Demolition system

Abstract

To capture the entire crushing operation from a location without fixed cameras.SOLUTION: A demolition system S for dismantling a structure E comprises: a crushing device 100 for crushing the structure, which has first fixed cameras 93, 94; a crane 1 for hoisting the crushing device, which has an operator's cabin 6; a second fixed camera 5 mounted on a boom 2 of the crane; an operation room 8 provided on the ground for operating the crushing device and capable of communicating with the operator's cabin; a drone 110 capable of flying around the crushing device; a drone camera 111 provided on the drone; television monitors 7, 9 provided in the operator's cabin and the operation room, respectively, on which images from cameras 93, 94, 5, 111 are displayed; and a transmitter 112 for maneuvering the drone.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present disclosure relates to a demolition system, and more particularly to a demolition system for demolishing a structure. [Background technology]

[0002] A demolition system for demolishing structures, particularly tower-like structures such as chimneys made of reinforced concrete, is known. The demolition system includes a crushing device for crushing the structure, a crane for hoisting the crushing device, and an operator's room installed on the ground for operating the crushing device. The crane's operator's room and the operator's room are connected to each other by a communication device so that they can communicate with each other.

[0003] The crane and crushing device are each equipped with a camera to capture images of the crushing process, etc. Meanwhile, the crane's driver's cab and control room are each equipped with a television monitor that displays the images from these cameras.

[0004] The driver in the cab and the operator in the control room each watch a television monitor and communicate with each other, operating the crane and crushing device in coordination to carry out the crushing and dismantling work. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Utility Model Application Publication No. 63-62548 Summary of the Invention [Problem to be solved by the invention]

[0006] However, these cameras are fixed cameras installed at fixed positions on or near the crushing equipment, making it difficult to capture the entire crushing operation, and impossible to capture the operation from a location where no camera is installed.

[0007] The present disclosure was devised in light of the above circumstances, and its purpose is to provide a demolition system that can capture images of the entire crushing operation from a location where there is no fixed camera. [Means for solving the problem]

[0008] According to one aspect of the present disclosure, A demolition system for demolishing a structure, comprising: a crushing device for crushing the structure, The crushing device is A base and A fixed crushing arm pivotally attached to the base; A movable crushing arm rotatably connected to the fixed crushing arm; an arm attached to the base; a first fixed camera attached to the arm; Equipped with The dismantling system includes: a crane for lifting the crushing device, the crane having an operator's cab; a second fixed camera mounted on the boom of the crane; an operation room provided on the ground for operating the crushing device and capable of communicating with the operation room; a drone capable of flying around the crushing device; a drone camera provided on the drone; television monitors arranged in the driver's cab and the control room, respectively, on which images from the first fixed camera, the second fixed camera, and the drone camera are displayed; a transmitter for controlling the drone; A dismantling system is provided, comprising:

[0009] Preferably, the transmitter is located in the control room.

[0010] Preferably, the fixed crushing arm is attached to the base so as to be rotatable around a first rotation axis extending horizontally and in the left-right direction, and extends in a horizontal front-rear direction perpendicular to the left-right direction, The movable crushing arm is connected to the fixed crushing arm so as to be rotatable about a second rotation axis parallel to the first rotation axis; The first fixed camera a front camera disposed to photograph the fixed crushing arm from above and to the side of the fixed crushing arm; a rear camera arranged to photograph the fixed crushing arm from above and to the side of the fixed crushing arm; Includes. [Effects of the Invention]

[0011] According to the present disclosure, the entire crushing operation can be photographed from a location where there is no fixed camera. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a schematic diagram showing a dismantling system according to a basic embodiment. [Figure 2] FIG. 2 is a left side view showing the crushing device of the basic embodiment. [Figure 3] FIG. 2 is a front view showing the suspension member of the basic embodiment. [Figure 4] FIG. 4 is a front cross-sectional view showing a connection portion of the hanging member. [Figure 5] 1 is a schematic diagram showing a dismantling system according to an embodiment of the present invention. [Figure 6] FIG. 2 is a left side view showing the crushing device of the present embodiment. [Figure 7] FIG. 2 is a schematic plan view showing the arm and the front and rear cameras. [Figure 8] FIG. 4 is an enlarged front view showing the first arm support portion and the attachment portion of the first arm main body portion. [Figure 9] FIG. 2 is a plan view schematically showing the positions and orientations of the front and rear cameras. [Figure 10] FIG. 1 is a schematic diagram showing an example of a video captured by a drone camera. [Figure 11] FIG. 10 is a plan view schematically showing the positions and orientations of a front camera and a rear camera in a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. Note that the present disclosure is not limited to the following embodiments.

[0014] First, a basic embodiment that forms the basis of this embodiment will be described. Then, this embodiment will be described. This embodiment is a modification or improvement of the basic embodiment. Therefore, it should be noted that the unchanged parts of the basic embodiment constitute the components of this embodiment.

[0015] Fig. 1 shows a demolition system S according to a basic embodiment. The demolition system S is for demolishing structures, particularly tower-like structures such as chimneys made of reinforced concrete. The structure in this embodiment is a chimney E.

