Crane inspection system

Abstract

To reduce the burden of checking on the operator.SOLUTION: A crane inspection system according to an embodiment of the present disclosure comprises: an aircraft equipped with a sensor capable of acquiring information about the crane while flying around the crane; and a display device that simultaneously displays a first image that identifiably shows the structure of the crane and a second image that shows information about the path that the aircraft will take to move around the crane, and changes the manner in which the first image that identifiably shows the structure of the crane and the second image that shows information about the path are displayed.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to an inspection system for a crane. [Background technology]

[0002] 2. Description of the Related Art Conventionally, there is known a technique for inspecting a crane by flying an aircraft such as a drone around the crane (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2020 / 218433 Summary of the Invention [Problem to be solved by the invention]

[0004] However, compared to structures such as buildings, cranes have a complex structure with many intricate parts such as ropes and booms, making it difficult to accurately check the flight path of an aircraft flying around them.

[0005] The present invention has been made in consideration of the above circumstances, and makes it possible to confirm the flight path of an aircraft more easily and accurately than in the past. [Means for solving the problem]

[0006] The present invention is a crane inspection system comprising an aircraft equipped with a sensor capable of acquiring information about the crane while flying around the crane, and a display device that simultaneously displays a first image that identifiably shows the structure of the crane and a second image that shows information about the path that the aircraft will take to move around the crane, and modifies the manner in which the first image that identifiably shows the structure of the crane and the second image that shows information about the path are displayed. Effect of the Invention

[0007] According to the present invention, the flight path of an aircraft can be confirmed more easily and accurately than in the past. [Brief description of the drawings]

[0008] [Figure 1] 1 is a diagram showing an overview of a crane inspection system according to an embodiment. FIG. [Diagram 2] FIG. 2 is a block diagram showing a control system of a moving object. [Diagram 3] FIG. [Figure 4] FIG. 2 is a block diagram showing a control system of the crane. [Diagram 5] FIG. 2 is a block diagram showing a configuration of a management server. [Figure 6] 2 is a block diagram showing a schematic control system of the information terminal; [Figure 7] 13 is a flowchart showing the flow of a route display process. [Figure 8] 11A and 11B are diagrams illustrating an example of a display on a display in a route display process. [Figure 9] 11A and 11B are diagrams illustrating an example of a display on a display in a route display process. [Figure 10] 11A and 11B are diagrams illustrating an example of a display on a display in a route display process. [Figure 11] 11A and 11B are diagrams illustrating an example of a display on a display in a route display process. [Figure 12] 11A and 11B are diagrams illustrating an example of a display on a display in a route display process. [Figure 13] 11A and 11B are diagrams illustrating an example of a display on a display in a route display process. [Figure 14] 11A and 11B are diagrams illustrating an example of a display on a display in a route display process. [Figure 15] 11A and 11B are diagrams illustrating an example of a display on a display in a route display process. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

[0010] [Outline of the crane inspection system] FIG. 1 is a diagram showing an outline of a crane inspection system (hereinafter simply referred to as an "inspection system") 100 according to an embodiment of the present invention. As shown in FIG. 1, the inspection system 100 includes a crane 20 to be inspected, a mobile object 40 that moves around the crane 20, information terminals 60, 70 that perform predetermined processing on data acquired by the mobile object 40, a management server 50, and a remote control 80.

[0011] The management server 50 is connected to a network 130 such as a general public line network. In addition to the management server 50, base stations 120, 150, information terminals 60, 70, etc. are connected to the network 130. The management server 50 can transmit and receive data to and from these nodes connected to the network 130, that is, the base stations 120, 150, the mobile unit 40, and the multiple information terminals 60, 70. The remote control 80 is configured to be capable of communicating with the moving object 40 and the information terminal 60, and mediates the transmission and reception of information (e.g., image information acquired by the moving object 40) between them. The remote control 80 is also configured to be capable of controlling the operation of the moving object 40, and can, for example, manually operate the moving object 40.

[0012] The base station 120 is a base station for a satellite communication line capable of transmitting and receiving radio waves via a satellite 110, and the base station 150 is a base station for a so-called mobile phone communication line. When the base stations 120 and 150 receive various data from the moving body 40, the crane 20, etc., they transmit the data to the management server 50 via the network 130.

[0013] As described below, the crane 20 has various sensors that detect the state of each part of the crane 20 itself, and a controller 31 (see FIG. 4). The controller 31 transmits information detected by the various sensors to the base stations 120, 150 and receives predetermined information through a first communication unit 351 and a second communication unit 352 (see FIG. 4).

[0014] The management server 50 is connected to an inspection information database 140 and a customer information database 160. A control device 51 (see FIG. 5) included in the management server 50 stores in the inspection information database 140 diagnostic information data (to be described later) received from the mobile body 40 and the crane 20 via the base stations 120, 150 and status information data generated from the diagnostic information data. The control device 51 of the management server 50 transmits the condition information data stored in the inspection information database 140 to a predetermined information terminal 60, 70 via the network 130. The control device 51 of the management server 50 determines the destination of the information based on the contents of the customer information database 160. The information is transmitted to an information terminal 60 used by a site supervisor or a serviceman of the crane manufacturer who is a user of the crane 20, or an information terminal 70 used by a manager who is a user involved in the work using the crane 20 at a location away from the site, and is displayed on the display screen of the information terminal 60, 70. Although FIG. 1 shows only one crane 20 and one information terminal 60, 70, in reality, the management server 50 is configured to transmit and receive information between a large number of cranes 20 and a large number of information terminals 60, 70.

[0015] [Mobile object] Here, the moving body 40 will be described. FIG. 2 is a block diagram showing a control system of the moving body 40. As shown in FIG.

[0016] The moving body 40 is an air vehicle (unmanned aerial vehicle) known as a drone, which has multiple rotors and flies by controlling the output of the motors that drive each rotor, and can freely ascend and descend, move forward, backward, left and right, and turn forward and backward. The mobile body 40 moves around the crane 20 to be inspected, captures images of each part of the crane, and transmits the captured image data to predetermined information terminals 60, 70 and the management server 50.

[0017] As shown in FIG. 2, the moving body 40 includes a camera 41 as an imaging means, a positioning unit 421, a direction sensor 422, a height sensor 423, an attitude 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. It is not necessary for all of the sensors, such as the positioning unit 421, the direction sensor 422, the height sensor 423, the attitude sensor 424, the microphone 425, and the temperature sensor 426, to be mounted on the moving body 40. The moving body 40 is required to have at least the camera 41 among these sensors.

