Display device and storage medium

Abstract

A display device and a storage medium. The present invention aims to more easily and accurately confirm a flight path of a flying body than in the past. An information terminal (60) is provided with a display (620) and a control section (65) that displays a flight path (R) of a mobile body (40) flying while photographing the surroundings of a crane (20) on the display (620). The control section (65) is configured to display the crane (20) and the flight path (R) on the display (620), and is capable of displaying the flight path (R) in a display mode that can be viewed from at least two directions different from each other.

Description

[0001] This application claims priority based on Japanese Patent Application No. 2021-058958 filed on March 31, 2021. The entire contents of this Japanese application are incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to a display device and a storage medium. BACKGROUND

[0003] Conventionally, there is known a technique of causing a flight body such as a drone to fly around a crane to thereby perform inspection of the crane (for example, refer to Patent Literature 1).

[0004] Patent Literature 1: Japanese International Publication No. 2020 / 218433

[0005] However, the structure of the crane is complex compared to a structure such as a building, for example, having a plurality of components assembled complexly such as a rope or a movable arm. Therefore, it is difficult to accurately confirm a flight path of a flight body flying around the crane. SUMMARY

[0006] The present application is achieved in view of the above-described circumstances, and an object thereof is to be able to easily and accurately confirm a flight path of a flight body compared to the past.

[0007] The present application is a display device including:

[0008] a display section; and

[0009] a control mechanism that displays a flight path of a flight body flying around a crane on the display section, wherein

[0010] the control mechanism is configured to display the crane and the flight path on the display section and to display the flight path in a display mode of being viewed from at least two directions different from each other.

[0011] Further, the present application is a storage medium storing a path display program that causes a flight path of a flight body flying around a crane to be displayed on a display section, wherein the path display program causes a computer to function as a display control mechanism,

[0012] the display control mechanism displays the flight path in a display mode of being viewed from at least two directions different from each other when displaying the crane and the flight path on the display section.

[0013] According to the present application, it is possible to easily and accurately confirm a flight path of a flight body compared to the past. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 is a diagram showing an outline of a crane inspection system to which the embodiment relates.

[0015] Figure 2 is a block diagram showing a control system of a mobile body.

[0016] Figure 3 is a side view of a crane.

[0017] Figure 4 is a block diagram showing a control system of a crane.

[0018] Figure 5 is a block diagram showing a structure of a management server.

[0019] Figure 6 is a block diagram showing an outline of a control system of an information terminal.

[0020] Figure 7 is a flowchart showing a flow of a route display process.

[0021] Figure 8 is a diagram showing a display example of a display in a route display process.

[0022] Figure 9 is a diagram showing a display example of a display in a route display process.

[0023] Figure 10 is a diagram showing a display example of a display in a route display process.

[0024] Figure 11 is a diagram showing a display example of a display in a route display process.

[0025] Figure 12 is a diagram showing a display example of a display in a route display process.

[0026] Figure 13 is a diagram showing a display example of a display in a route display process.

[0027] Figure 14 is a diagram showing a display example of a display in a route display process.

[0028] Figure 15 is a diagram showing a display example of a display in a route display process.

[0029] In the figure: 1 - crane, 40 - mobile body (flying body), 41 - camera, 50 - management server (display device), 60 - information terminal (display device), 62 - display section, 64 - storage section, 65 - control section (control mechanism), 70 - information terminal (display device), 100 - crane maintenance system, 421 - position measurement section, 422 - azimuth sensor, 620 - display (display section), 641 - path display program, 643 - three-dimensional CAD data, 810 - overall path display screen, 817 - flight location selection window, 820 - partial path display screen, 825 - photographing point editing window, 830 - position confirmation screen, 850 - real-time viewfinder screen, F - flight prohibited area, M - photographing direction marker, R - flight path, R1 - partial path, WP - waypoint (photographing point). DETAILED DESCRIPTION

[0030] Hereinafter, an embodiment of the present application will be described in detail with reference to the drawings.

[0031] [Outline of crane maintenance system]

[0032] Figure 1 is a diagram showing an outline of a crane maintenance system (hereinafter, simply referred to as "maintenance system") 100 according to the embodiment of the present application.

[0033] As shown in Figure 1 , the maintenance system 100 is provided with: a maintenance target (i.e., a crane 20); a mobile body 40 that moves around the crane 20; information terminals 60, 70 that perform prescribed processing on data acquired by the mobile body 40; a management server 50; and a remote controller 80.

[0034] The management server 50 is connected to a network 130 such as a general public line network.

[0035] In the network 130, in addition to the management server 50, a base station 120, 150 and the information terminals 60, 70 are connected. The management server 50 can perform transmission and reception of data with these nodes (i.e., the base stations 120, 150, the mobile body 40 and the plurality of information terminals 60, 70) connected to the network 130.

[0036] The remote controller 80 is configured to be able to communicate with the mobile body 40 and the information terminals 60, and to transfer information (for example, image information acquired by the mobile body 40) therebetween. Also, the remote controller 80 is configured to be able to control the movement of the mobile body 40, for example, to be able to manually operate the mobile body 40.

[0037] The base station 120 is a base station of a satellite communication line via which transmission and reception of electric waves is possible, and the base station 150 is a base station of a so-called mobile phone communication line.

[0038] If the base station 120, 150 receives various data from the mobile body 40 or the crane 20, etc., it is transmitted to the management server 50 via the network 130.

[0039] As described later, the crane 20 has various sensors that detect the state of each part of the crane 20 itself and a controller 31 (refer to Figure 4 ). The controller 31 transmits information detected by the various sensors to the base station 120, 150 or receives prescribed information via the first communication section 351 and the second communication section 352 (refer to Figure 4 ).

[0040] On the management server 50, an inspection information database 140 and a customer information database 160 are connected. A control device 51 (refer to Figure 5 ) possessed by the management server 50 stores the diagnosis information data described later, received from the mobile body 40 and the crane 20 via the base station 120, 150, and state information data generated from the diagnosis information data in the inspection information database 140.

[0041] The control device 51 possessed by the management server 50 transmits the state information data stored in the inspection information database 140 to prescribed information terminals 60, 70 via the network 130. The control device 51 possessed by the management server 50 determines the transmission destination of the information in accordance with the contents of the customer information database 160. The information is transmitted, for example, to the information terminal 60 used by the user of the crane 20 (i.e., the site supervisor or the technical staff of the crane manufacturer, etc.) or the information terminal 70 used by the user (i.e., the manager) who is involved in the business using the crane 20 at a location away from the site, and is displayed on the display screen of the information terminal 60, 70.

[0042] In addition, in Figure 1 , only one crane 20 and information terminals 60, 70 are shown, but in fact, the management server 50 is configured to perform the transmission and reception of information between a plurality of cranes 20 or a plurality of information terminals 60, 70.

[0043] [Mobile body]

[0044] Here, the mobile body 40 will be described.

[0045] Figure 2 is a block diagram showing the control system of the mobile body 40.

[0046] The mobile body 40 has a plurality of rotors and flies by controlling the output of the motor that becomes the drive source of each rotor, and is a flying body (drone) called a drone that can freely perform a lifting action, forward and backward movement, left and right movement, and normal and reverse rotation, etc.