[0016] The upper end of the chimney E is crushed by a crushing device 100. The crushing device 100 is lifted into the air by a traveling crane 1 and suspended by a wire 3 from the tip of a boom 2 of the crane 1. The state of the crushing work by the crushing device 100 is photographed by one camera 4 provided on the crushing device 100 and one camera 5 attached to the boom 2. These cameras 4 and 5 are fixed cameras whose installation positions are fixed.

[0017] Meanwhile, in the driver's cab 6 of the crane 1, there is a television monitor 7 that displays images from cameras 4 and 5, and the driver views this. Also, in the control room 8 on the ground, there is a television monitor 9 that displays images from cameras 4 and 5, and an operator views this. The driver's cab 6 and the control room 8 are connected to each other via a communication device so that they can communicate with each other. The driver in the driver's cab 6 and the operator in the control room 8 view the television monitors 7 and 9, respectively, and communicate with each other by voice or the like, while operating the crane 1 and the crushing device 100 in cooperation with each other to carry out the crushing and demolition work.

[0018] Figure 2 shows the crushing device 100 of the basic embodiment. For convenience, the front-rear, left-right, top-bottom directions are defined as shown in the figure. However, please note that these directions are defined for convenience to represent the relative positional relationships between components. The front-rear and left-right directions are both horizontal and perpendicular to each other. The top-bottom direction is vertical and perpendicular to the front-rear and left-right directions.

[0019] The crushing device 100 comprises a base 10 suspended by a wire 3, a swivel base 11 attached to the base 10 so as to be rotatable about a rotation axis C1, a fixed crushing arm 12 attached to the swivel base 11, and a movable crushing arm 13 connected to the fixed crushing arm 12 so as to be rotatable about a rotation axis C2. The rotation axis C1 extends in the vertical direction, and the rotation axis C2 extends in the horizontal direction (specifically, left and right).

[0020] An on-board unit 14 is provided on the pedestal 10. The on-board unit 14 includes a hydraulic unit for driving hydraulic cylinders and the like (described below), a generator for generating the necessary power, and a wireless transceiver for transmitting video data from the camera 4 and receiving control signals from the operation room 8. The on-board unit 14 also includes a motor for rotating the swivel base 11 and a reducer for transmitting the rotation of the motor to the swivel base 11. The output shaft of the reducer defines a rotation axis C1, passes through the pedestal 10, and is connected and fixed to the center of the swivel base 11. The swivel base 11 is formed in a disk shape in a plan view when viewed from above, and is rotatable along the underside of the pedestal 10.

[0021] The fixed crushing arm 12 is suspended from the underside of the swivel base 11. In the illustrated example, the fixed crushing arm 12 extends from the rear (base end side) to the front (tip end side), and when viewed from the side (specifically, the left side), the tip end is bent downward at a right angle, forming a substantially L-shape.

[0022] The rear end of the fixed crushing arm 12 is rotatably attached to the underside of the swivel base 11 by a support shaft 15. The support shaft 15 defines a rotation axis C3 extending in the left-right direction, and the fixed crushing arm 12 can rotate up and down, i.e., in the up-and-down direction, around this rotation axis C3. The rotation axis C3 is parallel to the rotation axis C2.

[0023] The rotation axis C3 corresponds to the first rotation axis in the claims, and the rotation axis C2 corresponds to the second rotation axis in the claims.

[0024] The front end of the fixed crushing arm 12 is connected to the underside of the swivel base 11 by a link 16 extending in the vertical direction. The upper end of the link 16 is rotatably attached to the underside of the swivel base 11 by a support shaft 17. The lower end of the link 16 is rotatably attached to the upper side of the fixed crushing arm 12 by a support shaft 18. The support shafts 17 and 18 define rotation axes C4 and C5 extending in the left-right direction, and the link 16 is rotatable about these rotation axes C4 and C5 relative to the swivel base 11 and the fixed crushing arm 12. The rotation axes C4 and C5 are parallel to the rotation axis C3. The fixed crushing arm 12 extends in a direction perpendicular to the rotation axis C3.

[0025] The movable crushing arm 13 extends downward from the fixed crushing arm 12 in a roughly C-shape when viewed from the side. The upper end of the movable crushing arm 13 is rotatably attached to a roughly middle part in the longitudinal direction (front-rear direction) of the fixed crushing arm 12 by a support shaft 19. This support shaft 19 defines the rotation axis C2 extending in the left-right direction, and the movable crushing arm 13 is rotatable in the front-rear direction around this rotation axis C2.

[0026] The movable crushing arm 13 is connected to the fixed crushing arm 12 at approximately its longitudinal (vertical) middle portion by a hydraulic cylinder 20 extending vertically. The upper end of the cylinder body of the hydraulic cylinder 20 is rotatably attached to the rear upper end of the fixed crushing arm 12 by a support shaft 21. The lower end of the piston rod of the hydraulic cylinder 20 is rotatably attached to the fixed crushing arm 12 at approximately its longitudinal middle portion by a support shaft 22. The support shafts 21 and 22 define rotation axes C6 and C7 extending in the left-right direction, and the hydraulic cylinder 20 is rotatable relative to the fixed crushing arm 12 and the movable crushing arm 13 around these rotation axes C6 and C7. The rotation axes C6 and C7 are parallel to the rotation axis C3. The movable crushing arm 13 also extends in a direction perpendicular to the rotation axis C3.

