PROCESS FOR AIRCRAFT BODY, FLIGHT SETTING DEVICE AND PROGRAM

Abstract

A moving body enables inspection work for a crane to be performed even in a narrow construction site. A flying method for a moving body 40 including a detection unit is provided. The flying method for the moving body 40 includes a first flying process of flying while the detection unit detects a surface of a normal portion different from a specific portion of a crane 20, and a second flying process of flying while the detection unit detects a surface of the specific portion of the crane 20 in a state where at least one of a position, a rotation angle, and a boom angle is different from the first flying process.

Description

Technical area

[0001] The present invention relates to a flight method for a moving body, a flight adjustment device and a program. State of the art

[0002] A work machine such as a crane requires various inspections for occupational safety.

[0003] In particular, when a device such as a crawler crane is enlarged, the safety requirement is increased (see, for example, PTL 1). Citation listPatent literature

[0004] [PTL 1] International Publication No. 2020 / 218433 Summary of the inventionTechnical problem

[0005] Crane inspection work is carried out using a moving body (e.g., a drone). However, if the construction site where the crane is located is narrow, the moving body may not be able to fly freely in some cases.

[0006] It is desirable to provide a moving body flying method, a flying adjustment device, and a program that can perform inspection work for a crane by using a moving body even at a narrow construction site. Solution to the problem

[0007] According to the present invention, a flying method for a moving body including a detection unit is provided. The flying method includes a first flying process of flying while the detection unit detects a surface of a normal portion different from a specific portion of a crane, and a second flying process of flying while the detection unit detects a surface of the specific portion of the crane in a state where at least one of a position, a rotation angle, and a boom angle is different from the first flying process.

[0008] Furthermore, according to the present invention, a flight adjustment device for making adjustments related to the flight of a moving body, including a detection unit, is provided. The device includes a flight route adjustment unit that sets a flight route of the moving body, and an information transmission unit that transmits flight information to the moving body for causing the moving body to fly along the flight route set by the flight route adjustment unit. The flight route adjustment unit is configured to adjust the flight route for each area of ​​a plurality of areas obtained by dividing a surrounding area of ​​a crane.

[0009] Furthermore, according to the present invention, a program for making settings related to a flight of a moving body including a detection unit is provided. The program causes a computer to execute a process including a flight route setting step for setting a flight route of the moving body and an information transmission step for transmitting flight information for causing the moving body to fly along the flight route set in the flight route setting step to the moving body. In the flight route setting step, the flight route is adjustable for each of a plurality of regions obtained by dividing a surrounding area of ​​a crane. Advantageous effects of the invention

[0010] According to the present invention, a moving body enables inspection work for a crane to be carried out even at a narrow construction site. Brief description of the drawings Fig. 1 is a schematic diagram for describing an inspection system for a crane according to an embodiment of the present invention. Fig. 2 is a block diagram illustrating a control system of a moving body. Fig. 3 is a side view of the crane. Fig. Figure 4 is a block diagram showing a control system of the crane. Fig. Figure 5 is a block diagram illustrating a configuration of a management server. Fig. 6 is a block diagram illustrating a schematic control system of an information terminal. Fig. 7 is a view showing an example of a crane arranged at a narrow construction site. Fig. 8 is a sectional view of a tower boom along line AA in Fig. 7. Fig. 9 is a flowchart illustrating a flow of a route setting process. Fig. 10 is a flowchart illustrating a flow of the route setting process. Fig. 11 is a view illustrating a flight route of the moving body on a first surface of the tower boom. Fig. 12A is a view showing an example of an information setting screen in the route setting process. Fig. 12B is a view showing an example of the information setting screen in the route setting process. Fig. 13A is a view showing an example of a flight information setting screen of the moving body. Fig. 13B is a view showing an example of the flight information setting screen of the moving body. Fig. 14A is a view showing an example of the flight route setting screen of the moving body. Fig. 14B is a view showing an example of the flight route setting screen of the moving body. Fig. 14C is a view showing an example of the flight route setting screen of the moving body. Fig. 14D is a view showing an example of the flight route setting screen of the moving body. Fig. 14E is a view showing an example of the flight route setting screen of the moving body. Fig. 15 is a view illustrating a flight route of the moving body on a third surface of the tower boom. Fig. 16 is a view illustrating a flight route of the moving body on a fourth surface of the tower boom. Fig. 17 is a view illustrating a flight path of the moving body on a second surface of the tower boom. Fig. 18 is a view three-dimensionally illustrating an example obtained by synthesizing flight routes of the moving body on the first surface to the fourth surface of the tower boom. Fig. 19A is a view schematically illustrating a modification example of a flight route of the moving body. Fig. 19B is a view schematically illustrating a modification example of the flight route of the moving body. Fig. 19C is a view schematically showing a modification example of the flight route of the moving body. Description of embodiments

[0011] Hereinafter, an embodiment according to the present invention will be described in detail with reference to the drawings. [Overview of crane inspection system]

[0012] Fig. 1 is a view illustrating an overview of a crane inspection system (hereinafter simply referred to as an “inspection system”) 100 according to an embodiment of the present invention.

[0013] As in Fig. 1, the inspection system 100 includes a crane 20 serving as an inspection target, a moving body 40 moving around the crane 20, information terminals 60 and 70 serving as processing units that perform predetermined processing on data acquired by the moving body 40, a management server 50, and a remote controller 80.

[0014] The management server 50 is connected to a network 130 serving as a general public wiring network.

[0015] In addition to the management server 50, base stations 120 and 150, information terminals 60 and 70, and the like are connected to the network 130. The management server 50 can exchange data with nodes connected to the network 130, that is, the base stations 120 and 150, the moving body 40, and a plurality of the information terminals 60 and 70.

[0016] The remote controller 80 is configured to communicate with the moving body 40 and the information terminal 60, and mediates the transmission and reception of information (e.g., image information or the like acquired by the moving body 40) between them. Furthermore, the remote controller 80 is configured to control an operation of the moving body 40, and, for example, the moving body 40 can be manually operated.

[0017] The base station 120 is a base station of a satellite communication line that can transmit and receive radio waves via a satellite 110, and the base station 150 is a base station of a so-called mobile phone communication line.

[0018] When the base stations 120 and 150 receive various data from the moving body 40, the crane 20, or the like, the base stations 120 and 150 transmit various data to the management server 50 via the network 130.

[0019] As will be described later, the crane 20 includes various sensors that detect a state of each part of the crane 20 itself, and a controller 31 (see Fig. 4). The controller 31 transmits information detected by various sensors to the base stations 120 and 150 or receives predetermined information by using a first communication unit 351 and a second communication unit 352 (see Fig. 4).

[0020] A database 140 for inspection information and a database 160 for customer information are connected to the management server 50. A control device 51 (see Fig. 5) included in the management server 50 stores diagnosis information data (to be described later) received from the moving body 40 and the crane 20 via the base stations 120 and 150, and condition information data generated from the diagnosis information data, in the inspection information database 140.

[0021] The control device 51 included in the management server 50 transmits the condition information stored in the inspection information database 140 to the predetermined information terminals 60 and 70 via the network 130. The control device 51 included in the management server 50 determines a transmission destination of the information based on the contents of the customer information database 160. For example, the information is transmitted to the information terminal 60 used by a site manager who is a user of the crane 20, a service provider of a crane manufacturer, or the like, or to the information terminal 70 used by a manager who is a user of a company that uses the crane 20 at a location remote from a construction site, and is displayed on display screens of the information terminals 60 and 70.

[0022] Although Fig. 1 illustrates only one of each of the crane 20 and the information terminals 60 and 70, the management server 50 is actually configured to transmit and receive information between a large number of the cranes 20 and a large number of the information terminals 60 and 70. [Moving body]

[0023] Here the moving body 40 is described.

[0024] Fig. 2 is a block diagram illustrating a control system of the moving body 40.

[0025] The moving body 40 is an unmanned aerial vehicle (UAV), which is a so-called drone. The moving body 40 has multiple rotors, flies by controlling the power of a motor serving as a drive source for each rotor, and can freely perform lifting and lowering movements, forward and backward, right and left movements, and normal and reverse rotation.

[0026] The moving body 40 moves around the crane 20 serving as the inspection target, picks up each part of the crane 20, and transmits acquired image data to the predetermined information terminals 60 and 70 and the management server 50.

[0027] As in Fig. 2, the moving body 40 includes a camera 41 (detection unit) serving as an imaging unit, a positioning unit 421, a direction sensor 422, a height sensor 423, a posture sensor 424, a microphone (sound detection sensor) 425, a temperature sensor 426, a drive unit 43, a control unit 44, a data storage unit 45, a memory 46, a first communication unit 471, and a second communication unit 472.