[0047] The mobile body 40 moves around the crane 20 that is a subject of inspection, photographs each part thereof, and transmits the acquired image data to the prescribed information terminals 60, 70 and the management server 50.

[0048] As shown in FIG. 1, the mobile body 40 is equipped with a camera 41 as an imaging device, a position measuring section 421, an azimuth sensor 422, an altitude sensor 423, a posture sensor 424, a microphone (sound detection sensor) 425, a temperature sensor 426, a drive section 43, a control section 44, a data storage section 45, a memory 46, a first communication section 471, and a second communication section 472. Figure 2

[0049] Note that, among the above-described sensors such as the position measuring section 421, the azimuth sensor 422, the altitude sensor 423, the posture sensor 424, the microphone 425, and the temperature sensor 426, it is not necessary to mount all of them on the mobile body 40. The mobile body 40 can have at least the camera 41.

[0050] The camera 41 is supported so as to face a prescribed direction from the body of the mobile body 40, and photographs a scene in front of the line of sight direction in accordance with the orientation of the body. The camera 41 can continuously acquire an image at a constant frame rate. Thus, it is possible to photograph a plurality of parts including the inspection site. The image signal obtained by the photographing is output to an image processing section 411 connected to the camera 41, and the image processing section 411 generates image data in a prescribed format and stores it in the memory 46.

[0051] The camera 41 is not limited to acquiring an image of visible light, but can use an infrared camera that photographs infrared rays. In the case of using an infrared camera, it is possible to obtain distance image data by a phase difference method or the like.

[0052] Also, the camera 41 is not limited to a monocular camera, but can use a stereo camera. In this case, it is also possible to obtain distance image data.

[0053] The position measuring section 421 is a GNSS (Global Navigation Satellite System) receiver that measures the current position of the mobile body 40. The position measuring section 421 of the present embodiment uses RTK (Real Time Kinematic) that is more accurate than GPS (Global Positioning System).

[0054] The azimuth sensor 422 is a three-axis gyro azimuth angle sensor that detects the traveling direction of the mobile body 40 and the tilt angle of the body.

[0055] ​The height sensor 423 is, for example, an optical sensor that irradiates light downward and detects the height of the body based on a phase difference generated in the reflected light.

[0056] The posture sensor 424 is constituted by a three-dimensional acceleration sensor that detects acceleration in each of the X-axis, Y-axis, and Z-axis directions defined in the mobile body 40. The posture of the body can be detected based on the gravitational acceleration detected in each of these axes.

[0057] The microphone 425 has directivity and detects the sound of an object located in front in the same direction as the line of sight of the camera 41.

[0058] The temperature sensor 426 is a non-contact so-called radiation thermometer that detects the temperature of an object located in front in the same direction as the line of sight of the camera 41.

[0059] In addition, these sensors can be any sensors that can detect the desired information, and the sensor type or detection principle is not limited to the above.

[0060] The first communication section 471 performs data communication with the base station 120 via the satellite 110.

[0061] The second communication section 472 performs data communication directly with the base station 150.

[0062] The drive section 43 is a structure that outputs a thrust for moving the mobile body 40, and has a plurality of rotors and a plurality of rotary drive sources (i.e., motors) provided to each rotor. The control section 44 controls the drive section 43 so that the body moves toward a target moving direction.

[0063] The data storage section 45 is a non-volatile storage device that stores a control program of the mobile body 40 and various information related to control.

[0064] The memory 46 stores captured image data captured by the camera 41 and detection data detected by the microphone 425 and the temperature sensor 426, and the like.

[0065] In addition, the memory 46 can be constituted by a non-volatile storage device. Also, the memory 46 can be constituted by a detachable storage medium. At this time, the captured image data and the detection data can be exchanged directly (not via the network 130) with the external information terminal 60, 70, the management server 50, and the like using the detached storage medium.

[0066] The control section 44 centrally controls each section of the mobile body 40 based on the control program stored in the data storage section 45 or a control instruction transmitted from the information terminal 60, 70, and the like.

[0067] For example, the control section 44 acquires information on the position and posture of the mobile body 40 at the time of imaging and detection from the orientation sensor 422 and the posture sensor 424, and stores the information in association with the imaging image data and the detection data in the storage 46 (hereinafter, the imaging image data and the detection data in association with the information on the position and posture of the mobile body 40 at the time of imaging and detection will be referred to as "diagnosis information data"). Also, the control section 44 transmits the diagnosis information data to the information terminals 60, 70 and the management server 50 via the first communication section 471 and the second communication section 472.

[0068] [Crane]

[0069] Next, the crane 20 will be described.

[0070] Figure 3 is a side view of the crane 20.

[0071] In the present embodiment, as the crane 20, a so-called mobile tower crane is exemplified. In the following description regarding the crane 20, the advancing direction of the crane 20 (the direction in which the lower traveling body 21 is set to advance regardless of the orientation of the upper swing body 22) is set to "front", the retreating direction is set to "rear", the left-hand side in the state of facing the front is set to "left", and the right-hand side in the state of facing the front is set to "right".

[0072] As shown in Figure 3 , the crane 20 is configured to include a self-propelled crawler lower traveling body 21, an upper swing body 22 swingably mounted on the lower traveling body 21, and a front attachment 23 installed on the front side of the upper swing body 22 in a tiltable manner.

[0073] The upper swing body 22 constitutes the main body of the crane 20, and has a swing frame 221 extending in the front-rear direction. A boom mounting portion 222 is provided on the front side of the swing frame 221, and a base end 249 of a tower 24 described later is installed on the boom mounting portion 222 in a tiltable manner.

[0074] Further, a mast mounting portion 223 is provided near the rear side of the boom mounting portion 222 in the swing frame 221. A base end of a mast 224 described later is rotatably installed on the mast mounting portion 223. Moreover, a base end of an anti-back tilt device 225 described later is rotatably installed on the swing frame 221 at a position further to the rear side than the mast mounting portion 223.

[0075] A counterweight 226 for balancing the weight of the front attachment 23 and the load is provided on the rear side of the slewing frame 221. Furthermore, a boom tilting winch (not shown) is provided on the rear side of the slewing frame 221. On the other hand, an operator's cab 227, equipped with an operator's seat and various operating devices (not shown), is provided on the front right side of the slewing frame 221.

[0076] The front attachment 23 is installed on the upper rotating body 22 and is used to transport materials and other goods between the ground and a height. The front attachment 23 is configured to include a tower 24, a boom 25 and a tower strut 26.

[0077] The tower 24 is mounted on the upper slewing body 22 in a pitchable manner. The tower 24 comprises: a lower jib 241, with its base (foot) 249 mounted in a pitchable manner on the jib mounting section 222 of the slewing frame 221; multiple (e.g., three) intermediate jibs 242, with their bases mounted at the ends of the lower jib 241; and an upper jib 243, mounted at the end of the most distal intermediate jib 242. A jib pitching winch 244 and a main winch 245, described later, are mounted on the lower jib 241.