[0027] By extension and retraction of the hydraulic cylinder 20, the movable crushing arm 13 rotates in the front-rear direction around the rotation axis C2, moving toward or away from the fixed crushing arm 12. When the movable crushing arm 13 rotates forward (i.e., moves forward), the fixed crushing arm 12 and the movable crushing arm 13 pinch the wall at the top end of the chimney E and crush it. Note that the chimney E in the figure shows the position during crushing.

[0028] The fixed crushing arm 12 and the movable crushing arm 13 are respectively provided with vertical reinforcing bars (i.e., vertical bars) cutter and horizontal reinforcing bars (25, 26) cut horizontal reinforcing bars (i.e., horizontal bars) extend in the horizontal direction. These vertical reinforcing bar cutters 23, 24 and horizontal reinforcing bar cutters 25, 26 apply shear force to the vertical reinforcing bars and horizontal reinforcing bars, respectively, to cut the vertical reinforcing bars and horizontal reinforcing bars like scissors.

[0029] The crushing device 100 also includes a bucket 30 that is suspended from the fixed crushing arm 12 and receives crushed pieces that fall outside the chimney E.

[0030] The bucket 30 is suspended from brackets 31 that are integrally provided on the fixed crushing arm 12 via suspension members 32. A pair of brackets 31 are provided on the left and right at the center of the left-right width on the front part of the fixed crushing arm 12 (see Figure 3).

[0031] The lower end of the hanging member 32 is fixed integrally to the bucket 30. The upper end of the hanging member 32 is rotatably attached to the bracket 31 by a support shaft 33. The support shaft 33 defines a rotation axis C8 that extends in the left-right direction. The rotation axis C8 is parallel to the rotation axis C3. The hanging member 32 and the bucket 30 are integrally rotatable, i.e., swingable, in the front-to-rear direction around this rotation axis C8.

[0032] A seal member 34 that protrudes from the rear end of the bucket 30 seals the gap between the bucket 30 and the chimney E. The seal member 34 is formed of a flexible plate such as a rubber plate.

[0033] The bottom plate 35 of the bucket 30 is attached by a hinge 36 and can be opened and closed. The bucket 30 is provided with a pair of hydraulic cylinders 37, one on the left and one on the right, for driving the bottom plate 35 to open and close (only the left side is shown). Normally, the hydraulic cylinders 37 are contracted as shown by solid lines, and the bottom plate 35 is closed. On the other hand, when the hydraulic cylinders 37 are extended as shown by imaginary lines, the bottom plate 35 opens and the crushed pieces in the bucket 30 are discharged and dropped. At this time, the crushing device 100 is moved by the crane 1, and the bucket 30 is positioned directly above the chimney E, and the crushed pieces are discharged and dropped into the chimney E.

[0034] The crushing device 100 also includes the camera 4 described above to capture images of the crushing process performed by the fixed crushing arm 12 and the movable crushing arm 13.

[0035] The camera 4 is positioned so as to photograph the fixed crushing arm 12 from above and in front of the fixed crushing arm 12, i.e., from diagonally above and in front of the fixed crushing arm 12, and to photograph the state of the crushing operation. The camera 4 is attached to the tip of an L-shaped arm 38 attached to the swivel base 11. The arm 38 extends forward from the swivel base 11, with its tip bent downward. The camera 4 is attached to this tip facing diagonally downward and rearward. The arm 38 and camera 4 are positioned at the center of the left-right width of the fixed crushing arm 12. Well-known optional mechanisms such as a lens rotation mechanism for fine-tuning the lens orientation and a zoom mechanism may be added to the camera 4. The camera orientation is indicated by the symbol D, and the field of view of the camera 4 is indicated by the symbol F.

[0036] FIG. 3 is a front view of the hanging member 32 in the crushing apparatus 100 of the basic embodiment, as viewed from the front. As shown in the figure, the hanging member 32 has a generally A-shaped or triangular, plate-like overall shape that is symmetrical from left to right. The hanging member 32 is configured by integrally connecting left and right side beams 39 with a cross beam 40, a front panel 41, and a rear panel (not shown). The side beams 39 and cross beam 40 are formed from square steel pipes, and the front panel 41 and rear panel are formed from steel plates, which are welded together. The left and right side beams 39 have a symmetrical shape, and the front panel 41 and rear panel have the same shape when viewed from the front. The front panel 41 and rear panel are welded to the front and rear portions of the left and right side beams 39 and cross beams 40, respectively, and close the space enclosed by the left and right side beams 39 and cross beams 40.

[0037] The lower ends of the side beams 39 are fixed by welding or the like to the inner surfaces of the left and right side walls 42 of the bucket 30 at approximately the center of the front-to-rear width. The upper ends of the side beams 39 are rotatably attached to the brackets 31 of the fixed crushing arms 12 by means of support shafts 33.