[0028] All sensors, such as the positioning unit 421, the direction sensor 422, the height sensor 423, the posture sensor 424, the microphone 425, and the temperature sensor 426 described above, may not be mounted on the moving body 40. The moving body 40 may include at least the camera 41, the positioning unit 421, and the direction sensor 422.

[0029] The camera 41 (detection unit) is mounted so as to be directed from the machine body of the moving body 40 in a predetermined direction, and images a scene in front of the line of sight in accordance with a direction of the machine body. The camera 41 can continuously capture captured images at a constant frame rate. In this way, it is possible to image multiple locations, including an inspection site. An image signal obtained by imaging is output to an image processing unit 411 connected to the camera 41. Captured image data with a predetermined format is generated by the image processing unit 411 and recorded in the memory 46.

[0030] The camera 41 is not limited to those that capture a visible light image, and an infrared camera for imaging infrared rays may be used. When an infrared camera is used, distance image data can be obtained using a phase difference method.

[0031] Furthermore, the camera 41 is not limited to a monocular camera, and a stereo camera may be used. In this case, the distance image data can also be obtained.

[0032] The positioning unit 421 is a global navigation satellite system (GNSS) receiver and measures a current position of the moving body 40. Real-time kinematics (RTK), which is much more accurate than a global positioning system (GPS), is applied to the positioning unit 421 of the present embodiment.

[0033] The direction sensor 422 is a three-axis gyroscope direction sensor and detects a forward movement direction of the moving body 40 and an inclination angle of the machine body.

[0034] For example, the height sensor 423 is an optical type and projects light downward to detect a height of the machine body from a phase difference generated by reflected light therefrom.

[0035] The position sensor 424 includes a three-dimensional acceleration sensor and detects acceleration in each direction of an X-axis, a Y-axis, and a Z-axis defined in the moving body 40. A position of the machine body can be detected from the gravitational acceleration detected for each of these axes.

[0036] The microphone 425 is directional and detects sound of an object moving forward in a direction the same as the line of sight of the camera 41.

[0037] The temperature sensor 426 is a so-called non-contact type radiation thermometer and detects a temperature of the object located forward in the direction which is the same as that of the line of sight of the camera 41.

[0038] Each of these sensors can be used in any desired manner as long as desired information can be detected, and a sensor type or detection principle is not limited to the example described above.

[0039] The first communication unit 471 performs data communication with the base station 120 via the satellite 110.

[0040] The second communication unit 472 directly performs data communication with the base station 150.

[0041] The drive unit 43 is configured to output thrust for a moving operation of the moving body 40 and includes a plurality of rotors and a plurality of motors serving as rotational drive sources provided in each of the rotors. The drive unit 43 is controlled by the control unit 44 so that the machine body moves in a target moving direction.

[0042] The data storage unit 45 is a non-volatile memory device that stores various information related to a control program and control of the moving body 40.

[0043] The memory 46 stores image data captured by the camera 41 and detection data detected by the microphone 425 and the temperature sensor 426.

[0044] The memory 46 may include a non-volatile storage device. Furthermore, the memory 46 may include a removable recording medium. In this case, the captured image data and the detection data can be exchanged with the external information terminals 60 and 70 and the management server 50 using the remote recording medium without using the network 130.

[0045] The control unit 44 comprehensively controls each part of the moving body 40 based on a control program stored in the data storage unit 45 and a control command transmitted from the information terminals 60 and 70.

[0046] For example, the control unit 44 acquires information about a position and posture of the moving body 40 during imaging and detection from the direction sensor 422 and the posture sensor 424, and records the information in the memory 46 in association with the acquired image data and the detection data (hereinafter, the acquired image data and the detection data associated with the information about the position and posture of the moving body 40 during imaging and detection are referred to as "diagnosis information data"). Furthermore, the control unit 44 transmits the diagnosis information data to the information terminals 60 and 70 and the management server 50 via the first communication unit 471 and the second communication unit 472. [Crane]

[0047] The crane 20 is described below.

[0048] Fig. 3 is a side view of the crane 20.

[0049] In the present embodiment, a so-called mobile crawler crane is described as an example of the crane 20. With reference to the description of the crane 20 below, a direction in which a rope is suspended from a boom when viewed from a rotation center of the crane 20 is defined as "front," a direction opposite to the front (in other words, a side on which a counterweight is arranged from the rotation center) is defined as "rear," a left side in a state of facing the front is defined as "left," and a right side in a state of facing the front is defined as "right." The front and rear of specific locations of the crane 20 can be expressed relatively as necessary.For example, when a first specific location on the "front" and a second specific location on the "front" are compared in the front-rear direction of the crane 20, and when the second specific location is located between the first specific location and the rotation center of the crane 20, the second specific location is relatively expressed as being on the "back" when viewed from the first specific location. Moreover, when the first specific location on the "rear" side and the second specific location on the "rear" side are compared in the front-rear direction of the crane 20, and when the second specific location is located between the first specific location and the rotation center of the crane 20, the second specific location is relatively expressed as being on the "front" side when viewed from the first specific location.

[0050] As in Fig. 3, the crane 20 includes a crawler-type lower traveling body 21 capable of self-propelling, a rotating platform 22 mounted on the lower traveling body 21 so as to be capable of rotating, and a front device 23 mounted on a front side of the rotating platform 22 so as to be capable of performing lifting / lowering movement.

[0051] The slewing platform 22 constitutes a main body of the crane 20 and includes a slewing frame 221 extending in a front-rear direction. A boom attachment portion 222 is provided at a front side of the slewing frame 221, and a base end 249 of a tower boom 24 (to be described later) is attached to the boom attachment portion 222 to be capable of performing lifting / lowering motion.

[0052] Furthermore, in the rotating frame 221, a mast attachment portion 223 is provided near a rear side of the boom attachment portion 222. A base end of a mast 224 (to be described later) is pivotally attached to the mast attachment portion 223. Furthermore, in the rotating frame 221, a base end of an anti-kickback device 225 (to be described later) is pivotally attached to a rear side of the mast attachment portion 223.

[0053] A counterweight 226 for balancing a weight between the front mount 23 and a suspended load is arranged on the rear side of the rotating frame 221. Furthermore, a boom derrick winch (not shown) is arranged on the rear side of the rotating frame 221. Meanwhile, a cab 227, in which a driver's seat and various operating devices (all not shown) are arranged, is provided on a front right side of the rotating frame 221.

[0054] The front attachment 23 is provided on the rotating platform 22 and transports loads, such as materials, between the ground and a high location. The front attachment 23 includes the tower boom 24, a tower auxiliary boom 25, and a tower strut 26.

[0055] The tower boom 24 is attached to the rotating platform 22 so as to be capable of raising / lowering movement. The tower boom 24 includes a lower boom 241 whose base end (foot portion) 249 is attached to the boom attachment portion 222 of the rotating frame 221 so as to be capable of raising / lowering movement, a plurality of (for example, three stages) intermediate booms 242 whose base ends are attached to a tip of the lower boom 241, and an upper boom 243 attached to a tip of the intermediate boom 242 located most on a tip side. An auxiliary boom derrick winch 244 and a main winding winch 245 (described later) are attached to the lower boom 241.

[0056] As shown, column members of the intermediate booms 242, which are adjacent to each other in a longitudinal direction, are each connected using a connecting pin. Furthermore, the intermediate boom 242 located on a lowermost side and the lower boom 241, and the intermediate boom 242 located on an uppermost side and the upper boom 243 are each connected using connecting pins.

[0057] The upper boom 243 has a shape whose upper portion protrudes when the tower boom 24 is in a standing position (position shown in Fig. 3). A lower side portion of the upper boom 243 is attached to a tip (upper end) of the intermediate boom 242 located on the uppermost side. The tower auxiliary boom 25 (to be described later) is attached to a front end side of the upper boom 243 so as to be capable of lifting / lowering movement, and the tower stay 26 (to be described later) is attached to an upper end side of the upper boom 243 so as to be capable of oscillation. Furthermore, a triangular sheave bracket 246 projects rearward on the upper boom 243. A tower guide sheave 247 and a guide sheave 248 are attached to the sheave bracket 246 so as to be rotatable.

