Work assistance system, work assistance method, and work assistance program

Abstract

To provide a new technology for appropriately controlling a plurality of guide wires thereby supporting work conducted with a mobile body.SOLUTION: A work assistance system comprises a storage unit DB, a reception unit 21, a calculation unit 22, and a transmission unit 23. The storage unit DB stores position information of a wire control device 4 that controls guide wires. The wire control device 4 controls a plurality of guide wires by winding and / or unwinding the guide wires. The reception unit 21 receives position information of a mobile body 3 supported by the plurality of guide wires. The calculation unit 22 calculates a winding amount and / or an unwinding amount of the plurality of guide wires supporting the mobile body 3, by calculating a distance between the wire control device 4 and the mobile body 3 using the position information of the wire control device 4 and the position information of the mobile body 3. The transmission unit 23 transmits the winding amount and / or the unwinding amount to the wire control device 4.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a work assistance system, a work assistance method, and a work assistance program. [Background technology]

[0002] Conventionally, there is technology in which a cable is connected to an unmanned aerial vehicle to inspect a structure while stabilizing the flight of the unmanned aerial vehicle.

[0003] For example, Patent Document 1 discloses a technique for controlling an unmanned aerial vehicle connected to a single cable. Patent Document 1 also discloses a technique for controlling a cable by utilizing the flight position of the unmanned aerial vehicle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6790932 Summary of the Invention [Problem to be solved by the invention]

[0005] Currently, technology is being developed to make work by mobile objects, including unmanned aerial vehicles, more stable. To make work by mobile objects more stable, they need to be connected to multiple cables. However, while the technology in Patent Document 1 can control a single connected cable, it is difficult to control multiple cables that have complex relationships with each other.

[0006] The present invention has been made in consideration of the above-mentioned circumstances, and an object of the present invention is to provide a new technology for assisting work performed by a moving object by appropriately controlling a plurality of cables. [Means for solving the problem]

[0007] In order to solve the above problems, the present invention provides a work support system for supporting a moving object at a work site, comprising: The work assistance system includes a storage unit, a reception unit, a calculation unit, and a transmission unit, The storage unit stores position information of a wire control device that controls a guide wire, the wire control device controls a plurality of guide wires by winding and / or feeding the guide wires; the reception unit receives position information of a moving object supported by the plurality of guide wires; the calculation unit calculates a distance between the wire control device and the moving body using position information of the wire control device and position information of the moving body, thereby calculating a winding amount and / or a feeding amount of a plurality of guide wires supporting the moving body; The transmission unit transmits the winding amount and / or the letting-off amount to the wire control device.

[0008] The present invention also provides a work support method executed by a work support system that supports a moving object at a work site, comprising the steps of: a storage step of storing position information of a wire control device that controls a plurality of guide wires by winding and / or feeding the guide wires; a receiving step of receiving position information of a moving object supported by the plurality of guide wires; a calculation step of calculating a distance between the wire control device and the moving body using position information of the wire control device and position information of the moving body, thereby calculating a winding amount and / or a feeding amount of a plurality of guide wires supporting the moving body; A transmitting step of transmitting the winding amount and / or the letting-off amount to the wire control device is executed by the computer.

[0009] The present invention also provides a work assistance program for supporting a moving object at a work site, comprising: A computer having a storage unit is caused to function as a reception unit, a calculation unit, and a transmission unit; The storage unit stores position information of a wire control device that controls a guide wire, the wire control device controls a plurality of guide wires by winding and / or feeding the guide wires; The reception unit receives position information of a moving object supported by the plurality of guide wires, the calculation unit calculates a distance between the wire control device and the moving body using position information of the wire control device and position information of the moving body, thereby calculating a winding amount and / or a feeding amount of a plurality of guide wires supporting the moving body; The transmission unit transmits the winding amount and / or the letting-off amount to the wire control device.

[0010] With this configuration, multiple guide wires can be controlled using position information of the moving object.

[0011] In a preferred embodiment of the present invention, the wire control device includes a first wire control device and a second wire control device, The reception unit further receives a feed amount of the guide wire from the first wire control device, The calculation unit further calculates a winding amount of the second wire control device using the let-off amount received from the first wire control device, The transmission unit further transmits the winding amount to the second wire control device.

[0012] This configuration can prevent the guidewire from becoming too loose.

[0013] In a preferred embodiment of the present invention, the calculation unit further calculates the distance using a contact point where the moving body and the guide wire are in contact with each other, and a center of gravity of the moving body.

[0014] With this configuration, it is possible to calculate the take-up amount and / or the let-off amount with higher accuracy.

[0015] In a preferred embodiment of the present invention, the calculation unit further calculates a wind load acting on the guidewire using a length, a thickness, and a wind speed acting on the guidewire, and further calculates a tension to be applied to the guidewire using the wind load. The transmitting unit further transmits the tension applied to the guide wire to the wire control device.

[0016] With this configuration, it is possible to control the moving body while taking into account the effect of wind on the guide wire.

[0017] In a preferred embodiment of the present invention, the wire control device includes an upper wire control device that is installed above a range in which the movable body can move.