[0018] The camera 41 is supported on the body of the moving object 40 and pointed in a predetermined direction, and captures the scene ahead of the line of sight according to the direction of the body. The camera 41 can continuously obtain captured images at a constant frame rate. This makes it possible to capture images of multiple locations including inspection locations. The image signal obtained by capturing the image is output to an image processing unit 411 connected to the camera 41, and the captured image data in a predetermined format is generated by the image processing unit 411 and recorded in the memory 46. The camera 41 is not limited to one that captures images using visible light, and an infrared camera that captures images using infrared light may be used. When an infrared camera is used, it is possible to obtain distance image data using a phase contrast method or the like. Furthermore, the camera 41 is not limited to a monocular camera, and a stereo camera may be used. In this case, it is also possible to obtain distance image data.

[0019] The positioning unit 421 is a Global Navigation Satellite System (GNSS) receiver, and measures the current position of the moving object 40. The positioning unit 421 of this embodiment applies a Real Time Kinematic (RTK) system, which is more accurate than a Global Positioning System (GPS). The orientation sensor 422 is a three-axis gyro azimuth angle sensor, and detects the traveling direction of the mobile unit 40 and the inclination angle of the body. The height sensor 423 is, for example, an optical type, which projects light downward and detects the height of the aircraft from the phase difference that occurs in the reflected light. The attitude sensor 424 is made up of a three-dimensional acceleration sensor, and detects acceleration in each of the X-axis, Y-axis, and Z-axis directions defined for the moving body 40. The attitude of the aircraft can be detected from the gravitational acceleration detected for each of these axes. Microphone 425 has directionality and detects the sound of an object located in the same direction as the line of sight of camera 41 . Temperature sensor 426 is a non-contact type so-called radiation thermometer, and detects the temperature of an object located in the same direction as the line of sight of camera 41. It should be noted that each of these sensors may be any sensor capable of detecting desired information, and the sensor type, detection principle, and the like are not limited to those described above.

[0020] The first communication unit 471 performs data communication with the base station 120 via the satellite 110 . The second communication unit 472 performs data communication directly with the base station 150 .

[0021] The driving unit 43 is configured to output thrust for the movement of the moving body 40, and has a plurality of rotors and a plurality of motors that are rotational drive sources provided on each rotor. The driving unit 43 is controlled by the control unit 44 so that the vehicle moves toward a target movement direction.

[0022] The data storage unit 45 is a non-volatile storage device that stores the control program for the moving body 40 and various information related to the control. The memory 46 stores image data captured by the camera 41, detection data detected by the microphone 425 and the temperature sensor 426, and the like. The memory 46 may be configured from a non-volatile storage device. The memory 46 may also be configured from a removable recording medium. In this case, the captured image data and the detected data can be transferred to the external information terminals 60, 70 and the management server 50, etc., without going through the network 130, by using the removable recording medium.

[0023] 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, control commands transmitted from the information terminals 60 and 70, and the like. For example, the control unit 44 acquires information on the position and attitude of the moving object 40 at the time of image capture and detection from the orientation sensor 422 and the attitude sensor 424, and records the information in the memory 46 in association with the captured image data and detection data (hereinafter, the captured image data and detection data associated with the information on the position and attitude of the moving object 40 at the time of image capture and detection are referred to as "diagnosis information data"). The control unit 44 also 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.

[0024] [crane] Next, the crane 20 will be described. FIG. 3 is a side view of the crane 20. In this embodiment, a so-called mobile tower crane is exemplified as the crane 20. In the following description of the crane 20, the forward direction of the crane 20 (the predetermined forward direction of the lower traveling body 21, regardless of the facing direction of the upper rotating body 22) is referred to as "front", the backward direction is referred to as "rear", the left hand side when facing forward is referred to as "left", and the right hand side when facing forward is referred to as "right".

[0025] As shown in Figure 3, the crane 20 is composed of a self-propelled crawler-type lower running body 21, an upper rotating body 22 rotatably mounted on the lower running body 21, and a front attachment 23 attached to the front side of the upper rotating body 22 so as to be able to rise and fall.

[0026] The upper rotating body 22 constitutes the main body of the crane 20 and has a rotating frame 221 extending in the front-rear direction. A boom mounting part 222 is provided on the front side of the rotating frame 221, and a base end 249 of the tower boom 24, which will be described later, is mounted to the boom mounting part 222 so as to be able to rise and fall.

[0027] Furthermore, a mast mounting part 223 is provided on the revolving frame 221 near the rear side of the boom mounting part 222. A base end of a mast 224 (described later) is rotatably attached to this mast mounting part 223. Furthermore, a base end of a backstop 225 (described later) is rotatably attached to the revolving frame 221 rearward of the mast mounting part 223.

[0028] A counterweight 226 for balancing the weight of the front attachment 23 and the suspended load is disposed on the rear side of the revolving frame 221. A boom hoisting winch and the like (not shown) are also disposed on the rear side of the revolving frame 221. Meanwhile, a cab 227 in which a driver's seat and various operating devices (none of which are shown) are disposed is provided on the front right side of the revolving frame 221.

[0029] The front attachment 23 is provided on the upper rotating body 22 and transports loads such as materials between the ground and high places. The front attachment 23 includes a tower boom 24, a tower jib 25, and a tower strut 26.

[0030] The tower boom 24 is attached to the upper rotating body 22 so that it can be raised and lowered. The tower boom 24 is composed of a lower boom 241 whose base end (foot portion) 249 is attached to the boom mounting portion 222 of the revolving frame 221 so that it can be raised and lowered, multiple (e.g., three stages) intermediate booms 242 whose base ends are attached to the tip of the lower boom 241, and an upper boom 243 attached to the tip of the intermediate boom 242 located most distally. A jib hoist winch 244 and a main hoist winch 245, which will be described later, are attached to the lower boom 241.

[0031] As shown in the figure, adjacent pillars of the intermediate boom 242 in the longitudinal direction are connected by connecting pins. The lowermost intermediate boom 242 and the lower boom 241, and the uppermost intermediate boom 242 and the upper boom 243 are also connected by connecting pins.

