System for supporting work machine, method of creating flight path and program

Abstract

To provide a system for supporting a work machine that is allowed to determine an appropriate flight path by simple setting even if there is an inclination in a right-left direction of a boom, a method of creating a flight path, and a program.SOLUTION: A system for supporting a work machine having a boom supported to rise and lower on a main body by the utilization of an unmanned flight vehicle is adapted to determine a flight path of the unmanned flight vehicle based on a positional deviation in a right-left direction between the main body and the tip of the boom.SELECTED DRAWING: Figure 8

Description

Technical Field

[0001] The present invention relates to a support device for a working machine, a method for creating a flight path, and a program.

Background Art

[0002] There has been developed a support device that performs work support by flying an unmanned aerial vehicle such as a so-called drone near a boom (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When a working machine having a boom is installed at a location having left - right inclination, the boom has a left - right inclination. When flying an unmanned aerial vehicle near the inclined boom, it is necessary to determine a flight path in consideration of the inclination. When the boom is inclined in the left - right direction, a bending force may be applied to the boom. For this reason, it was considered difficult to appropriately determine a flight path with a simple setting of inclination information.

[0005] An object of the present invention is to provide a support device for a working machine, a method for creating a flight path, and a program that can appropriately determine a flight path with a simple setting even when the boom has a left - right inclination.

Means for Solving the Problems

[0006] The support device for a working machine according to the present invention is a support device for a working machine that supports a working machine having a boom supported so as to be able to rise and fall in a main body portion by using an unmanned aerial vehicle, Based on the displacement in the left - right direction between the main body part and the tip of the boom, the flight path of the unmanned aerial vehicle is determined.

[0007] The method for creating a flight path according to the present invention is A method for creating a flight path in which an unmanned aerial vehicle is flown around a boom that is supported by a work machine's main body part so as to be able to undulate, Suspend an object from the tip of the boom, place the unmanned aerial vehicle at a position corresponding to the suspended object, acquire the position information of the placed unmanned aerial vehicle, and create the flight path of the unmanned aerial vehicle based on the position information and the position information of the main body part.

[0008] The program according to the present invention is A computer that assists a work machine having a boom supported by a main body part so as to be able to undulate, using an unmanned aerial vehicle, Functions as means for determining the flight path of the unmanned aerial vehicle based on the displacement in the left - right direction between the main body part and the tip of the boom.

Advantages of the Invention

[0009] According to the present invention, even when the boom has an inclination in the left - right direction, it is possible to provide an assisting device for a work machine that can determine an appropriate flight path with a simple setting, and a method for creating a flight path.

Brief Description of the Drawings

[0010]

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Mode for Carrying Out the Invention

[0011] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0012] [Outline of Support Device for Work Machine] FIG. 1 is a diagram showing an outline of a support device 100 for a work machine according to an embodiment of the present invention. As shown in FIG. 1, the support device 100 includes a drone 40 that moves around a work machine 20 to be inspected, information terminals 60 and 70 and a management server 50 as a processing unit that performs predetermined processing on data acquired by the drone 40, and a remote controller 80.

[0013] The management server 50 is connected to a network 130 such as a general public communication network. In addition to the management server 50, base stations 120 and 150, information terminals 60 and 70, etc. are connected to the network 130. The management server 50 can exchange data with these nodes connected to the network 130, that is, the base stations 120 and 150, the drone 40, and the plurality of information terminals 60 and 70. The remote controller 80 is configured to be able to communicate with the drone 40 and the information terminal 60, and mediates the transmission and reception of information (for example, image information acquired by the drone 40) between them. Further, the remote controller 80 is configured to be able to control the operation of the drone 40, and for example, the drone 40 can be manually operated.

[0014] The base station 120 is a base station of a satellite communication line capable of transmitting and receiving radio waves via a satellite 110, and the base station 150 is a base station of a so-called mobile phone communication line. When the base stations 120 and 150 receive various data from the drone 40, the work machine 20, etc., they transmit it to the management server 50 via the network 130.

[0015] As will be described later, the work machine 20 has various sensors for detecting the states of its respective parts and a controller 31 (see FIG. 4). The controller 31 transmits information detected by various sensors to the base stations 120 and 150 or receives predetermined information through a first communication unit 351 and a second communication unit 352 (see FIG. 4).

[0016] 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 the diagnostic information data described below received from the unmanned aircraft 40 and the work machine 20 via the base stations 120 and 150, and the state information data generated from the diagnostic information data, in the inspection information database 140. The control device 51 included in the management server 50 transmits the state information data stored in the inspection information database 140 to predetermined information terminals 60 and 70 via the network 130. The control device 51 included in the management server 50 determines the transmission destination of the information based on the content of the customer information database 160. The information is transmitted to, for example, an information terminal 60 used by a site supervisor who is a user of the work machine 20 or a service technician of the crane manufacturer, or an information terminal 70 used by an administrator who is a user related to the work using the work machine 20 away from the site, and is displayed on the display screens of the information terminals 60 and 70. In FIG. 1, only one work machine 20, information terminal 60, and information terminal 70 are shown, but actually, the management server 50 is configured to transmit and receive information to and from a large number of work machines 20 and a large number of information terminals 60 and 70. Also, the communication paths of the above plurality of data are not limited to this. For example, the relay path in the communication path may be omitted. For example, the unmanned aircraft 40 may directly communicate with the information terminals 60 and 70, or the above plurality of databases may be provided in the information terminals 60 and 70.

[0017] [Unmanned Aircraft] Here, the unmanned aircraft 40 will be described. FIG. 2 is a block diagram showing the control system of the unmanned aircraft 40.

[0018] The unmanned aircraft 40 has a plurality of rotors and flies by controlling the output of motors that are the drive sources of the respective rotors, and is a so-called drone (unmanned aerial vehicle) that can freely perform ascending and descending operations, forward and backward and left and right movements, and forward and reverse turning. The unmanned aircraft 40 moves around the work machine 20 to be inspected, images each part thereof, and transmits the acquired imaging image data to predetermined information terminals 60, 70, and a management server 50.

[0019] As shown in FIG. 2, the unmanned aircraft 40 includes a camera 41 (detection unit) as an imaging means, a positioning unit 421 as a position measuring device, an azimuth sensor 422, a height sensor 423, an attitude sensor 424, a microphone (sound detection sensor) 425 used for inspection, 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. Note that not all of the sensors such as the positioning unit 421, the azimuth sensor 422, the height sensor 423, the attitude sensor 424, the microphone 425, and the temperature sensor 426 described above need to be mounted on the unmanned aircraft 40. The unmanned aircraft 40 only needs to include at least the camera 41, the positioning unit 421, and the azimuth sensor 422.

[0020] The camera 41 (detection unit) is supported so as to face a predetermined direction from the airframe of the unmanned aircraft 40, and images the scene in the line of sight according to the orientation of the airframe. The camera 41 can continuously acquire imaging images. For example, imaging images may be continuously acquired at a certain frame rate, or the imaging positions may be preset together with the flight path, and imaging images may be continuously acquired at predetermined imaging positions. Thereby, imaging of a plurality of locations including the inspection location can be performed. The image signal obtained by imaging is output to an image processing unit 411 connected to the camera 41, and the image processing unit 411 generates imaging image data in a predetermined format and records it in the memory 46. The camera 41 is not limited to one that acquires visible light images, and an infrared camera that images infrared rays may be used. When an infrared camera is used, distance image data can be obtained by a phase difference method or the like. Also, the camera 41 is not limited to a monocular camera, and a stereo camera may be used. In this case as well, distance image data can be obtained.