[0018] With this configuration, it is possible to prevent the guide wire from being entangled by the driving part of the moving object (e.g., the propeller of a drone, etc.).

[0019] In a preferred embodiment of the present invention, the calculation unit further calculates an effective work tension to be applied to a guide wire supporting the moving body, using work information that is information on a work being performed by the moving body, The transmitting unit further transmits the actual working tension to the wire control device.

[0020] With this configuration, it is possible to control the moving object taking into consideration the content of the work being performed by the moving object.

[0021] In a preferred embodiment of the present invention, the transmission unit further transmits to the wire control device an emergency fixing tension to be applied to the guide wire in order to fix the position of the moving body when communication with the moving body is lost.

[0022] With this configuration, when an abnormality in the moving body is detected, the moving body can be immobilized.

[0023] In a preferred embodiment of the present invention, the storage unit further stores a limit on the amount of winding and / or delivery of the guide wire of the wire control device, or a limit on the length of the guide wire, The calculation unit further calculates the take-up amount and / or the let-off amount using the limit.

[0024] With this configuration, it is possible to set an area into which moving bodies cannot enter by controlling the guide wire. Effect of the Invention

[0025] According to the present invention, a new technique for supporting work performed by a moving object can be provided by appropriately controlling a plurality of cables. [Brief description of the drawings]

[0026] [Figure 1] 1 shows a system configuration diagram of a work support system according to an embodiment of the present invention. [Diagram 2] 1 shows a hardware configuration diagram of a work support device according to an embodiment of the present invention. [Diagram 3] 1 illustrates an example of a database according to an embodiment of the present invention. [Figure 4] 1 shows a processing flowchart of work assistance according to an embodiment of the present invention. [Diagram 5] 1 is a front view of a work support device according to a first embodiment of the present invention; [Figure 6] 1 is a side view of a work support device according to a first embodiment of the present invention; [Figure 7] 1 shows a front view of a work support device according to a second embodiment of the present invention. [Figure 8] 1 shows an enlarged view of a work support according to a second embodiment of the present invention. [Figure 9] FIG. 11 is a front view of a work support device according to a third embodiment of the present invention. [Figure 10] FIG. 11 is a front view of a work support device according to a fourth embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0027] This specification describes a work assistance system, a work assistance device, and a work assistance method according to an embodiment with reference to the drawings. The present invention is not limited to the following embodiment, and various configurations may be adopted.

[0028] This specification describes the configuration and effects of the work support system and work support method, but a similarly configured method, a computer program, a program recording medium on which the program is recorded, and the like also provide similar effects. By using a program recording medium, the program can be installed in a known computer device. A series of processes according to one embodiment described below is provided as a computer-executable program, and can be provided via a non-transitory computer-readable medium such as a CD-ROM or a flexible disk, or even via a communication line.

[0029] Each functional component of the work support system and each step of the work support method realize the same action and effect. Each functional component of the work support system, the work support program, and the program recording medium is realized by a calculation device such as a CPU. Similarly, each step of the work support method is realized by a calculation device.

[0030] The present invention aims to support the work of a moving object by appropriately controlling a plurality of guide wires when the moving object performs work at a work site. In addition, the types of moving objects, the work performed by the moving object, and the objects on which the moving object performs work include various things. For example, the types of moving objects include aircraft, gondolas, etc., the work performed by the moving object includes work for inspecting a structure, and the objects on which the moving object performs work include structures, etc.

[0031] In this embodiment, as an example, the moving body is a small autonomous flying body such as a drone. However, the present invention is not limited to this, and may be a large moving body. Furthermore, the moving body may be manned or unmanned, and may be a gondola or the like that cannot fly autonomously.

[0032] In this embodiment, as an example, a form in which a drone performs a neutralization depth test, which is called a drilling method, is shown. The drilling method is a method in which a drilling device is used to drill holes in the exterior wall (concrete) of a target building, a reagent such as phenolphthalein is applied to the drilled powder generated at this time, and the color of the drilled powder is observed to evaluate the durability of the target building. However, the present invention is not limited to this, and the work performed by the drone includes work performed at a construction site, such as tapping inspection, plastering work, and photographing the exterior wall with a camera.

[0033] In this embodiment, as an example, a drone drills a hole in an exterior wall of a building. However, the present invention is not limited to this, and the target on which the drone performs work includes a structure composed of a plurality of materials and members, such as a house, a dam, etc.

[0034] In this embodiment, as an example, the thing supporting the moving body is called a guide wire, and the guide wire is a high-strength metal wire such as a piano wire. However, the present invention is not limited to this, and the thing supporting the moving body may be a cable or the like as long as it has a certain strength. Furthermore, the wire, cable, etc. may be a synthetic fiber such as nylon, which is used for fishing line. Also, the number of guide wires supporting the moving body may be any number as long as there are more than one, and the contact point between the moving body and the guide wire may be one or more.

