIGS. 16 and 17, the excavator 100 can display the captured image taken by the camera 205 mounted on the flying object 200 in a specified orientation on the display device 40 in the cab 10 and present it to the operator of the excavator 100. Moreover, without actually rotating the flying object 200, the image rotation function can be achieved only through image processing in the flying object 200.

[0261] Next, referring to Figure 19 , another example of the image rotation process will be described. Figure 19 It is a flowchart showing another example of the process of the image rotation process. In that all the processes related to the image rotation function are executed in the excavator 100 instead of in the flying object 200, Figure 19 the example in Figure 19 is different from the examples in FIGS. 16 to 18 respectively. Specifically, in that the step ST174 of rotating the captured image by the target rotation angle by the controller 30 is provided instead of the step ST154 of the controller 30 sending the target rotation angle, Figure 19 the example in

[0262] is different from the example in FIG. 18. Steps ST151 to ST153 are the same as steps ST171 to ST173. Therefore,

[0263] Also, the controller 30 can also identify the excavation device by analyzing the object detection information from the flying object 200 in following flight. For example, the controller 30 can also identify the image of the excavation device by analyzing the captured image of the camera 205. Moreover, the captured image can be rotated and displayed such that the extending direction of the image of the excavation device is parallel to the vertical axis of the captured image and the front end of the image of the excavation device faces upward of the screen of the display device 40. This is because the driver's seat of the excavator faces the side of the excavation device. According to this structure, the controller 30 can implement the image rotation function without comparing the orientation information of the excavator 100 with the orientation information of the flying object 200.

[0264] Also, the operation assistance system can also execute all processes related to the image rotation function in the flying object 200 without executing the processes related to the image rotation function in the excavator 100.

[0265] Next, with reference to FIG. 20, another example of the image rotation function will be described. Figure 20A It is a top view of the excavator 100 performing excavation / loading work, the flying object 200 following the excavator 100 in flight, and the dump truck 400 receiving the sand discharged from the excavator 100. Figure 20B1 and Figure 20B2 represents Figure 20A the captured image taken by the camera 205 of the flying object 200 in.

[0266] Figure 20A In the example of, in order to grasp the load state of the dump truck 400, the flying object 200 maintains a specified flight altitude and performs stationary flight while staying at a specified position between the excavator 100 and the dump truck 400. The specified position is, for example, the intermediate position between the rear end position of the dump truck 400 and the rotation axis of the excavator 100. The rear end position of the dump truck 400 is derived, for example, by performing image processing on the captured image of the camera 205. And, regardless of whether the excavator 100 rotates or not, the flying object 200 performs stationary flight while maintaining a specified orientation. Figure 20A In the example of, it performs stationary flight in a state facing the +Y direction. Figure 20A The black triangle located at the flying object 200 in represents that the flying object 200 faces the +Y direction. At this time, as Figure 20B1 shown, the display device 40 displays the captured image such that the image of the excavation device in the discharging operation extends parallel to the horizontal axis of the display device 40.

[0267] However, if the image of the excavation device in the discharging operation is displayed as extending parallel to the horizontal axis of the display device 40, it may cause confusion to the operator observing the image. This is because the actual orientation of the excavation device is quite different from the orientation of the image of the excavation device displayed on the display device 40.

[0268] Therefore, the controller 30 of the excavator 100 or the control device 201 of the flying object 200 rotates the captured image so that the orientation of the image of the excavation device in the discharging operation becomes the same as the actual orientation of the excavation device. As a result, as Figure 20B2 shown, the display device 40 can display the captured image such that the image of the excavation device in the discharging operation extends parallel to the vertical axis of the display device 40.

[0269] Next, referring to FIGS. 21 to 23, another function of the work assistance system, i.e., the machine guidance function, will be described. The machine guidance function is a function of guiding the operation of the excavator 100 based on the captured image of the camera 205 of the flying object 200.

[0270] FIG. 21 is a diagram for explaining a method of deriving the position and orientation of the excavator 100 based on the captured image captured by the flying object 200. Figure 21A is a side view of the excavator 100 and the flying object 200 flying above the excavator 100. Figure 21B represents the captured image displayed on the display device 40. Figure 21B The dotted line portion shown is not actually displayed on the display device 40.

[0271] As Figure 21A shown, the excavator 100 is located on the reference plane BP. The reference plane BP is a plane determined by the reference points RP1 and RP2. The reference points RP1 and RP2 are points where the absolute positions (latitude, longitude, and altitude) are accurately measured, for example, electronic reference points (GNSS continuous observation points). In this example, the distance between the reference point RP1 and the reference point RP2 is D1 meters. As Figure 21B shown, the reference points RP1 and RP2 provide the marker images MK1 and MK2 in the captured image. That is, the reference point RP1 is displayed as the marker MK1 on the display device 40. Similarly, the reference point RP2 is displayed as the marker MK2 on the display device 40. Moreover, the marker images MK1 and MK2 are used to derive the distance (number of pixels) between two points in the captured image.

[0272] Three marks RP3 to RP5 are attached to the upper swing body 3 of the excavator 100 (the mark RP5 is not visible.). As Figure 21BAs shown, the notations RP3 to RP5 provide marker images MK3 to MK5 in the captured image. That is, the notation RP3 is displayed as the marker MK3 on the display device 40. Similarly, the notation RP4 is displayed as the marker MK4 on the display device 40. Similarly, the notation RP5 is displayed as the marker MK5 on the display device 40. Moreover, the marker images MK3 to MK5 are used to specify the orientation of the excavator image (excavator 100). As long as the orientation of the excavator image (excavator 100) can be specified in the captured image, the number of notations attached to the upper slewing body 3 can be two or less, or four or more. And the notations that provide the marker images can be existing excavator components such as the cab 10 and the engine hood, or the upper slewing body 3 itself. Also, the combination of the marker images provided by the notations can form a notation marker such as a QR code (registered trademark).

[0273] The marker images MK1 to MK5 can be extracted using known image processing techniques, and the coordinates in the captured image are specified.

[0274] Specifically, the controller 30 can, based on the known distance D1 between the reference point RP1 and the reference point RP2, Figure 21B and the distance (number of pixels) GD1 between the marker image MK1 and the marker image MK2 in the captured image shown, derive the actual distance corresponding to the unit distance (number of pixels) on the captured image. For example, a distance of 100 pixels on the captured image can be made to correspond to 1 m in the actual space. As a result, the controller 30 can, based on the distance (number of pixels) GD2 between the center point SC of the excavator 100 on the captured image and the marker image MK2, derive the distance between the center point SC of the excavator 100 in the actual space and the reference point RP2. The center point SC is, for example, the intersection of the rotation axis of the excavator 100 and the reference plane BP, and the coordinates of the center point SC are derived based on the coordinates of the three marker images MK3 to MK5.

[0275] Also, the controller 30 can, based on the known orientation of the reference point RP1 with respect to the reference point RP2 and Figure 21B the angle θ1 between the line segment L11 and the line segment L21 in the captured image shown, derive the orientation of the center point SC of the excavator 100 with respect to the reference point RP2. The line segment L11 is the line segment connecting the marker image MK1 and the marker image MK2, and the line segment L21 is the line segment connecting the marker image MK2 and the center point SC.

[0276] In this way, the controller 30 can derive the distance between the center point SC of the excavator 100 in the actual space and the reference point RP2 and the orientation of the center point SC of the excavator 100 with respect to the reference point RP2. Moreover, the absolute position of the center point SC of the excavator 100 can be derived based on the absolute position of the reference point RP2.

[0277] Further, the controller 30 can derive a line segment L3 on a reference plane BP indicating the long side direction of the excavation device based on the coordinates of the three marker images MK3 to MK5. Moreover, it is possible to derive an angle θ2 between a line segment L1' parallel to the line segment L11 and passing through the center point SC and the line segment L3.