[0078] like Figure 3 As shown, the support components of the intermediate booms 242 that are adjacent to each other in the length direction are connected together by connecting pins. Furthermore, the intermediate boom 242 located at the bottom and the lower boom 241, as well as the intermediate boom 242 located at the top and the upper boom 243, are also connected together by connecting pins.

[0079] The upper boom 243 is in an upright position on the tower 24. Figure 3 In the indicated posture, the upper boom 243 protrudes forward from the top, with its lower edge mounted at the end (upper end) of the uppermost middle boom 242. A boom 25 (described later) is mounted on the front end of the upper boom 243, allowing for tilting, and a tower strut 26 (described later) is mounted on the upper end of the upper boom 243, allowing for swinging. Furthermore, a triangular pulley bracket 246 protrudes rearward from the upper boom 243. Tower guide pulleys 247 and 248 are rotatably mounted on this pulley bracket 246.

[0080] The jib 25 is mounted in a tilting manner to the end of the upper jib 243 of the tower 24. The jib 25 comprises: a lower jib 251, the base of which is tiltably mounted to the upper jib 243; an intermediate jib 252, mounted to the end of the lower jib 251; and an upper jib 253, mounted to the end of the intermediate jib 252. A guide pulley 254 and a point sheave 255 are rotatably mounted on the end side of the upper jib 253. A main rope 256, described later, is wound around the guide pulley 254 and the point sheave 255.

[0081] The tower brace 26 is swingably attached to the upper end side of the upper movable arm 243 of the tower 24. The tower brace 26 is a structure in a triangular shape by connecting the first brace 261, the second brace 262, and the third brace 263 with the first connecting portion 264, the second connecting portion 265, and the third connecting portion 266.

[0082] Here, the first connecting portion 264 of the tower brace 26 is attached to the upper end side of the upper movable arm 243. Thus, the tower brace 26 is swingably attached to the upper end of the tower 24 with the first connecting portion 264 as a fulcrum. Also, the second connecting portion 265 is connected to one end of the boom hoist rope 267, and the other end of the boom hoist rope 267 is connected to the distal end side of the upper boom 253 of the boom 25. Further, the third connecting portion 266 is connected to the boom side boom hoist rope 274 described later.

[0083] The boom luffing winch 244 is attached to the lower movable arm 241 of the tower 24. The boom luffing winch 244 luffs the boom 25 via the tower brace 26. The boom luffing winch 244 and the third connecting portion 266 of the tower brace 26 are connected by the boom luffing rope 27.

[0084] The boom luffing rope 27 is provided between the boom luffing winch 244 and the tower brace 26. The boom luffing rope 27 is configured of a lower hoist 271 having a plurality of pulleys attached to the intermediate movable arm 242 of the tower 24, an upper hoist 272 having a plurality of pulleys provided opposite to the lower hoist 271, a winding rope 273 wound to the boom luffing winch 244 in a state of being sequentially wound to the pulleys of the lower hoist 271 and the pulleys of the upper hoist 272, and a boom side boom hoist rope 274 having one end connected to the upper hoist 272 and the other end connected to the third connecting portion 266 of the tower brace 26.

[0085] Therefore, by winding or unwinding the winding rope 273 of the boom luffing winch 244, the upper hoist 272 approaches or moves away from the lower hoist 271, and the tower brace 26 swings with the first connecting portion 264 as a fulcrum. The swing of the tower brace 26 is transmitted to the boom 25 via the boom hoist rope 267, and thus the boom 25 luffs at the distal end side of the tower 24.

[0086] The main hoist winch 245 is located near the upper side of the boom luffing winch 244 and is attached to the lower movable arm 241 of the tower 24. One end side of the main hoist rope 256 is wound to the main hoist winch 245. The other end side of the main hoist rope 256 is attached to the load hook 28 after passing through the guide pulley 248 of the pulley block 246, the guide pulley 254 of the boom 25, and the point pulley 255. Therefore, by winding or unwinding the main hoist rope 256 of the main hoist winch 245, the load hook 28 can be raised and lowered.

[0087] A rearward tilt preventing device 225 is provided between the slewing frame 221 and the lower boom 241 of the tower 24. This rearward tilt preventing device 225 supports the tower 24 in the erected state from the back.

[0088] The base end of the mast 224 is rotatably attached to a mast attachment portion 223 of the slewing frame 221. The tip end of the mast 224 is a free end that is rotatable in the up-down direction and even in the front-rear direction.

[0089] A boom hoist 228 is provided at the tip end of the mast 224, and this boom hoist 228 is connected to the upper boom 243 of the tower 24 via a boom line 229 having a certain length. Further, a boom luffing line 291 that is wound around the boom hoist 228 and a hoist (not shown) on the slewing frame 221 side in this order is wound around a tower luffing winch (not shown) provided on the slewing frame 221.

[0090] Therefore, by winding or unwinding the boom luffing line 291 by the tower luffing winch, the tower 24 can be luffed (erected or laid down) via the boom line 229.

[0091] Figure 4 is a block diagram showing a control system of the crane 20.

[0092] As shown in the figure, the crane 20 is provided with a controller 31 that centrally controls each part of the crane 20. More specifically, the controller 31 performs control of various movements of the crane 20 such as travel, slewing, and hoisting, and abnormality detection processing, and the like. The controller 31 is configured to include an arithmetic processing device having a CPU, a storage device (i.e., a ROM and a RAM), and other peripheral circuits, and the like.

[0093] Further, the crane 20 is provided with a load cell 321, a boom angle sensor 322, an operation amount sensor 323, a jib angle sensor 324, a tilt sensor 325, a head counter 326, and the like as sensors that acquire information related to the state of each part of the crane 20.

[0094] The load cell 321 is attached to the boom hoist 228, and detects the tension of the boom luffing line 291 that luffs the tower 24, and outputs a control signal corresponding to the detected tension to the controller 31.

[0095] The boom angle sensor 322 is attached to the base end side of the tower 24, and detects the luffing angle (hereinafter, also denoted as a boom angle) of the tower 24, and outputs a control signal corresponding to the detected boom angle to the controller 31. The boom angle sensor 322, for example, detects the angle with respect to the horizontal plane (i.e., the angle of repose) as the boom angle.

[0096] A boom angle sensor 324 is installed at the base end side of the boom 25, detects the pitch angle (hereinafter, also denoted as a boom angle) of the boom 25, and outputs a control signal corresponding to the detected boom angle to the controller 31. The boom angle sensor 324, for example, detects an angle with respect to the horizontal plane (i.e., a ground angle) as the boom angle.

[0097] The operation amount sensor 323, for example, detects an operation amount of a hydraulic pilot type operation lever, and outputs a control signal corresponding to the detected operation amount to the controller 31.

[0098] The tilt sensor 325 detects the tilt of the crane 20 (i.e., the tilt of the ground on which the crane 20 is positioned), and outputs the detection result to the controller 31.

[0099] The height gauge 326 detects the height position of the load hook 28, and outputs the detection result to the controller 31.

[0100] Further, the crane 20 is provided with an input 331, a display device 332, an alarm 341, a stop device 342, a first communication 351, a second communication 352, an operation lever 37, and a control valve 38.