[0035] <System configuration> FIG. 1 shows a system configuration diagram of a work support system according to an embodiment of the present invention. As shown in FIG. 1, the work support system 1 includes a work support device 2, a moving body (drone) 3, and a wire control device 4. Furthermore, the work support device 2, the drone 3, and the wire control device 4 are communicatively connected via a network NW. The work support device 2 is connected to a storage unit DB by wire or wirelessly. A general-purpose server computer, a personal computer, or the like can be used as the work support device 2. Furthermore, the work support system 1 can be configured by implementing the functional components described below in multiple computers.

[0036] <Hardware configuration> Fig. 2 shows a hardware configuration diagram of a work support device according to an embodiment of the present invention. The work support device 2 includes hardware and functional components as shown in Fig. 2. That is, the work support device 2 includes, as hardware components, a calculation device (CPU (Central Processing Unit)) 201 and a main storage device (RAM (Random Access Memory)) 202 as a working memory.

[0037] The work support device 2 further includes an auxiliary storage device 203 such as an HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory that rewritably stores an OS (Operating System), application programs, and various information (including data), a communication control unit 204, and a communication interface (IF) unit 205 such as a NIC (Network Interface Card), etc.

[0038] <Functional configuration> 1 , the work support device 2 includes, as functional components, a reception unit 21, a calculation unit 22, and a transmission unit 23. The arrangement of these functional components is an example, and some of the functional components of the work support device 2 may be arranged in one or more devices configured to be able to communicate with the work support device 2. The work support device 2 is also connected to a storage unit DB. Some of the information stored in the storage unit DB may be stored in one or more devices configured to be able to communicate with the work support device 2.

[0039] The moving body (drone) 3 has an instruction receiving unit that receives operation instructions and the like via the operator terminal. In addition, the moving body (drone) 3 may have a moving body information transmitting unit that transmits information acquired by the drone 3 to the work support device 2.

[0040] The wire control device 4 has a winch device that winds and / or feeds the guidewire. The guidewire can be controlled by controlling the winch device. Furthermore, the wire control device 4 may include a guidewire tension control device that controls the tension applied to the guidewire. Also, the winch device may control the tension of the guidewire.

[0041] The wire control device 4 may further include a guidewire tension measuring device that measures the tension applied to the guidewire, a guidewire speed measuring device that measures the speed at which the guidewire is wound and / or fed, a guidewire information transmitting unit that transmits information related to the guidewire, such as tension and speed, to the work support device 2. In addition, in Fig. 1, the wire control device 4 includes four wire control devices 4A to 4D, but the number is not limited.

[0042] <Database> FIG. 3 shows an example of a database according to an embodiment of the present invention. The storage unit DB stores information used for controlling the guide wire. For example, as shown in FIG. 3(a), by storing the position information of each wire control device, the distance between each of the multiple wire control devices and the drone can be calculated using the position information and the drone's position information. Furthermore, as shown in FIG. 3(b), by storing the distance from the center of gravity of the drone to the contact point between the drone and the guide wire, a more accurate distance can be calculated. Furthermore, as shown in FIG. 3(c), by storing the limit of the length of the guide wire, the movement range of the drone can be set.

[0043] <Flowchart> 4 is a process flowchart of the work support according to the embodiment of the present invention. In step S41, the receiving unit 21 receives position information of the drone.

[0044] In step S42, the calculation unit 22 calculates the distance between the wire control device and the drone using the position information of the drone received in S41.

[0045] In step S43, the calculation unit 22 calculates the winding amount and / or the letting-off amount using the distance calculated in S42.

[0046] In step S44, the calculation unit 22 corrects the taken-up amount and / or the let-out amount calculated in S43 using the wind load acting on the guide wire, etc., to calculate the taken-up amount and / or the let-out amount.

[0047] In step S45, the transmission unit 23 transmits the winding amount and / or the letting-out amount calculated by the calculation unit 22 to the wire control device. By performing such processing, the work support system of the present invention can control the guide wire and support work on a moving object. Specific processing will be described below using an embodiment.

[0048] <Embodiment 1> FIG. 5 shows a front view of the work support according to the first embodiment of the present invention. In the first embodiment, there are four wire control devices each having a winch device, and the drone 3 is supported by four guide wires W1 to W4. The state in which the drone 3 is supported refers to a state in which the guide wire is tensioned to an extent that the drone 3 can move and / or a state in which the guide wire has a sufficient length to allow the drone 3 to move (a state in which there is a difference between the length of the guide wire and the distance from the wire control device 4 to the drone 3), and similar states. The horizontal direction (left and right in FIG. 5) of the exterior wall S is the x coordinate, and the vertical direction (up and down in FIG. 5) is the z coordinate.

[0049] Wire control devices 4A-4D each having a winch device control the guidewires W1-W4, respectively. Specifically, the winch devices included in the wire control devices 4A-4D control the guidewires W1-W4 by winding and / or feeding the guidewires W1-W4. That is, in the first embodiment, each of the multiple wire control devices controls one guidewire.

[0050] Fig. 6 shows a side view of the work support according to the embodiment 1 of the present invention. The horizontal (left and right) direction in Fig. 6 (the distance direction between the outer wall S and the drone 3) is defined as the y coordinate.