[0278] As a result, the controller 30 can derive the orientation indicated by the long side direction of the excavation device based on the known orientation of the reference point RP1 with respect to the reference point RP2. And it is possible to derive the rotation angle based on the change in the orientation indicated by the long side direction of the excavation device. For example, it is possible to derive the rotation angle based on the orientation indicated by the long side direction of the excavation device at the start time of rotation and the orientation indicated by the long side direction of the excavation device at the stop time of rotation.

[0279] Also, the controller 30 can derive the posture of the excavation device based on the output of the posture detection device S4, and thus derive the relative position of the tip of the bucket 6 with respect to the center point SC of the excavator 100. Moreover, the controller 30 can derive the absolute position of the tip of the bucket 6 based on this relative position and the absolute position of the center point SC.

[0280] In addition, the controller 30 can derive the distance between the target construction surface and the tip of the bucket 6 by referring to the design data stored in the non-volatile storage medium. The target construction surface is the constructed construction surface represented by latitude, longitude, and altitude.

[0281] FIG. 22 is a diagram for explaining a method of deriving the height or depth of the ground contact surface of the excavator 100 with respect to the reference plane BP based on the captured image taken by the flying object 200. Figure 22A It is a side view of the excavator 100 located on the reference plane BP and the flying object 200 flying above the excavator 100. Figure 22B It represents the captured image displayed on the display device 40. Figure 22B The dotted line portion shown is not actually displayed on the display device 40. Figure 22C It is a side view of the excavator 100 located on the ground contact surface deeper than the reference plane BP by a depth DP1 and the flying object 200 flying above the excavator 100.

[0282] The controller 30 based on Figure 22B the distance (number of pixels) GD10 between the marker image MK1 and the marker image MK2 and the distance (number of pixels) GD11 between the marker image MK3 and the marker image MK4 in the captured image shown, derives the height or depth of the ground contact surface of the excavator 100. The distance (number of pixels) GD10 corresponds to the actual distance D1 between the reference point RP1 and the reference point RP2. The distance (number of pixels) GD11 corresponds to the actual distance D2 between the mark RP3 and the mark RP4.

[0283] For example, as long as the distance ratio of the distance (number of pixels) GD10 to the distance (number of pixels) GD11 is a preset specified value, the controller 30 derives that the excavator 100 is located on the reference plane BP as shown in Figure 22A Figure [not shown]. Further, the greater the distance ratio is than the specified value, the controller 30 derives that the excavator 100 is located on a ground plane lower than the reference plane BP as shown in Figure 22C Figure [not shown]. This is because in the captured image, the lower the ground plane of the excavator 100 is than the reference plane BP, the smaller the appearance of the excavator image becomes, and thus the distance (number of pixels) GD11 relatively decreases with respect to the distance (number of pixels) GD10.

[0284] Similarly, the smaller the distance ratio is than the specified value, the controller 30 derives that the excavator 100 is located on a ground plane higher than the reference plane BP. This is because in the captured image, the higher the ground plane of the excavator 100 is than the reference plane BP, the larger the appearance of the excavator image becomes, and thus the distance (number of pixels) GD11 relatively increases with respect to the distance (number of pixels) GD10.

[0285] The controller 30 derives the depth or height of the ground plane based on the value of this distance ratio. The correspondence between the distance ratio and the depth or height of the ground plane is stored in advance in a non-volatile storage medium as a correspondence table, for example. The controller 30 refers to this correspondence table and derives the depth or height of the ground plane based on the value of this distance ratio.

[0286] In addition, in the above example, a monocular camera is used as the camera 205 of the flying object 200, but a stereo camera may also be used. In this case, the controller 30 may also derive the height or depth of the ground plane of the excavator 100 with respect to the reference plane BP based on a pair of captured images output by the stereo camera.

[0287] Next, referring to FIG. 23, the process of the work assistance system executing the machine guidance function (hereinafter, referred to as "machine guidance process") will be described. FIG. 23 is a flowchart showing an example of the machine guidance process. Specifically, Figure 23A it shows the process flow in the flying object 200, Figure 23B and shows the process flow in the excavator 100. The control device 201 of the flying object 200 repeats and executes the Figure 23A process shown at a predetermined control cycle. Similarly, the controller 30 of the excavator 100 repeats and executes the Figure 23B process shown at a predetermined control cycle. In the example of FIG. 23, the flying object 200 autonomously follows and flies directly above the excavator 100 using image processing technology. However, the following description also applies equally to the case where the flying object 200 is remotely operated by an operator via a remote controller 300.

[0288] First, the control device 201 of the flying object 200 photographs the excavator 100 (step ST181). For example, the control device 201 acquires a captured image captured by the camera 205 of the flying object 200 flying above the excavator 100. As Figure 21B shown, the captured image includes an image of the excavator 100, i.e., the excavator image, images of the reference points RP1 and RP2, i.e., the marker images MK1 and MK2, and images of the marks RP3 to RP5 attached to the upper swing body 3, i.e., the marker images MK3 to MK5.

[0289] After that, the control device 201 sends the captured image including the marker images MK1 to MK5 and the excavator image to the excavator 100 (step ST182).

[0290] The controller 30 of the excavator 100 acquires the captured image including the marker images MK1 to MK5 and the excavator image (step ST191). The controller 30 receives the captured image sent from the control device 201 of the flying object 200 to the excavator 100 through the receiving device S2, for example.

[0291] After that, the controller 30 calculates the position information and orientation information of the excavator 100 based on the captured image (step ST192). The controller 30 derives the absolute position of the center point SC of the excavator 100 and the orientation indicated by the long side direction of the excavation device by the method described with reference to FIGS. 21 and 22, for example.

[0292] After that, the controller 30 calculates the position of the tip of the bucket 6 based on the posture of the excavation device (step ST193). The controller 30 derives the posture of the excavation device based on the output of the posture detection device S4, for example, and thus derives the relative position of the tip of the bucket 6 with respect to the center point SC of the excavator 100. Then, the absolute position of the tip of the bucket 6 is derived based on this relative position, the absolute position of the center point SC, and the orientation indicated by the long side direction of the excavation device.

[0293] After that, the controller 30 calculates the distance between the tip of the bucket 6 and the target construction surface (step ST194). The controller 30 refers to the design data stored in the non-volatile storage medium, for example, to derive the distance between the target construction surface and the tip of the bucket 6. By graphically displaying the change in the magnitude of the distance between the target construction surface and the tip of the bucket 6 on the display device 40 in the cab 10 and presenting it to the operator of the excavator 100, the controller 30 can guide the operation of the excavator.

[0294] Next, referring to FIG. 24, another example of the machine guidance process will be described. FIG. 24 shows a flowchart of another example of the machine guidance process. Specifically, Figure 24A shows the process flow in the flying object 200, Figure 24BRepresents the processing flow in the excavator 100. The control device 201 of the flying object 200 repeats and executes at a specified control cycle Figure 24A the processing shown. Similarly, the controller 30 of the excavator 100 repeats and executes at a specified control cycle Figure 24B the processing shown. In terms of the control device 201 of the flying object 200 calculating the position information and orientation information of the excavator 100, the example in FIG. 24 is different from the example in FIG. 23. In the example of FIG. 23, the controller 30 of the excavator 100 calculates the position information and orientation information of the excavator 100.

[0295] First, the control device 201 of the flying object 200 photographs the excavator 100 (step ST201). For example, the control device 201 acquires the captured image taken by the camera 205 of the flying object 200 flying above the excavator 100. As Figure 21B shown, the captured image includes the image of the excavator 100, i.e., the excavator image, the images of the reference points RP1 and RP2, i.e., the marker images MK1 and MK2, and the images of the marks RP3 to RP5 attached to the upper swing body 3, i.e., the marker images MK3 to MK5.