[0032] The upper boom 243 has an upper portion that protrudes forward when the tower boom 24 is in an upright position (the position shown in FIG. 3), and the lower side of the upper boom 243 is attached to the tip (upper end) of the uppermost intermediate boom 242. A tower jib 25 (described later) is attached to the front end of the upper boom 243 so as to be able to be raised and lowered, and a tower strut 26 (described later) is attached to the upper end of the upper boom 243 so as to be able to swing. In addition, a triangular sheave bracket 246 is provided on the upper boom 243 so as to protrude rearward. A tower guide sheave 247 and a guide sheave 248 are rotatably attached to this sheave bracket 246.

[0033] The tower jib 25 is movably attached to the tip of the upper boom 243 of the tower boom 24. The tower jib 25 is composed of a lower jib 251, the base end of which is movably attached to the upper boom 243, an intermediate jib 252 attached to the tip of the lower jib 251, and an upper jib 253 provided at the tip of the intermediate jib 252. A guide sheave 254 and a point sheave 255 are rotatably attached to the tip side of the upper jib 253. A main hoisting rope 256, which will be described later, is wound around the guide sheave 254 and the point sheave 255.

[0034] The tower strut 26 is swingably attached to the upper end side of the upper boom 243 of the tower boom 24. The tower strut 26 is configured as a triangular structure by connecting a first strut 261, a second strut 262, and a third strut 263 by a first connecting portion 264, a second connecting portion 265, and a third connecting portion 266.

[0035] Here, the first connecting part 264 of the tower strut 26 is attached to the upper end side of the upper boom 243. As a result, the tower strut 26 is attached to the upper end of the tower boom 24 so as to be able to swing with the first connecting part 264 as a fulcrum. In addition, one end of a pendant rope 267 is connected to the second connecting part 265, and the other end of the pendant rope 267 is connected to the tip side of the upper jib 253 of the tower jib 25. Furthermore, a boom side pendant rope 274 described later is connected to the third connecting part 266.

[0036] The jib hoist winch 244 is attached to the lower boom 241 of the tower boom 24. The jib hoist winch 244 raises and lowers the tower jib 25 via the tower strut 26. The jib hoist winch 244 and the third connection part 266 of the tower strut 26 are connected by a jib hoist rope 27.

[0037] The jib hoist rope 27 is provided between the jib hoist winch 244 and the tower strut 26. The jib hoist rope 27 is made up of a lower spreader 271 having multiple sheaves attached to the intermediate boom 242 of the tower boom 24, an upper spreader 272 having multiple sheaves provided opposite the lower spreader 271, a winding rope 273 wound sequentially around the sheaves of the lower spreader 271 and the sheaves of the upper spreader 272 and then wound onto the jib hoist winch 244, and a boom side pendant rope 274 having one end connected to the upper spreader 272 and the other end connected to the third connecting part 266 of the tower strut 26.

[0038] Therefore, by winding and unwinding the winding rope 273 with the jib hoist winch 244, the upper spreader 272 approaches or moves away from the lower spreader 271, and the tower strut 26 swings around the first connecting part 264 as a fulcrum. This swing of the tower strut 26 is transmitted to the tower jib 25 via the pendant rope 267, causing the tower jib 25 to be raised or lowered at the tip side of the tower boom 24.

[0039] The main hoisting winch 245 is located near the upper side of the jib hoisting winch 244 and is attached to the lower boom 241 of the tower boom 24. One end of a main hoisting rope 256 is wound around the main hoisting winch 245. The other end of the main hoisting rope 256 is attached to the load hook 28 via a guide sheave 248 of the sheave bracket 246, a guide sheave 254 of the tower jib 25, and a point sheave 255. Therefore, the load hook 28 can be raised and lowered by winding and unwinding the main hoisting rope 256 by the main hoisting winch 245.

[0040] The backstop 225 is provided between the revolving frame 221 and the lower boom 241 of the tower boom 24. The backstop 225 supports the erected tower boom 24 from behind.

[0041] The mast 224 has a base end rotatably attached to a mast attachment portion 223 of the revolving frame 221. The tip of the mast 224 is a free end that is rotatable in the up-down direction and the front-rear direction. A boom spreader 228 is provided at the tip of the mast 224, and this boom spreader 228 and the upper boom 243 of the tower boom 24 are connected via a pendant rope 229 having a certain length. A boom hoist rope 291 is wound in sequence around the boom spreader 228 and a spreader (not shown) on the revolving frame 221 side, and is wound around a tower boom hoist winch (not shown) provided on the revolving frame 221.

[0042] Therefore, by winding or unwinding the boom hoisting rope 291 using the tower boom hoisting winch, the tower boom 24 can be raised or lowered via the pendant rope 229.

[0043] FIG. 4 is a block diagram showing a control system for the crane 20. As shown in this diagram, the crane 20 is equipped with a controller 31 that comprehensively controls each part of the crane 20. More specifically, the controller 31 controls various operations of the crane 20, such as traveling, rotating, and lifting a load, and performs processing for detecting abnormalities, etc. The controller 31 is configured to include an arithmetic processing device having a CPU, memory devices such as ROM and RAM, other peripheral circuits, etc.

[0044] The crane 20 also includes sensors for acquiring information regarding the state of each part of the crane 20, such as a load cell 321, a boom angle sensor 322, an operation amount sensor 323, a jib angle sensor 324, an inclination sensor 325, and a lifting height meter 326.

[0045] The load cell 321 is attached to the boom spreader 228 and detects the tension acting on the boom hoisting rope 291 that raises and lowers the tower boom 24, and outputs a control signal corresponding to the detected tension to the controller 31.

[0046] The boom angle sensor 322 is attached to the base end side of the tower boom 24, detects the hoisting angle (hereinafter also referred to as the boom angle) of the tower boom 24, and outputs a control signal corresponding to the detected boom angle to the controller 31. The boom angle sensor 322 detects, for example, a ground angle, which is an angle with respect to the horizontal plane, as the boom angle.

[0047] The jib angle sensor 324 is attached to the base end side of the tower jib 25, detects the elevation angle (hereinafter also referred to as the jib angle) of the tower jib 25, and outputs a control signal corresponding to the detected jib angle to the controller 31. The jib angle sensor 324 detects, for example, the ground angle, which is an angle with respect to the horizontal plane, as the jib angle.

[0048] The operation amount sensor 323 detects, for example, the operation amount of a hydraulic pilot type operation lever, and outputs a control signal corresponding to the detected operation amount to the controller 31.