[0051] The reception unit 21 receives position information of the drone supported by the multiple guide wires. Specifically, the drone 3 acquires its own position information, and a transmission unit of the drone 3 transmits the acquired position information to the reception unit 21. The reception unit 21 may also directly acquire the position information of the drone 3. The position information can be acquired by a Global Navigation Satellite System (GNSS), a Global Positioning System (GPS), or the like. In addition, the position information may be acquired by a sensor that measures distance. For example, the sensor acquires the position information of the drone 3 using optics (Light Detection and Ranging (LiDAR)), radio waves (millimeter waves, etc.), ultrasonic waves, or the like. The position information of the drone 3 may also be acquired using Simultaneous Localization and Mapping (SLAM) technology. For example, a camera is mounted on the drone 3, and the position information of the drone 3 is acquired by Visual SLAM technology.

[0052] The calculation unit 22 calculates the distance between the wire control device and the drone using the position information of the wire control device and the position information of the drone, and thereby calculates the winding amount and / or the feeding amount of the multiple guide wires that support the drone.

[0053] The memory unit DB stores the position information of the wire control devices 4A to 4D as shown in FIG. 3(a). By storing the position information of the wire control devices in the memory unit DB, the calculation unit 22 can calculate the distance between the wire control devices 4A to 4D and the drone 3 using the position information of the drone 3 received by the reception unit 21. Also, the memory unit DB may not store the position information of the wire control devices, and the reception unit 21 may receive the position information of the wire control devices. It is considered that the position information of the wire control devices is acquired in the same manner as the position information of the drones. When the wire control devices also move during the drone's work, the reception unit 21 receives the position information of the wire control devices in the same manner as the position information of the drones.

[0054] In this embodiment, the position information of the drone and / or the wire control device is generally represented by latitude, longitude, and altitude (height). However, the present invention is not limited to this, and may be represented by locally set coordinates, etc.

[0055] The calculation unit 22 calculates the distance F between the wire control device and the drone using, for example, formula (1). If the coordinates of point p1 are (x1, y1, z1) and the coordinates of point p2 are (x2, y2, z2), the distance F between the two points p1 and p2 is calculated as shown in formula (1).

[0056]

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[0057] The point where the wire control device 4A and the guide wire W1 contact each other is defined as point A (xA, yA, zA), which is the position information of the wire control device 4A. Furthermore, the position of the drone 3 at time t acquired from the position information is defined as point P(t), and the coordinates of that position are defined as (x(t), y(t), z(t)).

[0058] The distance F(P(t),A) from the position of the drone 3 at time t to the wire control device 4A is calculated by equation (2). Moreover, the distance F(P(t+Δt),A) from the position of the drone 3 at time t+Δt (Δt after time t) to the wire control device 4A is calculated by equation (3). Therefore, the change ΔF in the distance from the position of the drone 3 to the wire control device 4A from time t to time t+Δt is calculated by equation (4). This change in distance ΔF is the amount of guide wire taken up and / or let out by the wire control device 4A.

[0059]

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[0060] The amounts of the guide wire taken up and / or fed out by the wire control devices 4B to 4D are calculated using the same equations as the equations (2) to (4).

[0061] The transmitter 23 transmits to the wire control device the winding amount and / or the feed amount calculated by the calculator 22. Specifically, the transmitter 23 transmits the change in distance ΔF to each of the wire control devices 4A-4D. When ΔF is positive, the wire control device 4 feeds out the guidewire, and when ΔF is negative, the wire control device 4 winds up the guidewire.

[0062] By carrying out such processing, a plurality of guide wires can be controlled by a plurality of wire control devices.

[0063] <Embodiment 2> 7 shows a front view of the work support according to the second embodiment of the present invention. In the second embodiment, there are four wire control devices each having a winch device, as in the first embodiment, and the drone 3 is supported by four guide wires W1 to W4. Also, as in the first embodiment, the wire control devices 4A to 4D each having a winch device control the guide wires W1 to W4, respectively. Specifically, the winch devices of the wire control devices 4A to 4D control the guide wires W1 to W4 by winding and / or feeding the guide wires W1 to W4.

[0064] The guide wire is installed on the propeller guard or main body of the drone. The guide wire is preferably installed at the point of the position information of the drone 3, but a slight deviation occurs. For example, when the position information of the drone 3 is set as the center of gravity, the guide wire is preferably installed at a position close to the center of gravity of the drone 3, but a slight deviation occurs as in the second embodiment. If the tension applied to the guide wire is increased in the diagonal direction (AD direction or BC direction) when a deviation occurs in the contact point between the drone 3 and the guide wire and the center of gravity of the drone 3, the drone 3 may become tilted, resulting in a dangerous state. The calculation unit 22 calculates the distance between the wire control device and the drone 3 using the contact point where the drone 3 and the guide wire come into contact and the center of gravity of the drone 3.