[0101] The input 331 is, for example, a touch panel that outputs a control signal corresponding to the operation of an operator to the controller 31. The operator can operate the input 331 to set the winding number of the main rope 256, the tower length, the mass of the load hook 28, and the like.

[0102] The display device 332, for example, is provided with a touch panel type display that also functions as the input 331, and displays information of the suspended load, information of the work posture, and the like on a display screen in accordance with a control signal output from the controller 31.

[0103] The alarm 341 sounds an alarm in accordance with a control signal output from the controller 31.

[0104] The stop device 342 stops the drive of hydraulic motors (not shown) respectively connected to the main winch 245 and the boom pitch winch 244 in accordance with a control signal output from the controller 31. The stop device 342 is, for example, an electromagnetic switching valve that can cut off the supply of pressure oil from a hydraulic pump to the hydraulic motors.

[0105] The first communication 351 performs data communication with the base station 120 via the satellite 110.

[0106] The second communication 352 directly performs data communication with the base station 150.

[0107] The control valve 38 is constituted by a plurality of valves that can be switched in accordance with a control signal from the controller 31.

[0108] For example, the control valve 38 includes a valve that switches supply, cut-off, and rotation direction of hydraulic pressure of a hydraulic motor that rotates a drive wheel of the lower traveling body 21 from a hydraulic pump provided in the crane body 20, a valve that switches supply, cut-off, and rotation direction of hydraulic pressure of a hydraulic motor that performs a slewing operation of the upper slewing body 22 from the hydraulic pump, a valve that switches supply, cut-off, and rotation direction of hydraulic pressure of a hydraulic motor that rotates the tower luffing winch from the hydraulic pump, a valve that switches supply, cut-off, and rotation direction of hydraulic pressure of a hydraulic motor that rotates the boom luffing winch 244 from the hydraulic pump, a valve that switches supply, cut-off, and rotation direction of hydraulic pressure of a hydraulic motor that rotates the main hoist winch 245 from the hydraulic pump, and the like.

[0109] The operation lever 37 is constituted by a plurality of levers that input control signals for switching to the respective valves of the control valve 38 through the controller 31.

[0110] For example, the traveling lever, which is one of the operation levers 37, inputs a switching signal to the above-mentioned valve that switches supply, cut-off, and rotation direction of hydraulic pressure of the hydraulic motor that rotates the drive wheel of the lower traveling body 21.

[0111] Also, the slewing lever, which is one of the operation levers 37, inputs a switching signal to the above-mentioned valve that switches supply, cut-off, and rotation direction of hydraulic pressure of the hydraulic motor that performs a slewing operation of the upper slewing body 22 from the hydraulic pump.

[0112] Also, the boom luffing lever, which is one of the operation levers 37, inputs a switching signal to the above-mentioned valve that switches supply, cut-off, and rotation direction of hydraulic pressure of the hydraulic motor that rotates the tower luffing winch from the hydraulic pump.

[0113] Also, the boom luffing lever, which is one of the operation levers 37, inputs a switching signal to the above-mentioned valve that switches supply, cut-off, and rotation direction of hydraulic pressure of the hydraulic motor that rotates the tower luffing winch from the hydraulic pump.

[0114] Also, the boom luffing lever, which is one of the operation levers 37, inputs a switching signal to the above-mentioned valve that switches supply, cut-off, and rotation direction of hydraulic pressure of the hydraulic motor that rotates the tower luffing winch from the hydraulic pump.

[0115] The controller 31 inputs a control signal corresponding to switching of supply, cut-off, and rotation direction of hydraulic pressure to the corresponding valve constituting the control valve 38 in accordance with the operation of each lever constituting the operation lever 37, thereby performing control of each hydraulic motor.

[0116] Thus, the operator can operate the operating lever 37 to perform a traveling action of the crane main body 20, a slewing action of the upper slewing body 22, a luffing action of the tower 24, a luffing action of the boom 25, and a hoisting action of the load hook 28.

[0117] [Management server]

[0118] Figure 5 is a block diagram showing the structure of the management server 50.

[0119] As shown in the figure, the management server 50 has a control device 51, a storage section 52, and a communication section 53.

[0120] The control device 51 is configured to include an arithmetic processing device having a CPU or a peripheral circuit or the like. The control device 51 reads and executes a control program stored in advance in the storage section 52, thereby controlling each section of the management server 50.

[0121] The storage section 52 is, for example, a nonvolatile storage device.

[0122] The communication section 53 performs data communication (transmission and reception) via the network 130 in a prescribed order.

[0123] The control device 51 is connected to a display device 54, and the control device 51 displays information stored in the storage section 52, the inspection information database 140, and the customer information database 160 on a display screen of the display device 54.

[0124] The control device 51 is connected to the inspection information database 140 and the customer information database 160.

[0125] In the inspection information database 140, date and time information received from the mobile body 40 by the control device 51 via the base station 120, 150 (including the case of via the crane 20), the construction machine ID of the crane 20, and a diagnosis result, and the like are stored in association with each other.

[0126] In the customer information database 160, the construction machine ID of the crane 20, customer information related to a customer who owns the crane 20, and a delivery address of the customer are stored in association with each other. In addition, the delivery address of the customer corresponding to one construction machine ID can be arbitrarily set.

[0127] Thus, the control device 51 determines the customer and the transmission destination at the time of updating the information of the crane inspection information database 140 of the specific crane 20, and transmits the updated information of the crane 20 or notifies of the update. Also, if there is an access from the customer side, the control device 51 can permit the transmission or viewing of various information related to the crane 20 of the customer stored in the crane inspection information database 140. At this time, a password or the like can be set for each customer in the customer information database 160, and input of the password can be requested at the time of access from the customer side. Preferably, the password is registered in the customer information database 160.

[0128] The control device 51 performs a diagnosis process of determining whether or not an abnormality has occurred in the inspection items described below, based on the diagnosis information data including the image data and the detection data acquired from the mobile body 40, with respect to the inspection sites of the crane 20.

[0129] The inspection items are, for example, as follows.

[0130] (1) Cracks, deformation, damage, corrosion of the tower, boom

[0131] (2) Wear, damage of the foot pin, connecting pin, bush

[0132] (3) Wear, damage, disorder of the wire rope, terminal state, corrosion

[0133] (4) Damage, corrosion of the boom rope

[0134] (5) Cracks, deformation, damage, corrosion of each sling, hanger, tower brace

[0135] (6) Cracks, deformation, wear, corrosion of the load hook

[0136] (7) Working state, deformation, damage of the wire rope anti-drop member of the load hook

[0137] (8) Looseness of the nut of the load hook, damage, corrosion of the threaded portion

[0138] (9) Wear, deformation, damage, corrosion of each pulley

[0139] (10) Working state of the overwind prevention device of the load hook, tower, boom

[0140] (11) Working state of the load cell, boom angle sensor

[0141] (12) Deformation, damage, corrosion of the anti-back tilt device

[0142] (13) Whether or not the accessory device is installed at the standard position, installation state (forgetting of bolt fastening, falling, etc.)