[0296] After that, the control device 201 calculates the position information and orientation information of the excavator 100 based on the captured image (step ST202). The control device 201 derives, for example, the absolute position of the center point SC of the excavator 100 and the orientation indicated by the long side direction of the excavating device by the method described with reference to FIGS. 21 and 22.

[0297] After that, the control device 201 sends the position information and orientation information of the excavator 100 to the excavator 100 (step ST203).

[0298] The controller 30 of the excavator 100 acquires the position information and orientation information of the excavator 100 (step ST211). The controller 30 receives, for example, the position information and orientation information of the excavator 100 sent from the control device 201 of the flying object 200 to the excavator 100 through the receiving device S2.

[0299] After that, the controller 30 calculates the position of the tip of the bucket 6 based on the posture of the excavating device (step ST212). The controller 30 derives, for example, the posture of the excavating device based on the output of the posture detection device S4, and thus derives the relative position of the tip of the bucket 6 with respect to the center point SC of the excavator 100. Then, based on this relative position, the absolute position of the center point SC, and the orientation indicated by the long side direction of the excavating device, the absolute position of the tip of the bucket 6 is derived.

[0300] After that, the controller 30 calculates the distance between the tip of the bucket 6 and the target construction surface (step ST213). The controller 30 derives, for example, the distance between the target construction surface and the tip of the bucket 6 with reference to the design data stored in the non-volatile storage medium. By graphically displaying the change in the magnitude of the distance between the target construction surface and the tip of the bucket 6 on the display device 40 in the cab 10 and presenting it to the operator of the excavator 100, the controller 30 can guide the operation of the excavator.

[0301] According to the above structure, by using the captured image including the marker images captured by the flying object 200, the controller 30 can grasp the position and orientation of the excavator 100 without using a positioning device such as a GNSS (GPS) receiver and perform the machine guidance function.

[0302] Next, referring to FIG. 25, another example of the machine guidance process will be described. FIG. 25 is a flowchart showing another example of the machine guidance process. Specifically, Figure 25A shows the process flow in the flying object 200, Figure 25B shows the process flow in the excavator 100. The control device 201 of the flying object 200 repeats and executes Figure 25A the processes shown at a predetermined control cycle. Similarly, the controller 30 of the excavator 100 repeats and executes Figure 25B the processes shown at a predetermined control cycle. In terms of calculating the position information and orientation information of the excavator 100 based on the position information and orientation information of the flying object 200 output by the autonomous navigation device 204 of the flying object 200 using GPS navigation and the captured image, the example of FIG. 25 is different from the example of FIG. 23. In the example of FIG. 23, the controller 30 of the excavator 100 calculates the position information and orientation information of the excavator 100 using the captured image including the marker images MK1 and MK2 of the reference points RP1 and RP2.

[0303] First, the control device 201 of the flying object 200 acquires the position information and orientation information of the flying object 200 (step ST221). The control device 201 acquires the position information and orientation information of the flying object 200, for example, based on the outputs of various sensors such as a gyro sensor, an acceleration sensor, a geomagnetic sensor (azimuth sensor), a pressure sensor, a positioning sensor, and an ultrasonic sensor included in the flight control device of the autonomous navigation device 204.

[0304] After that, the control device 201 captures the excavator 100 (step ST222). For example, the control device 201 acquires the captured image captured by the camera 205 of the flying object 200 flying over the excavator 100. As Figure 21BAs shown, the captured image includes an image of the excavator 100, i.e., the excavator image, and images of the marks RP3 to RP5 attached to the upper slewing body 3, i.e., the marker images MK3 to MK5. However, the captured image does not necessarily need to include images of the reference points RP1 and RP2, i.e., the marker images MK1 and MK2.

[0305] After that, the control device 201 sends the captured image, and the position information and orientation information of the flying object 200 to the excavator 100 (step ST223).

[0306] The controller 30 of the excavator 100 acquires the captured image, and the position information and orientation information of the flying object 200 (step ST231). The controller 30 receives, for example, the captured image sent from the control device 201 of the flying object 200 to the excavator 100, and the position information and orientation information of the flying object 200 through the receiving device S2.

[0307] After that, the controller 30 calculates the position information and orientation information of the excavator 100 (step ST232). The controller 30 calculates the position information and orientation information of the excavator 100 based on, for example, the captured image, and the position information and orientation information of the flying object 200.

[0308] Specifically, the controller 30 derives the absolute position of the above-ground object (central point) in the actual space corresponding to the central pixel of the captured image based on the position information of the flying object 200. On this basis, the controller 30 calculates the coordinates of the center point SC of the excavator 100 according to the coordinates of the marker images MK3 to MK5 in the captured image. Moreover, the controller 30 derives the relative position of the center point SC with respect to the central point based on the coordinates of the central pixel of the captured image and the coordinates of the center point SC. And the absolute position of the center point SC is derived based on this relative position and the absolute position of the central point.

[0309] And, the controller 30 derives the azimuth indicated by the vertical axis of the captured image based on the orientation information of the flying object 200. On this basis, as Figure 21B shown, the controller 30 derives the line segment L3 on the reference plane BP indicating the long side direction of the excavation device according to the coordinates of the marker images MK3 to MK5. And the angle between the vertical axis of the captured image and the line segment L3 is derived.

[0310] As a result, the controller 30 can derive the azimuth indicated by the long side direction of the excavation device based on the azimuth of the vertical axis of the captured image. And the slewing angle can be derived based on the change in the azimuth indicated by the long side direction of the excavation device.

[0311] After that, the controller 30 calculates the position of the tip of the bucket 6 based on the posture of the excavation device (step ST233). For example, the controller 30 derives the posture of the excavation device according to the output of the posture detection device S4, and thereby derives the relative position of the tip of the bucket 6 with respect to the center point SC of the excavator 100. Further, based on this relative position, the absolute position of the center point SC, and the orientation indicated by the long side direction of the excavation device, the absolute position of the tip of the bucket 6 is derived.

[0312] After that, the controller 30 calculates the distance between the tip of the bucket 6 and the target construction surface (step ST234). For example, the controller 30 refers to the design data stored in the non-volatile storage medium and derives the distance between the target construction surface and the tip of the bucket 6. By graphically displaying the change in the magnitude of the distance between the target construction surface and the tip of the bucket 6 on the display device 40 in the cab 10 and presenting it to the operator of the excavator 100, the operation of the excavator can be guided.

[0313] According to the above structure, the controller 30 uses the position information and orientation information of the flying object 200 output by the flying object 200 using GPS navigation and the captured image that does not include the marker image related to the reference point to grasp the position and orientation of the excavator 100, and thus can execute the machine guidance function.

[0314] As described above, the preferred embodiments of the present invention have been described in detail, but the present invention is not limited to the above embodiments, and various modifications and substitutions can be made to the above embodiments without departing from the scope of the present invention.

[0315] For example, in the above embodiment, the operator uses the remote controller 300 to fly the flying object 200 above the work site. However, the present invention is not limited to this structure. For example, the flying object 200 may also fly autonomously above the work site. For example, when the operator of the excavator 100 presses a predetermined button in the cab 10, the flying object 200 standing by at a predetermined position may also start autonomous flight and fly above the work site.

[0316] Moreover, the operator of the flying object 200 or the operator of the excavator 100 may also cancel the follow-up flight performed by the flying object 200 by performing a predetermined operation. If the follow-up flight is cancelled, the flying object 200 may also perform stationary flight maintaining a predetermined altitude regardless of the movement of the excavator 100, or autonomously return to a predetermined standby location.

[0317] Next, referring to Figure 26 and Figure 27 a fluid supply system including the excavator (excavating machine) 100 and the flying object 200 according to another embodiment of the present invention will be described. Figure 26It is a diagram of a work site using a fluid supply system. Figure 27 It is a system structure diagram of a fluid supply system.