[0038] 4 is an enlarged cross-sectional view showing the connection or attachment portion of the hanging member 32 to the bracket 31. The bracket 31 is made of a steel plate and is arranged so that its front and back surfaces face left and right. A pair of brackets 31 is provided on the left and right.

[0039] The upper ends of left and right side beams 39, which are bent so as to be parallel in the vertical direction, are sandwiched and positioned between these brackets 31. A support shaft 33 made of a steel pin is inserted from the side through shaft holes 31A, 43 of bracket 31 and side beam 39. A pin 45 is inserted through pin holes 44 in the portion of support shaft 33 that protrudes outward on both the left and right sides of bracket 31. This prevents the support shaft 33 from coming off, and the hanging member 32 is rotatably connected to bracket 31 and, ultimately, to fixed crushing arm 12. The pin 45 is prevented from coming off pin hole 44 by an appropriate prevention mechanism.

[0040] The centers of the left and right widths of the fixed crushing arm 12, the hanging member 32 and the bucket 30 are positioned at the same position in the left and right direction.

[0041] In the demolition system S of this basic embodiment, as shown in FIG. 1, cameras 4 and 5 are provided on the crushing device 100 and the boom 2 of the crane 1, respectively, to capture images of the crushing work.

[0042] However, the camera 4 is fixedly provided at a fixed position on the crushing device 100, and the camera 5 is fixedly provided at a fixed position on the boom 2 near the crushing device 100. These cameras 4 and 5 are fixed cameras.

[0043] This makes it difficult to capture the entire crushing operation, and it is impossible to capture the operation from a location where cameras 4 and 5 are not installed.

[0044] Therefore, in this embodiment, a drone and a camera attached to the drone are provided so that the entire crushing operation can be photographed from a location where there is no fixed camera. This embodiment will be described below.

[0045] This embodiment is based on the basic embodiment described above. In the following explanation, changes or improvements from the basic embodiment will be mainly explained, and explanations of the same parts will be basically omitted. For ease of understanding, components with the same names will be assigned the same reference numerals whenever possible, regardless of whether the configuration itself is different or the same.

[0046] Figure 5 is a schematic diagram showing a demolition system S of this embodiment, in contrast to Figure 1. As shown in the figure, the demolition system S of this embodiment includes a drone 110 that can fly around the crushing device 100, a camera (referred to as a drone camera) 111 provided on the drone 110, and a transmitter 112 for operating the drone 110.

[0047] The drone 110 and drone camera 111 are controlled by control signals sent wirelessly from a transmitter 112. The video signal from the drone camera 111 is sent wirelessly to the driver's cab 6 and the control room 8. Therefore, the video captured by the drone camera 111 is displayed on the television monitors 7, 9 in the driver's cab 6 and the control room 8. The transmitter 112 is placed in the control room 8 and is operated by an operator in the control room 8. However, the transmitter 112 is portable and can be taken to another location, such as outdoors.

[0048] In this embodiment, instead of the single camera 4 of the basic embodiment, two cameras, namely a front camera 93 and a rear camera 94, are provided as fixed cameras in the crushing device 100 so that the crushing operation and the like can be photographed from a relatively close position with a bird's-eye view. This point will be described later.

[0049] The front camera 93 and the rear camera 94 constitute a first fixed camera as defined in the claims. The camera 5 attached to the boom 2 of the crane 1 corresponds to a second fixed camera as defined in the claims.

[0050] The drone 110 can fly freely around the crushing apparatus 100 as long as it does not interfere with the crane 1 and the chimney E. Therefore, the state of the crushing work can be photographed from any location using the drone camera 111. The drone 110 can be kept relatively far away from the crushing apparatus 100, and the entire state of the crushing work can be photographed by the drone camera 111. Furthermore, the state of the crushing work can be photographed by the drone camera 111 even from a location where there are no fixed cameras installed on the boom 2 and the crushing apparatus 100.

[0051] Therefore, according to this embodiment, the entire crushing operation can be easily photographed from a location where there is no fixed camera. Then, the crushing device 100 and the crane 1 can be operated more accurately and precisely using the video captured by the drone camera 111.

[0052] During the crushing operation, the operator in the control room 8 operates the crushing device 100 while viewing in real time the images from the first fixed cameras 93 and 94, the second fixed camera 5, and the mobile drone camera 111 displayed on the television monitor 9. The same applies to the crane 1. At this time, the images from the cameras 5, 93, and 94, which are close to the crushing location, provide an enlarged, detailed image of the crushing location, while the image from the drone camera 111, which is far from the crushing location, provides an overhead image of the entire operation from a preferred angle or direction. Therefore, the image from the drone camera 111 makes it easy to grasp the relative positions of the crushing device 100 and the chimney E, etc.

[0053] The drone camera 111 can be used to photograph areas that are difficult to see by manipulating a fixed camera (changing the direction (angle) or zooming), and the fixed camera can be used as the main camera and the drone camera as the auxiliary camera.