[0143] [Information terminal]

[0144] Figure 6 is a block diagram showing a control system of the information terminal 60, 70. In addition, the information terminal 60, 70 of the present embodiment is substantially the same in structure, and thus, the information terminal 60 will be described below, and the description of the information terminal 70 will be omitted.

[0145] The information terminal 60 is, for example, a terminal device such as a personal computer, a smartphone, and a tablet terminal, and as shown in Figure 6 , it is provided with an input section 61, a display section 62, a communication section 63, a storage section 64, and a control section 65. The information terminal 60 corresponds to an example of the display device according to the present application.

[0146] The input section 61 is, for example, provided with a touch panel, and outputs an input signal corresponding to the operation content of the user to the control section 65.

[0147] The display section 62 is, for example, provided with a touch panel type display 620 (see Figure 8 , and the like), and displays various information on the display 620 in accordance with a display signal input from the control section 65.

[0148] The communication section 63 is capable of data communication (transmission and reception) with the crane 20, the mobile body 40, the management server 50, and the like via the network 130. In addition, the communication section 63 can also be configured to be capable of directly communicating with the crane 20, the mobile body 40, and the management server 50.

[0149] The storage section 64 is a storage constituted by a RAM (Random Access Memory) or a ROM (Read Only Memory), or the like, and stores various programs and data, and also functions as a work area of the control section 65.

[0150] In the present embodiment, a path display program 641 for executing a path display process (see Figure 7 ) to be described later is stored in advance in the storage section 64.

[0151] In addition, the storage section 64 has a crane information database (DB) 642 in which various information related to the crane is stored. In the crane information DB 642, a plurality of model information (model names) and information related to the structure of each model (including the shape and the main dimensions of each section) are stored in association with each other. The information related to the structure of the crane includes, for example, the luffing type (A-frame, movable mast, or both), the boom luffing type (swing boom, up-and-down swing), the front stand type (crane only, tower only, or both), and the like.

[0152] Further, the three-dimensional CAD (3D-CAD) data 643 of the crane 20 is stored in the storage section 64.

[0153] Further, the crane information DB 642 and the three-dimensional CAD data 643 can also be stored in other apparatuses (for example, the management server 50 and the like) that can communicate with (read information from) the information terminal 60.

[0154] The control section 65 centrally controls the information terminal 60 according to a user operation and the like. Specifically, the control section 65 reads various programs from the storage section 64 according to an operation signal and the like input from the input section 61, and executes prescribed processing according to the programs, and temporarily stores the processing results in the storage section 64 while appropriately outputting them to the display section 62.

[0155] [Flight path display of mobile body]

[0156] Next, a path display process of setting and displaying a flight path (movement path) of the mobile body 40 at the time of inspection of the crane 20 will be described.

[0157] Figure 7 is a flowchart showing the flow of the path display process. Figures 8-14 is a diagram showing an example of the display of the display section 620 in the path display process.

[0158] Here, a case where the user operates the information terminal 60 to execute the path display process to thereby set and display the flight path of the mobile body 40 will be described. The path display process is executed by the control section 65 of the information terminal 60 reading and expanding the path display program 641 from the storage section 64.

[0159] Further, here, it is assumed that the crane 20 has been assembled and is in a stationary state. Also, in the following description, in the path display process, the flight path is set first and then the mobile body 40 is caused to fly along the flight path, but the flight of the mobile body 40 can also not be included in the path display process.

[0160] As shown in Figure 7 , if the path display process is executed, first, the control section 65 acquires data of the configuration state of the crane 20 (hereinafter referred to as "configuration state data") (step S1).

[0161] Here, the "configuration state" of the crane 20 refers to a state related to the structure (including size and shape), posture, position, and orientation of the crane 20.

[0162] Specifically, in this step S1, first, the control section 65 sets the type of the crane 20 according to a user operation. If the user selects the type of the crane 20 through the input section 61, the control section 65 reads and sets information related to the structure (including the size and shape) of the type from the crane information DB 642. Also, if there is a dimension (for example, the length of the boom) that cannot be determined by the selection of the type alone, the control section 65 sets the dimension according to a user operation.

[0163] Also, in step S1, the control section 65 acquires information related to the posture of the crane 20 from the crane 20 itself via the communication section 63. Specifically, the control section 65 acquires the boom angle, the jib angle, the inclination of the crane 20, and the height of the load hook 28 of the crane 20 measured by the boom angle sensor 322, the jib angle sensor 324, the inclination sensor 325, and the height gauge 326 as the information related to the posture of the crane 20. In addition, it is also possible to display the measured boom angle, jib angle, inclination of the crane 20, and height of the load hook 28 on the display device 332 of the crane 20 so that the user inputs the measured values in the information terminal 60 while observing these displays.

[0164] Also, in step S1, the control section 65 acquires information related to the position and orientation of the crane 20 by the position measuring section 421 and the orientation sensor 422 of the mobile body 40. Specifically, the mobile body 40 is stopped at a prescribed position (for example, on the crawler) of the crane 20, and the position and orientation are measured by the position measuring section 421 and the orientation sensor 422, whereby the information related to the position and orientation of the crane 20 is acquired. In addition, it is also possible to provide a position measuring section and an orientation sensor on the crane 20, and measure the position and orientation of the crane 20 by the position measuring section and the orientation sensor. Also, it is possible to acquire the position and orientation of the crane 20 by direct input (numerical input) by the user.

[0165] The configuration state data related to the structure, posture, position, and orientation of the crane 20 is thus acquired, and the configuration state of the crane 20 is determined according to the configuration state data.

[0166] Next, the control section 65 sets the flight conditions (flight information) of the mobile body 40 (step S2).

[0167] In the present embodiment, as the flight conditions of the mobile body 40, the lower limit of the distance between the mobile body 40 and the crane 20 at the time of flight (flight prohibited distance) is set. The "distance" at this time is not particularly limited, but refers to the distance in the horizontal plane.

[0168] Next, the control section 65 sets the flight path R of the mobile body 40 based on the configuration state data of the crane 20 acquired in step S1 and the flight conditions set in step S2, and displays it on the display 620 (step S3).

[0169] In this step, as shown in (a) of FIG. 8, an entire path display screen 810 in which the entire flight path R of the crane 20 is displayed is displayed on the display 620. The flight path R is configured so that the partial paths Rl around the crane 20 in the horizontal plane are set in multiple layers at a prescribed vertical distance in the entire height range of the crane 20 (see (a) of FIG. 8). However, in the entire path display screen 810 of the present embodiment, only the height positions of the partial paths Rl in the flight path R are shown. The vertical distance between the partial paths Rl can be a prescribed default value or can be set in step S2. Figure 8 Figure 13 In this step, as shown in (a) of FIG. 8, an entire path display screen 810 in which the entire flight path R of the crane 20 is displayed is displayed on the display 620. The flight path R is configured so that the partial paths Rl around the crane 20 in the horizontal plane are set in multiple layers at a prescribed vertical distance in the entire height range of the crane 20 (see (a) of FIG. 8). However, in the entire path display screen 810 of the present embodiment, only the height positions of the partial paths Rl in the flight path R are shown. The vertical distance between the partial paths Rl can be a prescribed default value or can be set in step S2.