[0318] The fluid supply system is a system that can effectively supply the fluid consumed by an excavator by using a flying object, and is mainly composed of an excavator 100 and a flying object 200. The excavator 100 and the flying object 200 that make up the fluid supply system can be one each or multiple. Figure 26 and Figure 27 An example of

[0319] The flying object 200 is an autonomous flying object that can fly through remote operation or automatic control, and includes, for example, a multi-rotor helicopter, an airship, etc. In this embodiment, it is a four-rotor helicopter equipped with a camera.

[0320] The flying object 200 is configured to be able to transport a container 250. The container 250 is a container that holds the fluid consumed by the excavator 100. In this embodiment, the container 250 has a substantially cylindrical shape. The fluid consumed by the excavator 100 includes fuels such as light oil, liquid reducing agents such as urea water, grease, lubricating oil, coolant, engine oil, etc.

[0321] On the lower traveling body 1 of the excavator 100, an upper slewing body 3 is mounted via a slewing mechanism 2 so as to be able to slew. An arm 4 is installed on the upper slewing body 3. A stick 5 is installed at the front end of the arm 4, and a bucket 6 is installed at the front end of the stick 5. The arm 4, the stick 5, and the bucket 6, which are working elements, constitute an example of a device, namely, an excavating device. The arm 4, the stick 5, and the bucket 6 are respectively hydraulically driven by an arm cylinder 7, a stick cylinder 8, and a bucket cylinder 9. A cab 10 is provided on the upper slewing body 3, and a power source such as an engine 11 is mounted.

[0322] The excavator 100 is composed of an engine 11, a main pump 14, a pilot pump 15, a control valve 17, a fuel tank 18, a urea water tank 19, a grease tank 20, an operating device 26, a controller 30, an engine control device 74, etc.

[0323] The engine 11 is a driving source of the excavator 100, for example, a diesel engine that operates in a manner of maintaining a specified rotational speed. The output shaft of the engine 11 is connected to the input shafts of the main pump 14 and the pilot pump 15.

[0324] The exhaust gas of the engine 11 is purified by an exhaust gas treatment device 11A and then discharged into the atmosphere. In this embodiment, the exhaust gas treatment device 11A includes a diesel particulate filter (DPF) and a selective catalytic reduction (SCR) system.

[0325] The main pump 14 is a swash plate type variable displacement hydraulic pump that supplies working oil to the control valve 17 via the high-pressure hydraulic pipeline 16. The main pump 14 changes the discharge flow rate per rotation according to the change in the swash plate deflection angle. The swash plate deflection angle is controlled by the regulator 14a. The regulator 14a changes the swash plate deflection angle according to the change in the control current from the controller 30.

[0326] The pilot pump 15 is a fixed displacement hydraulic pump that supplies working oil to various hydraulic control machines such as the operating device 26 via the pilot pipeline 25.

[0327] The control valve 17 is a flow control valve group that controls the flow of working oil related to the hydraulic actuator. The control valve 17 selectively supplies the working oil received from the main pump 14 through the high-pressure hydraulic pipeline 16 to one or more hydraulic actuators according to the change in the pilot pressure corresponding to the operation direction and operation amount of the operating device 26. The hydraulic actuators include, for example, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, the left travel hydraulic motor 1A, the right travel hydraulic motor 1B, the swing hydraulic motor 2A, etc.

[0328] The fuel tank 18 is a tank that stores fuel. In this embodiment, light oil used in the engine 11 is stored.

[0329] The urea water tank 19 is a tank that stores urea water as a liquid reducing agent. In this embodiment, urea water used in the selective catalytic reduction system is stored.

[0330] The grease tank 20 is a tank that stores grease. In this embodiment, grease for lubricating movable parts such as the excavating device is stored.

[0331] The operating device 26 is a device used by the operator of the excavator to operate the hydraulic actuator. The operating device 26 receives the supply of working oil from the pilot pump 15 via the pilot pipeline 25 and generates a pilot pressure. Moreover, the pilot pressure acts on the pilot port of the corresponding flow control valve through the pilot pipeline 25a. The pilot pressure changes according to the operation direction and operation amount of the operating device 26. The pilot pressure sensor 15a detects the pilot pressure and outputs its detected value to the controller 30.

[0332] The controller 30 is a control device for controlling the excavator 100. In this embodiment, the controller 30 is composed of a computer equipped with a CPU, RAM, ROM, etc. The CPU of the controller 30 realizes the functions corresponding to these programs by reading the programs corresponding to various functions from the ROM and loading and executing them in the RAM.

[0333] The engine control device 74 is a device that controls the engine 11. The engine control device 74 controls, for example, the fuel injection amount or the like to achieve the engine speed set via the input device.

[0334] A transmission device S1, a reception device S2, a positioning device S3, a posture detection device S4, a remaining amount detection device S5A, and a docking device S6 mounted on the upper revolving body 3 are respectively connected to the controller 30. The controller 30 performs various operations based on the information respectively output by the reception device S2, the positioning device S3, the posture detection device S4, and the remaining amount detection device S5A. Moreover, the information generated based on the operation result is transmitted from the transmission device S1 to the outside, or the docking device S6 is operated based on the generated information.

[0335] The transmission device S1 transmits information to the outside of the excavator 100. In the present embodiment, the transmission device S1 transmits information that can be received by the flying object 200 to the flying object 200 according to the request of the flying object 200.

[0336] The reception device S2 receives information from the outside of the excavator 100. In the present embodiment, the reception device S2 receives the information transmitted by the flying object 200.

[0337] The positioning device S3 acquires information related to the position of the excavator 100. In the present embodiment, the positioning device S3 is a GNSS (GPS) receiver, and measures the latitude, longitude, and altitude of the position where the excavator 100 exists.

[0338] The posture detection device S4 detects the posture of the excavator. The posture of the excavator is, for example, the degree of inclination of the machine body. In the present embodiment, the posture detection device S4 includes a machine body inclination sensor. The machine body inclination sensor is a sensor that acquires the machine body inclination angle, and is, for example, an acceleration sensor that detects the inclination angle of the upper revolving body 3 with respect to the horizontal plane.

[0339] The remaining amount detection device S5A detects the remaining amounts of various fluids. In the present embodiment, the remaining amount detection device S5A detects the remaining amount of light oil in the fuel tank 18, the remaining amount of urea water in the urea water tank 19, and the remaining amount of grease in the grease tank 20.

[0340] The docking device S6 can achieve the docking (connection) of the excavator 100 and the flying object 200. In the present embodiment, the docking device S6 can achieve the docking of the fuel tank 18 mounted on the excavator 100 and the container 250 transported by the flying object 200. Specifically, the docking device S6 switches between a state where docking is possible and a state where docking is not possible according to an instruction from the controller 30. The state where docking is possible is a state where the fuel tank 18 and the container 250 can be structurally docked, and the state where docking is not possible is a state where the above-mentioned docking cannot be structurally performed.

[0341] The wireless power receiving device S7 receives power supply from an external power supply device in a non-contact manner and supplies the power to the power load mounted on the excavator 100. In this embodiment, power is received in a non-contact manner from the battery mounted on the flying object 200 to operate the controller 30, the transmitting device S1, the receiving device S2, the attitude detection device S4, the docking device S6, etc. The wireless power receiving device S7 can also charge the battery mounted on the excavator 100.

[0342] The flying object 200 is composed of a control device 201, a transmitting device 202, a receiving device 203, an autonomous navigation device 204, a camera 205, a wireless power supply device 206, etc.