[0054] The operator operates the transmitter 112 to hover the drone 110 in a position where the desired image can be viewed. Then, using the image in combination with the detailed images from the fixed cameras 5, 93, and 94, the operator operates the crushing device 100 using a controller (not shown). This allows for easy and accurate crushing work.

[0055] When flying drone 110 from the ground into the air (taking off), the operator goes outside the control room 8 and operates transmitter 112 while watching drone 110, causing drone 110 to hover in the air near the target position. Then, the operator enters control room 8 and operates transmitter 112 while watching the image on television monitor 9, setting drone 110 to the desired position, attitude, and direction. In this way, the desired image can be obtained.

[0056] On the other hand, when bringing the drone 110 down from the air to the ground (landing), the operator goes outside the control room 8, operates the transmitter 112 while watching the drone 110, and lands the drone 110 at the target position.

[0057] It is also possible to automatically control the drone 110 along a predetermined route using a GPS or the like.

[0058] Next, the front camera 93 and the rear camera 94 will be described.

[0059] In the crushing device 100 of the basic embodiment described above, as shown in FIG. 2, one camera 4 is provided to photograph the fixed crushing arm 12 from a position obliquely above the front of the fixed crushing arm 12.

[0060] However, it is difficult to grasp the relative positions of the crushing device 100 and the chimney E from the image captured by this camera 4. Furthermore, when cutting the rebars of the chimney E or discharging the crushed pieces in the bucket 30 into the chimney E, it is necessary to accurately adjust the position of the crushing device 100, but this is also difficult to do from the image captured by this camera 4.

[0061] Therefore, in this embodiment, the crushing device 100 is provided with a front camera 93 and a rear camera 94 so that the relative positions can be easily grasped.

[0062] Figure 6 shows a side view of the crushing device 100 of this embodiment, in contrast to Figure 2. As shown in the figure, the crushing device 100 of this embodiment is equipped with a front camera 93 arranged to photograph the fixed crushing arm 12 from above and diagonally in front of the fixed crushing arm 12, and a rear camera 94 arranged to photograph the fixed crushing arm 12 from above and diagonally behind the fixed crushing arm 12. The term "side" here refers to the same side in the left-right direction, and in this embodiment, it is the left side.

[0063] When the fixed crushing arm 12 is photographed, the surroundings of the fixed crushing arm 12, such as the movable crushing arm 13 and the chimney E, and even the crushing status of the chimney E, are naturally photographed. Therefore, photographing the fixed crushing arm 12 also includes photographing the surroundings of the fixed crushing arm 12.

[0064] As shown in Fig. 6, in the crushing device 100 of this embodiment, a swivel 11 forms the base, and a fixed crushing arm 12 extending in the front-rear direction is attached to this swivel 11 so as to be rotatable around a rotation axis C3 extending in the left-right direction (similar to the basic embodiment). An arm 95 is attached to the swivel 11, and a camera is attached to the arm 95. The camera includes two cameras, the front camera 93 and rear camera 94 mentioned above. The orientations of the front camera 93 and rear camera 94 are indicated by the symbol D, and the field of view is indicated by the symbol F. In this embodiment, the same model of camera is used for the front camera 93 and rear camera 94.

[0065] In this embodiment, the front camera 93 and the rear camera 94 are positioned on the same side (left side) of the fixed crushing arm 12, and are positioned so as to photograph the fixed crushing arm 12 from above, diagonally forward and rearward of the same side.

[0066] Specifically, the front camera 93 is positioned to photograph the fixed crushing arm 12 from above and diagonally to the left of the fixed crushing arm 12, and the rear camera 94 is positioned to photograph the fixed crushing arm 12 from above and diagonally to the left of the fixed crushing arm 12.

[0067] 7 is a schematic plan view showing the swivel base 11, arm 95, front camera 93, and rear camera 94 as viewed from above. As shown in the figure, the arm 95 is formed in a T-shape in plan view. The arm 95 includes a first arm portion 96 extending to the left from the swivel base 11, and a second arm portion 97 extending forward and rearward from the tip of the first arm portion 96. The front camera 93 is disposed at the front end of the second arm portion 97, and the rear camera 94 is disposed at the rear end of the second arm portion 97.

[0068] The first arm portion 96 is extendable and retractable in its longitudinal direction. The first arm portion 96 includes a first arm support portion 98 fixed to the swivel base 11, and a first arm main body portion 99 detachably attached to the first arm support portion 98. The attachment position of the first arm main body portion 99 relative to the first arm support portion 98 is changeable in the longitudinal direction of the first arm portion 96.

[0069] 8 is an enlarged front view showing the attachment portion of the first arm support portion 98 and the first arm main body portion 99. For convenience, the first arm support portion 98 and the first arm main body portion 99 are shown aligned one above the other.