[0021] The positioning unit 421 is a GNSS (Global Navigation Satellite System) receiver that measures the current position of the unmanned aircraft 40 itself. In the positioning unit 421 of this embodiment, RTK (Real Time Kinematic), which is more accurate than GPS (Global Positioning System), is applied. The azimuth sensor 422 is a three-axis gyro azimuth angle sensor that detects the traveling direction of the unmanned aircraft 40 and the tilt angle of the aircraft body. The height sensor 423 is, for example, an optical type that projects light downward and detects the height of the aircraft body from the phase difference generated in the reflected light. The attitude sensor 424 consists of a three-dimensional acceleration sensor and detects the acceleration in each direction of the X-axis, Y-axis, and Z-axis defined for the unmanned aircraft 40. The attitude of the aircraft body can be detected from the gravitational acceleration detected for each of these axes. The microphone 425 has directivity and detects the sound of an object located ahead in the same direction as the line of sight of the camera 41. The temperature sensor 426 is a non-contact so-called radiation thermometer that detects the temperature of an object located ahead in the same direction as the line of sight of the camera 41. Note that each of these sensors only needs to be able to detect the desired information, and the type of sensor and detection principle, etc. are not limited to those described above.

[0022] The first communication unit 471 performs data communication with the base station 120 via the satellite 110. The second communication unit 472 directly performs data communication with the base station 150.

[0023] The drive unit 43 is configured to output thrust for the movement operation of the unmanned aircraft 40 and includes a plurality of rotors and motors, which are a plurality of rotational drive sources provided for each rotor. The drive unit 43 is controlled by the control unit 44 so that the aircraft body moves toward the target moving direction.

[0024] The data storage unit 45 is a non-volatile storage device that stores the control program of the unmanned aircraft 40 and various types of information related to control. The memory 46 stores imaging image data obtained by imaging with the camera 41, detection data detected by the microphone 425 and the temperature sensor 426, and the like. Note that the memory 46 may be composed of a non-volatile storage device. Further, the memory 46 may be composed of a removable recording medium. In that case, using the removed recording medium, the imaging image data and the detection data can be transferred to the external information terminals 60 and 70 and the management server 50 without passing through the network 130.

[0025] The control unit 44 comprehensively controls each part of the unmanned aerial vehicle 40 based on the control program stored in the data storage unit 45 and control commands transmitted from the information terminals 60 and 70. For example, the control unit 44 acquires information on the position and attitude of the unmanned aerial vehicle 40 during imaging and detection from the azimuth sensor 422 and the attitude sensor 424, and records it in the memory 46 in association with the imaging image data and the detection data (hereinafter, the imaging image data and the detection data associated with the information on the position and attitude of the unmanned aerial vehicle 40 during imaging and detection are referred to as "diagnostic information data"). Further, the control unit 44 transmits this diagnostic 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.

[0026] [Work machine] Next, the work machine 20 will be described. FIG. 3 is a side view of the work machine 20. In this embodiment, as the working machine 20, a so-called mobile crawler crane is exemplified. Regarding the description of the following working machine 20, the direction in which the rope is suspended from the boom as viewed from the turning center of the working machine 20 is defined as "front", the direction opposite to the front (in other words, the side where the counterweight is arranged from the turning center) is defined as "rear", the left side in the state facing the front is defined as "left", and the right side in the state facing the front is defined as "right". Note that the expressions of front and rear between specific locations of the working machine 20 can be relatively expressed as appropriate. For example, when comparing the first specific location on the "front" side and the second specific location on the "front" side in the front-rear direction of the working machine 20, if the second specific location is located between the first specific location and the turning center of the working machine 20, the second specific location is relatively expressed as being located on the "rear" side when viewed from the first specific location. Also, when comparing the first specific location on the "rear" side and the second specific location on the "rear" side in the front-rear direction of the working machine 20, if the second specific location is located between the first specific location and the turning center of the working machine 20, the second specific location is relatively expressed as being located on the "front" side when viewed from the first specific location.

[0027] As shown in FIG. 3, the working machine 20 includes a lower traveling body 21 as a main body portion and an upper slewing body 22. The lower traveling body 21 is a crawler-type traveling body capable of self-propulsion, and the upper slewing body 22 is rotatably mounted on the lower traveling body 21. The working machine 20 further includes a front attachment 23 attached to the front side of the upper slewing body 22 so as to be able to move up and down.

[0028] The upper slewing body 22 has a slewing frame 221 extending in the front-rear direction. A boom attachment portion 222 is provided on the front side of the slewing frame 221, and the proximal end 249 of a boom 24 described later is rotatably attached to the boom attachment portion 222.

[0029] Further, in the slewing frame 221, a mast attachment portion 223 is provided near the rear side of the boom attachment portion 222. The base end of a mast 224, which will be described later, is rotatably attached to this mast attachment portion 223. Further, in the slewing frame 221, on the rear side of the mast attachment portion 223, the base end of a backstop 225, which will be described later, is rotatably attached.

[0030] A main hoist winch (not shown) is attached to the slewing frame 221. On the rear side of the slewing frame 221, a front attachment 23 and a counterweight 226 for balancing the weight of the suspended load are arranged. Also, on the rear side of the slewing frame 221, a boom hoist winch or the like (not shown) is arranged. On the other hand, on the front right side of the slewing frame 221, a cab 227 in which a driver's seat and various operating devices (none of which are shown) are arranged is provided.

[0031] The front attachment 23 is provided on the upper slewing body 22 and is used to transport loads such as materials between the ground and high places. The front attachment 23 has a boom 24. Note that the front attachment 23 may have a configuration including a tower boom, a tower jib, and a tower strut. The boom according to the present invention is a concept including a tower boom and a tower jib.

[0032] The boom 24 is attached to the upper slewing body 22 so as to be able to rise and fall. The boom 24 includes a lower boom 241 whose base end (foot portion) 249 is attached to the boom attachment portion 222 of the slewing frame 221 so as to be able to rise and fall, a plurality (for example, three stages) of 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 on the most tip side. A guide sheave 254 and a point sheave 255 are rotatably attached to the tip side of the upper boom 243. The guide sheave 254 and the point sheave 255 are for winding a main hoist rope 256, which will be described later.

[0033] As shown in the figure, each column member of the intermediate booms 242 adjacent in the length direction is connected using a connecting pin. Also, between the lowermost intermediate boom 242 and the lower boom 241, and between the uppermost intermediate boom 242 and the upper boom 243, they are connected using connecting pins respectively.

[0034] One end side of the main winding rope 256 is wound around the main winding winch (not shown in detail). The other end side of the main winding rope 256 is attached to the sling 28 via the point sheave 255 at the tip of the boom 24. Therefore, by winding in and paying out the main winding rope 256 with the main winding winch, the sling 28 can be raised and lowered.

[0035] The backstop 225 is provided between the slewing frame 221 and the lower boom 241 of the boom 24. This backstop 225 supports the erected boom 24 from behind.