[0058] The tower jib 25 is mounted on the tip of the upper jib 243 of the tower jib 24 so as to be capable of lifting / lowering movement. The tower jib 25 is configured to include a lower jib 251 whose base end is mounted on the upper jib 243 so as to be capable of lifting / lowering movement, an intermediate jib 252 mounted on a tip of the lower jib 251, and an upper jib 253 provided on a tip of the intermediate jib 252. A guide sheave 254 and a spot sheave 255 are rotatably mounted on a tip side of the upper jib 253. A main winding rope 256 (to be described later) is wound around the guide sheave 254 and the point sheave 255.

[0059] The tower brace 26 is attached to an upper end side of the upper boom 243 of the tower boom 24 so that it is capable of oscillating. The tower brace 26 connects a first support 261, a second support 262, and a third support 263 using a first connecting portion 264, a second connecting portion 265, and a third connecting portion 266. In this way, the tower brace 26 is configured as a triangular structure.

[0060] Here, the first connecting portion 264 of the tower stay 26 is attached to the upper end side of the upper boom 243. In this way, the tower stay 26 is attached to an upper end of the tower boom 24 so as to be able to oscillate, while the first connecting portion 264 serves as a fulcrum. Furthermore, one end of a tether 267 is connected to the second connecting portion 265, and the other end of the tether 267 is connected to the tip side of the upper jib 253 of the tower jib 25. Further, a boom-side tether 274 (to be described later) is connected to the third connecting portion 266.

[0061] The auxiliary boom derrick winch 244 is attached to the lower boom 241 of the tower boom 24. The auxiliary boom derrick winch 244 causes the tower auxiliary boom 25 to perform lifting / lowering movements via the tower strut 26. The auxiliary boom derrick winch 244 and the third connecting section 266 of the tower strut 26 are connected to each other by an auxiliary boom derrick winch 27.

[0062] The auxiliary boom derrick rope 27 is provided between the auxiliary boom derrick winch 244 and the tower strut 26. The auxiliary boom derrick rope 27 is configured to include a lower spreader 271 having a plurality of sheaves attached to the intermediate boom 242 of the tower boom 24, an upper spreader 272 having a plurality of sheaves provided to face the lower spreader 271, a winding rope 273 wound around the auxiliary boom derrick winch 244 in a state of being sequentially wound around the sheave of the lower spreader 271 and the sheave of the upper spreader 272, and a boom-side tether rope 274 having one end connected to the upper spreader 272 and the other end connected to the third connecting portion 266 of the tower stay 26.

[0063] Therefore, the winding rope 273 is wound and unwound by the jib derrick winch 244. In this way, the upper spreader 272 moves close to and away from the lower spreader 271, and the tower strut 26 oscillates, while the first connecting portion 264 serves as a pivot point. The oscillation of the tower strut 26 is transmitted to the tower jib 25 via the tether rope 267. In this way, the tower jib 25 is configured to perform lifting / lowering motion on the tip side of the tower jib 24.

[0064] The main winding winch 245 is located near the top of the auxiliary derrick winch 244 and is attached to the lower boom 241 of the tower boom 24. One end of the main winding rope 256 is wound around the main winding winch 245. The other end of the main winding rope 256 is attached to a suspended load hook 28 via the guide sheave 248 of the sheave bracket 246, the guide sheave 254 of the auxiliary tower 25, and the point sheave 255. Therefore, the main winding rope 256 is wound and unwound by the main winding winch 245, allowing the suspended load hook 28 to be raised and lowered.

[0065] The anti-kickback device 225 is provided between the rotating frame 221 and the lower boom 241 of the tower boom 24. The anti-kickback device 225 supports the upright tower boom 24 from behind.

[0066] A base end of the mast 224 is pivotally mounted on the mast mounting portion 223 of the rotating frame 221. The tip of the mast 224 is a free end pivotally mounted in the up-down or front-back direction.

[0067] A boom spreader 228 is provided at the top of the mast 224, and the boom spreader 228 and the upper boom 243 of the tower boom 24 are connected to each other via a tether 229 having a predetermined length. Furthermore, a boom derrick rope 291, which is wound sequentially over the boom spreader 228 and a spreader (not shown) on the rotating frame 221 side, is wound around a tower boom derrick winch (not shown) provided in the rotating frame 221.

[0068] Therefore, the boom derrick rope 291 is wound or unwound by the tower boom derrick winch. In this way, the tower boom 24 can perform lifting / lowering movements (raising or lowering) via the tether rope 229.

[0069] Fig. 4 is a block diagram illustrating a control system of the crane 20.

[0070] As shown in the drawing, the crane 20 includes the controller 31, which comprehensively controls each part of the crane 20. More specifically, the controller 31 performs control of various operations, such as traveling, rotating, and load suspension of the crane 20, as well as an abnormality detection process. The controller 31 is configured to include a computing processing device including a CPU, a ROM and a RAM, which are storage devices, and other peripheral circuits.

[0071] In addition, the crane 20 includes, as sensors for detecting information regarding a state of each part of the crane 20, a load cell 321, a boom angle sensor 322, a manipulated variable sensor 323, a jib angle sensor 324, an inclination sensor 325, and a hoist measuring device 326.

[0072] The load cell 321 is attached to the boom spreader 228, detects tension acting on the boom derrick rope 291 and causing the tower boom 24 to perform lifting / lowering movement, and outputs a control signal corresponding to the detected tension to the controller 31.

[0073] The boom angle sensor 322 is mounted on a base end side of the tower boom 24, detects a lifting / lowering angle (hereinafter also referred to as a boom angle) of the tower boom 24, and outputs a control signal corresponding to the detected boom angle to the controller 31. For example, the boom angle sensor 322 detects a ground angle, which is an angle with respect to a horizontal plane, as a boom angle.

[0074] The jib angle sensor 324 is mounted on the base end side of the tower jib 25, detects a lifting / lowering angle (hereinafter also referred to as a jib angle) of the tower jib 25, and outputs a control signal corresponding to the detected jib angle to the controller 31. For example, the jib angle sensor 324 detects a ground angle, which is an angle with respect to a horizontal plane, as a jib angle.

[0075] For example, the manipulated variable sensor 323 detects an operation amount of a pilot type hydraulic operation lever and outputs a control signal corresponding to the detected operation amount to the controller 31.

[0076] The inclination sensor 325 detects the inclination of the crane 20, i.e. the inclination of the ground on which the crane 20 is located, and outputs the inclination to the controller 31.

[0077] The lifting measuring device 326 detects a height position of the suspended load hook 28 and outputs the height position to the controller 31.

[0078] In addition, the crane 20 includes an input unit 331, a display device 332, an alarm device 341, a stop device 342, a first communication unit 351, a second communication unit 352, an operating lever 37, and a control valve 38.

[0079] For example, the input unit 331 is a touch panel and outputs a control signal corresponding to an operation by a worker to the controller 31. The worker can operate the input unit 331 to set the number of times the main winding rope 256 is used, the tower boom length, and the mass of the suspended load hook 28.

[0080] For example, the display device 332 includes a touch panel type display, which is also used as the input unit 331, and displays information about a suspended load or information about a working posture on a display screen based on a control signal output from the controller 31.

[0081] The alarm device 341 issues an alarm based on a control signal output from the controller 31.

[0082] The stop device 342 stops the drive of a hydraulic motor (not shown) connected to each of the main winding winch 245 and the auxiliary boom derrick winch 244 based on a control signal output from the controller 31. For example, the stop device 342 is an electromagnetic switching valve that can interrupt the supply of pressurized oil from a hydraulic pump to a hydraulic motor.

[0083] The first communication unit 351 performs data communication with the base station 120 via the satellite 110.

[0084] The second communication unit 352 directly performs data communication with the base station 150.

[0085] The control valve 38 is configured to include a plurality of valves that can be switched in accordance with a control signal from the controller 31.

[0086] For example, the control valve 38 includes a valve for supplying, interrupting, and reversing hydraulic pressure from the hydraulic pump included in the crane 20 to the hydraulic motor that rotates the drive wheels of the lower travel body 21, a valve for supplying, interrupting, and reversing hydraulic pressure from the hydraulic pump to the hydraulic motor that rotates the rotating platform 22, a valve for supplying, interrupting, and reversing hydraulic pressure from the hydraulic pump to the hydraulic motor that rotates the tower boom derrick winch, a valve for supplying, interrupting, and reversing hydraulic pressure from the hydraulic pump to the hydraulic motor that rotates the auxiliary boom derrick winch 244, and a valve for supplying, interrupting, and reversing hydraulic pressure from the hydraulic pump to the hydraulic motor.which drives the main winding winch 245 in rotation.

[0087] The operating lever 37 is configured to include a plurality of levers for inputting control signals for individually performing switching to different valves of the control valve 38 by the controller 31.