[0065] For example, as shown in Fig. 3(b), the memory unit DB stores the distance from the center of gravity of the drone 3 to the contact point between the drone 3 and the guide wire. This allows the distance from the center of gravity of the drone 3 to each of the wire control devices 4A to 4D to be calculated, and the distance from the center of gravity of the drone 3 stored in the memory unit DB to the contact point between the drone 3 and the guide wire to be calculated. In other words, the calculation unit 22 calculates the distance between the wire control device and the contact point by using the position information of the center of gravity of the moving body and the distance from the center of gravity of the moving body to the multiple contact points between the moving body and the guide wire.

[0066] In addition, the distance from the drone to each wire control device may be calculated by subtracting the distance from the center of gravity to the contact point (of the guide wire with the drone) from the position of the vertex close to the center (of the outer wall S) of the triangle. FIG. 8(a) shows an enlarged view of the wire control device 4B and the drone 3 of the embodiment 2 of FIG. 7. When the center of gravity point Pg of the drone 3 is the position information of the drone 3, the distance between the drone 3 and the wire control device 4B is F(Pg, B) from the formula (2). However, since the contact point between the drone 3 and the guide wire W2 is Pb, the length of the guide wire W2 needs to be calculated by F(Pb, B). Specifically, the calculation unit 22 calculates the difference between each component at each coordinate using the position information of the wire control device and the position information of the moving body, and further calculates the distance between the wire control device and the contact point by using the difference calculated by subtracting the distance from the center of gravity of the moving body to the multiple contact points of the moving body and the guide wire from the calculated difference of the components.

[0067] FIG. 8(b) shows an example diagram for explaining the calculation of the distance between the drone and the wire control device. In FIG. 8(b), when the point where the wire control device 4B and the guidewire W2 contact is the point B(xB,zB) and the position information of the drone is the center of gravity point Pg(xg,zg), the length of the guidewire W2 is calculated by F(Pg,B) using the line segment Pg-RA(xB-xg) and the line segment B-RA(zB-zg). On the other hand, since the contact point of the drone 3 and the guidewire W2 is Pb(xb,zb), the length of the guidewire W2 needs to be calculated by F(Pb,B) using the line segment Pb-RA and the line segment B-RA. The calculation unit 22 calculates the line segment Pg-RA from the coordinates of the point Pg and the point B, and calculates the line segment Pb-RA (xB-xg-10 cm) by subtracting the distance 10 cm (see FIG. 3(b)) from the center of gravity of the drone 3 to the contact point Pb of the drone 3 and the guide wire, which is stored as shown in FIG. 3(b), from the line segment Pg-RA. As a result, even if the position information of the contact point Pb cannot be obtained, the distance between the drone and the wire control device can be calculated more accurately using the position information of the drone 3, the position information of the wire control device, and the distance from the center of gravity of the drone 3 to the contact point of the drone 3 and the guide wire. FIG. 8(b) is two-dimensional, but the same applies to three-dimensional distances. In addition, the value of the distance may be calculated taking into account the angles in the x, y, and z directions for the distance from the center of gravity of the drone 3 to the contact point of the drone 3 and the guide wire, and the value may be subtracted.

[0068] In addition, it is possible to obtain position information of the contact points Pa to Pd, and calculate the distance from the contact point between the drone 3 and the guide wire to the wire control device 4. The coordinates of the contact point Pa between the drone 3 and the guide wire at time t are defined as point Pa(xa(t), ya(t), za(t)). The distance F between point A and point Pa at time t is calculated by a formula similar to formula (2). In addition, the distance between point A and point Pa at time t+Δt is calculated by a formula similar to formula (3). Therefore, the amount of winding and / or feeding of the guide wire by the wire control device 4A can be calculated by a formula similar to formula (4). When ΔF is positive, the wire control device 4A feeds the guide wire, and when ΔF is negative, the wire control device 4A winds the guide wire. The amount of winding and / or feeding of the guide wire by the wire control devices 4B to 4D is calculated by a formula similar to formulas (2) to (4). That is, the calculation unit 22 calculates the distance between the wire control device and the contact points using position information of multiple contact points where the moving body and multiple guidewires come into contact with each other and position information of the center of gravity of the moving body.

[0069] In addition, the relative positional relationship between the center of gravity Pg of the drone 3 and the contact points Pa to Pd may be stored, and the coordinates of the center of gravity Pg(t) obtained from the position of the drone 3 may be used to determine the coordinates of each of the contact points Pa to Pd at time t.

[0070] <Embodiment 3> FIG. 9 shows a front view of the work support according to the third embodiment of the present invention. In the third embodiment, there are four wire control devices, and the drone 3 is supported by two guide wires W1 and W2. In FIG. 9, the contact points where the guide wire W1 and the drone 3 come into contact are represented by Pa and Pe, but a pulley not shown in FIG. 9 may be present between Pa and Pe. A pulley may also be present between the contact points Pb and Pf. As the pulley, a fixed pulley or the like for changing the direction of the force of the guide wire is considered.

[0071] A wire control device 4A having a winch device controls the guidewire W1, and a wire control device 4B having a winch device controls the guidewire W2. Specifically, the winch device of the wire control device 4A controls the guidewire W1 by winding and / or feeding the guidewire W1. Also, a winch device of the wire control device 4B controls the guidewire W2 by winding and / or feeding the guidewire W2. Also, the wire control devices 4E and 4F do not wind and / or feed the guidewire, but control it by fixing it.