[0170] In the entire path display screen 810 of the present embodiment, a two-dimensional image of the entire crane 20 (side view appearance) is schematically displayed on the main window 811 of the display 620, and the multiple partial paths Rl (height positions) that constitute the flight path R are displayed on the crane image. In the crane image, the main parts of the crane 20 are displayed so as to be recognizable. The partial paths Rl are selectable for editing and the like, and the selected partial path Rl is activated (in the drawing, displayed in a larger dashed line). Also, the main information of the crane 20 (for example, model, front specifications, boom length, boom angle, and the like) is displayed on the sub-window 812 on the right corner of the main window 811.

[0171] On the right side of the main window 811, a movement button 813 for moving the height of the selected partial path Rl, an edit button 814 for editing the partial path Rl, a flight location selection button 815 for performing the flight location selection described later, and an end button 816 for ending the operation on the entire path display screen 810 are displayed.

[0172] Next, the control section 65 determines whether or not the operation of editing the partial path Rl is performed (step S4). Here, the "editing" of the partial path Rl includes various operations related to the partial path Rl (including the "change" of the path described later).

[0173] ​Here, if the user operates the edit button 814 while selecting a partial path R1 at any height, the control unit 65 determines that an operation to edit the partial path R1 has been performed ("Yes" in step S4), and thus displays the partial path R1 of the selected height (layer) in detail on the display 620 (step S5). Next, the control unit 65 switches the display content of the display 620 from the overall path display screen 810 to the partial path display screen 820 that displays the selected partial path R1 in detail.

[0174] In the partial path display screen 820 of this embodiment, as shown Figure 8 As shown in (b), the main window 821 of the display 620 displays a plan view of the cross-section of the crane 20 at the selected height and a portion of the path R1 surrounding it. In this main window 821, similar to the overall path display screen 810, the various parts of the crane 20 are identifiable. Around the crane 20, the range of the flight prohibition distance set in step S2 is identifiable as the flight prohibition zone F.

[0175] Part of the path R1 is set (automatically generated) to circle the crane 20 in the horizontal plane at a distance from the no-fly zone F. More specifically, multiple waypoints WP are set to circle the crane 20 outside the no-fly zone F, and part of the path R1 is set to pass through these multiple waypoints WP. The waypoints WP are also multiple camera points captured by the camera 41. Furthermore, on part of the path R1, a camera point addition button SP is displayed between two adjacent waypoints WP for adding more waypoints WP (camera points).

[0176] Furthermore, the crane's appearance and the height position of a portion of the path R1 shown on the main window 821 are displayed in a sub-window 822 in the left corner of the display 620. The display of the sub-window 822 can be toggled between displaying and not displaying it by operating the toggle button 823 located in the corner of the sub-window 822 (see reference). Figure 10 wait).

[0177] Additionally, in the main window 821, such as Figure 9 As shown in (a), to ensure that the long crane cross-section in the front-to-back direction (left-to-right direction in the figure) also falls within the frame, the horizontal dimension of the frame is set from end to end of the crane cross-section plus a specified value, and the vertical dimension is changed. However, as... Figure 9 As shown in (b), for a crane cross-section with a large horizontal width (width in the vertical direction in the figure), its horizontal width plus a specified value is set as the vertical dimension of the image, and the horizontal dimension is changed.

[0178] Next, the control unit 65 determines whether an operation to change part of path R1 has been performed (step S6).

[0179] Next, if it is determined that the operation of changing the partial route Rl is performed (YES in step S6), the control section 65 changes the partial route Rl in accordance with the operation (step S7). Then, the control section 65 causes the process to proceed to the above step S5, and displays the changed partial route Rl.

[0180] In the present embodiment, the partial route Rl is changed by, for example, the following user operation.

[0181] First, if the user operates the photographing point addition button SP, a waypoint WP is arranged at the position of the operated photographing point addition button SP as shown in (a) of Fig. 9, and photographing point addition buttons SP are additionally arranged on both sides thereof. Figure 10

[0182] Further, if the user, for example, long-presses the waypoint WP, the waypoint WP is reversely displayed as shown in (b) of Fig. 9 to be in a movable active state. Then, if the user moves the waypoint WP and releases it, the waypoint WP returns to an inactive state to be fixed, and the reverse display also returns to the original. However, the waypoint WP cannot be arranged (moved) within the flight prohibited area F. Further, if the waypoint WP is set to the active state, a photographing point edit window 825 is popped up. The photographing point edit window 825 will be described later. Figure 10

[0183] Through these operations, the user can appropriately change the partial route Rl.

[0184] Further, if it is determined in step S6 that the operation of changing the partial route Rl is not performed (NO in step S6), the control section 65 determines whether or not the operation of editing the photographing condition is performed (step S8).

[0185] Then, if it is determined that the operation of editing the photographing condition is performed (YES in step S8), the control section 65 edits the photographing condition in accordance with the operation (step S9). Then, the control section 65 causes the process to proceed to the above step S5.

[0186] In the present embodiment, by setting the waypoint WP (also a photographing point) to the active state, the photographing condition on the waypoint WP can be edited. Specifically, as shown in (a) of Fig. 9, if the user long-presses the waypoint WP, a photographing point edit window 825 is popped up. Figure 11 ​​As shown in (a), if the waypoint WP is set to the active state, a photograph point editing window 825 indicating the photographing condition of the waypoint WP is popped up. By operating the photograph point editing window 825, the photographing condition of the desired waypoint WP can be edited. In the photograph point editing window 825 of the present embodiment, for example, the setting of the photographing direction (1 to 3 directions), the setting of the nose direction at the time of photographing, the setting of the photograph point (up, down, left, and right adjustment), and the deletion of the photograph point can be performed. Also, the addition and movement of the photograph point can be performed in the same manner as the above-described change operation of the waypoint WP.

[0187] In addition, the photograph point editing window 825 is displayed so as not to overlap the waypoint WP to be edited. For example, in the case where the waypoint WP on the lower side of the screen is set to the active state, as shown in (a), the photograph point editing window 825 is displayed on the upper side of the screen. Figure 11 As shown in (b), the photograph point editing window 825 is displayed on the upper side of the screen.

[0188] Also, if it is determined in step S8 that the operation of changing the photograph point is not performed (NO in step S8), the control section 65 causes the processing to proceed to the above-described step S3, so that the display content of the display 620 is jumped to the entire route display screen 810 (refer to (a) in FIG. 8). Figure 8

[0189] In the present embodiment, if the determination button 824 or the return button B is operated in the partial route display screen 820, the entire route display screen 810 is switched.

[0190] On the other hand, if it is determined in the above-described step S4 that the operation of editing the partial route Rl is not performed (NO in step S4), the control section 65 determines whether or not the flight location selection operation is performed on the entire route display screen 810 (step S10).