[0088] For example, a travel lever, which is one of the operating levers 37, inputs a switching signal to a valve that performs hydraulic pressure supply, interruption, and rotation direction switching for the hydraulic motor that rotates the drive wheels of the lower travel body 21 described above.

[0089] In addition, a rotary lever, which is one of the operation levers 37, inputs a switching signal to a valve that performs hydraulic pressure supply, interruption, and rotation direction switching from the above-described hydraulic pump to the hydraulic motor that performs a rotation operation of the rotary platform 22.

[0090] In addition, a boom derrick lever of the boom, which is one of the operating levers 37, inputs a switching signal to a valve that performs hydraulic pressure supply, interruption, and rotation direction switching from the above-described hydraulic pump to the hydraulic motor that rotates the tower boom derrick winch.

[0091] In addition, a sub-boom derrick lever, which is one of the operating levers 37, inputs a switching signal to a valve that performs hydraulic pressure supply, interruption, and rotation direction switching from the above-described hydraulic pump to the hydraulic motor that rotatably drives the sub-boom derrick winch 244.

[0092] In addition, a winding lever, which is one of the operating levers 37, inputs a switching signal to a valve that performs hydraulic pressure supply, interruption, and rotation direction switching from the above-described hydraulic pump to the hydraulic motor that rotates the main winding winch 245.

[0093] The controller 31 inputs control signals corresponding to hydraulic pressure supply, interruption, and rotation direction switching in accordance with an operation of various levers configuring the operating lever 37 to each valve configuring the corresponding control valve 38, and performs control on each hydraulic motor.

[0094] In this way, the worker operates the operating lever 37. In this way, the worker can perform a traveling operation of the crane 20, a rotating operation of the rotating platform 22, a lifting / lowering operation of the tower boom 24, a lifting / lowering operation of the tower auxiliary boom 25, and lifting and lowering operations of the suspended load hook 28. [Management Server]

[0095] Fig. 5 is a block diagram illustrating a configuration of the management server 50.

[0096] As shown in the drawing, the management server 50 includes a control device 51, a storage unit 52, and a communication unit 53.

[0097] The control device 51 includes a computing device including a CPU and peripheral circuits. The control device 51 controls each unit of the management server 50 by reading and executing a control program stored in advance in the storage unit 52.

[0098] For example, the storage unit 52 is a non-volatile memory device.

[0099] The communication unit 53 performs data communication (transmission and reception) via the network 130 in accordance with a predetermined method.

[0100] A display device 54 is connected to the control device 51, and the control device 51 causes a display screen of the display device 54 to display information stored in the storage unit 52, the inspection information database 140, and the customer information database 160.

[0101] The inspection information database 140 and the customer information database 160 are connected to the control device 51. The inspection information database 140 stores data associated with date and time information, a work machine ID of the crane 20, and a diagnosis result, which are received from the moving body 40 via the base stations 120 and 150 (including a case of receiving information via the crane 20) by the control device 51.

[0102] The customer information database 160 stores data associated with the work machine ID of the crane 20, customer information related to a customer who owns the crane 20, and a delivery destination address of the customer. The customer's delivery destination address corresponding to a work machine ID can be set in any desired manner.

[0103] In this way, when the information in the crane inspection information database 140 is updated for the specific crane 20, the control device 51 specifies the customer and the delivery destination thereof, and transmits the updated information via the crane 20 or notifies the customer of the updated information. Furthermore, when there is access from the customer side, the control device 51 may enable transmission or reading of various information recorded in the crane inspection information database 140 regarding the customer's crane 20. In this case, a password may be set for each customer in the customer information database 160, and the password may be requested when there is access from the customer side. It is preferable that the password be registered in the customer information database 160.

[0104] The control device 51 performs a diagnosis process of determining whether or not there is an abnormality at inspection locations of the crane 20 with respect to the following inspection positions based on the diagnosis data information including the captured image data and the detection data acquired by the moving body 40.

[0105] The inspection elements are, for example, as follows. (1) Cracks, deformation, damage and corrosion of a tower boom and a tower jib (2) Abrasion and damage to a foot pin, a hinge pin and a bushing (3) Abrasion, damage, random winding, final condition and corrosion of a wire rope (4) Damage and corrosion to a tether (5) Cracks, deformation, damage and corrosion in each spreader, hanger and tower brace (6) Cracks, deformation, abrasion and corrosion of a suspended load hook (7) Operating condition, deformation and damage of a wire breakaway stopper of the suspended load hook (8) Loosening of a nut of the suspended load hook and damage and corrosion in a bolt section (9) Abrasion, deformation, damage and corrosion on each pulley (10) Operating condition of an excessive winding prevention device for the suspended load hanger, the tower boom and the tower jib (11) Operating state of a load cell and a boom angle sensor (12) Deformation, damage and corrosion of a kickback arrester (13) Whether or not a fixture is attached to a regular position and a fixture state (Omitted from screw tightening or screw missing)[Information terminal]

[0106] Fig. 6 is a block diagram illustrating a schematic control system of the information terminals 60 and 70. Since the information terminals 60 and 70 of the present embodiment have substantially the same configuration, the information terminal 60 will be described below, and the description of the information terminal 70 will be omitted.

[0107] For example, the information terminal 60 is a terminal device such as a personal computer, a smartphone, and a tablet terminal, and includes an input unit 61, a display unit 62, a communication unit 63, a storage unit 64, and a control unit 65, as shown in Fig. 6 shown.

[0108] For example, the input unit 61 includes a touch panel and outputs an input signal corresponding to the operation contents of a user operating the touch panel to the control unit 65.

[0109] For example, the display unit 62 includes a touch panel type display 620 (see Fig. 11) and displays various information on the display 620 based on a display signal input from the control unit 65.

[0110] The communication unit 63 can perform data communication (transmission and reception) with the crane 20, the moving body 40, and the management server 50 via the network 130. The communication unit 63 also functions as an information transmission unit that transmits flight information to the moving body 40 for causing the moving body 40 to fly along a flight route set by the control unit 65 (flight route setting unit). The communication unit 63 can be configured to be capable of direct communication with the crane 20, the moving body 40, and the management server 50.

[0111] The storage unit 64 is a memory that includes a random access memory (RAM) or a read-only memory (ROM), stores various programs and data, and also functions as a work area of ​​the control unit 65.

[0112] In the present embodiment, the storage unit 64 stores a route setting program 641 for performing a route setting process in advance (see Fig. 9, which will be described later).

[0113] In addition, the storage unit 64 has a crane information database (DB) 642 that stores various information related to the crane.

[0114] In the crane information DB 642, multiple model information (model name) and information related to a structure of each model (including a shape and a main dimension of each part) are stored in association with each other. For example, the information related to the crane structure includes a type, such as a lifting / lowering movement method (A-frame, folding mast, or both), a tower jib lifting / lowering movement method (swing lever or adjustable jib / luffing), and a front specification (crane only, tower only, or both).

[0115] The crane information DB 642 may be stored in another device (for example, the management server 50) with which the information terminal 60 can communicate (read information).

[0116] The control unit 65 comprehensively controls the information terminal 60 based on user input. Specifically, the control unit 65 reads various programs from the storage unit 64 in response to an operation signal input from the input unit 61, executes a predetermined process in accordance with the program, temporarily stores a processing result thereof in the storage unit 64, and appropriately outputs the processing result to the display unit 62. [Flight procedures for moving bodies]

[0117] A flying method for the moving body 40 will be described below, which enables inspection work for the crane 20 to be carried out by the moving body 40 itself at a narrow construction site. (Determination of flight-available area of ​​moving body)

[0118] Fig. Fig. 7 is a view showing an example of the crane 20 arranged at a narrow construction site. Fig. The crane 20 shown in Fig. 7 is arranged in a passage 702 between a building body 700 and a partition wall 701, and the lower traveling body 21 can move along a direction in which the passage 702 extends (along a direction perpendicular to the paper surface in Fig. 7). However, the lower vehicle body 21 is prevented from moving in the left-right direction by the structure 700 and the partition wall 701. Therefore, the Fig. 7, the crane 20 performs work on the structure 700 in a state in which the rotating platform 22 of the Fig. 3 is rotated by 90° in a counterclockwise direction.

[0119] In Fig. 7, a flight-available area of ​​the moving body 40 during the inspection work for the crane 20 is limited by the structure 700 and the partition wall 701. Therefore, the flight-available area is limited to a space along the passage 702 and an upper space of the structure 700, and an orbital flight for freely circling the crane 20 is not available.