[0072] When the drone 3 is at P(t) at time t, the calculation unit 22 uses formula (2) to calculate the sum L1(t) of the distances between the drone 3 and the wire control devices 4A and 4E at time t using formula (5). Similarly, the calculation unit 22 calculates the sum L2(t) of the distances between the drone 3 and the wire control devices 4B and 4F at time t using formula (6). The position information P(t) of the drone 3 at time t may be the center of gravity Pg(t). Furthermore, P(t) may be the contact points Pa(t), Pb(t), Pe(t), and Pf(t) between the drone 3 and the guide wire.

[0073]

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[0074] The calculation unit 22 uses the formula (5) to calculate the difference ΔL1 between the sum of the distances between the drone 3 and the wire control devices 4A and 4E at time t+Δt and the sum of the distances between the drone 3 and the wire control devices 4A and 4E at time t using the formula (7). The winch device of the wire control device 4A sends out the guide wire when ΔL1 is positive, and winds up the guide wire when ΔL1 is negative. The calculation unit 22 also uses the formula (6) to calculate the difference ΔL2 between the sum of the distances between the drone 3 and the wire control devices 4B and 4F at time t+Δt and the sum of the distances between the drone 3 and the wire control devices 4B and 4F at time t using the formula (8). The winch device of the wire control device 4B sends out the guide wire when ΔL2 is positive, and winds up the guide wire when ΔL2 is negative.

[0075]

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[0076] If the position information P(t) of the drone 3 at time t is Pa(t), Pb(t), Pe(t), and Pf(t), respectively, the total distance L1(t) may be calculated by adding the distances of the contact points Pa(t) and Pe(t) as shown in equation (9). In this case, the total distance L2(t) is calculated by adding the distances of the contact points Pb(t) and Pf(t) as shown in equation (10). The distances between Pa(t) and Pe(t) and between Pb(t) and Pf(t) may be constant regardless of time, or may change depending on time.

[0077]

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[0078] The guidewire may be controlled using the amount of winding and / or the amount of feeding calculated from the difference in distance between two points at a certain time, as in embodiments 1 and 2, or may be controlled using the amount of winding and / or the amount of feeding calculated from the difference in the total distance at a certain time, as in embodiment 3.

[0079] <Embodiment 4> FIG. 10 shows a front view of the work support according to the fourth embodiment of the present invention. The drone flies by sucking in air from above the drone with a propeller and blowing the air downward. Therefore, if there is a loose wire above the drone (propeller), the wire may get entangled in the propeller and cause the drone to crash. In particular, if the drone becomes nearly parallel to the wire control device having two winch devices above, the propeller is more likely to entangle the wire.

[0080] As shown in Fig. 10, by installing wire control devices 4A and 4B having winch devices above (at a higher position) than the range in which the drone 3 can move or work (the outer wall S of embodiment 4), it is possible to prevent the drone from becoming nearly parallel to the two winch devices above, and to suppress such entanglement. The wire control devices 4A and 4B only need to be installed above the range in which the drone can move or work, and there is no restriction on the height at which they are installed. For example, by installing the wire control device one floor higher (approximately 2 meters or more) than the height at which the drone can move or work, a high effect in suppressing entanglement can be obtained.

[0081] Also, if the ascent speed of the drone is faster than the winding speed of the guide wire of the winch device, the propeller approaches the guide wire, increasing the possibility that the propeller will wind up the guide wire. The calculation unit 22 calculates the winding amount and / or the feed-out amount of the guide wire using the ascent speed of the drone. For example, the calculation unit 22 calculates the winding amount for the lower wire control device so that the ascent speed of the drone is not faster than the winding speed of the guide wire of the winch device. Then, the transmission unit 23 transmits the winding amount to the lower wire control device, thereby preventing the ascent speed of the drone from exceeding the winding speed of the guide wire of the winch device.

[0082] Use of wind load In various embodiments including the first to fourth embodiments, when the drone flies and / or works on a structure, the guide wire supporting the drone and / or the drone are affected by the wind. Drones are vulnerable to wind, and wind around buildings is particularly turbulent and difficult to control. The wind speed experienced by the drone and / or the guide wire during work on a building may be determined by, for example, measuring the wind speed on the ground and on the rooftop of the building and averaging the wind speeds on the rooftop and the ground. In addition, a wind speed measuring device for measuring wind speed may be mounted on the drone, measuring the wind speed experienced by the drone, and transmitting the result to the reception unit 21.

[0083] The wind load on the guidewire (the effect of wind on the guidewire) is proportional to the length and thickness of the guidewire. The calculation unit 22 calculates the wind load, for example, by multiplying the wind pressure (pressure applied when wind hits an object) by the pressure-receiving area (the area of ​​the part where pressure is applied). The wind pressure is calculated from the velocity pressure and wind force coefficient calculated from the wind speed received by the guidewire. The pressure-receiving area is calculated from the length and thickness of the guidewire. Therefore, the calculation unit 22 calculates the wind load on the guidewire using the length and thickness of the guidewire and the wind speed applied to the guidewire. Similarly, the calculation unit 22 calculates the wind load on the drone using the area on which the drone is subjected to pressure and the wind speed received by the drone.