[0191] Then, if the flight location selection button 815 is operated by the user, the control section 65 determines that the flight location selection operation is performed (YES in step S10), and as shown in (a), the flight location selection window 817 is popped up on the entire route display screen 810 (step Sll). Figure 12 In the flight location selection window 817, the height of the flight location (partial route Rl) and the selection display thereof (in the present embodiment, the check mark) are listed together. Figure 12

[0192] Next, the control section 65 determines whether or not the operation of changing (selecting or deselecting) the flight location is performed (step S12).

[0193] ​​Then, if it is determined that the operation of changing the flight location is performed (YES in step S12), the control section 65 selects or deselects the flight location (partial path Rl) in accordance with the operation (step S13). Then, the control section 65 shifts the process to the above step Sll.

[0194] For example, if the user cancels the check mark of a certain flight location on the flight location selection window 817 as shown in (b), the partial path Rl corresponding to the flight location is deleted from the flight path R, and disappears from the main window 811. Figure 12

[0195] Then, if it is determined that the operation of changing the flight location is not performed (NO in step S12), the control section 65 shifts the process to the above step S3, and displays the entire path display screen 810 (refer to (a)). Figure 8

[0196] In the present embodiment, if the user operates the determination button 818 of the flight location selection window 817, the flight location selection window 817 is closed, and the entire path display screen 810 is displayed.

[0197] On the other hand, if it is determined that the flight location selection operation is not performed in the above step S10 (NO in step S10), the control section 65 confirms the flight plan in accordance with the user's operation (step S14).

[0198] In the present embodiment, if the user operates the end button 816 of the entire path display screen 810, the control section 65 switches the display content of the display 620 from the entire path display screen 810 to the flight plan confirmation screen (omitted from illustration).

[0199] Here, as the flight plan, for example, the number of photographs or the photographing time is set by the user.

[0200] Next, the control section 65 accepts the flight start operation by the user, and causes the mobile body 40 to start flying (step S15), and causes the mobile body 40 to fly along the set flight path R.

[0201] The flight order of the flight path R is preferably as follows: first, the lowest partial path Rl is flown, then, the mobile body 40 ascends to the uppermost layer, and while circling from the uppermost partial path Rl, descends to the second lowest partial path Rl (refer to (b)). Figure 13 ​​(a) Thus, by first flying one full circle along the lowest path R1 to confirm the distance, and then flying to the highest level (above crane 20), it can be confirmed that the flight path R will not come into contact with crane 20. By confirming at both the lowest and highest levels, it is possible to confirm whether there are any errors in the center position or settings. Furthermore, after confirming that the lowest level is safe, the mobile body 40 is moved to a higher position in the early stages when there is still plenty of power source (e.g., battery) remaining. Therefore, even if the mobile body 40 falls due to power source depletion during flight, its fall height can be suppressed to a low level.

[0202] At this time, the control unit 44 of the mobile body 40 acquires camera image data and detection data during flight, and sends diagnostic information data including the camera image data and detection data to the information terminals 60 and 70 and the management server 50. The management server 50 performs diagnostic processing to determine whether there are any abnormalities in the specified maintenance parts of the crane 20 based on the received diagnostic information data. Alternatively, this diagnostic processing can also be performed by the information terminals 60 and 70.

[0203] And, at this time, such as Figure 14 As shown in (b), the control unit 65 displays a live view 850 on the display 620, and also displays the photographic images captured by the camera 41 in real time. In the live view 850, the photographic images captured by the camera 41 are displayed in the main window 851, and the setting screen (partial path display screen) for the flight path R1 is displayed in a sub-window 852 in the right corner of the display 620. A second sub-window 853 within sub-window 852 displays the crane's appearance and the altitude position of the flight path R1. This second sub-window 853 can also be displayed in another window outside sub-window 852.

[0204] Then, if the flight of the moving body 40 along the flight path R ends (step S16), the control unit 65 stops the moving body 40 at the specified position and ends the path display process.

[0205] Additionally, in step S3 above, a two-dimensional image of the crane's appearance and flight path R is displayed on the overall path display screen 810, but as... Figure 13 As shown in (a), a three-dimensional image of the crane's appearance and flight path R can also be displayed.

[0206] At this time, the control unit 65 reads the three-dimensional CAD data 643 of the crane 20 from the storage unit 64 and displays a three-dimensional image of the crane's appearance on the main window 811. The displayed crane 20 and flight path R can be manipulated by the user (zoom in, zoom out, or rotate around any axis, etc.).

[0207] Here, if the user selects any one of the partial paths R1, the control section 65 displays the crane cross section at the height of the selected partial path R1, as shown in (b) of Fig. 8A, similarly to the partial path display screen 820 displayed in the above step S5. In this screen, the selected partial path R1 can also be displayed together. Figure 13

[0208] Also, in the case where the three-dimensional image of the crane appearance and the flight path R is displayed, it can be configured to be able to set the additional photographing point in detail.

[0209] For example, as shown in (a) of Fig. 8A, from the partial path R1 automatically generated to surround the crane, the base end portion of the camera provided at the front end of the boom 25 becomes a blind spot and cannot be visually recognized (photographed). In this case, the three-dimensional model of the crane 20 is enlarged and displayed at this portion, and the desired photographing point (photographing direction) is set in the form of a photographing direction marker M. The set photographing point is, for example, appropriately incorporated into the nearest partial path R1. Figure 14

[0210] Thus, as shown in (b) of Fig. 8A, for example, the image of the photographing point (photographing direction) set by the photographing direction marker M is displayed on the live view screen 850 at the time of flight. Therefore, even a position that becomes a blind spot from the partial path R1 that simply surrounds the crane can be well visually recognized (photographed). Figure 14

[0211] [Technical Effects of the Present Embodiment]

[0212] As described above, according to the present embodiment, when the crane 20 and the flight path R are displayed on the display 620, the flight path R can be displayed in a display mode in which the flight path R is observed from two different directions (in the present embodiment, for example, the entire path display screen 810 and the partial path display screen 820).

[0213] Thus, compared to the case where the flight path is observed from only one direction in the past, the flight path R of the mobile body 40 can be easily and accurately confirmed and grasped.

[0214] Also, according to the present embodiment, in the display mode (the partial path display screen 820) in which the partial path R1 in the flight path R is displayed, the partial path R1 can be changed (set) according to the user operation.

[0215] Thus, the user can more accurately set the desired partial path R1 on the partial path display screen 820 in which the partial path R1 is displayed in detail.

[0216] ​​​Further, according to the present embodiment, on the partial route display screen 820 on which the partial route Rl is displayed, the mobile body 40 non-entry area (flight prohibited area F) and the entry area (for example, an area other than the flight prohibited area F) are displayed in a recognizable manner.

[0217] Thus, the user can easily set the safe partial route Rl.

[0218] Further, according to the present embodiment, on the partial route display screen 820 on which the partial route Rl is displayed, the photographing point at which the mobile body 40 performs photographing on the partial route Rl can be changed (set) in accordance with the user operation.

[0219] Thus, the user can more accurately set the desired photographing point on the partial route display screen 820 on which the partial route Rl is displayed in detail.

[0220] Further, according to the present embodiment, on the partial route display screen 820 on which the partial route Rl is displayed, the plane including the partial route Rl is displayed.