[0036] The base end of the mast 224 is rotatably attached to the mast attachment portion 223 of the slewing frame 221. The tip of the mast 224 is a free end that can rotate in the vertical direction or the front - rear direction. A boom spreader 228 is provided at the tip of the mast 224. Between this boom spreader 228 and the upper boom 243 of the boom 24, they are connected via a pendant rope 229 having a certain length. Also, the boom hoisting rope 291 wound successively across the boom spreader 228 and a spreader (not shown) on the slewing frame 221 side is wound around a boom hoisting winch (not shown) provided on the slewing frame 221.

[0037] Therefore, by winding in or paying out the boom hoisting rope 291 with the boom hoisting winch, the boom 24 can be hoisted (erected or laid down) via the pendant rope 229.

[0038] Figure 4 is a block diagram showing the control system of the work machine 20. As shown in this figure, the working machine 20 includes a controller 31 that comprehensively controls each part of the working machine 20. More specifically, the controller 31 executes control of various operations such as traveling, turning, and lifting loads of the working machine 20, and processing of abnormality detection. The controller 31 is configured to include an arithmetic processing unit having a CPU, a ROM and a RAM which are storage devices, and other peripheral circuits.

[0039] In addition, the working machine 20 is provided with sensors for acquiring information regarding the states of each part of the working machine 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, a depth gauge 326, a turning angle sensor 327, and the like. Note that these sensors do not necessarily have to be provided in the working machine 20, and instead of the values measured by these sensors, a sensor not provided in the working machine 20 or a value measured visually by an operator may be used.

[0040] The load cell 321 is attached to the boom spreader 228, detects the tension acting on the boom hoisting rope 291 that raises and lowers the boom 24, and outputs a control signal corresponding to the detected tension to the controller 31.

[0041] The boom angle sensor 322 is attached to the base end 249 side of the boom 24, detects the hoisting angle of the boom 24 (hereinafter also referred to as the boom angle), and outputs a control signal corresponding to the detected boom angle to the controller 31. The boom angle sensor 322 detects, for example, the angle with respect to the horizontal plane, i.e., the ground angle, as the boom angle.

[0042] The jib angle sensor 324 is attached to the base end side of the tower jib when the tower jib is in use, detects the hoisting angle of the tower jib (hereinafter also referred to as the jib angle), and outputs a control signal corresponding to the detected jib angle to the controller 31. The jib angle sensor 324 detects, for example, the angle with respect to the horizontal plane, i.e., the ground angle, as the jib angle.

[0043] The operation amount sensor 323 detects, for example, the operation amount of a hydraulic pilot-operated operation lever, and outputs a control signal corresponding to the detected operation amount to the controller 31.

[0044] The inclination sensor 325 detects the inclination of the working machine 20, that is, the inclination of the ground on which the working machine 20 is located, and outputs it to the controller 31. The lift gauge 326 detects the height position of the lifting tool 28 and outputs it to the controller 31. The turning angle sensor 327 measures the turning angle of the upper slewing body 22 with respect to the lower traveling body 21 and outputs it to the controller 31.

[0045] The working machine 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 operation lever 37, and a control valve 38.

[0046] The input unit 331 is, for example, a touch panel, and outputs a control signal corresponding to an operation by the operator to the controller 31. The operator can operate the input unit 331 to set the number of wraps of the main hoist rope 256, the boom length, the form of the boom 24, the mass of the lifting tool 28, etc. The display device 332 includes, for example, a touch panel type display also used as the input unit 331, and displays information on the suspended load, information on the working posture, etc. on the display screen based on a control signal output from the controller 31.

[0047] The alarm 341 generates an alarm based on a control signal output from the controller 31. The stop device 342 stops the drive of a hydraulic motor (not shown) connected to each of the main winch and the jib hoisting winch based on a control signal output from the controller 31. The stop device 342 is, for example, an electromagnetic switching valve capable of shutting off the supply of pressure oil from the hydraulic pump to the hydraulic motor.

[0048] The first communication unit 351 performs data communication with the base station 120 via the satellite 110. The second communication unit 352 directly performs data communication with the base station 150.

[0049] The control valve 38 is composed of a plurality of valves that can be switched according to a control signal from the controller 31. For example, the control valve 38 includes a valve that supplies, cuts off, and switches the rotation direction of hydraulic pressure from a hydraulic pump provided in the work machine 20 to a hydraulic motor that rotationally drives the drive wheels of the lower traveling body 21, a valve that supplies, cuts off, and switches the rotation direction of hydraulic pressure from the hydraulic pump to a hydraulic motor that performs a turning operation of the upper slewing body 22, a valve that supplies, cuts off, and switches the rotation direction of hydraulic pressure from the hydraulic pump to a hydraulic motor that rotationally drives a boom hoisting winch, a valve that supplies, cuts off, and switches the rotation direction of hydraulic pressure from the hydraulic pump to a hydraulic motor that rotationally drives a jib hoisting winch, a valve that supplies, cuts off, and switches the rotation direction of hydraulic pressure from the hydraulic pump to a hydraulic motor that rotationally drives a main hoist winch, and the like.

[0050] The operation lever 37 is composed of a plurality of levers that input control signals for individually switching various valves of the control valve 38 through the controller 31. For example, a traveling lever, which is one of the operation levers 37, inputs a switching signal to a valve that supplies, stops, and switches the rotation direction of hydraulic pressure to a hydraulic motor that rotationally drives the drive wheels of the lower traveling body 21 described above. In addition, a slewing lever, which is one of the operation 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 a hydraulic motor that performs a turning operation of the upper slewing body 22 described above. In addition, a boom hoisting lever, which is one of the operation 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 a hydraulic motor that rotationally drives a boom hoisting winch described above. Also, the jib hoisting lever, which is one of the operation levers 37, inputs a switching signal to a valve that supplies, stops, and switches the direction of rotation of hydraulic pressure from the hydraulic pump described above to a hydraulic motor that rotationally drives the jib hoisting winch when using the tower boom and the tower jib. Also, the hoisting lever, which is one of the operation levers 37, inputs a switching signal to a valve that supplies, stops, and switches the direction of rotation of hydraulic pressure from the hydraulic pump described above to a hydraulic motor that rotationally drives the main hoist winch.

[0051] The controller 31 inputs a control signal corresponding to the supply, stop, and switching of the direction of rotation of hydraulic pressure to each valve that constitutes the corresponding control valve 38 according to the operation of various levers that constitute the operation lever 37, and executes the control of each hydraulic motor. Thereby, the operator can execute the traveling operation of the work machine 20, the turning operation of the upper swing body 22, the hoisting and lowering operation of the boom 24, the hoisting and lowering operation of the tower jib when using the tower jib, and the lifting and lowering operation of the lifting tool 28 by operating the operation lever 37.

[0052] [Management server] FIG. 5 is a block diagram showing the configuration of the management server 50. As shown in this figure, the management server 50 has 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 and peripheral circuits, etc. The control device 51 controls each part of the management server 50 by reading and executing a control program stored in advance 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 according to a predetermined procedure. A display device 54 is connected to the control device 51, and the control device 51 displays the information stored in the storage unit 52, the inspection information database 140, and the customer information database 160 on the display screen of the display device 54.