[0049] The tilt sensor 325 detects the tilt of the crane 20, i.e., the tilt of the ground on which the crane 20 is located, and outputs the result to the controller 31. The lifting height meter 326 detects the height position of the load hook 28 and outputs it to the controller 31.

[0050] The crane 20 also includes an input unit 331, a display device 332, an alarm 341, a stop device 342, a first communication unit 351, a second communication unit 352, an operating lever 37, and a control valve .

[0051] The input unit 331 is, for example, a touch panel, and outputs a control signal corresponding to an operation by an operator to the controller 31. The operator can operate the input unit 331 to set the number of loops of the main hoisting rope 256, the length of the tower boom, the mass of the load hook 28, and the like. The display device 332 includes, for example, a touch panel display that is also used as the input unit 331, and displays information on the suspended load, working posture, and the like on the display screen based on a control signal output from the controller 31.

[0052] The alarm device 341 generates an alarm based on a control signal output from the controller 31 . The stopping device 342 stops the driving of hydraulic motors (not shown) connected to the main hoisting winch 245 and the jib hoisting winch 244, respectively, based on a control signal output from the controller 31. The stopping device 342 is, for example, an electromagnetic switching valve capable of cutting off the supply of pressure oil from the hydraulic pump to the hydraulic motor.

[0053] The first communication unit 351 performs data communication with the base station 120 via the satellite 110 . The second communication unit 352 performs data communication directly with the base station 150 .

[0054] The control valve 38 is composed of a plurality of valves that can be switched in response to a control signal from the controller 31. For example, the control valve 38 includes a valve for switching between supplying and disconnecting hydraulic pressure and switching the rotation direction from a hydraulic pump provided in the crane body 20 to a hydraulic motor that drives the rotation of the drive wheels of the lower traveling body 21, a valve for switching between supplying and disconnecting hydraulic pressure and switching the rotation direction from the hydraulic pump to a hydraulic motor that performs the rotation operation of the upper rotating body 22, a valve for switching between supplying and disconnecting hydraulic pressure and switching the rotation direction from the hydraulic pump to a hydraulic motor that drives the rotation of the tower boom hoisting winch, a valve for switching between supplying and disconnecting hydraulic pressure and switching the rotation direction from the hydraulic pump to a hydraulic motor that drives the rotation of the jib hoisting winch 244, and a valve for switching between supplying and disconnecting hydraulic pressure and switching the rotation direction from the hydraulic pump to a hydraulic motor that drives the rotation of the main hoisting winch 245.

[0055] The operating lever 37 is made up of a plurality of levers for inputting control signals for individually switching various valves of the control valve 38 via the controller 31 . For example, a travel lever, which is one of the operating levers 37, inputs a switching signal to a valve that supplies, stops, and switches the rotation direction of hydraulic pressure to the hydraulic motor that drives the rotation of the drive wheels of the lower traveling body 21 described above. In addition, the rotation lever, which is one of the operating levers 37, inputs a switching signal to a valve that supplies, stops, and switches the rotation direction of hydraulic pressure from the aforementioned hydraulic pump to the hydraulic motor that performs the rotation operation of the upper rotating body 22. In addition, the boom hoist lever, which is one of the operating levers 37, inputs a switching signal to a valve that supplies, stops, and switches the rotation direction of hydraulic pressure from the hydraulic pump to the hydraulic motor that drives the tower boom hoist winch. In addition, the jib hoist lever, which is one of the operating levers 37, inputs a switching signal to a valve that supplies, stops, and switches the rotation direction of hydraulic pressure from the aforementioned hydraulic pump to the hydraulic motor that drives the jib hoist winch 244. In addition, the winding lever, which is one of the operating levers 37, inputs a switching signal to a valve that supplies, stops, and switches the rotation direction of hydraulic pressure from the aforementioned hydraulic pump to the hydraulic motor that drives the main hoisting winch 245.

[0056] The controller 31 inputs control signals corresponding to the supply, stop, and switching of rotation direction of hydraulic pressure to each valve constituting the corresponding control valve 38 in response to the operation of various levers constituting the operating lever 37, thereby controlling each hydraulic motor. This allows the operator to operate the operating lever 37 to perform the traveling operation of the crane body 20, the rotation operation of the upper rotating body 22, the raising and lowering operation of the tower boom 24, the raising and lowering operation of the tower jib 25, and the raising and lowering operation of the load hook 28.

[0057] [Management Server] FIG. 5 is a block diagram showing the configuration of the management server 50. As shown in FIG. As shown in this figure, the management server 50 includes a control device 51, a storage unit 52, and a communication unit 53. The control device 51 includes an arithmetic processing device having a CPU, peripheral circuits, etc. The control device 51 controls each part of the management server 50 by reading and executing a control program prestored in the storage unit 52. The storage unit 52 is, for example, a non-volatile storage device. The communication unit 53 performs data communication (transmission and reception) via the network 130 in accordance with a predetermined procedure. A display device 54 is connected to the control device 51, and the control device 51 causes the information stored in the storage unit 52, the test information database 140, and the customer information database 160 to be displayed on the display screen of the display device 54.

[0058] The control device 51 is connected to a test information database 140 and a customer information database 160 . The inspection information database 140 stores in association with each other date and time information, the work equipment ID of the crane 20, diagnostic results, etc. received by the control device 51 from the mobile body 40 via the base stations 120, 150 (including via the crane 20). The customer information database 160 stores the work machine ID of the crane 20, customer information on the customer who owns the crane 20, and the customer's delivery address in association with each other. Note that the customer's delivery address corresponding to one work machine ID can be set arbitrarily. Thereby, when information in the crane inspection information database 140 for a specific crane 20 is updated, the control device 51 identifies the customer and its delivery destination, and transmits the updated information of the crane 20 or notifies the customer of the update. Furthermore, when accessed by a customer, the control device 51 may transmit or permit viewing of various information recorded in the crane inspection information database 140 for the customer's crane 20. In this case, a password or the like may be set for each customer in the customer information database 160, and the password may be requested when the customer accesses the database. It is preferable that the password is also registered in the customer information database 160.