[0084] The calculation unit 22 further calculates the tension to be applied to the guide wire using the wind load applied to the guide wire and / or the drone. The transmission unit 23 transmits the tension to be applied to the guide wire to the wire control device.

[0085] About winding by unwinding wire control device In various embodiments including the first to fourth embodiments, when the winch devices are controlled simultaneously by a plurality of wire control devices, there is a high possibility that the tension will not be constant due to errors caused by the length of the guidewire or the shape of the fulcrum. For example, if an excessive load is applied when the winch device of the wire control device 4A winds up the guidewire, the winch device needs to loosen the guidewire and feeds out the guidewire. When the winch device feeds out the guidewire, the wire control device 4A transmits the amount of the guidewire to be fed to the reception unit 21. The reception unit 21 may further receive the amount of the guidewire to be fed from the wire control device 4A.

[0086] When the winch device of the wire control device 4A feeds out the guidewire W1, the guidewire W1 becomes too loose, so at least one of the winch devices of the wire control devices 4B to 4D other than the wire control device 4A needs to wind up the guidewire. Therefore, the calculation unit 22 may further calculate the winding amount of at least one of the wire control devices 4B to 4D using the feed-out amount received from the wire control device 4A. For example, the calculation unit 22 calculates the feed-out amount of the wire control device 4A received by the reception unit 21 as the winding amount of the wire control device 4C. In addition, the calculation unit 22 may calculate the winding amount using the tension applied to the guidewire, etc.

[0087] The transmitting unit 23 may further transmit the winding amount calculated by the calculating unit 22 to at least one of the wire control devices 4B to 4D.

[0088] By carrying out such processing, it is possible to control the guide wire using the operation of the wire control device.

[0089] Use of work information In various embodiments including the first to fourth embodiments, the flight of the drone is affected by its own work. The calculation unit 22 further calculates the actual work tension to be applied to the guide wire supporting the drone using work information, which is information on the work being performed by the drone. In the work by the drill method in this embodiment, when a hole is drilled in concrete with an electric drill, a force is generated that rotates in the opposite direction to the rotation of the electric drill. In order to control the rotation of the drone due to this force, the tension is controlled by a winch device. In addition, since the tension by the winch device for controlling the drone differs depending on the work performed by the drone, the actual work tension is calculated using the work information. The work information includes those that generate forces in the up-down direction, left-right direction, and rotational direction, such as tapping and plastering.

[0090] The memory unit DB may store a direction in which a force occurs according to the type of work performed by the drone, and the calculation unit 22 may use that direction to calculate the tension by the winch device. The memory unit DB may also store a coefficient according to the type of work performed by the drone, and the calculation unit 22 may use that coefficient to calculate the tension by each winch device as the actual work tension. Alternatively, the memory unit DB may store an actual work tension according to the type of work performed by the drone, and the calculation unit 22 may use the actual work tension stored in the memory unit DB as the tension by each winch device. The transmission unit 23 transmits the actual work tension calculated by the calculation unit 22 to the wire control device.

[0091] Fixing moving objects In various embodiments including the first to fourth embodiments, there is a possibility of an accident due to a breakdown of the drone 3 or the like. When communication from the drone is cut off, the transmission unit 23 transmits to the wire control device an emergency fixing tension to be applied to the guide wire for fixing the position of the drone. The state in which the drone 3 is fixed refers to a state in which a tension that makes the drone 3 immovable (a tension stronger than the tension for supporting the drone 3) is applied to the guide wire and / or a state in which the length of the guide wire is tight (a state in which there is no difference between the length of the guide wire and the distance from the wire control device 4 to the drone 3). In other words, it refers to a state in which the position of the drone can be maintained by the guide wire even if the drone stops operating. There is a possibility that communication from the drone to the reception unit 21 will be cut off due to a breakdown of the drone, a dead battery, or the like. In order to prevent damage to the ground, etc., when an abnormality of the drone is detected, it is necessary to increase the tension of the winch device to fix the drone. For example, by storing the emergency fixing tension in the memory unit DB, when the reception unit 21 does not receive communication from the drone for a certain period of time, the transmission unit 23 may transmit the emergency fixing tension stored in the memory unit DB to the wire control device.

[0092] In addition, if the speed of the drone is faster than a preset speed, the transmitter 23 transmits an emergency fixing tension to fix the position of the drone to the wire control device, or transmits an emergency stop instruction to the wire control device to make an emergency stop of a winch device possessed by the wire control device. For example, when the memory unit DB stores threshold values ​​for the distance differences ΔF, ΔL1, and ΔL2, and the value of the distance difference calculated by the calculator 22 exceeds the threshold value, the transmitter 23 transmits an emergency fixing tension or an emergency stop instruction to the wire control device.