[0053] The control device 51 is connected to an inspection information database 140 and a customer information database 160. In the inspection information database 140, date and time information, work machine ID of the work machine 20, diagnosis results, etc. received by the control device 51 from the unmanned aircraft 40 via the base stations 120 and 150 (including the case via the work machine 20) are stored in an associated manner. In the customer information database 160, the work machine ID of the work machine 20, customer information regarding the customer who owns the work machine 20, and the customer's delivery address are stored in an associated manner. Note that the delivery address of the customer corresponding to one work machine ID can be set arbitrarily. Thereby, when the information in the inspection information database 140 of the work machine is updated for a specific work machine 20, etc., the control device 51 identifies the customer and their delivery destination, and transmits the updated information of the work machine 20 or notifies the update. Further, when there is an access from the customer side, the control device 51 may transmit or permit viewing of various information recorded in the inspection information database 140 of the work machine regarding the customer's work machine 20. In that 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 accessing from the customer side. It is preferable to register that password in the customer information database 160 as well.

[0054] Based on the diagnostic information data including the captured image data and detection data acquired from the unmanned aircraft 40, the control device 51 performs a diagnostic process to determine whether or not an abnormality has occurred regarding the following inspection items for the inspection points of the work machine 20. The inspection items are as follows, for example. (1) Cracks, deformations, damages, corrosions of the boom (these when using the tower boom and tower jib) (2) Wear and damages of the foot pin, joint pin, and bush (3) Wear, damage, kinking, terminal state, corrosion of the wire rope (4) Damage and corrosion of the pendant rope (5) Cracks, deformations, damages, corrosions of each spreader, hanger, and tower strut (6) Cracks, deformations, wear, and corrosion of the load hook (7) Operating state, deformation, and damage of the wire retention of the load hook (8) Loosening of the nut of the load hook, damage, and corrosion of the threaded part (9) Wear, deformation, damage, and corrosion of each sheave (10) Operating state of the overwind prevention device of the load hook, boom (these when using the tower boom and tower jib) (11) Operating state of the load cell and boom angle sensor (12) Deformation, damage, and corrosion of the backstop (13) Presence or absence of attachment to the normal position of the attachment, attachment state (such as forgetting to tighten bolts, falling off, etc.)

[0055] [Information terminal] FIG. 6 is a block diagram showing a schematic control system of the information terminals 60 and 70. Since the information terminals 60 and 70 of the present embodiment are similarly configured, the information terminal 60 will be described below, and the description of the information terminal 70 will be omitted. The information terminal 60 is a terminal device such as a personal computer, a smartphone, or a tablet terminal, and as shown in FIG. 6, includes an input unit 61, a display unit 62, a communication unit 63, a storage unit 64, and a control unit 65.

[0056] The input unit 61 includes, for example, a touch panel, and outputs an input signal corresponding to the operation content of the touch panel by the user to the control unit 65. The display unit 62 includes, for example, a touch panel type display, and displays various information on the display based on the display signal input from the control unit 65. The communication unit 63 can perform data communication (transmission and reception) with the work machine 20, the unmanned aerial vehicle 40, the management server 50, etc. via the network 130. This communication unit 63 also functions as an information transmission means for transmitting flight information for flying the unmanned aerial vehicle 40 along the flight path set by the control unit 65 (flight path setting means) to the unmanned aerial vehicle 40. Note that the communication unit 63 may be configured to be able to communicate directly with the work machine 20, the unmanned aerial vehicle 40, and the management server 50.

[0057] The storage unit 64 is a memory composed of a RAM (Random Access Memory), a ROM (Read Only Memory), etc., stores various programs and data, and also functions as a work area for the control unit 65. In this embodiment, the storage unit 64 stores in advance a program 641 for executing a flight path creation process (see FIG. 9) described later.

[0058] Also, the storage unit 64 has a work machine information database (DB) 642 in which various information about the work machine is stored. In the work machine information DB 642, a plurality of model information (model names) and information regarding the structure of each model (including shape and main dimensions of each part) are stored in association with each other. The information regarding the structure of the work machine includes, for example, types such as the undulation method (A-frame, live mast, both), the tower jib undulation method (swing lever, rauffer), the front specification (crane only, tower only, both), etc. Note that the work machine information DB 642 does not have to store all of the above information, and at least any one of the above information may be stored. Note that the work machine information DB 642 may be stored in another device (for example, the management server 50, etc.) that the information terminal 60 can communicate with (read information from).

[0059] The control unit 65 comprehensively controls the information terminal 60 based on a user operation or the like. Specifically, the control unit 65 reads out various programs from the storage unit 64 according to an operation signal or the like input from the input unit 61, executes a predetermined process according to the program, temporarily stores the processing result in the storage unit 64, and appropriately outputs it to the display unit 62.

[0060] [Outline of the flight path creation process of the unmanned aerial vehicle] FIG. 7 is a perspective view showing an example of the flight path R created by the support device 100. FIG. 8 is a front view showing the work machine 20 installed on the left and right sloping ground. Hereinafter, as an example, as shown in FIG. 7, a case will be described in which the unmanned aerial vehicle 40 flies along a flight path R that changes height in multiple stages from near the tip of the boom 24 to the height of the upper swing body 22 while orbiting around the boom 24.

[0061] First, an overview will be described. As shown in FIG. 8, when the work machine 20 is installed on the left and right sloping ground, the boom 24 is inclined in the left-right direction. In addition, the boom 24 may be deformed in the left-right direction. If there is no deformation, when the work machine 20 is viewed from the front, the perpendicular line L0 of the sloping ground and the center line L2 of the boom 24 are parallel. However, due to the deformation, a deviation occurs between the perpendicular line L0 and the center line L2 of the boom 24. And the positional deviation of the center line L2 of the boom 24 becomes larger on the tip side than on the base end 249 side. Therefore, if the flight path is created based on the left and right inclination angles of the installation surface without considering the deformation, the flight path may approach the boom 24 too closely on the tip side of the boom 24.

[0062] Therefore, in the present embodiment, the control unit 65 determines the flight path based on the positional deviation ΔX in the left-right direction between the upper swing body 22 and the tip of the boom 24. The positional deviation ΔX represents the relative position in the left-right direction of the tip of the boom 24 from the reference position (for example, the center) of the upper swing body 22 where the base end 249 of the boom 24 is located. That is, the line segment L1 connecting the base end 249 and the tip of the boom 24 can be specified by the positional deviation ΔX. As shown in FIG. 8, even if the boom 24 has left and right deformations, the deviation from the center line L2 of the boom 24 does not increase when the work machine 20 is viewed from the front.

[0063] Therefore, the flight path determined based on the positional deviation ΔX will not approach the boom 24 too closely and will be an appropriate path that does not interfere with work support.

[0064] Incidentally, when the boom 24 has lateral flexure, the line segment L1 connecting the tip and the base end 249 of the boom 24 does not overlap with the center line L2 of the boom 24, and the amount of deviation is relatively large at the center in the longitudinal direction of the boom 24. Therefore, the flight path determined based on the displacement ΔX does not become a flight path that accurately reflects the lateral flexure of the boom 24.

[0065] On the other hand, by accurately measuring the amount of lateral flexure of the boom 24 and inputting the detailed flexure amount data to the control unit 65, a flight path that accurately reflects the lateral flexure can be created. However, in this case, the measurement of the flexure amount and the data input of the flexure amount become extremely complicated.