[0059] The control device 51 performs a diagnostic process to determine whether or not an abnormality has occurred in the inspection points of the crane 20 with respect to the following inspection items, based on diagnostic information data including captured image data and detection data acquired from the moving body 40. The test items are, for example, as follows: (1) Cracks, deformation, damage, or corrosion of the tower boom or tower jib (2) Wear and damage to foot pins, joint pins, and bushes (3) Wire rope wear, damage, irregular winding, terminal condition, corrosion (4) Damage or corrosion of the pendant rope (5) Cracks, deformation, damage, or corrosion of each spreader, hanger, and tower strut. (6) Cracks, deformation, wear, or corrosion of the load hook (7) Operation, deformation, and damage of the wire stopper of the lifting hook (8) Looseness of the hoisting hook nut, damage to the threads, or corrosion (9) Wear, deformation, damage, and corrosion of each sheave (10) Operational condition of the over-hoisting prevention devices for the load hook, tower boom, and tower jib (11) Operation status of the load cell and boom angle sensor (12) Deformation, damage, or corrosion of the backstop (13) Whether or not the attachment is installed in the correct position, and its installation condition (bolts not tightened, fallen off, etc.)

[0060] [Information terminal] 6 is a block diagram showing an outline of the control system of the information terminals 60 and 70. Since the information terminals 60 and 70 of this embodiment are configured in substantially the same way, the following description will focus on the information terminal 60, and will omit a description of the information terminal 70. 6, the information terminal 60 is a terminal device such as a personal computer, a smartphone, or 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. The information terminal 60 corresponds to an example of a display device according to the present invention.

[0061] The input unit 61 includes, for example, a touch panel, and outputs to the control unit 65 an input signal corresponding to an operation performed on the touch panel by a user. The display unit 62 includes, for example, a touch panel display 620 (see FIG. 8 and the like), and displays various information on the display 620 based on a display signal input from the control unit 65. The communication unit 63 is capable of data communication (transmission and reception) with the crane 20, the mobile body 40, the management server 50, etc. via the network 130. Note that the communication unit 63 may be configured to be capable of direct communication with the crane 20, the mobile body 40, and the management server 50.

[0062] The storage unit 64 is a memory configured by a RAM (Random Access Memory), a ROM (Read Only Memory), etc., and stores various programs and data, and also functions as a work area for the control unit 65. In this embodiment, the storage unit 64 prestores a route display program 641 for executing a route display process (see FIG. 7) described later.

[0063] The storage unit 64 also has a crane information database (DB) 642 in which various information related to cranes is stored. The crane information DB 642 stores a plurality of model information (model names) and information related to the structure of each model (including the shape and main dimensions of each part) in association with each other. The information related to the structure of the crane includes, for example, the type of hoisting method (A-frame, live mast, both), tower jib hoisting method (swing lever, raffer), front specification (crane only, tower only, both), etc. Furthermore, the storage unit 64 stores three-dimensional CAD (3D-CAD) data 643 of the crane 20. The crane information DB 642 and the three-dimensional CAD data 643 may be stored in another device (such as the management server 50) with which the information terminal 60 can communicate (with which the information can be read).

[0064] The control unit 65 performs overall control of the information terminal 60 based on user operations, etc. Specifically, the control unit 65 reads out various programs from the storage unit 64 in response to operation signals, etc. input from the input unit 61, executes predetermined processing in accordance with the programs, temporarily stores the processing results in the storage unit 64, and causes the display unit 62 to output them as appropriate.

[0065] [Displaying the flight path of a moving object] Next, a route display process for setting and displaying a flight route (movement route) of the moving body 40 during inspection of the crane 20 will be described. Fig. 7 is a flowchart showing the flow of the route display process. Fig. 8 to Fig. 14 are diagrams showing examples of display on the display 620 in the route display process.

[0066] Here, a case will be described in which a user operates the information terminal 60 to execute the route display process and set and display the flight route of the moving object 40. The route display process is executed by the control unit 65 of the information terminal 60 reading out the route display program 641 from the storage unit 64 and developing it. It is assumed here that the crane 20 is stationary in an assembled state. In addition, in the following description, the route display process includes setting a flight route and then flying the moving body 40 along the flight route, but the flight of the moving body 40 does not have to be included in the route display process.

[0067] As shown in FIG. 7, when the path display process is executed, first, the control unit 65 acquires data on the placement state of the crane 20 (hereinafter, referred to as "placement state data") (step S1). Here, the "disposition state" of the crane 20 refers to the state regarding the structure (including size and shape), posture, position and orientation of the crane 20.

[0068] Specifically, in this step S1, first, the control unit 65 sets the model of the crane 20 based on a user operation. When the user selects the model of the crane 20 with the input unit 61, the control unit 65 reads and sets information on the structure (including size and shape) of the model from the crane information DB 642. Furthermore, if there is a dimension (e.g., boom length) that cannot be specified by only selecting the model, the control unit 65 sets the dimension based on a user operation. Also, in step S1, the control unit 65 acquires information about the attitude of the crane 20 from the crane 20 itself via the communication unit 63. Specifically, the control unit 65 acquires the boom angle, jib angle, inclination of the crane 20, and height of the load hook 28 measured by the boom angle sensor 322, jib angle sensor 324, inclination sensor 325, and lifting height meter 326 of the crane 20 as information about the attitude of the crane 20. The measured boom angle, jib angle, inclination of the crane 20, and height of the load hook 28 may be displayed on the display device 332 of the crane 20, and the user may input the measured values ​​into the information terminal 60 while viewing the display. Also in step S1, the control unit 65 acquires information relating to the position and orientation of the crane 20 by the positioning unit 421 and orientation sensor 422 of the moving body 40. Specifically, the moving body 40 is stopped at a predetermined position of the crane 20 (for example, on the crawler) and the position and orientation are measured by the positioning unit 421 and orientation sensor 422, thereby acquiring information relating to the position and orientation of the crane 20. Note that a positioning unit and an orientation sensor may be provided in the crane 20, and the position and orientation of the crane 20 may be measured by the positioning unit and the orientation sensor. Also, the position and orientation of the crane 20 may be acquired by direct input (numerical input) by the user. In this way, configuration data regarding the structure, posture, position and orientation of the crane 20 is obtained, and the configuration data identifies the configuration of the crane 20.

[0069] Next, the control unit 65 sets flight conditions (flight information) for the moving object 40 (step S2). In this embodiment, a lower limit (no-fly distance) of the distance between the moving body 40 and the crane 20 during flight is set as a flight condition of the moving body 40. The "distance" in this case is not particularly limited, but refers to the distance in a horizontal plane.