[0093] Setting a no-entry zone for moving objects In various embodiments including the first to fourth embodiments, there may be places where the drone 3 must not enter. The storage unit DB may store the limit of the winding amount and / or the feeding amount of the guide wire of the wire control device, or the limit of the length of the guide wire, so that the calculation unit 22 may calculate the winding amount and / or the feeding amount using the limit. The limit of the winding amount refers to the length (range) of the guide wire that can be wound by one wire control device, and the limit of the feeding amount refers to the length (range) of the guide wire that can be fed by one wire control device. Also, the limit of the length of the guide wire refers to the length (range) of one guide wire fed from the winch device.

[0094] Since there are ranges that drones must not photograph or approach, it is necessary to set the ranges into which drones cannot enter by controlling the guidewire. For example, the memory unit DB stores a limit to the length of the guidewire W1 as shown in FIG. 3(c), and the calculation unit 22 calculates the winding amount and / or the letting-out amount so that the guidewire does not become longer than the limit. For example, the calculation unit 22 does not calculate a letting-out amount that causes L1(t) in equation (9) to exceed 15 m. This makes it possible to set the range into which drones cannot enter.

[0095] As described above, the work assistance system 1 according to the present invention can provide a new technique for assisting work performed by a moving object by appropriately controlling a plurality of guide wires. [Explanation of symbols]

[0096] 1 Work support system 2 Work support device 21 Reception 22 Calculation section 23 Transmitter DB storage 3. Mobile objects (drones) 4 Wire Control Device NW Network

Claims

1. A work support system for supporting a moving object at a work site, comprising: The work assistance system includes a storage unit, a reception unit, a calculation unit, and a transmission unit, The storage unit stores position information of a wire control device that controls a guide wire, the wire control device controls a plurality of guide wires by winding and / or feeding the guide wires; The reception unit receives position information of a moving object supported by the plurality of guide wires, the calculation unit calculates a distance between the wire control device and the moving body using position information of the wire control device and position information of the moving body, thereby calculating a winding amount and / or a feeding amount of a plurality of guide wires supporting the moving body, and further calculates an effective work tension to be applied to the guide wires supporting the moving body using work information that is information on a work being performed by the moving body; The transmission unit transmits the winding amount and / or the letting-off amount to the wire control device, and further transmits the actual operation tension to the wire control device. Work support system.

2. The wire control device includes a first wire control device and a second wire control device, The reception unit further receives a feed amount of the guide wire from the first wire control device, The calculation unit further calculates a winding amount of the second wire control device using the let-off amount received from the first wire control device, The transmission unit further transmits the winding amount to the second wire control device. The work support system according to claim 1 .

3. The calculation unit further calculates the distance using a contact point where the moving body and the guide wire are in contact with each other and a center of gravity of the moving body. The work support system according to claim 1 .

4. the calculation unit further calculates a wind load applied to the guidewire using a length, a thickness, and a wind speed applied to the guidewire, and further calculates a tension applied to the guidewire using the wind load; The transmission unit further transmits a tension applied to the guide wire to the wire control device. The work support system according to claim 1 .

5. The wire control device includes an upper wire control device that is installed above a range in which the movable body can move. The work support system according to claim 1 .

6. The transmission unit further transmits, to the wire control device, an emergency fixing tension to be applied to the guide wire in order to fix the position of the moving body when communication with the moving body is interrupted. The work support system according to claim 1 .

7. The storage unit further stores a limit on the amount of winding and / or delivery of the guide wire of the wire control device, or a limit on the length of the guide wire, The calculation unit further calculates the winding amount and / or the letting-off amount using the limit. The work support system according to claim 1 .

8. A work support method executed by a work support system that supports a moving object at a work site, comprising: a storage step of storing position information of a wire control device that controls a plurality of guide wires by winding and / or feeding the guide wires; a receiving step of receiving position information of a moving object supported by the plurality of guide wires; a calculation step of calculating a take-up amount and / or a let-out amount of a plurality of guide wires supporting the moving body by calculating a distance between the wire control device and the moving body using position information of the wire control device and position information of the moving body, and further calculating an effective work tension to be applied to the guide wires supporting the moving body using work information that is information on a work being performed by the moving body; a transmission step of transmitting the winding amount and / or the letting-off amount to the wire control device, and further transmitting the actual operating tension to the wire control device, Work support method.

9. A work assistance program for supporting a moving object at a work site, A computer having a storage unit is caused to function as a reception unit, a calculation unit, and a transmission unit; The storage unit stores position information of a wire control device that controls a guide wire, the wire control device controls a plurality of guide wires by winding and / or feeding the guide wires; The reception unit receives position information of a moving object supported by the plurality of guide wires, the calculation unit calculates a distance between the wire control device and the moving body using position information of the wire control device and position information of the moving body, thereby calculating a winding amount and / or a feeding amount of a plurality of guide wires supporting the moving body, and further calculates an effective work tension to be applied to the guide wires supporting the moving body using work information that is information on a work being performed by the moving body; The transmission unit transmits the winding amount and / or the letting-off amount to the wire control device, and further transmits the actual operation tension to the wire control device. Occupational support programs.

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