[0120] Here, in the present embodiment, if the Fig. 3 shown crane 20 four surfaces with a quadrangular shape (see Fig. 8) in a cross-section (cross-section along line AA in Fig. 7) taken through a virtual plane perpendicular to a longitudinal direction of a tower boom (hereinafter abbreviated as a boom) 24, for convenience of description, a front surface is defined as a first surface 703a, and other surfaces are defined sequentially as second to fourth surfaces (703b to 703d) in a clockwise direction based on the first surface 703a. That is, the crane 20 in Fig. 3 will be described while setting the front surface as the first surface 703a, a rear surface as the third surface 703c, a left side surface facing forward as the fourth surface 703d, and a right side surface facing forward as the second surface 703b. Two surfaces parallel to the front-rear direction of the rotary platform 22 of the crane 20 and located on both outer sides in the left-right direction of the rotary platform 22 are defined as the two left-right surfaces (703b and 703d), and two surfaces perpendicular to the front-rear direction of the rotary platform 22 and located on both outer sides in the front-rear direction of the rotary platform 22 are defined as the two front-rear surfaces (703a and 703c). In this way, description will be continued as appropriate.

[0121] In the Fig. In the crane 20 illustrated in FIG. 7, the second surface 703b and the fourth surface 703d of the boom 24 are surfaces facing the front-rear direction of the passage 702, and the moving body 40 is caused to perform a single-surface flight at a predetermined distance (a distance that has no possibility of the moving body 40 coming into contact with the crane 20) from the second surface 703b and the fourth surface 703d. In this way, the inspection work can be performed to inspect a state on the second surface 703b side and the fourth surface 703d side of the crane 20. A single-surface flight process of the moving body 40 on the second surface 703b side and the fourth surface 703d side of the crane 20 is defined as a first flight process.In the first flight process, the second surface 703b and the fourth surface 703d of the crane 20, which are surfaces on which the moving body 40 can perform single-surface flight at the distance where there is no possibility of the moving body coming into contact with the crane 20, are defined as surfaces of a normal section other than a specific section. Furthermore, in the first flight process, the surfaces (first surface 703a and third surface 703c) on which the moving body 40 cannot fly while being detected by the camera 41 (detection unit) are defined as surfaces of the specific section.

[0122] On the other hand, the Fig. 7, the first surface 703a of the boom 24 faces the structure 700, and a distance between the first surface 703a of the boom 24 and the structure 700 is narrow (narrower than a safety distance at which the moving body 40 does not collide with the crane 20 and the structure 700 during flight). In addition, in the crane 20 shown in Fig. 7, the third surface 703c of the boom 24 faces the partition wall 701, and a distance between the side of the third surface 703c of the boom 24 and the partition wall 701 is narrow (narrower than a safety distance at which the moving body 40 does not collide with the crane 20 and the partition wall 701 during flight). Furthermore, in the crane 20 shown in Fig. 7, the moving body 40 is directed towards the outside of a construction site (no entry zone) to avoid contact with the tower strut 26 on the side of the third surface 703c. Therefore, in the crane 20 shown in Fig. In the crane 20 shown in Figure 7, the first surface 703a and the third surface 703c are specific surfaces located in a space where the moving body 40 cannot fly. Furthermore, the specific surface is a surface located in a space where the moving body cannot fly due to a no-fly zone (important classified facility, airspace, security passage (area secured to allow passage of people), public road, or the like).

[0123] After that, the Fig. In the crane 20 shown in FIG. 7, the rotating platform 22 is rotated 90° in the clockwise direction, and the first surface 703a and the third surface 703c are caused to face an extending direction of the passage 702. In this way, a space in which the moving body 40 can fly can be secured around the first surface 703a and the third surface 703c. Therefore, the moving body 40 can perform the single-surface flight at a predetermined distance from the first surface 703a and the third surface 703c, and the inspection work can be performed on the first surface 703a side and the third surface 703c side of the crane 20.In this way, a process of flying during which the moving body 40 causes the camera 41 (detection unit) to detect a surface of the specific portion of the crane 20 in a state where at least one of a position of the crane 20, a rotation angle of the rotary platform 22, and a boom angle is different from a state of the crane 20 in the first flying process is defined as a second flying process. Assuming that the moving body 40 is located on the first surface 703a side and the third surface 703c side, which are defined as the specific surfaces in the first flying process, a portion of the moving body 40 detectable by the camera 41 (detection unit) is defined as a specific portion.

[0124] The inspection work on the first surface 703a side of the crane 20, the inspection work on the third surface 703c side, the inspection work on the second surface 703b side, and the inspection work on the fourth surface 703d side can be performed simultaneously by a plurality of the moving bodies 40, in addition to a case where the inspection work is performed sequentially by one moving body 40. Furthermore, in order to secure a space within which the moving body 40 can fly around the specific surface, it is conceivable to rotate the above-described rotary platform 22. Furthermore, it is conceivable to perform a lifting / lowering movement operation of the boom 24, move the crane, and combine all of these.

[0125] The specific surface area in the above description can be determined by a worker visually inspecting an actual construction site. Furthermore, as described later, the specific surface area can be automatically determined based on a construction plan (BIM) at an actual construction site, map information about a construction site, GPS information about a

[0126] The installation position of the crane and the like can be determined in the flight route setting process of the moving body 40. The specific surface area can be determined based on a construction shape that varies depending on the progress status of a construction plan and a coordinate position of the crane 20 that varies depending on the construction plan. Therefore, the specific surface area is accurately determined depending on the progress status of the construction plan. (Flight route determination of moving bodies)

[0127] Next, a route setting process for setting a flight path (flight route) of the moving body 40 during the inspection of the crane 20 will be described.

[0128] Fig. 9 and Fig. 10 are flowcharts illustrating a flow of the route setting process. Fig. 11 is a view illustrating a display example of a flight route of the moving body 40 on the second surface 703b side of the crane 20. Fig. 12A and Fig. 12B are examples of an information setting screen in the route setting process. Fig. 13A and Fig. 13B are examples of a flight information setting screen. In addition, Fig. 14A to 14E Examples of a flight setting screen.

[0129] Here, a case will be described where a user operates the information terminal 60 as a flight setting device to perform the route setting process and sets the flight route of the moving body 40. The route setting process is performed in such a manner that the control unit 65 of the information terminal 60 reads and provides a route setting program 641 from the storage unit 64 as the flight route setting unit.

[0130] Here, it is assumed that the crane 20 is stationary in an assembled state. Furthermore, in the route setting process in the following description, the moving body 40 flies along the flight route after the flight route has been set. However, the flight of the moving body 40 may not be included in the route setting process.

[0131] As in Fig. 9, when the route setting process is performed, the control unit 65 first acquires data of a disposition state of the crane 20 (hereinafter referred to as “arrangement state data”) (step S1).

[0132] Here, the “arrangement state” of the crane 20 refers to a state with respect to at least one of a structure (including a size and a shape), a posture, a position, and a direction of the crane 20.

[0133] In particular, the control unit 65 displays an upper screen of the Fig. 13A, and when the user presses a model specification registration button 704b, the control unit 65 sets a model of the crane 20 as shown in Fig. 10 (step S11). When the user selects the model of the crane 20 via the input unit 61, the control unit 65 reads information related to the structure (including the size and shape) of the model from the crane information DB 642 and sets the information. In addition, if there is a dimension (for example, a boom length) that cannot be specified only by selecting the model, the control unit 65 sets the dimension based on a user operation. Here, for example, an information setting screen as shown in Fig. 12A, is shown on the display 620, and the user input is received, or various setting information is displayed. In Fig. 12A, when the model is selected, options of front specifications (crane or tower) or shoe widths are read from the crane information DB 642, and information can be selected from these options.

[0134] Next, the control unit 65 acquires information related to the posture of the crane 20 from the crane 20 itself via the communication unit 63 (step S12). Specifically, the control unit 65 acquires a boom angle, a jib angle, an inclination of the crane 20, and a height of the suspended load hook 28, which are measured by the boom angle sensor 322, the jib angle sensor 324, the inclination sensor 325, and the hoist gauge 326 of the crane 20, as information related to the posture of the crane 20. Furthermore, information related to an environment, such as a slope angle of the ground, a wind speed, and the weather, may be acquired. The information may be acquired by providing a sensor for this purpose or may be acquired from the network 130. Here, for example, an information setting screen as shown in Fig. 12B, is shown on the display 620, and various setting information is displayed. In addition, Fig. 12B, if the model on the screen is in Fig. 12A is selected, options such as a type and length of the boom are read from the crane information DB 642, and information such as the type and length of the boom can be selected from these options.