[0221] Thus, the user can confirm and grasp the partial route Rl in detail.

[0222] Further, according to the present embodiment, in a state in which the crane 20 and the flight route R are displayed in the three-dimensional image, the crane 20 and the flight route R can be caused to move integrally on the display 620.

[0223] Thus, the user can arbitrarily change the display direction of the crane 20 and the flight route R, and thereby can confirm the crane 20 and the flight route R from the desired direction.

[0224] [Others]

[0225] The above describes the embodiments of the present application, but the present application is not limited to the above-described embodiments.

[0226] For example, in the above-described embodiments, as the display method of the crane 20 and the flight route R, the integral route display screen 810 (two-dimensional and three-dimensional) and the partial route display screen 820 are described as examples. However, as long as the flight route is displayed in a display method in which the route is observed from at least two directions different from each other, the display method is not limited to the above-described embodiments.

[0227] For example, as described above, the display method of the crane 20 and the flight route R can be a display method in which the crane 20 and the flight route R are displayed in the three-dimensional image. Figure 15As shown, a display mode in which the crane 20 and the plane of the flight path R are displayed on a map can also be displayed. An example of this is the position confirmation screen 830, which enables confirmation of the position or orientation (direction) of the crane 20 and the flight path R. Furthermore, by displaying on a map, it is possible to confirm, for example, whether the crane 20 and the flight path R have deviated outside a prescribed site, and so on. The map information can be stored in advance in the storage section 64, or can be acquired from other terminals and so on via the network 130.

[0228] Furthermore, the display mode when viewed from two different directions can be either two-dimensional or three-dimensional. That is, the display mode includes, for example, not only a display mode in which a portion of the path R1 is displayed two-dimensionally, but also a display mode in which a portion of the path R1 is displayed three-dimensionally.

[0229] Furthermore, in the above-described embodiment, the flight path R of the mobile body 40 has a portion of the path R1 in a horizontal plane of a plurality of layers. However, the flight path of the mobile body 40 at the time of inspection is not particularly limited, and can include, for example, a path that circles in a vertical plane, or a path that follows a boom or a jib.

[0230] Furthermore, in step S1 of the path display process, configuration state data of the crane 20 can also be acquired in real time from the crane 20, and in step S3 thereafter, the flight path of the mobile body 40 can also be set based on this real-time acquired configuration state data. That is, the processes of steps S1 and S3 can be performed at any time (for example, at regular time intervals). Thus, even during operation of the crane 20, the flight path can be appropriately set (changed).

[0231] Furthermore, this real-time path display can also be performed during flight of the mobile body 40 in step S15.

[0232] Furthermore, in the above-described embodiment, the path display process based on the path display program 641 is executed in the information terminal 60. However, this path display process can be executed by any device that is capable of acquiring configuration state data of the crane 20 and has a computing ability. Therefore, the display device to which the present application pertains includes not only the information terminals 60 and 70 and the management server 50, but also the crane 20 itself.

[0233] Furthermore, in the above-described embodiment, as an example of the crane 20, a mobile tower crane is exemplified. However, the present application is not limited to this, and can be applied not only to other mobile cranes such as wheel cranes, truck cranes, off-road cranes, and all-terrain cranes, but also to all cranes such as tower cranes, bridge cranes, jib cranes, luffing cranes, stacking cranes, gantry cranes, and unloading machines.

[0234] Moreover, the present invention is not limited to cranes equipped with lifting hooks, but can also be applied to cranes with auxiliary devices such as magnets and drilling buckets.

[0235] Furthermore, while the crane 20 is designated as the object of inspection (photography) for the moving body 40 in the above embodiment, the present invention is also well applicable to various photographic objects other than cranes. Examples of such photographic objects include amusement park rides such as Ferris wheels or roller coasters, windmills, excavators, airplanes, and ships. Moreover, the present invention is also applicable to the inspection of existing buildings.

[0236] Furthermore, the present invention is not limited to image-based inspection (diagnostic processing), but can also be applied to photography that is not for the purpose of inspection, such as when displaying camera images to an inspection operator.

[0237] Furthermore, the detailed structure shown in the above embodiments can be appropriately modified without departing from the spirit of the invention.

Claims

1. A display device comprising: a display section; and a control mechanism that displays a flight path of a flight body that flies around a crane that is capable of moving in a changeable configuration state on the display section, characterized in that: the flight path is set in accordance with a configuration state of the crane, the control mechanism is configured to display the crane and the flight path on the display section and is capable of displaying the flight path in a display mode in which the flight path is viewed from at least two directions that are different from each other, the display mode includes: a first display mode in which a portion of the flight path is displayed; and a second display mode in which the crane and the flight path that is composed of a plurality of portions is displayed, in the second display mode, when a user selects an arbitrary height portion of the plurality of portions, the control mechanism displays a crane cross section at the selected height and the portion of the flight path that surrounds the crane cross section, and in the first display mode, a portion of the flight path that surrounds the crane cross section at the selected height is changeable in accordance with a user operation.

2. The display device according to claim 1, characterized in that: in a case where the portion of the flight path is displayed on the display section, the control mechanism displays a region in which the flight body can enter and a region in which the flight body cannot enter in a recognizable manner.

3. The display device according to claim 1 or 2, characterized in that: the display mode of the flight path includes a display mode in which a portion of the flight path is displayed, and the control mechanism is configured to set a photographing position at which the flight body photographs in the portion of the flight path in accordance with a user operation in a state in which the portion of the flight path is displayed on the display section.

4. The display device according to claim 1 or 2, characterized in that: the display mode of the flight path includes a display mode in which a portion of the flight path is displayed, and the control mechanism is configured to display a plane that includes the portion of the flight path in the display mode in which the portion of the flight path is displayed.

5. The display device according to claim 1 or 2, characterized in that: the display mode of the flight path further includes a third display mode in which the crane and the flight path are displayed together with map information on the display section.

6. The display device according to claim 1 or 2, characterized in that: the display mode of the flight path includes a three-dimensional display of the flight path.

7. The display device according to claim 6, characterized in that: the control mechanism is configured to enable the crane and the flight path to move integrally on the display section in a state in which the flight path is displayed in three dimensions.

8. A storage medium that stores a path display program that displays a flight path of a flight body that flies around a crane that is capable of moving in a changeable configuration state on a display section, characterized in that: the path display program causes a computer to function as a setting mechanism and a display control mechanism, the setting mechanism sets the flight path in accordance with a configuration state of the crane, and the display control mechanism displays the crane and the flight path on the display section and is capable of displaying the flight path in a display mode in which the flight path is viewed from at least two directions that are different from each other. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The display control mechanism displays the flight path in a display mode in which the crane and the flight path are viewed from at least two different directions from each other when displaying the crane and the flight path on the display section, The display mode includes: a first display mode in which a part of the flight path is displayed; and a second display mode in which the crane and the flight path composed of a plurality of part paths are displayed, In the second display mode, when a user selects a part path of an arbitrary height among the plurality of part paths, the control mechanism displays a crane section of the selected height and part paths around the same, In the first display mode, the part paths around the crane section of the selected height can be changed according to a user operation.

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