[0070] Next, the control unit 65 sets a flight path R for the moving body 40 based on the placement status data of the crane 20 acquired in step S1 and the flight conditions set in step S2, and displays it on the display 620 (step S3). In this step, as shown in FIG. 8(a), an overall route display screen 810 showing the entire flight route R over the entire height of the crane 20 is displayed on the display 620. This flight route R is configured by setting partial routes R1 that go around (one revolution) the periphery of the crane 20 in a horizontal plane in a plurality of hierarchical levels over the entire height of the crane 20 at predetermined vertical distances (see FIG. 13(a)). However, in the overall route display screen 810 of this embodiment, only the height position of each partial route R1 of the flight route R is shown. The vertical distance between the partial routes R1 may be a predetermined default value, or may be set in step S2.

[0071] In the overall route display screen 810 of this embodiment, the entire crane 20 (side view exterior) is displayed two-dimensionally in a main window 811 of the display 620, and a plurality of partial routes R1 (height positions) constituting the flight route R are displayed together on the crane image. In the crane image, each main part of the crane 20 is displayed so as to be identifiable. The partial routes R1 can be selected for editing, etc., and the selected partial route R1 is displayed as active (displayed by a large dashed line in the figure). In addition, a sub-window 812 in the right corner of the main window 811 displays main information of the crane 20 (for example, model, front specifications, boom length, boom angle, etc.). On the right side of the main window 811, there are displayed a move button 813 for moving the height of the selected partial route R1, an edit button 814 for editing the partial route R1, a flight point selection button 815 for selecting a flight point as described below, and a complete button 816 for ending operations on the overall route display screen 810.

[0072] Next, the control unit 65 determines whether or not an operation to edit the partial route R1 is performed (step S4). Here, "editing" the partial route R1 includes various operations related to the partial route R1, including "changing" the route, which will be described later. Here, when the user operates the edit button 814 with a partial route R1 of any height selected, the control unit 65 determines that an operation to edit the partial route R1 has been performed (step S4; Yes), and causes the partial route R1 of the selected height (level) to be displayed in detail on the display 620 (step S5). Then, the control unit 65 switches the display content of the display 620 from the entire route display screen 810 to a partial route display screen 820 that displays the selected partial route R1 in detail.

[0073] 8(b), in the partial path display screen 820 of this embodiment, a cross section of the crane 20 at the selected height and the partial path R1 circling around it are displayed in a plan view in a main window 821 of the display 620. In this main window 821, each part of the crane 20 is displayed in a distinctive way, similar to the overall path display screen 810. Around the crane 20, the range of the no-fly distance set in step S2 is displayed in a distinctive way as a no-fly area F. The partial route R1 is set (automatically generated) so as to circle around the crane 20 within a horizontal plane via a no-fly distance. More specifically, a plurality of waypoints WP are set so as to circle around the crane 20 outside the no-fly area F, and the partial route R1 is set so as to pass through these plurality of waypoints WP. The waypoints WP are also a plurality of photographing points where photographing is performed by the camera 41. In addition, an add photographing point button SP for adding a waypoint WP (photographing point) is displayed between two adjacent waypoints WP on the partial route R1. Also, a sub-window 822 in the left corner of the display 620 displays the crane's appearance and the height position of the partial path R1 being displayed in the main window 821. This sub-window 822 can be switched between display and non-display by operating a toggle button 823 displayed in the corner (see FIG. 10, etc.). In the main window 821, as shown in Fig. 9(a), the width of the screen is set to the end of the crane cross section plus a predetermined value, and the vertical size is variable so that even a crane cross section that is long in the front-to-back direction (left-to-right direction in the figure) can fit on the screen. However, as shown in Fig. 9(b), in the case of a crane cross section whose horizontal width (vertical width in the figure) is larger, the horizontal width plus a predetermined value is set to the vertical size of the screen, and the horizontal size is variable.

[0074] Next, the control unit 65 determines whether or not an operation to change the partial route R1 is performed (step S6). Then, when it is determined that an operation to change the partial route R1 has been performed (step S6; Yes), the control unit 65 changes the partial route R1 according to the operation (step S7). After that, the control unit 65 shifts the process to the above-mentioned step S5, and displays the changed partial route R1.

[0075] In this embodiment, the partial route R1 is changed by, for example, the following user operation. First, when the user operates the shooting point addition button SP, as shown in FIG. 10(a), a waypoint WP is placed at the position of the operated shooting point addition button SP, and additional shooting point addition buttons SP are placed on both sides of it. Also, when the user presses and holds the waypoint WP, for example, the waypoint WP is displayed in inverted and becomes active and movable, as shown in FIG. 10(b). When the user moves the waypoint WP and then releases it, the waypoint WP returns to an inactive state and is fixed, and the inverted display returns to normal. However, the waypoint WP cannot be placed (moved) within the no-fly area F. Also, when the waypoint WP is activated, a photography point edit window 825 pops up. This photography point edit window 825 will be described later. By performing such an operation, the user can appropriately change the partial route R1.

[0076] Moreover, in step S6, when it is determined that an operation to change the partial route R1 has not been performed (step S6; No), the control unit 65 determines whether or not an operation to edit the shooting conditions has been performed (step S8). Then, when it is determined that an operation for editing the photographing conditions has been performed (step S8; Yes), the control unit 65 edits the photographing conditions according to the operation (step S9). After that, the control unit 65 shifts the process to the above-mentioned step S5.

[0077] In this embodiment, by activating a waypoint WP that is also a photographing point, the photographing conditions at the waypoint WP can be edited. Specifically, as shown in FIG. 11(a), when a waypoint WP is activated, a photographing point edit window 825 showing the photographing conditions of the waypoint WP is popped up. By operating this photographing point edit window 825, the photographing conditions of a desired waypoint WP can be edited. In the photographing point edit window 825 of this embodiment, for example, it is possible to set the photographing direction (directions 1 to 3), set the nose direction during photographing, set the photographing point (adjustment up, down, left, and right), and delete the photographing point. In addition, the addition and movement of the photographing point may be performed in the same manner as the change operation of the waypoint WP described above. The photographing point edit window 825 is displayed so as not to overlap the waypoint WP to be edited. For example, when the waypoint WP at the bottom of the screen is activated, the photographing point edit window 825 is displayed at the top of the screen, as shown in FIG. 11(b).