[0135] The measured boom angle, the jib angle, the inclination of the crane 20, and the height of the suspended load hook 28 can be displayed on the display device 332 of the crane 20, and the user can input a measured value into the information terminal 60 while viewing the display.

[0136] Next, the control unit 65 detects when the user presses a position registration key 704d on the upper screen of the Fig. 13A, information regarding the position and direction of the crane 20 is acquired via the positioning unit 421 and the direction sensor 422 of the moving body 40 (step S13). Specifically, the moving body 40 is stopped (placed) at a predetermined position (for example, on a crawler track) of the crane 20 and measures the position and direction via the positioning unit 421 and the direction sensor 422 to acquire the information regarding the position and direction of the crane 20. Specifically, the moving body 40 is stopped at two locations on the crawler track in the front-to-rear direction to acquire an azimuth angle from latitude and longitude information of the moving body 40 located at these two locations.At this time, one moving body 40 may move to two locations one after another to acquire the latitude and longitude information, or two moving bodies 40 may move to two locations one after another to acquire the latitude and longitude information.

[0137] The crane 20 may be equipped with the positioning unit and the direction sensor, and the position and direction of the crane 20 may be measured by the positioning unit and the direction sensor. Furthermore, the position and direction of the crane 20 may be acquired through direct input (input of numerical values) by the user. Furthermore, a distance measuring sensor may be mounted on the moving body 40, and the position of the crane 20 may be measured from the moving body 40 by the distance measuring sensor.

[0138] In this way, at steps S11 to S13, arrangement state data relating to at least one of the structure, posture, position, and direction of the crane 20 is acquired, and an arrangement state of the crane 20 is specified by environmental information obtained from an aerial photograph or map information and the arrangement state data.

[0139] Furthermore, the arrangement state data of the crane 20 can be acquired from the crane 20. Furthermore, the arrangement state data is not limited to data acquired by the method described above, and data acquired in advance can be used. For example, if information about the arrangement state acquired in advance from the crane 20 for lifting / lowering movement restriction or lifting restriction exists, this information can be used. In this way, input time and effort can be reduced.

[0140] Furthermore, it is desirable to prompt the user to check the setting content of the arrangement state after the arrangement state of the crane 20 is specified in step S1. In this case, the display 620 displays, for example, the direction of the crane 20 and a maximum planned flight path (overview of the flight route) on an aerial map. The user is prompted to check whether the flight path R of the moving body 40 or the crane 20 is outside a predetermined location, or whether the position or posture of the crane 20 is correct.

[0141] Furthermore, based on the data of the arrangement state of the crane 20, the construction plan (BIM) at the actual construction site, the map information of the construction site, and the like, the control unit 65 calculates whether a flight space of the moving body 40 (distance between the crane 20 and the building structure 700, the distance between the crane 20 and the partition wall 701, and the distance between the crane 20 and the restricted area) is insufficient on any of the first to fourth surfaces 703a to 703d of the boom 24. The control unit 65 automatically determines the specific surface (first surface 703a and third surface 703c in the present embodiment) on which the moving body 40 cannot fly, and causes the display unit 62 to display the automatically determined specific surfaces (703a and 703c) (step S2).In this way, the worker can reliably identify the specific areas (703a and 703c) without visually checking the actual construction site.

[0142] Next, as in Fig. 9, the control unit 65 inputs a flight condition (flight information) of the moving body 40 (step S3).

[0143] In the present embodiment, a lower limit (closest approach distance) of a distance between the moving body 40 and the crane 20 during flight is set as the flight condition of the moving body 40. The "distance" in this case is not particularly limited but refers to a distance in a horizontal plane. Here, for example, an information setting screen as shown in Fig. 13A and Fig. 13B, is displayed on the display 620, and the user input is received, or various setting information is displayed.

[0144] Fig. 13A shows the upper screen of the flight setting, and a flight setting button 704a, a model specification registration button 704b, a flight information setting button 704c, a position registration button 704d, and a reset button 704e are displayed. Fig. 13A, when the flight information setting button 704c is pressed by the user, an input screen of drone flight information (flight information for moving bodies) is displayed in Fig. 13B is shown on the display 620. On the Fig. On the drone flight information input screen shown in FIG. 13B, the user can input an elevation difference at a takeoff location, an imaging mode, a flight mode, a surface selection for single-surface flight, and a distance to the crane. When the takeoff location is lower than a reference position of the crane (for example, a ground contact surface of the lower traveling body 21 of the crane 20), a negative numerical value is input as the elevation difference at the takeoff location (in the present embodiment, a state with no elevation difference is input as the takeoff location). The imaging mode can be selected from a still image, interval photography, and a moving image, and is in a state where interval photography (a photo taken at every predetermined time) is selected.For the flight mode, one of single-surface flight and orbital flight can be selected, and it is in a state where single-surface flight is selected. The surface selection for single-surface flight is a screen for selecting a flight surface of the moving body 40, and any one of a "front" surface (first surface 703a), a "back" surface (third surface 703c), a "left side" surface (fourth surface 703d), and a "right side" surface (second surface 703b) can be selected. The screen shows a state where the "front" surface (first surface 703a) is selected. In the present embodiment, a flight route R is displayed for each selected surface (see FIG. Fig. 11 and 15 to 17), and the flight route R can be set. That is, the circumference of the crane can be divided into several areas, such as the "front" area (first area 703a), the "back" area (third area 703c), the "left side" area (fourth area 703d), and the "right side" area (second area 703b), and the flight route R can be set for each area. The distance to the crane 20 can be input as a distance (distance in a horizontal direction) between the flying moving body 40 and the crane 20, and indicates a state in which 2.5 meters (m) is input. On the screen in Fig. 13B, when the user has completed entering each item and presses an OK button, the screen display will change to the Fig. 14A shown above.

[0145] Next, as in Fig. 14A, the flight route setting screen, which is shown in Fig. 14B, when the flight setting button 704a on the upper screen of the display 620 is pressed. The control unit 65 sets the flight route R of the moving body 40 based on the arrangement state data of the crane 20 acquired in step S1, the flight condition set in step S3, and the Fig. 13B and displays the flight route R on the display 620 (step S4).

[0146] In the present embodiment, the flight route R is on a single surface (front surface side) as shown in Fig. 11, and the flight route R is displayed together with the entire crane 20 simply displayed on the display 620. The flight route R indicates a case where the moving body 40 inspects a state of the crane 20 after flying from a lowest level to a highest level of the single surface (second surface 703b, which is the right side surface). Thereafter, the moving body 40, moving to the highest level, flies each level toward the lowest level along the longitudinal direction of the boom 24, and the moving body 40 inspects the state of the crane 20. The flight route R on the single surface includes a horizontal flight section R1 and an up-down flight section R2, and a case where the moving body 40 moves in a zigzag shape along the longitudinal direction of the boom 24 is illustrated as an example.Furthermore, in the flight route R, the moving body 40 may perform an outward flight at an odd-numbered level along the longitudinal direction of the boom 24 from the lowest level to the highest level of the single plane, and thereafter, the moving body 40 may perform a return flight at an even-numbered level along the longitudinal direction of the boom 24 toward the lowest level. Here, in the flight route R, the horizontal flight section R1 is set in multiple planes at a predetermined interval in a height direction of the crane 20. A vertical interval between the respective levels of the flight route R may be a predetermined standard value or may be set in a step (step S3) of setting the flight condition of the moving body 40 shown in FIG. Fig. 9. For flight route R, the Fig. 6 shown route setting program 641. In this way, without having to Fig. 11, the flight route R can be set by appropriately combining a case of a boom flight process in which the moving body 40 is caused to perform up-down and round-trip flights along the longitudinal direction of the boom 24, a case of a wire flight process in which the moving body 40 is caused to move along a linear member extending in the longitudinal direction of the tether cable 229, the auxiliary boom derrick winch 27, the main winding cable 256, or the like, and a case of temporarily stopping the moving body 40 at a specific location. The crane 20 can be efficiently detected during the outward and return flights by setting at least one of the outward and return flights as the wire flight process and the other as the boom flight process.Furthermore, as the flight route R of the moving body 40, the flight route R in which the moving body 40 flies in a zigzag manner along an inclined strut of the boom 24 may be added. Furthermore, the flight route R of the moving body 40 may be a flight route in which the single-surface flight and the orbital flight are combined by using the method shown in . Fig. 6 is changed. Here, the orbital flight is a flight of the moving body 40 that rotates once around the crane 20 along a horizontal plane, and the moving body 40 continuously flies four surfaces of the single surface along each plane. As described above, if the flight route R of the moving body 40 is determined by combining the multiple flight routes R, it is possible to detect the state of the crane 20 located at a narrow construction site more efficiently and accurately.