[0343] The control device 201 is a device for controlling the flying object 200. In this embodiment, the control device 201 is composed of a computer having a RAM, a ROM, etc. The CPU of the control device 201 realizes functions corresponding to these programs by reading programs corresponding to various functions from the ROM and loading and executing them in the RAM.

[0344] The transmitting device 202 sends information to the outside of the flying object 200. In this embodiment, the transmitting device 202 sends information that can be received by the excavator 100 to the excavator 100.

[0345] The receiving device 203 receives information from the outside of the flying object 200. The receiving device 203 receives, for example, information sent by the excavator 100.

[0346] The autonomous navigation device 204 realizes the autonomous navigation of the flying object 200. In this embodiment, the autonomous navigation device 204 includes a flight control device, an electric motor, a battery, etc. The flight control device includes various sensors such as a gyro sensor, an acceleration sensor, a geomagnetic sensor (azimuth sensor), a pressure sensor, a positioning sensor, and an ultrasonic sensor, and realizes functions such as an attitude maintenance function and an altitude maintenance function. The electric motor receives power supply from the battery and rotates the propeller. However, the propeller can also be rotated by other drive sources such as an internal combustion engine.

[0347] In the autonomous navigation device 204, for example, if it receives information related to the target flight position from the control device 201, it individually controls the rotation speeds of the four propellers, and while maintaining the attitude and altitude of the flying object 200, moves the flying object 200 to the target flight position. Information related to the target flight position is, for example, the latitude, longitude, and altitude of the target flight position. The control device 201 obtains information related to the target flight position from the outside through the receiving device 203, for example. The autonomous navigation device 204 can also receive information related to the target from the control device 201 and change the orientation of the flying object 200.

[0348] The camera 205 is a device for acquiring images. In this embodiment, the camera 205 is mounted on the flying object 200 in such a manner as to be able to photograph directly below the flying object 200. The captured image taken by the camera 205 contains, for example, information related to the flying position of the flying object 200, i.e., the imaging position, and is used to generate three-dimensional terrain data.

[0349] The wireless power supply device 206 supplies power to an external power receiving device in a non-contact manner from a storage battery mounted on the flying object 200. In this embodiment, the wireless power supply device 206 supplies power wirelessly to the wireless power receiving device S7 provided on the upper surface of the excavator 100, and operates various power loads of the excavator 100 with this power.

[0350] Next, referring to FIG. 28, the function of the fluid supply system will be described. FIG. 28 is a flowchart of a process (hereinafter, referred to as "pre-fuel supply process") before starting the supply of fuel in the fluid supply system. Figure 28A It is a flowchart showing the process flow in the flying object 200, Figure 28B It is a flowchart showing the process flow in the excavator 100.

[0351] The pre-fuel supply process in FIG. 28 is applicable to the case of supplying fuel to the fuel tank 18, but is also equally applicable to the case of supplying urea water to the urea water tank 19 and the case of supplying grease to the grease tank 20.

[0352] First, referring to Figure 28A , the process in the flying object 200 will be described. The flying object 200 parked at the parking area determines whether supply is required based on the information transmitted from the excavator 100 (step ST241). The parking area is, for example, a place where a charging device for the flying object 200 is provided, and fuel is injected into the container 250 at the parking area. The fuel injection can be performed automatically or manually. At the parking area, a parking space can be allocated to the flying object 200, or charging can be automatically started when the flying object 200 stops at this parking space.

[0353] The information sent by the excavator 100 includes the position information of the excavator and the remaining amount information related to the remaining fuel. For example, when the engine 11 is stopped by the operator, the excavator 100 automatically sends information including the position information and the remaining amount information. It may also include the body tilt information related to the body tilt angle. In this embodiment, the control device 201 of the flying object 200 determines whether it is necessary to replenish the fuel of the excavator 100 according to the remaining amount information sent by the excavator 100. Specifically, the control device 201 receives the information sent by the excavator 100 with the receiving device 203. The control device 201 can directly receive this information from the excavator 100, or indirectly receive this information via a communication center or the like. Moreover, when the remaining amount of fuel in the fuel tank 18 indicated by the remaining amount information is less than the specified amount, the control device 201 determines that replenishment is required, and when the remaining amount of fuel is above the specified amount, the control device 201 determines that replenishment is not required.

[0354] When it is determined that replenishment is not required (No in step ST241), the control device 201 stands by until the next information is received from the excavator 100.

[0355] When it is determined that replenishment is required (Yes in step ST241), the control device 201 causes the flying object 200 to fly from the parking lot to above the excavator 100 (step ST242).

[0356] If the flying object 200 flies above the excavator 100, the control device 201 sends the identification information of the flying object 200 (step ST243). For example, the identification information of the flying object 200 is sent from the sending device 202 to the receiving device S2, and the flying object 200 is verified in the controller 30.

[0357] After that, the control device 201 causes the flying object 200 to land on the excavator 100 (step ST244). In this embodiment, the control device 201 identifies the image of the docking device S6 corresponding to the fuel tank 18 provided on the upper surface of the excavator 100 according to the captured image of the camera 205.

[0358] Moreover, the control device 201 controls the flying position of the flying object 200 so that the image of the identified docking device S6 is displayed at a specified image position in the captured image and the display gradually enlarges. As a result, the flying object 200 gradually approaches the docking device S6 and lands on the docking device S6.

[0359] The control device 201 can also determine whether landing is possible before landing on the docking device S6. For example, it can be determined that landing is not possible when the engine 11 of the excavator 100 is operating. For example, the receiving device 203 can receive the information periodically transmitted by the transmitting device S1 of the excavator 100, and determine whether the engine 11 is operating based on this information. For example, when it is determined that the excavator 100 is in an operating state, the controller 30 can send an instruction to prohibit docking from the transmitting device S1. Also, when the control device 201 determines that the excavator 100 is tilted based on the body tilt information transmitted by the excavator 100, it can determine that landing is not possible. For example, when it is determined based on the output of the attitude detection device S4 that the excavator 100 is on a flat surface, the controller 30 can also send an instruction to permit docking from the transmitting device S1, and when it is determined that the excavator 100 is not on a flat surface, send an instruction to prohibit docking from the transmitting device S1. At this time, as long as the body tilt angle is less than the specified angle, the control device 201 can determine that the excavator 100 is on a flat surface. Alternatively, when the control device 201 determines that the excavator 100 is tilted based on the tilt angle of the excavator 100 derived from the captured image, it can determine that landing is not possible. At this time, as long as the body tilt angle is equal to or greater than the specified angle, it can be determined that the excavator 100 is tilted. When it is determined that landing is not possible, the control device 201 can cause the flying body 200 to return to the parking lot, or can cause the flying body 200 to hover above the excavator 100 and standby until it is determined that landing is possible.

[0360] If the flying body 200 lands on the docking device S6, the control device 201 stops the rotation of the propellers and operates the wireless power supply device 206 (step ST245). For example, it is determined whether landing has occurred based on the output of an acceleration sensor or the like installed in the flying body 200.

[0361] The wireless power supply device 206 supplies power to the wireless power receiving device S7 of the excavator 100 in a non-contact manner from the storage battery mounted on the flying body 200, thereby starting the controller 30 and the receiving device S2 of the excavator 100.

[0362] The control device 201 can also send the identification information of the flying body 200 to the excavator 100 after landing on the docking device S6. Also, when the controller 30 and the receiving device S2 of the excavator 100 have already operated using the power of the storage battery mounted on the excavator 100, the control device 201 does not need to operate the wireless power supply device 206.

[0363] Next, referring to Figure 28B , the processing in the excavator 100 will be described. If the controller 30 of the excavator 100 is started by the power of the storage battery mounted on the flying body 200, the flying body 200 is verified (step ST251).