[0066] In the present embodiment, by measuring the displacement in the lateral direction between the upper swing body 22 and the tip of the boom 24 and inputting the data of the displacement, the flexure of the boom 24 can be simply considered within a range that does not interfere with the work support. Therefore, in the present embodiment, complicated measurement processing and complicated data input as described above are not required.

[0067] [Details of the flight path creation process of the unmanned aerial vehicle] Subsequently, details will be described. FIG. 9 is a flowchart showing the procedure of the work support process including the flight path creation process. The flight path creation process is realized by the computer of the support device 100 executing the above-described path setting program. The computer is the control unit 65 of the information terminals 60 and 70, but it may be executed by another computer that communicates with and interlocks with the information terminals 60 and 70. FIG. 10 is a diagram for explaining a detailed example of the process of step S1 in FIG. 9. FIG. 11 is a diagram for explaining a detailed example of the process of step S2 in FIG. 9. FIG. 12 is a diagram of the display image output to the display unit 62 in step S3. FIG. 10(A) is a front view of the work machine 20 during the process of step S1, and FIG. 10(B) is a plan view of the work machine 20 during the process of step S1. FIG. 11(A) is a front view of the work machine 20 during the process of step S2, and FIG. 11(B) is a side view of the work machine 20 during the process of step S2. FIG. 12 is a diagram of the display image output to the display unit 62 in step S3.

[0068] When an operator inputs a start command for the work support process from the input unit 61, the control unit 65 starts the work support process. Then, the control unit 65 first performs a process of acquiring information on the position and orientation of the upper swing body 22 in cooperation with the operator (step S1). In step S1, first, the control unit 65 outputs the processing content of the operator from the display unit 62 so that the operator sequentially places the unmanned aerial vehicle 40 at the predetermined positions P1 to P3 in FIGS. 9(A) and (B) and notifies by an input operation after placing. Then, if there is a notification indicating placement, the control unit 65 inputs the position information of the unmanned aerial vehicle 40 at that time as the position information of the predetermined positions P1 to P3. The position information is obtained by measurement of the positioning unit 421 of the unmanned aerial vehicle 40 and is transmitted from the unmanned aerial vehicle 40 to the control unit 65 by wireless communication. The predetermined positions P1 to P3 are set at three points on the crawler 211 of the lower traveling body 21, for example. Therefore, the control unit 65 can calculate the position and orientation of the lower traveling body 21 based on the position information.

[0069] Furthermore, in step S1, the control unit 65 acquires information on the turning angle of the upper swing body 22 measured by the turning angle sensor 327. This information may be received by wireless communication from the controller 31 of the working machine 20 or may be received by communication via the management server 50. Then, the control unit 65 acquires the position and orientation of the upper swing body 22 by calculation from the position and orientation of the lower traveling body 21 based on the position information of the predetermined positions P1 to P3 and the information on the turning angle.

[0070] Note that in step S1, the control unit 65 may place the unmanned aerial vehicle 40 at a plurality of locations on the upper swing body 22 and acquire the position information of the locations. In this case, the control unit 65 can calculate the position and orientation of the upper swing body 22 without using the output of the turning angle sensor 327.

[0071] Next, the control unit 65 performs a process of acquiring the left-right position information of the tip of the boom 24 in cooperation with the operator (step S2). As a specific example, in step S2, first, the control unit 65 lowers the sling 28 to the same height as the upper swing body 22 or the lower traveling body 21 by the operator operating the work machine 20. Subsequently, the operator places the unmanned aerial vehicle 40 below the sling 28 and, when placed, outputs the processing content of the operator from the display unit 62 so as to notify by an input operation. Then, as shown in FIGS. 11(A) and (B), when the sling 28 is lowered, the unmanned aerial vehicle 40 is placed, and there is a notification indicating the placement, the control unit 65 inputs the position information of the unmanned aerial vehicle 40 at that time. Further, the control unit 65 calculates the left-right direction from the information on the orientation of the upper swing body 22 acquired in step S1, and calculates the relative distance ΔXa in the left-right direction of the unmanned aerial vehicle 40 with respect to the upper swing body 22 from the position information of the unmanned aerial vehicle 40. At this time, since the unmanned aerial vehicle 40 is positioned vertically below the tip of the boom 24, the relative distance ΔXa is a value correlated with the lateral positional deviation ΔX between the upper swing body 22 (for example, its center) and the tip of the boom 24.

[0072] Note that in step S2, when the magnitude of the calculated positional deviation ΔX exceeds a threshold value indicating an excessive positional deviation, the control unit 65 may perform an error determination, output a warning to the operator, and prompt attention.

[0073] Subsequently, the control unit 65 outputs, from the display unit 62, information for the operator to compare and verify whether the magnitude of the positional deviation ΔX acquired in step S2 matches the actual positional deviation (step S3). The information output is an output that enables comparison between the actual positional deviation in the left-right direction between the main body of the working machine 20 (lower traveling body 21 or upper slewing body 22) and the tip of the boom 24, and the positional deviation acquired by the support device 100. As shown in FIG. 12, the display image is a virtual image when the working machine 20 is viewed from the front. In the image, an image E1 of the lifting tool 28 is synthesized at a position corresponding to the positional deviation calculated in step S2. Further, scale marks g1 to g9 indicating the amount of positional deviation (for example, scale marks g1 to g9 provided at intervals of a unit distance (for example, 25 cm) from the center) are synthesized in the image.

[0074] The operator can check whether there is a large error in the positional deviation calculated by the control unit 65 by comparing the output in FIG. 12 with the state of actually viewing the working machine 20 from the front. The cause of a large error in the positional deviation may be that the type of the pre-registered front attachment 23 or the information on the elevation angle of the boom 24 is incorrect. Therefore, based on the output in FIG. 12, the operator can also check whether there is an error in this information.

[0075] Then, the control unit 65 performs a process of determining whether the calculated positional deviation is consistent (step S4). If it is consistent, the process proceeds to the next step. On the other hand, if it is inconsistent, the process returns to step S2 and the process from step S2 is repeated. The determination process in step S4 is realized by outputting to the operator, via the display unit 62, a query as to whether it is consistent or inconsistent, and inputting, via the input unit 61, the determination result of whether it is consistent or inconsistent from the operator.

[0076] Subsequently, based on the information acquired in steps S1 and S2 and other information regarding the boom 24, the control unit 65 calculates the positions of the proximal end 249 and the tip of the boom 24 (step S5). Specifically, in step S5, the control unit 65 first calculates the position of the proximal end 249 of the boom 24 based on the information in step S1. Next, the control unit 65 calculates the position of the tip of the boom 24 based on the information in steps S1 and S2 and other information regarding the boom 24. The other information includes the position information and height information of the boom 24 in the front-rear direction, and the control unit 65 receives this information from the controller 31 of the working machine 20 via communication. The reason why the control unit 65 does not calculate this information by itself will be described in detail later. From the amount of displacement of the tip of the boom 24 in the left-right direction and the position and height in the front-rear direction, the control unit 65 can calculate the position of the tip of the boom 24.

[0077] Next, the control unit 65 estimates the spatial coordinates in which the boom 24 is arranged (step S6). Specifically, in step S6, the control unit 65 reads out the information on the outer shape of the boom 24 (the arrangement information of each main member and each diagonal member) from the working machine information database 642. Then, the control unit 65 calculates the spatial coordinates in which the boom 24 is arranged by fitting the information on the outer shape to the positions of the proximal end 249 and the tip of the boom 24 calculated in step S5. The spatial coordinates represent a group of coordinates at which the boom 24 is located in the coordinate system set in the space where the working machine 20 is installed.