[0147] In Fig. 11, a start button 623 and a stop button 624 for starting and stopping the flight of the moving body 40 are displayed at a left corner of the display 620 (in this case, one of the buttons that can be operated is displayed as active, and the other is displayed as inactive). Furthermore, a direction indicator unit 625 indicating the direction of the moving body 40 is displayed.

[0148] Next, determine how Fig. 9, the control unit 65 determines whether or not an operation for changing the flight route R is being performed (step S5), and if it is determined that the operation is being performed (step S5: Yes), the flight route R is changed based on a change operation thereof (step S6). The control unit 65 proceeds to the process at step S4 described above, switches the flight route R to the changed one, and causes the display 620 to display the changed flight route R.

[0149] Moreover, when the control unit 65 determines that the process of changing the flight route R is not performed in step S5 (step S5: No), the control unit 65 performs a confirmation process of the flight plan based on the user input (step S7).

[0150] Here the display shows 620, as in Fig. 14C, for example, the number of images to be taken or a time to take the image set by the user as the flight plan.

[0151] Next, in Fig. 14C, when the flight plan of the display screen of the display 620 is confirmed by the user and the OK button is pressed, the control unit 65 displays a live view screen of the construction site around the crane 20 on the display 620, as in Fig. 14D, and displays an area on which the moving body 40 flies (step S7), and when a start button on the display screen in Fig. 14E is pressed, the control unit 65 starts the flight of the moving body 40 along the flight route R set in step S4 (step S8).

[0152] The control unit 44 of the moving body 40 acquires image data and detection data acquired during the flight of the moving body 40 and transmits diagnostic information data containing the acquired image data and detection data to the information terminals 60 and 70 and the management server 50. The management server 50 performs a diagnostic process of determining the presence or absence of abnormalities at a predetermined inspection location of the crane 20 based on the received diagnostic information data. This diagnostic process can be performed by the information terminals 60 and 70. Furthermore, during the automatic flight of the moving body 40, the flight of the moving body 40 can be temporarily stopped by user operation. During the temporary stop of the moving body 40, the moving body 40 can be manually operated.In this way, the inspection work for the crane 20 can be performed more thoroughly. When the temporary stop is released, the moving body 40 automatically resumes the automatic flight from a suspended position.

[0153] In this case, the control unit 65 causes the display 620 to display the image captured by the camera 41 in a live view.

[0154] Thereafter, when the flight of the moving body 40 along the flight route R is completed (step S9), the control unit 65 returns the moving body 40 to a start position (or stops the moving body 40 at a predetermined position other than the start position) and completes the route setting process.

[0155] In addition, if the control unit 65 causes the display 620 to display the flight route R after the image of the moving body 40 is captured and an imaging point P (see Fig. 11) in the flight route R has been selected by the user operation, the control unit 65 causes the display 620 to display the captured image at the imaging point P.

[0156] As described above, the detection of the state on a single surface side (second surface 703b, which is the right side surface) of the crane 20 is completed. Subsequently, it is necessary to detect the state of the other three surface sides (fourth surface 703d, first surface 703a, and third surface 703c) of the crane 20.

[0157] When a “return to top screen” button 705 located in an upper left section is pressed by the user on the Fig. 14E is pressed, the control unit 65 displays the screen shown in Fig. 13A. If all four surfaces are not completely detected (step S10), the control unit 65 detects the state of the fourth surface (left side surface) 703d, which is a surface different from the specific surface, in the same manner as detecting the state of the second surface (right side surface) 703b (steps S3 to S9).

[0158] Fig. 15 is a view illustrating the flight route R of the moving body 40 on the fourth surface (left side surface) 703d of the crane 20, and the flight route R of the moving body 40 set in step S4 is displayed together with the entire crane 20 simply displayed on the display 620.

[0159] Here, a flight process in which the moving body 40 changes the state of the surfaces (second surface 703b and fourth surface 703d) other than the specific surface during the flight as shown in Fig. 11 and Fig. 15, is detected, referred to as a first flight process.

[0160] Next, the state of the crane 20 is detected on the first surface (front surface) 703a, which is the specific surface of the crane 20. Before the state on the first surface 703a side, which is the specific surface of the crane 20, is detected, the rotating platform 22 of the crane 20 is rotated 90° in the clockwise direction to secure a space that allows the moving body 40 to fly. In this way, the first surface 703a side and the third surface 703c side of the crane 20 directly face each other in the longitudinal direction (extension direction) of the passage 702, and the moving body 40 can automatically fly on the first surface 703a side and the third surface 703c side of the crane 20 in the same way as the second surface 703b side and the fourth surface 703d side.

[0161] When the “Return to the top screen” button 705 located in the upper left section is pressed by the user on the Fig. 14E is pressed, the control unit 65 displays the screen shown in Fig. 13A. If all four surfaces are not completely detected (step S10), the control unit 65 detects the state on the first surface 703a side of the crane 20 in the same manner as detecting the state on the second surface 703b side (steps S3 to S9).

[0162] Fig. Fig. 16 is a view showing the flight route R of the moving body 40 on the first surface 703a side of the crane 20, and the flight route R of the moving body 40 set in step S4 is displayed on the display 620 together with the entire crane 20 simply shown. The control unit 65 causes the moving body 40 to move along the Fig. 16 shown flight route R of the moving body 40, and detects the state on the side of first surface 703a of the crane 20.

[0163] Next, the state on the third surface 703c side, which is the specific surface of the crane 20, is detected. When the "return to the upper screen" button 705 located in the upper left section is pressed by the user on the Fig. 14E is pressed, the control unit 65 displays the screen shown in Fig. 13A. If all four surfaces are not fully detected (step S10), the control unit 65 detects the state on the third surface 703c side of the crane 20 in the same manner as detecting the state on the first surface 703a side (steps S3 to S9).

[0164] Fig. Fig. 17 is a view showing the flight route R of the moving body 40 on the third surface 703c side of the crane 20, and the flight route R of the moving body 40 set in step S4 is displayed on the display 620 together with the entire crane 20 simply shown. The control unit 65 causes the moving body 40 to move along the Fig. 17 shown flight route R of the moving body 40, and detects the state on the side of third surface 703c of the crane 20.

[0165] Here, a flight process in which the moving body 40 detects the state of the specific surfaces (first surface 703a and third surface 703c) during flying is described as in Fig. 16 and Fig. 17, referred to as a second flight process.

[0166] Fig. 18 is a view showing an example obtained by synthesizing the flight routes R in Fig. 11, Fig. 15, Fig. 16 and Fig. 17, is three-dimensional. As shown in Fig. As shown in Figure 18, if the flight routes R of the four surfaces are synthesized for each individual surface, the flight routes R can be specified as orbital routes circling the crane 20. Even with the flight route R for each individual surface, it is possible to detect the states of all four surfaces (first surface 703a to fourth surface 703d) of the crane 20. The moving body 40 flies individually in the state of the adjacent surfaces of the crane 20 (for example, the second surface 703b and the third surface 703c, the third surface 703c and the fourth surface 703d, the fourth surface 703d and the first surface 703a and the first surface 703a and the second surface 703b). Therefore, it is not necessary for the flight routes R corresponding to the adjacent surfaces, as shown in particular in Fig. 18, are adjacent, overlap each other. Therefore, a gap is provided between the adjacent flight paths R on the adjacent surfaces. However, the adjacent flight paths R may overlap each other. Moreover, if the gap is provided between the adjacent flight paths R on the adjacent surfaces, for example, it is possible to minimize a possibility that the plurality of moving bodies 40 come into contact with each other when the moving bodies 40 fly simultaneously and fly on different surfaces. [Advantageous Effects of the Present Embodiment]

[0167] As described above, when the boom 24 of the crane 20 includes four surfaces, after performing the first flying process of detecting the condition of at least one surface excluding the specific surface of the four surfaces while the moving body 40 is flying, the crane 20 according to the present embodiment performs a rotation, lifting / lowering movement, or traveling movement to secure a space in which the moving body 40 can fly around the specific surface. Thereafter, the second flying process of detecting the condition of the specific surface is performed while the moving body 40 is flying. As a result, according to the present embodiment, the inspection work for the crane 20 can be thoroughly performed by the moving body 40 even in a narrow construction site.

[0168] Furthermore, the flying method of the moving body 40 according to the present embodiment can be applied to a case of thoroughly inspecting the crane 20 as follows. An area located in a direction where GPS reception is difficult, an area located in a direction of a structure where magnetic or radio wave interference is strong, an area located in an area that interferes with an area where another crane 20 is operating, and an area located in a direction where a strong wind blows are set as specific areas.