[0364] When it is impossible to verify that the flying object 200 is a regular flying object (No in step ST251), the controller 30 does not execute the subsequent steps and remains in a standby state. A regular flying object is, for example, a flying object having identification information pre-registered in a memory or the like of the controller 30. When it is impossible to verify as a regular flying object after attempting the verification process a specified number of times, the controller 30 can stop its operation. This is to prevent the replenishment of fuel by an irregular (unregistered) flying object. According to this configuration, the controller 30 can prevent the docking of an irregular (unregistered) flying object with the excavator 100.

[0365] When it is verified that the flying object 200 is a regular flying object (Yes in step ST251), the controller 30 switches the docking device S6 from a non-dockable state to a dockable state (step ST252).

[0366] Alternatively, the controller 30 can also send the identification information of the excavator 100 from the sending device S1 to the receiving device 203 of the flying object 200 and verify the excavator 100 in the control device 201. At this time, when it is verified that the excavator 100 is a regular (registered) excavator, the control device 201 returns a verification completion signal to the controller 30. Before receiving the verification completion signal, the controller 30 does not execute the subsequent steps and remains in a standby state. If the verification completion signal is received, the controller 30 switches the docking device S6 from a non-dockable state to a dockable state.

[0367] Moreover, the controller 30 can also send a fuel replenishment start command for starting fuel replenishment from the sending device S1 to the flying object 200 after the fuel tank 18 is docked with the container 250. For example, the controller 30 can also send the replenishment start command from the sending device S1 to the flying object 200 when the docking device S6 is switched to a dockable state.

[0368] Next, with reference to FIG. 29, the configuration of the docking device S6 will be described. FIG. 29 is a diagram showing the configuration of the docking device S6 in the upper swing body 3. Figure 29A It is a side view of the upper swing body 3, Figure 29B It is a top view of the upper swing body 3.

[0369] In the example of FIG. 29, the docking device S6 includes a fuel docking device S6A corresponding to the fuel tank 18, a urea water docking device S6B corresponding to the urea water tank 19, and a grease docking device S6C corresponding to the grease tank 20.

[0370] The fuel tank 18, the urea water tank 19, and the grease tank 20 are all arranged on the +X side (front side) of the upper revolving body 3 and are arranged on the -Y side (right side) of the cab 10 with the boom mounting position therebetween. Further, the urea water tank 19 is arranged on the +X side (front side) of the fuel tank 18, and the grease tank 20 is arranged on the +X side (front side) of the urea water tank 19.

[0371] The docking device S6 is arranged on the upper part of the respective corresponding tank. This is for the fluid in the container 250 to flow into each tank by gravity when the container 250 transported by the flying body 200 is docked with each tank. However, the fluid in the container 250 can also be injected into each tank using a pump mounted on the excavator 100 or the flying body 200.

[0372] In the present embodiment, the docking device S6 is configured to be recessed from the upper surface of the upper revolving body 3. However, the docking device S6 can also be configured to protrude from the upper surface of the upper revolving body 3.

[0373] Next, referring to FIG. 30, the operation of the docking device S6 will be described. FIG. 30 is a diagram showing the operation of the docking device S6. Figure 30A1 and Figure 30A2 show the docking device S6 in a non-dockable state, Figure 30B1 and Figure 30B2 show the docking device S6 in a dockable state. Figure 30A1 and Figure 30B1 are top views of the docking device S6, Figure 30A2 and Figure 30B2 are cross-sectional views of the docking device S6. Figure 30A2 is a cross-sectional view in a vertical plane including Figure 30A1 the center line L1, Figure 30B2 is a cross-sectional view in a vertical plane including Figure 30B1 the center line L2.

[0374] In the example of FIG. 30, the docking device S6 is composed of a container receiving portion 60, a support 61, a connecting portion 62, etc.

[0375] The container receiving portion 60 is a member that forms a concave space in the shape of an inverted truncated cone, and this concave space receives the container 250 transported by the flying body 200. The inclination of the inverted truncated cone is substantially the same as the inclination of the chamfered portion 250t formed at the bottom edge portion of the substantially cylindrical container 250.

[0376] The support 61 supports the bottom surface of the container 250 within the container receiving portion 60. In the present embodiment, the support 61 has four movable support members 61A to 61D. The movable support members 61A to 61D are configured to be able to expand and contract in the Z-axis direction (vertical direction). The movable support members 61A to 61D are driven by an electric actuator. When the docking device S6 is in a non-dockable state, the movable support members 61A to 61D are in a stretched state as shown in Figure 30A2 , and when the docking device S6 is in a dockable state, the movable support members 61A to 61D are in a contracted state as shown in Figure 30B2 . Figure 30A1 and Figure 30A2 , the movable support members 61A to 61D in the stretched state are filled with white. And, Figure 30B2 , the movable support members 61A and 61B in the stretched state are indicated by dashed lines.

[0377] The connecting portion 62 is a member that connects to the connecting portion 251 of the container 250. In the present embodiment, the connecting portion 62 is a cylindrical member that extends in the +Z direction (vertically upward) from the upper surface of the fuel tank 18 (refer to FIG. 29). And, as shown in Figure 30A2 , the connecting portion 251 is a cylindrical member that protrudes in the -Z direction (vertically downward) from the bottom surface of the container 250. When the connecting portion 62 and the connecting portion 251 are connected to each other, a passage for fuel flowing from the container 250 into the fuel tank 18 is formed.

[0378] Specifically, the connecting portion 62 is composed of a flow-in prevention portion 62A, a central pin 62B, a ring portion 62C, and a cylindrical portion 62D. The flow-in prevention portion 62A is a circular plate member that prevents fluid from entering the fuel tank 18 from the outside. The flow-in prevention portion 62A pushes the inside of the cylindrical portion 62D upward in the +Z direction (upward) along the central pin 62B by the force of a spring or the like, so as to contact the ring portion 62C, thereby preventing the flow of fluid from flowing into the fuel tank 18 from the outside.

[0379] The central pin 62B is a fixed pin that extends along the central axis of the cylindrical portion 62D and extends through the central portion of the flow-in prevention portion 62A.

[0380] The ring portion 62C is a member formed inside the cylindrical portion 62D and determines the upper limit position of the flow-in prevention portion 62A. The flow-in prevention portion 62A can be fixed at the upper limit position by an electric stopper. The electric stopper is configured, for example, to be able to fix the flow-in prevention portion 62A at the upper limit position when not receiving power supply, and to move (lower) the flow-in prevention portion 62A from the upper limit position when receiving power supply.

[0381] The cylindrical portion 62D is a tubular member that forms a flow path for fuel, extends to the upper surface of the fuel tank 18, and connects the flow path formed by the cylindrical portion 62D to the interior of the fuel tank 18.

[0382] The connecting portion 251 is composed of an outflow prevention portion 251A, an annular portion 251B, and a cylindrical portion 251C. The outflow prevention portion 251A is a circular plate member that prevents fuel from flowing out of the container 250 to the outside. The outflow prevention portion 251A pushes down the inside of the cylindrical portion 251C in the -Z direction (downward) by the force of a spring or the like so as to contact the annular portion 251B, thereby preventing the flow of fuel from the container 250 to the outside.

[0383] As long as the outflow prevention portion 251A contacts the central pin 62B of the connecting portion 62 and is not pushed up by the central pin 62B, it will contact the annular portion 251B to prevent the outflow of fuel. If it is pushed up by the central pin 62B, it will separate from the annular portion 251B and allow the fuel to flow out.

[0384] The annular portion 251B is a member formed inside the cylindrical portion 251C and determines the lower limit position of the outflow prevention portion 251A. The outflow prevention portion 251A can be fixed at the lower limit position by an electric stopper. The electric stopper is configured, for example, to be able to fix the outflow prevention portion 251A at the lower limit position when not receiving power supply, and to move (raise) the outflow prevention portion 251A from the lower limit position when receiving power supply. For example, the control device 201 can operate the electric stopper and start fuel replenishment only when receiving a replenishment start command from the excavator 100. That is, the control device 201 keeps the outflow prevention portion 251A at the lower limit position until receiving a replenishment start command from the excavator 100, thereby being able to prevent fuel replenishment before receiving the replenishment start command.