[0078] Note that when the boom 24 has a configuration in which the tower boom and the tower jig are connected, the information on the outer shape of the boom 24 described above further includes the information on the undulation angle of the tower jig with respect to the tower boom. Based on the information on the undulation angle, the overall outer shape of the boom 24 in which the tower boom and the tower jig are integrated can be specified, and the spatial coordinates in which the boom 24 is arranged can be calculated by the calculation in step S6.

[0079] In step S6, the control unit 65 may calculate the above spatial coordinates on the assumption that there is no lateral bending in the boom 24. Alternatively, the control unit 65 may correct the information on the outer shape of the boom 24 on the assumption that average bending is occurring, and then calculate the above spatial coordinates. In the lateral direction, as shown in FIG. 8, the errors e1 to e3 in the position of the boom 24 caused by the bending of the boom 24 become larger near the center in the longitudinal direction of the boom 24. However, if the positions of the tip and the base end 249 of the boom 24 are accurate, the errors e1 to e3 will be within a range that does not pose a problem for the flight of the unmanned aerial vehicle 40.

[0080] Subsequently, based on the spatial coordinates of the space where the boom 24 is arranged, which are estimated in step S6, as shown in FIG. 7, the control unit 65 determines a flight path R for flying the unmanned aerial vehicle 40 around the boom 24 (step S7). The flight path R is calculated by developing a predetermined path pattern in the spatial coordinate system in correspondence with the arrangement of the boom 24. The path pattern may include various path patterns, for example, a path pattern that orbits around the boom 24 at a plurality of heights from the tip of the boom 24 to the height of the upper revolving body 22 (see FIG. 7), and a path pattern that moves at a plurality of heights along a specific side surface (for example, the front, left, or rear surface) of the boom 24. And a configuration may be adopted in which one of the plurality of path patterns is selected by an operator through a selection operation or the like. These path patterns are patterns that approach the boom 24 with a margin distance, and the error e2 (see FIG. 8) caused by the bending of the boom 24 is smaller than the margin distance. Therefore, the flight path R determined in step S7 does not contact the boom 24.

[0081] The data of the flight path R created in step S7 may be a set of coordinates of a plurality of ordered points. An example of the plurality of points is represented by the black dot in FIG. 7. And a path obtained by connecting two consecutive point coordinates with a predetermined line (for example, a straight line) may be the data structure representing the flight path R.

[0082] Once the flight path R is created, the control unit 65 outputs an image that simply shows the working machine 20 and the flight path R (step S8), and waits for an instruction to start the work support process from the operator (step S9). Then, when an instruction to start is given via the input unit 61, the control unit 65 causes the unmanned aerial vehicle 40 to fly along the flight path R and executes the work support process for the unmanned aerial vehicle 40 (step S10).

[0083] [Regarding the front - rear height information used in step S5] Here, details of the front - rear height information used in step S5, that is, the position information in the front - rear direction and the height information of the tip of the boom 24 will be described. The boom 24 can change its undulating angle, and as the undulating angle changes, the inclination angle in the front - rear direction changes. Further, when the inclination angle in the front - rear direction changes, the amount of deflection of the boom 24 in the front - rear direction changes. On the other hand, the controller 31 of the working machine 20 performs correction processing corresponding to the amount of deflection of the boom 24 in the front - rear direction in order to accurately grasp the position of the suspended load. That is, the controller 31 holds the position information (position information in the front - rear direction and the height direction) of the tip of the boom 24 that accurately reflects the deflection in the front - rear direction.

[0084] Therefore, in step S5, the control unit 65 of the support device 100 does not separately calculate the position information of the tip of the boom 24 that reflects the deflection in the front - rear direction, but receives the already - calculated information from the controller 31 of the working machine 20. By such processing, duplication of calculation processing can be omitted, and the efficiency of processing can be improved.

[0085] Note that in step S5, the control unit 65 may calculate the position information of the tip of the boom 24 that reflects the deflection in the front - rear direction. Also, the control unit 65 may calculate the position of the tip of the boom 24 in the front - rear direction based on the position information in the front - rear direction among the position information below the suspension tool 28 acquired in the process of step S2. Further, the control unit 65 may output a warning when the difference between the calculated position in the front - rear direction and the position in the front - rear direction received from the controller 31 exceeds a threshold value.

[0086] According to the work support process as described above, even when the boom 24 has a left-right inclination and a left-right deflection, the operator can create a flight path R corresponding to the above inclination and deflection by simply performing a simple setting process. The simple setting process is a process in which the operator lowers the lifting tool 28 to the height of the upper revolving body 22 or the lower traveling body 21, places the unmanned aerial vehicle 40 under the lifting tool 28 at that height, and performs an input operation. Therefore, even when performing work support for the work machine 20 installed at an inclined location, the operator can perform appropriate work support without being troubled by complicated setting inputs.

[0087] The left-right deflection of the boom 24 may be obtained by performing a complicated structural calculation from the structural data of the boom 24 and the inclination angle of the installation surface. Alternatively, the left-right deflection of the boom 24 may be measurable by making full use of surveying techniques. However, in order to accurately perform the above structural calculation, accurate structural data of each part of the boom 24 must be prepared. Furthermore, the above surveying is very complicated, and surveying itself may become difficult if the site is narrow. According to the support device 100 of the present embodiment, an effect that the setting process can be greatly simplified can be obtained compared with the above means.

[0088] [Detailed Example of Setting Screen] Subsequently, a detailed example of the setting screen output to the display unit 62 in the above work support process is shown. FIGS. 13 to 19 show detailed examples of the setting screen output to the display unit 62 in the work support process.

[0089] FIG. 13 shows the top screen 701 of the setting screen. On this screen, buttons 721 to 727 for flight settings, machine type use registration, flight information settings, position registration, left and right tilt registration, live view, and reset are displayed. The flight settings button 721 is a button for calling up the flight route setting screen 710 in FIG. 19A. The machine type specification registration button 722 is a button for calling up a screen for registering the machine type specification of the working machine 20. The flight information settings button 723 is a button for calling up a screen for setting the flight information of the unmanned aerial vehicle 40. The position registration button 724 is a button for calling up the position information registration screen of the working machine 20. The position information registration screen is a screen for registering the position information obtained with the position information in step S2 of FIG. 9. The left and right tilt registration button 725 is a button for calling up the registration screen 707 in FIG. 17(A). The live view button 726 is a button for calling up a screen for outputting the video being shot by the camera 41 of the unmanned aerial vehicle 40. The reset button 727 is a button for returning the registered information and the setting information to the default information.

[0090] FIG. 14(A) shows the machine type specification confirmation screen 702 of the working machine 20. The screen 702 is a screen output by pressing the above-mentioned machine type specification registration button 722 or a screen that can be further called from this screen. On this screen, information 731 to 734 such as the machine type of the working machine 20, the specification of the front attachment 23, the posture of the working machine 20, and the shoe width of the crawler are output.