[0078] Furthermore, if it is determined in step S8 that no operation to change the shooting point has been performed (step S8; No), the control unit 65 transitions the processing to the above-mentioned step S3 and causes the display content of the display 620 to transition to the overall route display screen 810 (see FIG. 8(a)). In this embodiment, when the OK button 824 or the back button B is operated on the partial route display screen 820, the screen switches to the entire route display screen 810.

[0079] On the other hand, in the above-mentioned step S4, if it is determined that the operation to edit the partial route R1 is not performed (step S4; No), the control unit 65 determines whether or not a flight point selection operation is performed on the entire route display screen 810 (step S10). Then, when the user operates the flight point selection button 815, the control unit 65 determines that a flight point selection operation has been performed (step S10; Yes), and pops up a flight point selection window 817 on the overall route display screen 810 (step S11), as shown in Fig. 12(a). In the flight point selection window 817, the altitude of the flight point (partial route R1) is displayed in a list together with its selection indication (check mark in the figure).

[0080] Next, the control unit 65 determines whether or not an operation to change (select or deselect) the flight point is performed (step S12). Then, when it is determined that an operation to change the flight point has been performed (step S12; Yes), the control unit 65 selects or deselects the flight point (partial route R1) in accordance with the operation (step S13). After that, the control unit 65 shifts the process to the above-mentioned step S11. For example, as shown in FIG. 12(b), when the user unchecks a flight point in the flight point selection window 817, the partial route R1 corresponding to that flight point is deleted from the flight route R and erased from the main window 811.

[0081] Also, in step S12, if it is determined that no operation to change the flight point has been performed (step S12; No), the control unit 65 transitions to the processing of step S3 described above and displays the overall route display screen 810 (see FIG. 8(a)). In this embodiment, when the user operates the OK button 818 in the flight point selection window 817, the flight point selection window 817 is closed and the entire route display screen 810 is displayed.

[0082] On the other hand, in the above-mentioned step S10, when it is determined that the flight point selection operation has not been performed (step S10; No), the control unit 65 checks the flight plan based on the user operation (step S14). In this embodiment, when the user operates the complete button 816 on the overall route display screen 810, the control unit 65 switches the display content of the display 620 from the overall route display screen 810 to a flight plan confirmation screen (not shown). Here, the user sets the flight plan, such as the number of photographs to be taken and the photographing time.

[0083] Next, the control unit 65 accepts a flight start operation by the user, starts flying the moving object 40 (step S15), and flies the moving object 40 along the set flight path R. The flight sequence of the flight path R is preferably such that the drone first flies the partial path R1 of the lowest level, then ascends to the top level, and then descends from the partial path R1 of the highest level to the second partial path R1 from the lowest level while circling around in sequence (see FIG. 13(a)). In this way, the drone first flies around the partial path R1 of the lowest level to check the distance, and then flies over the top level (above the crane 20), thereby making it possible to confirm that the flight path R will not come into contact with the crane 20. By checking the lowest level and the top level, it is possible to confirm that the center position and the settings are correct. In addition, by circling around a high place at an early stage when the power source (e.g., battery) of the moving body 40 has a large remaining amount after confirming the safety of the lowest level, the drone can keep the falling height low even if the moving body 40 falls due to the remaining power source being depleted during flight.

[0084] At this time, the control unit 44 of the moving body 40 acquires captured image data and detection data during flight, and transmits diagnostic information data including the captured image data and detection data to the information terminals 60, 70 and the management server 50. Based on the received diagnostic information data, the management server 50 performs a diagnostic process to determine whether or not there is an abnormality at a specified inspection point of the crane 20. Note that this diagnostic process may be executed by the information terminals 60, 70.

[0085] At this time, the control unit 65 displays a live view screen 850 on the display 620, as shown in Fig. 14(b), and displays the image captured by the camera 41 in a live view. In the live view screen 850, the image captured by the camera 41 is displayed in a live view in a main window 851, and a setting screen (partial route display screen) for the partial route R1 during flight is displayed in a subwindow 852 in the right corner of the display 620. A second subwindow 853 in the subwindow 852 displays the external appearance of the crane and the height position of the partial route R1 during flight. This second subwindow 853 may be displayed as a separate window outside the subwindow 852.

[0086] Thereafter, when the flight of the moving body 40 along the flight route R is completed (step S16), the control unit 65 stops the moving body 40 at a predetermined position and ends the route display process.

[0087] In the above-mentioned step S3, the crane appearance and the flight path R are displayed in two dimensions on the overall route display screen 810, but the crane appearance and the flight path R may also be displayed in three dimensions, as shown in Figure 13(a). In this case, the control unit 65 reads out the three-dimensional CAD data 643 of the crane 20 from the memory unit 64, and displays the external appearance of the crane in three dimensions in the main window 811. The displayed crane 20 and flight path R can be operated together by the user (enlargement / reduction, rotation around any axis, etc.). Here, when the user selects any one of the partial routes R1, the control unit 65 displays a planar view of the crane section at the altitude of the selected partial route R1, as in the partial route display screen 820 displayed in step S5 described above, as shown in Fig. 13(b). On this screen, the selected partial route R1 may also be displayed.

[0088] In addition, when the crane exterior and flight path R are displayed in three dimensions, additional shooting points may be set in detail. For example, as shown in Fig. 14(a), the base end of the camera installed at the tip of the tower jib 25 is in a blind spot and cannot be seen (photographed) from the automatically generated partial route R1 that circles around the crane. In such a case, the three-dimensional model of the crane 20 is enlarged to display the relevant location, and a desired photography point (photography direction) is set using the photography direction mark M. The set photography point is appropriately incorporated into, for example, the nearest partial route R1. 14(b), for example, an image of the shooting point (shooting direction) set by the shooting direction mark M is displayed on a live view screen 850 during flight. Therefore, even a position that is a blind spot from the partial route R1 that simply circles around the crane can be viewed (photographed) favorably.

[0089] [Technical effect of the present embodiment] As described above, according to this embodiment, when the crane 20 and flight path R are displayed on the display 620, the flight path R can be displayed in display modes viewed from two different directions (in this embodiment, for example, an overall path display screen 810 and a partial path display screen 820). This makes it possible to confirm and grasp the flight path R of the moving object 40 more easily and accurately than in the past, in which the flight path was simply viewed from one direction.

[0090] Furthermore, according to this embodiment, in a display mode (partial route display screen 820) in which a partial route R1 of the flight route R is displayed, the partial route R1 can be changed (set) based on a user operation. This allows the user to set the desired partial route R1 more accurately on the partial route display screen 820 on which the partial route R1 is displayed in detail.