[0385] The cylindrical portion 251C is a tubular member that forms a flow path for fuel, extends to the bottom surface of the container 250, and connects the flow path formed by the cylindrical portion 251C to the interior of the container 250.

[0386] After the controller 30 has verified the flying object 200, the flying object 200 that lands on the docking device S6 in Figure 28A step ST244 is in the Figure 30A2 state shown. That is, the flying object 200 is in a state supported by the movable support members 61A to 61D in a stretched state.

[0387] After that, as shown in Figure 28BAs shown in step ST252, the controller 30 switches the docking device S6 from a non-dockable state to a dockable state. In this embodiment, the controller 30 uses the power supplied from the battery mounted on the flying object 200 through the wireless power supply device 206 and the wireless power receiving device S7 to drive the electric driver and contract the movable support members 61A to 61D. The controller 30 may also contract the movable support members 61A to 61D before the flying object 200 lands.

[0388] When the inflow prevention portion 62A is fixed at the upper limit position by the electric stopper, the electric stopper can be driven and the inflow prevention portion 62A can be lowered from the upper limit position. The same applies to the outflow prevention portion 251A.

[0389] If the movable support members 61A to 61D contract, the container 250 slides down in the container receiving portion 60 due to its own weight, as Figure 30B2 shown, connecting the connecting portion 251 and the connecting portion 62 to connect the container 250 and the fuel tank 18. Specifically, the outflow prevention portion 251A is pushed up by the central pin 62B and separated from the ring portion 251B. And the inflow prevention portion 62A is pushed down by the cylindrical portion 251C and separated from the ring portion 62C. As a result, as Figure 30B2 shown by the arrow AR1 in, the fuel in the container 250 flows into the cylindrical portion 62D through the hole 251D formed near the lower end portion of the cylindrical portion 251C, and then flows into the fuel tank 18.

[0390] Next, referring to FIG. 31, another function of the fluid supply system will be described. FIG. 31 is a flowchart of the process after the fuel supply of the fluid supply system (hereinafter, referred to as "post-fuel supply process"). Figure 31A is a flowchart showing the process in the flying object 200, Figure 31B is a flowchart showing the process in the excavator 100.

[0391] The post-fuel supply process in FIG. 31 is applicable to the case of supplying fuel to the fuel tank 18, but is also equally applicable to the case of supplying urea water to the urea water tank 19 and the case of supplying grease to the grease tank 20.

[0392] First, referring to Figure 31A , the process in the flying object 200 will be described. The control device 201 of the flying object 200 that has landed on the docking device S6 determines whether the supply is completed (step ST261). For example, the control device 201 determines whether the supply is completed based on the output of the remaining amount detection device that detects the remaining amount of the container 250. Alternatively, the control device 201 may also determine whether the supply is completed based on the information sent by the excavator 100.

[0393] When it is determined that the replenishment is not completed (No in step ST261), the control device 201 does not execute the subsequent steps and remains in a standby state.

[0394] When it is determined that the replenishment is completed (Yes in step ST261), the control device 201 notifies the excavator 100 that the replenishment is completed (step ST262). For example, the control device 201 transmits information indicating that the replenishment is completed from the transmitting device 202 to the excavator 100. When it is determined that the replenishment is completed based on the information transmitted by the excavator 100, the control device 201 does not notify the excavator 100 that the replenishment is completed and proceeds to the next step. This is because the excavator 100 has already detected that the replenishment is completed.

[0395] After that, the control device 201 causes the flying object 200 to fly to the parking area (step ST263).

[0396] Next, refer to Figure 31B to describe the processing in the excavator 100. The controller 30 of the excavator 100 that switches the docking device S6 to a state where docking is possible determines whether the replenishment is completed (step ST271). For example, the controller 30 determines whether the replenishment is completed based on the information transmitted by the flying object 200. Alternatively, the controller 30 can also determine whether the replenishment is completed based on the output of the remaining amount detection device S5A.

[0397] When it is determined that the replenishment is not completed (No in step ST271), the controller 30 does not execute the subsequent steps and remains in a standby state.

[0398] When it is determined that the replenishment is completed (Yes in step ST271), the controller 30 switches the docking device S6 to a state where docking is not possible (step ST272). For example, the controller 30 uses the power supplied from the storage battery mounted on the flying object 200 through the wireless power supply device 206 and the wireless power receiving device S7 to drive the electric drive and stretch the movable support members 61A to 61D.

[0399] If the movable support members 61A to 61D are stretched, the container 250 is lifted by the movable support members 61A to 61D. As Figure 30A2 shown, the connecting portion 251 is separated from the connecting portion 62 to cut off the communication between the container 250 and the fuel tank 18. Specifically, the outflow prevention portion 251A descends and contacts the annular portion 251B. And, the inflow prevention portion 62A ascends and contacts the annular portion 62C. As a result, fluid outflow from the container 250 to the outside is blocked, and fluid inflow from the outside to the fuel tank 18 is blocked. The inflow prevention portion 62A can also be fixed at the upper limit position by an electric stopper. The same applies to the outflow prevention portion 251A.

[0400] When it is determined that refueling is completed based on the output of the margin detection device S5A, the controller 30 notifies the flying object 200 that refueling is completed. For example, the controller 30 transmits information indicating that refueling is completed from the transmitting device S1 to the flying object 200.

[0401] With the above structure, the excavator 100 can receive fuel supply more effectively by using the flying object 200. When receiving fuel supply from the flying object 200, the excavator 100 does not need to move from the work site to the supply site for refueling. Therefore, it is particularly effective in situations where the excavator 100 operates at a work site where it is difficult to enter or leave, such as a disaster recovery site, or when the excavator 100 is made to enter a site where the operator cannot enter and is remotely operated.

[0402] In addition, the excavator 100 performs fuel supply through the flying object 200 only when the flying object 200 is verified. Specifically, only when the flying object 200 is verified, the docking device S6, the electric stopper, etc. are operated to perform fuel supply. That is, fuel supply through flying objects other than the verified flying object 200, including fuel supply by manual operation, is restricted. Therefore, it is possible to prevent the supply of non-standard fuel, inferior fuel, etc. In addition, fuel supply may be performed through the flying object 200 when two-way verification including verification of the flying object 200 of the excavator 100 is performed, rather than when only one-way verification of the flying object 200 of the excavator 100 is performed.

[0403] When using the combination of the wireless power supply device 206 and the wireless power receiving device S7, the excavator 100 can also be completely stopped when the engine is stopped. Completely stopping means completely cutting off the power supply to power loads such as the controller 30. Therefore, while realizing the function of the fluid supply system, over-discharge of the battery of the excavator 100 can be prevented.

[0404] Next, referring to FIG. 32, another example of the docking device S6 will be described. FIG. 32 is a diagram showing another example of the docking device S6 and corresponds to FIG. 30. Figure 32A1 and Figure 32A2 The docking device S6 indicating a non-dockable state, Figure 32B1 and Figure 32B2 The docking device S6 indicating a dockable state. Figure 32A1 and Figure 32B1 are top views of the docking device S6, Figure 32A2 and Figure 32B2 are cross-sectional views of the docking device S6. Figure 32A2 is a cross-sectional view in a vertical plane containing Figure 32A1 the center line L3, Figure 32B2 is a cross-sectional view in a vertical plane containing Figure 32B1A sectional view in the vertical plane of the single-dot dash line L4.