[0091] Furthermore, on the confirmation screen 702, information on each part of the front attachment 23 corresponding to the specifications of the front attachment 23 is output. FIG. 14(A) shows a case where a tower specification including a tower boom and a tower jib is selected as the specification of the front attachment 23. In this case, on the confirmation screen 702, the type, length, angle of the tower boom, the weight of the hook (lifting tool) suspended from the tower boom (including the presence or absence of the hook), the length, angle of the tower jib, the weight of the jib hook (lifting tool) suspended from the jib (including the presence or absence of the jib hook), the suspension length of the hook, the presence or absence of a short jib, the weight of the short jib hook (lifting tool) suspended from the short jib (including the presence or absence of the short jib hook), and each piece of information 735 to 745 on the suspension length of the short jib hook are output.

[0092] Furthermore, the confirmation screen 702 includes a change button 746 for changing the information 731 to 734, a change button 747 for changing the information 735 to 745, and an OK button 748 indicating completion of confirmation. By operating the change button 746 and operating the row of the information to be changed among the information 731 to 734, the information to be changed can be changed. Similarly, by operating the change button 747 and operating the row of the information to be changed among the information 735 to 745, the information to be changed can be changed.

[0093] FIG. 14(B) shows a change screen 703 for the information 731 on the model of the work machine 20. On the change screen 703, a window 751 in which a plurality of model names as change candidates are listed is output. The operator can change the information 731 on the model of the work machine 20 to that of the selected model name by selecting and operating the model name after the change from the list display in the window 751.

[0094] FIG. 15(A) shows a change screen 704 for the information 736 on the length of the tower boom of the front attachment 23. On the change screen 704, a window 752 in which a plurality of lengths as change candidates are listed is output. The operator can change the information 736 on the length of the tower boom to that of the selected length by selecting and operating the length after the change from the list display in the window 752.

[0095] FIG. 15(B) shows a change screen 705 for the weight information 741 of the jib hook of the front attachment 23. On the change screen 705, a window 753 in which a plurality of candidate weights for change are listed is output. An operator selects the weight after the change from the list display in the window 753, and thereby the weight information 741 of the jib hook is changed to the selected weight.

[0096] FIG. 16 shows a screen 706 for registering the model specifications of the working machine 20. The screen 706 is called by operating the model specification registration button 722 on the top screen 701 in FIG. 13. The screen 706 is a scrollable screen, and a plurality of items 761 (items corresponding to the information 737 to 745 in FIG. 16) corresponding to the plurality of information 731 to 745 shown in FIG. 14(A) are output. The plurality of items 761 include items in which measurement data of the working machine 20 is registered by communication with the working machine 20 and items 761 (items indicated by ">" in FIG. 16) input by an operator. When the operator selects an item 761 to be input, the same output as the screens 703 to 705 in FIGS. 14(B), 15(A), and 15(B) is made, and the operator can input data.

[0097] FIG. 17(A) shows a registration screen 707 for left and right inclination. The screen 707 is a screen output by pressing the left and right inclination registration button 725 on the top screen 701. On the screen 707, a frame 770 in which the input left and right inclination information is displayed, an image frame 771 in which an explanation of the input method is displayed, and buttons 772 to 774 for coordinate input, numerical input, and OK are all output. The coordinate input button 772 is a button for performing data registration using the positioning function of the unmanned aerial vehicle 40. The numerical input button 773 is a button for the operator to input the numerical value of the left and right inclination. The OK button 774 is a button for returning to the top screen 701.

[0098] FIG. 17(B) shows a coordinate input screen 708 called by operating the coordinate input button 772 in FIG. 17(A). On this screen 708, there are an image 776 explaining the coordinate input method, a plurality of information items 777 to which the input information is output, a hook type selection button 778 for selecting the type of hook (lifting tool) for placing the unmanned aircraft 40 downward when acquiring coordinates, a position acquisition button 779 for notifying the acquisition timing of the coordinate position, and an OK button 780. The image 776 is an image explaining the processing content of the operator in step S2 of FIG. 9. The position acquisition button 779 is a button for notifying the placement of the unmanned aircraft 40 in step S2 of FIG. 9. The plurality of information items 777 include the latitude and longitude measured by the unmanned aircraft 40, the working radius calculated from the latitude and longitude, the working radius calculated from the aircraft specifications, the angle of left and right inclination, the distance in the left and right directions from the base end 249 (foot portion) of the boom 24 to the tip of the boom 24, and the reference station used for RTK (Real Time Kinematic) positioning. Among these, the latitude, longitude, working radius calculated from the latitude and longitude, angle of left and right inclination, and distance in the left and right directions from the base end 249 to the tip are automatically input based on the positioning of the unmanned aircraft 40. The working radius calculated from the aircraft specifications is calculated based on the registered data of the aircraft specifications.

[0099] FIG. 18 shows a numerical input screen 709 called by operating the numerical input button 773 in FIG. 17(A). On this screen, there are a field 781 where the numerical value of the left and right inclination can be input, an image 782 indicating the plus or minus direction of the inclination, and an OK button 783. The operator can input the value of the inclination angle obtained by the operator's measurement in the field 781 and return to the original setting screen by pressing the OK button 783.

[0100] FIG. 19(A) shows a flight route setting screen 710 called by operating the flight setting button 721 in FIG. 17(A). This screen 710 is a screen showing a schematic diagram of the working machine 20 registered in the model specification registration and a schematic diagram of the created flight route R. On this screen 710, there are cursor buttons 785 for selecting a plurality of ordered points representing the flight route R and performing up and down operations on values, a flight point selection button 787 for starting an operation of selecting any one of the plurality of points, an edit button 786 for editing the selected point, and an OK button 788 for ending the flight route setting screen 710 are output.

[0101] FIG. 19(B) shows a flight plan confirmation screen 711 called by the OK button 788 in FIG. 19(A). Information regarding the shooting process when the unmanned aerial vehicle 40 flies, information regarding the flight, and information regarding the state of the working machine 20 are output on this screen. The operator can complete the creation process of the flight route R by checking this information and operating the completion button 789.

[0102] As described above, according to the support device 100 of the embodiment of the present invention, the flight route R of the unmanned aerial vehicle 40 is determined based on the positional deviation in the left - right direction between the upper swing body 22 and the tip of the boom 24. Therefore, with a simple setting, a flight route R corresponding to the bending of the boom 24 in the left - right direction can be created. Note that for the above - mentioned positional deviation in the left - right direction, an inclinometer and a position measuring device may be attached to the tip of the boom 24, and based on these measured values, the support device 100 may obtain the above - mentioned positional deviation. Also, using a surveying machine (for example, a transit) to survey the tip position of the boom 24, based on this surveying value, the support device 100 may obtain the above - mentioned positional deviation.

[0103] Furthermore, according to the support device 100 of the embodiment of the present invention, as the above-mentioned misalignment, the lateral position information of the lower traveling body 21 and the upper slewing body 22 measured by the positioning unit 421 of the unmanned aerial vehicle 40 and the lateral position information of the tip of the boom 24 measured by the positioning unit 421 of the unmanned aerial vehicle 40 are acquired. Therefore, without requiring dedicated surveying equipment, the support device 100 can acquire the above-mentioned misalignment. Note that the means for acquiring the lateral position information of the lower traveling body 21 and the upper slewing body 22 is not limited to the above example, and a positioning unit such as a separate GNSS receiver may be mounted on the main body such as the upper slewing body 22, and the positioning unit may acquire the information by positioning.