[0070] As also shown in FIG. 8, the first arm support portion 98 is formed by a pair of front and rear support plates 98A fixed to the left side of the swivel base 11 by welding or the like. These support plates 98A are formed from horizontally long rectangular steel plates and are arranged so that their front and back surfaces face the front-to-rear direction. A plurality of bolt insertion holes 101 are formed in the support plate 98A. The bolt insertion holes 101 are formed at equal intervals at a plurality of different (three) positions P1, P2, and P3 in the longitudinal direction (left-right direction) of the first arm portion 96. Furthermore, a plurality of (two) bolt insertion holes 101 are formed above and below each of the positions P1, P2, and P3.

[0071] The first arm main body 99 comprises a pair of front and rear mounting plates 102 that form its base end and are attached to the support plate 98A, and a first arm member 103 that is fixed to the mounting plates 102 by welding or the like and extends toward the tip side (left side). The mounting plates 102 are formed from horizontally elongated rectangular steel plates and are arranged so that their front and back surfaces face the front-to-rear direction. The first arm member 103 is formed from a straight square steel pipe. The mounting plates 102 are fixed to the front and rear surfaces of the first arm member 103 by welding or the like.

[0072] The pair of mounting plates 102 are attached to the pair of support plates 98A so as to sandwich the pair of support plates 98A from the outside.

[0073] The mounting plate 102 is provided with a plurality of bolt insertion holes 104 that correspond to the bolt insertion holes 101 in the support plate 98A. The bolt insertion holes 104 are provided at equal intervals at a plurality of (three) different positions Q1, Q2, and Q3 in the longitudinal direction (left-right direction) of the first arm portion 96. Furthermore, a plurality of (two) bolt insertion holes 104 are provided above and below each of the positions Q1, Q2, and Q3. The spacing between the bolt insertion holes 104 in the mounting plate 102 in the longitudinal direction (left-right direction) of the first arm portion 96 is equal to the spacing between the bolt insertion holes 101 in the support plate 98A.

[0074] A bolt 105 is inserted through the bolt insertion hole 101 of the support plate 98A and the bolt insertion hole 104 of the mounting plate 102, and a nut 106 is then tightened onto the inserted bolt 105. This causes the first arm main body portion 99 to be fixedly attached to the first arm support portion 98.

[0075] By changing the combination of the bolt insertion holes 101 at positions P1, P2, and P3 of the support plate 98A and the bolt insertion holes 104 at positions Q1, Q2, and Q3 of the mounting plate 102 used when mounting the first arm main body portion 99, the mounting position of the first arm main body portion 99 relative to the first arm support portion 98 can be changed in the longitudinal direction of the first arm portion 96.

[0076] 7, one bolt 105 is inserted into each of the bolt insertion holes 101, 104 of the pair of P1 and Q1, the bolt insertion holes 101, 104 of the pair of P2 and Q2, and the bolt insertion holes 101, 104 of the pair of P3 and Q3. As a result, the attachment position of the first arm main body portion 99 becomes the position furthest from the base end (right side) in the longitudinal direction of the first arm portion 96, the length of the first arm portion 96 becomes the shortest, and the first arm portion 96 is in the most contracted state.

[0077] Furthermore, although not shown, when one bolt 105 is inserted into each of the bolt insertion holes 101, 104 of the pair of P2 and Q1 and the bolt insertion holes 101, 104 of the pair of P3 and Q2, the mounting position of the first arm main body portion 99 shifts one position toward the tip (left side), and the length of the first arm portion 96 becomes an intermediate length.

[0078] Furthermore, although not shown, when one bolt 105 is inserted into each of the bolt insertion holes 101, 104 of the P3 and Q1 pairs, the mounting position of the first arm main body portion 99 becomes the most distal (left side) position in the longitudinal direction of the first arm portion 96, the length of the first arm portion 96 becomes the longest, and the first arm portion 96 becomes the most extended state.

[0079] In this way, by changing the set of bolt insertion holes 101, 104 to be used, the attachment position of the first arm main body portion 99 relative to the first arm support portion 98 can be easily changed, and by making such a change, the length of the first arm portion 96 can be changed or the first arm portion 96 can be substantially extended or contracted in its longitudinal direction. This makes it possible to conveniently move the two front and rear cameras 93, 94 toward or away from the fixed crushing arm 12 at the same time.

[0080] The second arm portion 97 is formed of a straight square steel pipe, similar to the first arm member 103. The tip end surface (left end surface) of the first arm main body portion 99 is integrally fixed to the right side surface of the middle portion in the longitudinal direction (front-rear direction) of the second arm portion 97 by welding or the like.

[0081] The front camera 93 is attached to the front end of the second arm portion 97 so as to face downward. Similarly, the rear camera 94 is attached to the rear end of the second arm portion 97 so as to face downward.

[0082] 9 is a plan view showing the positions and orientations of the front camera 93 and rear camera 94. The fixed crushing arm 12 and the movable crushing arm 13 are shown in simplified form, with the movable crushing arm 13 connected to the fixed crushing arm 12 so as to be rotatable about a rotation axis C2. The position of the rotation axis C1, which is the rotation center of the swivel base 11, is set as the reference position (for convenience, this is indicated by the same reference symbol C1).