[0405] In terms of the docking device S6 having a cover 63 but not having a support 61, the example of Fig. 32 is different from the example of Fig. 30. However, it is the same as the example of Fig. 30 in other aspects. Therefore, the description of the same parts is omitted, and the different parts are described in detail.

[0406] The cover 63 is an automatically opening and closing cover that covers the container receiving portion 60. In this embodiment, the cover 63 has a left cover 63L and a right cover 63R. The left cover 63L and the right cover 63R are configured to be able to be opened and closed by an electric drive. Figure 32A1 and Figure 32A2 The arrow AR2 in each of them indicates the opening direction of the left cover 63L, and the arrow AR3 indicates the opening direction of the right cover 63R. When the docking device S6 is in a non-dockable state, the left cover 63L and the right cover 63R are in a closed state as Figure 32A2 shown, and when the docking device S6 is in a dockable state, the left cover 63L and the right cover 63R are in an open state as Figure 32B2 shown. When in the closed state, the left cover 63L and the right cover 63R can be covered so that the connecting portion 62 cannot be seen from the outside.

[0407] The controller 30 uses the power supplied from the storage battery mounted on the flying body 200 through the wireless power supply device 206 and the wireless power receiving device S7 to drive the electric drive and open and close the left cover 63L and the right cover 63R.

[0408] If the left cover 63L and the right cover 63R are opened, the container receiving portion 60 can receive the container 250. As Figure 32B2 shown, the connecting portion 251 can be connected to the connecting portion 62 to connect the container 250 and the fuel tank 18.

[0409] According to this structure, the excavator 100 using the docking device S6 of Fig. 32 can achieve the same effect as the case of using the docking device S6 of Fig. 30.

[0410] As described above, the preferred embodiments of the present invention have been described in detail. However, the present invention is not limited to the above embodiments, and various modifications and substitutions can be made to the above embodiments without departing from the scope of the present invention.

[0411] For example, in the above-described embodiment, the flying object 200 automatically determines whether refueling is required and takes off automatically, and automatically flies from the parking area to above the excavator 100. However, the present invention is not limited to this configuration. For example, the flying object 200 may also be remotely operated by a remote controller. At this time, the operator of the flying object 200 may also perform the flight before replenishment from the parking area to above the excavator 100 and the flight after replenishment from above the excavator 100 to the parking area by remote operation.

[0412] Moreover, in the above-described embodiment, the docking device S6 operates using the power of the battery mounted on the flying object 200. Specifically, it operates using the power supplied from the battery mounted on the flying object 200 through the wireless power supply device 206 and the wireless power receiving device S7. However, the present invention is not limited to this configuration. For example, the docking device S6 may also operate using the power of the battery mounted on the excavator 100. At this time, the controller 30 may be configured to continuously or intermittently operate in a power-saving mode so as to be able to communicate with the flying object 200 even when the engine 11 of the excavator 100 stops. And, at this time, the wireless power supply device 206 and the wireless power receiving device S7 may also be omitted. Or, the wireless power supply device mounted on the excavator 100 and the wireless power receiving device mounted on the flying object 200 may be used, and the battery of the flying object 200 may be charged using the battery mounted on the excavator 100. And, the power may be transmitted and received between the excavator 100 and the flying object 200 in a wired manner.

[0413] This application claims the priority of Japanese Patent Application No. 2016-016664 filed on January 29, 2016, Japanese Patent Application No. 2016-016665 filed on January 29, 2016, Japanese Patent Application No. 2016-021322 filed on February 5, 2016, Japanese Patent Application No. 2016-051566 filed on March 15, 2016, and Japanese Patent Application No. 2016-071609 filed on March 31, 2016, and incorporates the entire contents of these Japanese patent applications by reference into this application.

[0414] Reference Signs

[0415] 1 - Lower traveling body, 1A - Left traveling hydraulic motor, 1B - Right traveling hydraulic motor, 2 - Slewing mechanism, 2A - Slewing hydraulic motor, 3 - Upper slewing body, 4 - Boom, 5 - Arm, 6 - Bucket, 7 - Boom cylinder, 8 - Arm cylinder, 9 - Bucket cylinder, 10 - Cab, 11 - Engine, 11A - Exhaust gas treatment device, 14 - Main pump, 14a - Regulator, 15 - Pilot pump, 15a - Pilot pressure sensor, 16 - High-pressure hydraulic pipeline, 17 - Control valve, 18 - Fuel tank, 19 - Urea water tank, 20 - Grease tank, 25, 25a - Pilot pipelines, 26 - Operating device, 30 - Controller, 40 - Display device, 60 - Container receiving part, 61 - Support, 61A~61D - Movable support components, 62 - Connecting part, 62A - Inflow prevention part, 62B - Central pin, 62C - Ring part, 62D - Cylindrical part, 63 - Cover, 74 - Engine control device, 100, 100A, 100B - Excavators, 200 - Flying body, 201 - Control device, 202 - Sending device, 203 - Receiving device, 204 - Autonomous navigation device, 205 - Camera, 206 - Wireless power supply device, 250 - Container, 250t - Chamfered part, 251 - Connecting part, 251A - Outflow prevention part, 251B - Ring part, 251C - Cylindrical part, 251D - Hole, 300 - Remote controller, 301 - Control device, 302 - Sending device, 303 - Receiving device, 304 - Display device, 305 - Operation input device, 400 - Dump truck, S1 - Sending device, S2 - Receiving device, S3 - Positioning device, S4 - Posture detection device, S5 - Orientation detection device, S5A - Margin detection device, S6, S6A~S6C - Docking device, S7 - Wireless power receiving device.

Claims

1. An excavator, comprising: a lower traveling body; an upper revolving body mounted on the lower traveling body; a transmitting device and a receiving device mounted on the upper revolving body; and a control device for determining a target flight position of an autonomous flying body. In the excavator, the transmitting device transmits the target flight position as an instruction from the control device to the autonomous flying body.

2. The excavator according to claim 1, wherein, The receiving device receives information from the autonomous flying body, which is the position information of the autonomous flying body.

3. The excavator according to claim 1, wherein, There is a power supply device for supplying power to the autonomous flying body.

4. An excavator, comprising: a lower traveling body; an upper revolving body mounted on the lower traveling body; a transmitting device, a receiving device and a display device mounted on the upper revolving body; and a control device for generating information related to a target flight position of an autonomous flying body. In the excavator, the transmitting device transmits the information related to the target flight position to the autonomous flying body, and the autonomous flying body generates the target flight position according to the information related to the target flight position, and the target flight position is a position that is at a prescribed height above a prescribed point on the excavator and at a prescribed distance from the prescribed point.

5. The excavator according to claim 4, wherein, The information related to the target flight position is information related to the position of the excavator or a combination of information related to the position of the excavator and information related to the posture of the excavator.

6. The excavator according to claim 4, wherein, The autonomous flying body is equipped with a photographing device.

7. An autonomous flying body, comprising: a photographing device for photographing an excavator; a transmitting device for transmitting an image photographed by the photographing device; and a receiving device for receiving a target flight position from the excavator. The excavator generates the target flight position according to information related to the position of the excavator, or a combination of information related to the position of the excavator and information related to the posture of the excavator. The autonomous flying body obtains the position of the excavator according to the image.

8. The autonomous flying object according to claim 7, wherein, There is a control device for obtaining the position information of the autonomous flying body.

9. The autonomous flying object according to claim 8, wherein, The transmitting device transmits the position information to the excavator.

10. The autonomous flying object according to claim 7, wherein, The transmitting device transmits the identification information of the autonomous flying body to the excavator.

11. An autonomous flying body, comprising: a receiving device for receiving the position information of the excavator generated by the excavator; and a control device for determining a target flight position according to the position information of the excavator generated by the excavator, and the target flight position is a position that is at a prescribed height above a prescribed point on the excavator and at a prescribed distance from the prescribed point.

Images