[0104] Furthermore, according to the support device 100 of the embodiment of the present invention, based on the position information of the suspension tool 28 suspended from the tip of the boom 24 to the same height as the lower traveling body 21 or the upper slewing body 22, the position of the tip of the boom 24 in the lateral direction is set. The same height means a height where a part overlaps when viewed in the horizontal direction. In the present embodiment, the position information of the suspension tool 28 in a state where the suspension tool 28 is suspended to the same height as the crawler of the lower traveling body 21 is applied. Therefore, the position information of the tip of the boom 24 can be easily acquired by measurement at a low position. Note that the position information of the tip of the boom 24 in the lateral direction is not limited to being acquired by the method of the present embodiment. For example, another object may be suspended instead of the suspension tool 28 to perform a similar measurement, or a configuration may be adopted in which the unmanned aerial vehicle 40 is flown to the tip of the boom 24 to perform positioning to acquire the above-mentioned position information.

[0105] Furthermore, according to the support device 100 of the embodiment of the present invention, the position information of the suspension tool 28 lowered to the low position as described above is the information measured by the positioning unit 421 of the unmanned aerial vehicle 40 arranged corresponding to the suspended suspension tool 28. With such a configuration, the above-mentioned position information can be acquired without requiring dedicated surveying equipment.

[0106] Furthermore, according to the support device 100 of the embodiment of the present invention, in addition to the lateral displacement, based on the longitudinal and height positions of the tip of the boom 24 based on the elevation angle of the boom, the flight path R of the unmanned aerial vehicle is determined. Therefore, the support device 100 can create the flight path R corresponding to the boom 24 in a state where the boom 24 is at various elevation angles and perform work support.

[0107] Furthermore, according to the support device 100 of the embodiment of the present invention, information output capable of comparing and verifying the lateral displacement of the tip of the boom 24 with the actual displacement is performed (see the output image in FIG. 12). Therefore, the operator can early recognize a situation including some data error by the above comparison and verification. Note that the information output capable of the above comparison and verification is not limited to the example of the embodiment. For example, it may be configured to output an image of the main body part (lower traveling body 21 or upper slewing body 22) of the work machine 20 and the lifting tool 28 in a schematic diagram form, or an image indicating the position of the lifting tool 28 obtained by measurement is superimposed on the video of the actual main body part (lower traveling body 21 or upper slewing body 22) of the work machine 20 and the lifting tool 28 and output. Any information output may be used as long as the above comparison and verification are possible.

[0108] Furthermore, according to the support device 100 of the embodiment of the present invention, based on the lateral displacement of the tip of the boom 24, when the displacement exceeds a threshold value, an error determination is made. Therefore, the operator can recognize that the left and right inclinations are excessive by the error determination. The error determination can convey to the operator the possibility of an error in the setting item in which the data used for the above displacement calculation is set and prompt attention. Note that the error determination not only prompts the above attention when there may be an error, but also includes a configuration for determining the success or failure of the setting. Note that the displacement serving as an index for the error determination may be a vertical displacement instead of a horizontal displacement.

[0109] The embodiments of the present invention have been described above. However, the present invention is not limited to the above embodiments. For example, in the above embodiment, an example is shown in which the position information measured by the positioning unit 421 of the unmanned aerial vehicle 40 is used to obtain the amount of lateral displacement between the upper slewing body 22 and the tip of the boom 24. However, the amount of the above displacement may be obtained by other methods. For example, with the lifting tool 28 lowered to the height of the upper slewing body 22, while an operator views the upper slewing body 22 from the front, the display unit 62 outputs images of the front surface of the upper slewing body 22 and the scales g1 to g9. Then, the operator checks at which position on the front surface of the upper slewing body 22 the lifting tool 28 appears to overlap, and by comparing with the image of the display unit 62, measures the amount of displacement using the scales g1 to g9 in the image. Thereafter, the operator numerically inputs the measured amount of displacement via the input unit 61, and the control unit 65 may obtain the amount of lateral displacement.

[0110] In addition, in the above embodiment, a crawler crane has been described as an example of the working machine. However, the working machine for which the support device of the present invention performs work support may be any other mobile crane such as a wheel crane, a truck crane, a rough terrain crane, an all terrain crane, etc. In addition, the working machine may be any working machine as long as it has a boom and may have a lateral inclination in the boom. Further, in the above embodiment, an example has been shown in which mainly the inspection of the working machine is supported using the unmanned aerial vehicle, but the work support may be applied to various types of support such as support for properly controlling the direction of the suspended load by pulling a rope for controlling the direction of the suspended load, and support for peripheral monitoring of the working machine. In addition, the details shown in the embodiments can be appropriately changed without departing from the gist of the invention.

Explanation of Reference Numerals

[0111] 20 Working machine 21 Lower traveling body (main body part) 22 Upper slewing body (main body part) 24 Boom 40 Unmanned aerial vehicle 41 Camera (detection unit) 421 Positioning unit (position measuring device) 60 Information terminal 65 Control unit 100 Support device ΔX Position shift in the left - right direction R Flight path

Claims

1. A working machine support device for supporting a working machine having a boom supported so as to be able to undulate on a main body portion by using an unmanned aerial vehicle, determining a flight path of the unmanned aerial vehicle based on a lateral displacement between the main body portion and the tip of the boom. A working machine support device.

2. The unmanned aerial vehicle has a position measuring device for measuring its own position, as the displacement, acquiring position information in the lateral direction of the main body portion and position information in the lateral direction of the tip of the boom measured by the position measuring device. The working machine support device according to Claim 1.

3. Based on position information of an object suspended from the tip of the boom to the same height as the main body portion, the position of the tip of the boom in the lateral direction is set. The working machine support device according to Claim 1.

4. The unmanned aerial vehicle has a position measuring device for measuring its own position, the position information of the object is measured by the position measuring device of the unmanned aerial vehicle arranged corresponding to the suspended object. The working machine support device according to Claim 3.

5. In addition to the displacement, based on the position of the tip of the boom in the front-rear direction and the height direction based on the undulation angle of the boom, the flight path of the unmanned aerial vehicle is determined. The working machine support device according to Claim 1.

6. Performing information output capable of comparing the actual lateral displacement between the main body portion and the tip of the boom with the displacement acquired by the support device. The working machine support device according to Claim 1.

7. Based on the difference between the magnitude of the displacement calculated from the acquired position information of the main body portion and the acquired position information at the tip of the boom and the magnitude of the displacement calculated based on the setting data, performing an error determination indicating an error in the setting data. The working machine support device according to Claim 2.

8. A method for creating a flight path for flying an unmanned aerial vehicle around a boom supported so as to be able to undulate on a main body portion of a working machine, suspending an object from the tip of the boom, arranging the unmanned aerial vehicle at a position corresponding to the suspended object, acquiring position information of the arranged unmanned aerial vehicle, and creating a flight path of the unmanned aerial vehicle based on the position information and the position information of the main body portion. A method for creating a flight path.

9. On a computer that supports a working machine having a boom supported so as to be able to undulate on a main body portion by using an unmanned aerial vehicle, A program for functioning as means for determining a flight path of the unmanned aerial vehicle based on a lateral displacement between the main body portion and the tip of the boom.

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