[0083] The front camera 93 and the rear camera 94 are arranged symmetrically in the front-to-rear direction at the same left-to-right position to the left of the fixed crushing arm 12 with respect to the reference position C1. The front camera 93 photographs the fixed crushing arm 12 from above diagonally in front of the left, and the rear camera 94 photographs the fixed crushing arm 12 from above diagonally in rear of the left. The directions D and fields of view F of the front camera 93 and the rear camera 94 are as shown in the figure.

[0084] In the basic embodiment, as shown by the imaginary line, the camera 4 is placed in front of the fixed crushing arm 12 with respect to the reference position C1 (front-front), and the camera 4 photographs the fixed crushing arm 12 from diagonally above and in front of the camera 4. However, in the image photographed by this camera 4, the fixed crushing arm 12 and the chimney E are located in the depth direction of the image, making it difficult to grasp the relative positions of the two.

[0085] However, in this embodiment, the front camera 93 and the rear camera 94 photograph the fixed crushing arm 12 from above, diagonally forward and backward to the left. Therefore, the fixed crushing arm 12 and the chimney E are photographed from the left side, and the fixed crushing arm 12 and the chimney E can be displayed in the left and right directions of the image.

[0086] Therefore, the relative positions of the fixed crushing arm 12 and the chimney E can be easily grasped. This inevitably makes it possible to operate the crushing device 100 easily and accurately. According to this embodiment, the surroundings of the fixed crushing arm 12 can be photographed from a much wider perspective and over a wider area than in the basic embodiment. Since two cameras are used for photography, more panoramic images can be captured. Since photography is performed from above, it is also possible to easily photograph the state of the crushed pieces falling into the chimney E.

[0087] As described above, the debris accumulated in the bucket 30 falls and is discharged into the chimney E by opening the bottom plate 35 of the bucket 30. At this time, the bucket 30 needs to be positioned directly above the chimney E, and this positioning can be easily achieved in this embodiment. In addition, the state of the debris falling into the chimney E at this time can also be easily grasped.

[0088] Generally, there are three examples: a first example in which one camera 4A photographs the fixed crushing arm 12 from diagonally above the rear (directly behind); a second example in which one camera 4B photographs the fixed crushing arm 12 from diagonally above the left (directly left); and a third example in which one camera 4C photographs the fixed crushing arm 12 from diagonally above the right (directly right). However, the first example has the same problem as the basic embodiment. Furthermore, the second and third examples have the problem that it is difficult to grasp the relative positions of the fixed crushing arm 12 and the chimney E in the left-right direction.

[0089] On the other hand, this embodiment can solve such problems. In particular, in this embodiment, the fixed crushing arm 12 and the chimney E are photographed not only from the left side but also from the front and back, which solves the problems of the second and third examples and makes it easy to grasp the relative positions of the fixed crushing arm 12 and the chimney E in the left-right direction.

[0090] Furthermore, in this embodiment, not only the outside of the chimney E but also the inside can be suitably photographed by the front camera 93 and the rear camera 94, so that the situation inside the chimney E can be easily grasped.

[0091] In this embodiment, the attachment position of the first arm main body 99 relative to the first arm support 98 can be changed in the longitudinal direction of the first arm 96. Therefore, the left-right distances of the front camera 93 and the rear camera 94 relative to the fixed crushing arm 12 can be changed simultaneously and easily.

[0092] For example, if the attachment position of the first arm main body 99 is changed to be further towards the tip (left side), the distance in the left-right direction between the front camera 93 and the rear camera 94 and the fixed crushing arm 12 can be increased, as shown by the reference numerals 93A and 94A in Fig. 9. This allows the periphery of the fixed crushing arm 12 to be photographed from a greater distance with a wider field of view.

[0093] Conversely, although not shown, if the attachment position of the first arm main body 99 is changed closer to the base end (right side), the left-right distance between the front camera 93 and the rear camera 94 and the fixed crushing arm 12 can be shortened. This allows the periphery of the fixed crushing arm 12 to be photographed in a close-up.

[0094] As in the basic embodiment, the front camera 93 and the rear camera 94 may be provided with well-known optional mechanisms such as a lens rotation mechanism for finely adjusting the lens orientation and a zoom mechanism.

[0095] When the swivel base 11 is rotated relative to the base 10, the front camera 93 and the rear camera 94 rotate in the same manner as the fixed crushing arm 12. Therefore, the relative positions of the fixed crushing arm 12 and the front camera 93 and the rear camera 94 can be kept constant.

[0096] In order to capture more images, the crushing device 100 may be equipped with additional fixed cameras other than the front camera 93 and the rear camera 94. However, adding additional cameras naturally increases manufacturing costs, so it is desirable to keep the number of cameras to a minimum. In this sense, this embodiment, which can obtain a large amount of image information with two cameras, is preferable.

[0097] As described above, in addition to the drone camera 111, this embodiment is equipped with a front camera 93 and a rear camera 94, so that the relative positions of the crushing device 100 and the chimney E and the state of the crushing operation can be grasped from a much more bird's-eye view and multi-angled perspective than in the basic embodiment, thereby improving the accuracy and ease of the crushing operation.