[0091] Furthermore, according to this embodiment, on the partial route display screen 820 displaying the partial route R1, areas which the moving body 40 cannot enter (no-fly areas F) and areas which the moving body 40 can enter (e.g. areas other than the no-fly areas F) are displayed in a distinguishable manner. This allows the user to easily set a safe partial route R1.

[0092] Furthermore, according to this embodiment, on the partial route display screen 820 displaying the partial route R1, the photographing point at which the moving object 40 photographs the partial route R1 can be changed (set) based on a user operation. This allows the user to more accurately set a desired photographing point on the partial route display screen 820 on which the partial route R1 is displayed in detail.

[0093] Furthermore, according to this embodiment, on the partial route display screen 820 that displays the partial route R1, a plane including the partial route R1 is displayed in a planar manner. This allows the user to check and understand the partial route R1 in detail.

[0094] Furthermore, according to this embodiment, with the crane 20 and the flight path R displayed in three dimensions, the crane 20 and the flight path R can be operated integrally on the display 620. This allows the user to arbitrarily change the display direction of the crane 20 and the flight path R, and allows the user to check the crane 20 and the flight path R from the desired direction.

[0095] [others] Although the embodiment of the present invention has been described above, the present invention is not limited to the above embodiment. For example, in the above embodiment, the overall route display screen 810 (two-dimensional and three-dimensional) and the partial route display screen 820 are given as examples of display modes of the crane 20 and the flight path R. However, as long as the flight path can be displayed in display modes viewed from at least two different directions, the display modes are not limited to those in the above embodiment. For example, as shown in Fig. 15, a display mode in which the crane 20 and the flight path R are displayed two-dimensionally on a map may be displayed. The example in this figure is a position confirmation screen 830, on which the position and orientation (direction) of the crane 20 and the flight path R can be confirmed. In addition, by displaying it on a map, it is possible to check, for example, whether the crane 20 and the flight path R have gone outside a specified site. The map information may be stored in the storage unit 64 in advance, or may be acquired from another terminal or the like via the network 130. The display modes viewed from two different directions may be either two-dimensional or three-dimensional, and include, for example, not only a two-dimensional display mode of the partial route R1 but also a three-dimensional display mode of the partial route R1.

[0096] In the above embodiment, the flight path R of the moving body 40 has a plurality of partial paths R1 in a horizontal plane. However, the flight path of the moving body 40 during inspection is not particularly limited, and may include, for example, a path that circles in a vertical plane or a path along a boom or a jib.

[0097] Also, in step S1 of the path display process, the placement status data of the crane 20 may be acquired in real time from the crane 20, and in the subsequent step S3, the flight path of the moving body 40 may be set based on the placement status data acquired in real time. That is, the processes of steps S1 and S3 may be performed at any time (for example, at regular time intervals). This allows the flight path to be suitably set (changed) even while the crane 20 is in operation. Furthermore, this real-time route display may be performed while the moving object 40 is flying in step S15.

[0098] In the above embodiment, the route display process is executed by the route display program 641 in the information terminal 60. However, the route display process can be executed by any device that can acquire the placement state data of the crane 20 and has computing power. Therefore, the display device according to the present invention includes the crane 20 itself, in addition to the information terminals 60, 70 and management server 50.

[0099] In the above embodiment, a mobile tower crane has been illustrated as an example of the crane 20. However, the present invention is not limited to this, and can be applied to any type of cranes, including wheel cranes, truck cranes, rough terrain cranes, all-terrain cranes, etc., as well as tower cranes, overhead cranes, jib cranes, retractable cranes, stacker cranes, gantry cranes, and unloaders. Furthermore, the present invention is not limited to cranes equipped with load hooks, but can also be applied to cranes that suspend attachments such as magnets and earth drill buckets.

[0100] In the above embodiment, the crane 20 is the object of inspection (photographing) of the moving body 40, but the present invention can be suitably applied to various objects of photography other than cranes. In addition to cranes, examples of such objects of photography include playground equipment such as Ferris wheels and roller coasters, windmills, shovels, airplanes, ships, etc. The present invention can also be applied to the inspection of existing buildings. Furthermore, the present invention is not limited to inspection (diagnosis processing) based on images, but can also be applied to photography for purposes other than inspection, such as displaying captured images to an inspection operator. In addition, the details shown in the above embodiment can be modified as appropriate without departing from the spirit of the invention. [Explanation of symbols]

[0101] 1. Crane 40 Mobile (Flying) 41 Camera 50 Management server (display device) 60 Information terminal (display device) 62 Display section 64 Storage section 65 Control section (control means) 70 Information terminal (display device) 100 Crane Inspection System 421 Positioning Unit 422 Orientation Sensor 620 Display (Display unit) 641 Route display program 643 3D CAD data 810 Overall route display screen 817 Flight Point Selection Window 820 Partial route display screen 825 Shooting Point Editing Window 830 Location confirmation screen 850 Live View Screen F No Fly Area M Shooting direction mark R Flight Path R1 Partial Path WP Waypoint (photo point)

Claims

1. 1. An inspection system for a crane, comprising: An aircraft equipped with a sensor capable of acquiring information about the crane while flying around the crane; a display device that simultaneously displays a first image that identifiably shows the structure of the crane and a second image that shows information about a route for the flying object to move around the crane; Changing a manner in which the first image capable of identifying a structure of the crane and the second image showing information regarding the route are displayed. Crane inspection system.

2. simultaneously displaying the first image showing the external appearance of the structure of the crane and the second image showing information about the path moving horizontally around the crane at each of a plurality of heights at which the flying object can move; 2. The crane inspection system of claim 1.

3. The first image represents the size and shape of the crane corresponding to the type of the crane set by a user, or the attitude of the crane indicated by information received from the crane, 2. The crane inspection system of claim 1.

4. displaying, from a viewpoint above the crane, the first image showing a cross-sectional shape of the crane at a predetermined height and the second image showing the path of the flying object moving horizontally at the predetermined height at the same time; 2. The crane inspection system of claim 1.

5. The cross-sectional shape of the crane shown in the first image is changed in size so that the structure of the crane fits within the display area of ​​the display unit.

5. The crane inspection system of claim 4.

6. The first image representing the structure of the crane and the second image representing the route are displayed on a map representing the surroundings of the crane.

2. The crane inspection system of claim 1.

Images