[0169] Moreover, according to the present embodiment, the crane information DB 642 in which the plurality of models of the crane 20 and information regarding a structure of each model are associated with each other are stored in advance.

[0170] Therefore, the user can easily grasp the information related to the structure of the crane 20 only by setting (inputting) the model information of the crane 20. [Modification example of flight path of moving body]

[0171] Fig. 19A is a view schematically illustrating a first modification example of the flight route R of the moving body (view in which the crane is omitted).

[0172] If three of the four surfaces of the boom are not the specific surfaces and if the flight path R of the Fig. 19A is set to have a U-shape in the horizontal plane (same plane), the moving body can fly to cross multiple surfaces (three surfaces other than the specific surfaces). As a result, if the Fig. 19A is applied to a case of inspecting the crane, the three surface sides of the boom are continuously inspected in a single path, and work efficiency can be improved compared with when the moving body is reset for each individual surface.

[0173] Fig. 19B is a view schematically illustrating a second modification example of the flight route R of the moving body (view in which the crane is omitted).

[0174] If two adjacent surfaces of the four surfaces of the boom are not the specific surfaces and if the flight path R of the Fig. 19B is set to have an L-shape in the horizontal plane (same plane), the moving body can fly to traverse the multiple surfaces (two surfaces that are not specific surfaces). That is, in at least one of the first flight process and the second flight process, the moving body 40 can fly along one of the two left-right surfaces (second surface 703b and fourth surface 703d), and then can subsequently fly along one of the two front-rear surfaces (first surface 703a and third surface 703c). As a result, when the Fig. 19B is applied to a case of inspecting the crane, the two surface sides of the boom are continuously inspected in a single path, and the work efficiency can be improved compared with when the moving body is reset for each surface.

[0175] Fig. 19C is a view schematically illustrating a third modification example of the flight route R of the moving body (view in which the crane is omitted).

[0176] If a surface (single surface) of the boom is not the specific surface, the one in Fig. 19C is set to have a single path shape, so that flight route sections extending in the longitudinal direction (up-down direction in Fig. 19C) of the boom are different between the outbound and return flights. When the flight path R of the moving body is applied to the case of inspecting the crane, the flight path sections directed in the longitudinal direction of the boom do not overlap. Therefore, work efficiency is improved. [More]

[0177] In Fig.9, at step S1 of the route setting process, arrangement state data of the crane 20 may be acquired from the crane 20 at a predetermined time, and at step S3 following thereafter, a movement route of the moving body 40 may be set (updated) based on the arrangement state data acquired at the predetermined time. That is, the processes at steps S1 and S3 may be performed at any time (for example, at a regular time interval) or may be performed at a time when the arrangement state of the crane 20 is changed. In this way, the flight route can be appropriately set (changed) even during the operation of the crane 20.

[0178] Furthermore, the route setting may be performed at the predetermined time during the flight of the moving body 40 in step S8.

[0179] Furthermore, in the above-described embodiment, the route setting process is performed by the route setting program 641 in the information terminal 60. However, the route setting process can be performed as long as the device is capable of acquiring the arrangement state data of the crane 20 and has computing capability. Therefore, the information terminal according to the present invention includes the crane 20 itself and the moving body 40 in addition to the information terminals 60 and 70 and the management server 50. Similarly, the processing unit that performs the process of performing the inspection on the crane 20 includes the crane 20 itself and the moving body 40 in addition to the information terminals 60 and 70 and the management server 50. Furthermore, the route setting unit according to the present invention may be different from the processing unit.For example, the processing unit may be the management server 50, and the route setting unit may be the information terminals 60 and 70.

[0180] Furthermore, in the above-described embodiment, a mobile tower crane was described as an example of the crane 20. However, the present invention is not limited thereto, and in addition to other mobile cranes such as a wheel crane, a truck crane, a rough terrain crane, and an all-terrain crane, the present invention is applicable to various cranes such as a tower crane, an overhead crane, a jib crane, a retractable crane, a stacker crane, a gantry crane, and an unloader.

[0181] Furthermore, the present invention is not limited to the crane provided with the suspended load hook, and is also applicable to a crane that suspends attachments such as a magnet and an earth auger.

[0182] Furthermore, in the embodiment described above, the crane 20 is the inspection target of the moving body 40. However, the present invention is suitably applicable to various inspection targets whose arrangement states vary. In addition to the crane, this inspection target includes amusement rides such as a Ferris wheel and a roller coaster, a windmill, an excavator, an airplane, and a ship. The present invention is also applicable to the inspection of an existing building.

[0183] Furthermore, the present invention is not limited to those that perform an inspection (diagnosis process) based on an image, and is also applicable to imaging that is not intended for inspection, for example, when a captured image is displayed to an inspector.

[0184] Alternatively, details in the above-described embodiment may be appropriately changed within the scope of protection without departing from the concept of the invention.

[0185] The disclosure of the specification, drawings and abstract contained in Japanese Patent Application No. 2022-209919 filed on December 27, 2022 is incorporated herein by reference in its entirety. Industrial applicability

[0186] The present invention can be used for a flying method of a moving body, a flying adjustment device and a program. List of reference symbols 20 crane 22 Rotating platform 24 booms 40 moving bodies 41 Camera (detection unit) 60 Information terminal (flight setting device) 63 Communication unit (information transmission unit) 65 Control unit (flight route setting unit) R Flight path (flight route) QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] WO 2020 / 218433

[0004] JP 2022-209919

[0185]

Claims

[1] Flight method for a moving body containing a detection unit, the method comprising: a first flight process of flying while the detection unit detects a surface of a normal portion different from a specific portion of a crane; and a second flight process of flying while the detection unit detects a surface of the specific portion of the crane in a state where at least one of a position, a rotation angle, and a boom angle is different from the first flight process. [2] The flying method for a moving body according to claim 1, wherein the second flying process is performed after the first flying process is performed and after the crane has performed at least one of traveling, rotating, and boom lifting / lowering. [3] The flying method for a moving body according to claim 1, wherein, when two surfaces parallel to a front-to-back direction of a rotating platform of the crane and located on both outer sides in a left-to-right direction of the rotating platform are defined as two left-to-right surfaces, and two surfaces perpendicular to the front-to-back direction of the rotating platform and located on both outer sides in the front-to-back direction of the rotating platform are defined as two front-to-back surfaces, and when it is assumed that the moving body is located on a specific surface out of four surfaces including the two left-to-right surfaces and the two front-to-back surfaces, a portion detectable by the moving body detection unit is the specific portion. [4] The flying method for a moving body according to claim 1, wherein in at least one of the first flying process and the second flying process, the moving body flies along one of the two front-rear surfaces after flying along one of the two left-right surfaces. [5] The flying method for a moving body according to claim 1, wherein at least one of the first flying process and the second flying process includes a boom flying process in which the moving body flies along a longitudinal direction of a boom, and a wire rope flying process in which the moving body flies along a wire rope arranged along the boom. [6] A flight method for a moving body containing a camera, the method comprising: a first flight process of flying while the camera images a surface of a normal section different from a specific section of a crane; and a second flight process of flying while the camera images a surface of the specific portion of the crane in a state where at least one of a position, a rotation angle, and a boom angle is different from the first flight process. [7] A flight adjustment device for making adjustments relating to a flight of a moving body containing a detection unit, the device comprising: a flight route setting unit that sets a flight route of the moving body; and an information transmission unit that transmits flight information to the moving body for causing the moving body to fly along the flight route set by the flight route setting unit, wherein the flight route setting unit is configured to set the flight route for each area of ​​a plurality of areas obtained by dividing an environment of a crane. [8] The flight setting device according to claim 7, wherein, when two surfaces parallel to a front-to-back direction of a revolving body of the crane and located on both outer sides in a left-to-right direction of the revolving body are defined as two left-right surfaces, and two surfaces perpendicular to the front-to-back direction of the revolving body and located on both outer sides in the front-to-back direction of the revolving body are defined as two front-to-back surfaces, the flight route setting unit is configured to set the flight route for one or more surfaces among the four surfaces including the two left-to-right surfaces and the two front-to-back surfaces. [9] A program for making adjustments relating to a flight of a moving body containing a detection unit, the program causing a computer to perform a process comprising: a flight route setting step for setting a flight route of the moving body; and an information transmission step of transmitting flight information for causing the moving body to fly along the flight route set in the flight route setting step to the moving body, wherein in the flight route setting step, the flight route is settable for each area of ​​a plurality of areas obtained by dividing a circumference of a crane.

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