[0098] FIG. 10 is a schematic diagram showing an example of a video captured by the drone camera 111. This example shows the state when the crushed pieces H accumulated in the bucket 30 are dropped and discharged into the chimney E. The drone camera 111 can capture an image of the entire crushing device 100 and the upper end of the chimney E from a position away from the crushing device 100 and from the side (left side) of the crushing device 100. Therefore, it is easy to see that the bucket 30 is positioned directly above the chimney E and that the discharged crushed pieces H have fallen into the center of the chimney E. This allows the crushed pieces H to be reliably dropped into the chimney E and can reliably prevent the crushed pieces H from leaking out of the chimney E.

[0099] Next, a modification of this embodiment will be described. As shown in Fig. 11, in this modification, the front camera 93B and the rear camera 94B are arranged on the right side instead of the left side.

[0100] The front camera 93B and rear camera 94B of this modified example are arranged left-right reversed and symmetrical to the front camera 93 and rear camera 94 of the above embodiment. Correspondingly, the arms (not shown) to which the front camera 93B and rear camera 94B are attached are also arranged left-right reversed to the above embodiment.

[0101] The effects of this modification are the same as those of the above embodiment except that the left and right sides are reversed. Therefore, this modification can also achieve substantially the same effects as the above embodiment.

[0102] Although the embodiments of the present disclosure have been described in detail above, various other embodiments and modifications of the present disclosure are possible.

[0103] For example, a plurality of drones 110 each equipped with a drone camera 111 may be provided. In this way, the state of the crushing work can be photographed from multiple positions and from multiple angles.

[0104] In the above embodiment, the drone 110 is controlled wirelessly, but the drone 110 may also be controlled wired. In this case, for example, the drone 110 may be connected to the transmitter 112 or the control room 8 by a cable or the like. This has the disadvantage that the flight range of the drone 110 is limited to the length of the cable. However, it has the advantage that the drone 110 can be flown without any problems even in places with poor radio wave reception, and that the flight time limit can be significantly relaxed if a power supply function for the drone 110 is added.

[0105] If possible, the transmitter 112 may be located in the cab 6 of the crane 1, and the driver in the cab 6 may operate the drone 110. Alternatively, the transmitter 112 may be located in a location other than the cab 6 and the control room 8, and the drone 110 may be operated by a different operator.

[0106] In the above embodiment, the swivel base 11, which can be rotated relative to the gantry 10, is used as the base to which the fixed crushing arm 12 and the arm 95 are attached. However, such a swivel configuration is not necessarily required, and the gantry 10 or a fixed object thereto may be used as the base.

[0107] The second arm portion 97 may be extendable in its longitudinal direction.

[0108] The arm does not necessarily have to be T-shaped in plan view. For example, the arm may include a front arm having a front camera at its tip and extending diagonally forward from a base in a straight line, and a rear arm having a rear camera at its tip and extending diagonally backward from the base in a straight line.

[0109] The structure does not have to be a tower-like structure such as a chimney, and may be any structure.

[0110] The embodiments of the present disclosure are not limited to the above-described embodiments, and all modifications, applications, and equivalents encompassed within the spirit of the present disclosure as defined by the claims are included in the present disclosure. Therefore, the present disclosure should not be interpreted as being limited, and can be applied to any other technology that falls within the spirit of the present disclosure. [Explanation of symbols]

[0111] 1 crane 2. Boom 5. Camera 6. Driver's cab 7,9 TV monitor 8 Control room 11 Swivel 12 Fixed Crushing Arm 13 Movable crushing arm 93 Front Camera 94 Rear Camera 95 Arm 110 Drone 111 Drone Camera 112 Transmitter 100 Crushing equipment E. Chimney S Dismantling System

Claims

1. A demolition system for demolishing a structure, comprising: a crushing device for crushing the structure, The crushing device is A base and A fixed crushing arm pivotally attached to the base; A movable crushing arm rotatably connected to the fixed crushing arm; an arm attached to the base; a first fixed camera attached to the arm; Equipped with The dismantling system includes: a crane for lifting the crushing device, the crane having an operator's cab; a second fixed camera mounted on the boom of the crane; an operation room provided on the ground for operating the crushing device and capable of communicating with the operation room; a drone capable of flying around the crushing device; a drone camera provided on the drone; television monitors arranged in the driver's cab and the control room, respectively, on which images from the first fixed camera, the second fixed camera, and the drone camera are displayed; a transmitter for controlling the drone; A dismantling system comprising:

2. The transmitter is located in the operation room. The demolition system of claim 1 .

3. The fixed crushing arm is attached to the base so as to be rotatable about a first rotation axis extending horizontally and in the left-right direction, and extends in a horizontal front-rear direction perpendicular to the left-right direction, the movable crushing arm is connected to the fixed crushing arm so as to be rotatable about a second rotation axis parallel to the first rotation axis; The first fixed camera includes: a front camera disposed to photograph the fixed crushing arm from above and to the side of the fixed crushing arm; a rear camera arranged to photograph the fixed crushing arm from above and to the side of the fixed crushing arm; Contains The demolition system of claim 1 .

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