Information acquisition system

Abstract

To efficiently acquire information on an observation target from an arbitrary position above a construction machine.SOLUTION: An information acquisition system includes a vertical holding part and a horizontal holding part. The vertical holding part holds a position of an aircraft that acquires information on an observation target at a position higher than a construction machine connected to the aircraft by a wire. The horizontal holding part is connected to the vertical holding part to acquire the information on the observation target. The information on the observation target is acquired from above the construction machine.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an information acquisition system. [Background technology]

[0002] At construction sites, excavation work is sometimes carried out by remotely operating construction machinery such as backhoes from a location far from the construction site. In this case, a camera is attached to the ceiling of the driver's seat to capture images of the ground in front of the backhoe, and the operator remotely controls the backhoe while viewing the captured images. Construction machinery used at construction sites is sometimes called heavy machinery.

[0003] Regarding the remote control of a backhoe, a surrounding situation presentation system is known that presents image data to visually grasp the surrounding situation of the mobile equipment (see, for example, Patent Document 1).A shovel is also known that can measure piles of earth and sand extending from inside the bucket to outside the bucket to achieve efficient excavation work (see, for example, Patent Document 2). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-181119 [Patent Document 2] Japanese Patent Application Publication No. 2017-172316 Summary of the Invention [Problem to be solved by the invention]

[0005] Even with the increasing automation of construction machinery, it is difficult to automate all work, and remote control is also used. In this case, remote control is basically performed while watching the video from a camera, but the content of the video has a major impact on construction efficiency.

[0006] As an example, let's consider a backhoe as a construction machine. Remote control involves transmitting images captured by a camera mounted on the ceiling of the driver's seat. However, this narrows the field of view compared to when the operator is on board the construction machine, making it difficult to grasp the perspective of the work object during excavation work. When operating the machine, it is difficult to obtain a wide-field view of the front view (bird's-eye view image) including the backhoe body, which would facilitate appropriate route selection and safety assurance.

[0007] As such, the images captured by conventional cameras attached to construction machinery are a hindrance to efficient remote control. Therefore, at unmanned construction sites, remotely controlled mobile camera vehicles equipped with cameras are installed on the sides of construction machinery to provide images that complement the perspective and field of view, thereby increasing work efficiency. However, preparing remotely controlled mobile camera vehicles is costly in terms of procurement and operation.

[0008] While it is possible to use a standard rechargeable drone equipped with a camera to obtain images useful for work, the drone's continuous flight time is limited, so it does not necessarily meet the needs of construction sites. Therefore, the surrounding situation presentation system in Patent Document 1 uses a wired powered drone connected to the backhoe by a power cable.

[0009] When using a wired-powered drone, it is difficult to prevent interference between the flying wired-powered drone and the backhoe's boom, arm, bucket, and other parts that move at high speed, and there have been reported cases of collisions. Maintaining the appropriate tension in the power supply cable is also difficult, and the power supply cable can sag or be pulled too tight, interfering with flight. Attempts have been made to introduce advanced control devices to prevent this, but the results have not been worth the cost.

[0010] When automated construction machinery is used, it is also important to understand the shape of the ground it is traveling on and the ground it is excavating by measuring the shape of the ground (soil and sand) around the machinery using a measuring device. When the machinery is a backhoe, the control device uses the ground shape obtained from the measuring device installed above the driver's seat to generate an appropriate excavation path (excavation route) for the bucket tip, and the machinery then excavates the ground based on this excavation path.

[0011] Figure 4 shows an example of the ground shape that is the target of excavation work. In this example, a slope 402 formed in front of a backhoe 401 is in the blind spot of the measuring device installed in the driver's seat 411, making it impossible to measure the shape of the slope 402. In this case, the excavation path of the backhoe is generated by estimating the ground shape that cannot be measured, so if the estimation accuracy is low, an inappropriate excavation path will be generated, reducing the efficiency of the excavation work.

[0012] In the technology of Patent Document 2, a distance measuring device is installed on the boom of a backhoe to perform measurements in order to eliminate blind spots. With this method, changes in the backhoe's posture and vibrations are transmitted to the measuring device, reducing measurement accuracy and increasing errors in excavation work during measurement. In addition, the orientation and height of the sensor are not constant depending on the tilt angle of the boom, requiring calculation time to correct the measurement value each time.

[0013] As such, it is difficult to properly install cameras or measuring devices so as to obtain images or ground shapes suitable for construction machinery operations.

[0014] Furthermore, this problem does not only occur when remotely operating construction machinery using images captured by a camera or ground shapes measured by a measuring device, but also when supporting the work of construction machinery using information on various observed objects.

[0015] In one aspect, the present invention aims to efficiently acquire information about an observation target from an arbitrary position above a construction machine. [Means for solving the problem]

[0016] In one embodiment, the information acquisition system includes a vertical holding unit and a horizontal holding unit. The vertical holding unit holds the position of the aircraft that acquires information about the observed target at a higher position than the construction machine that is connected to the aircraft by a cable. The horizontal holding unit is connected to the vertical holding unit to acquire information about the observed target. The information about the observed target is acquired from above the construction machine.

[0017] In another embodiment, the information acquisition system includes a vertical holding unit and a horizontal holding unit. The vertical holding unit holds the position of the aircraft that acquires information about the observed target at a position higher than a construction machine connected to the aircraft by a cable. The horizontal holding unit is connected to the vertical holding unit to acquire information about the observed target. When the aircraft is started, the information acquisition system controls the aircraft to be horizontal using an aircraft position device provided in the aircraft. [Effects of the Invention]

[0018] Information on the object to be observed can be obtained efficiently from any position above the construction machine. [Brief explanation of the drawings]

[0019] [Figure 1] FIG. 1 is a diagram showing a construction machine connected to an aircraft. [Figure 2] FIG. 2 is a configuration diagram of a flight control mechanism. [Figure 3] FIG. 10 is a diagram showing how the flight control mechanism is attached. [Figure 4] FIG. 2 is a diagram showing the shape of the ground that is the target of excavation work. DETAILED DESCRIPTION OF THE INVENTION

[0020] Hereinafter, embodiments will be described in detail with reference to the drawings.

[0021] 1 shows an example of construction machinery connected to an aircraft. A backhoe 101 is an example of the construction machinery and includes a boom 111, an arm 112, and a bucket 113. The boom 111, the arm 112, and the bucket 113 correspond to movable parts of the backhoe 101.

[0022] The drone 102 is an example of an unmanned aerial vehicle (UAV), and can fly above the backhoe 101 while connected to the backhoe 101 via a flight control mechanism 103.

[0023] The drone 102 is equipped with at least one of a camera and a measurement device. The camera may be, for example, an RGB camera, a hyperspectral camera, or an AI (Artificial Intelligence) camera.

[0024] The measurement device is a rangefinder that measures the distance to the work target, a Global Navigation Satellite System (GNSS) receiver, etc. The rangefinder may be, for example, a laser scanner, a LiDAR (Light Detection and Ranging), or an ultrasonic sensor. The measurement device is also sometimes called a sensor.

[0025] The drone 102 supports the work of the backhoe 101 by transmitting images taken with a camera from above the backhoe 101 or measurement results obtained with a measuring device to the backhoe 101 or a remote control room. The images and measurement results are examples of information on the observation target.

[0026] The flight control mechanism 103 is an example of an information acquisition system, and includes a center rod 121 and an extendable arm 122. The center rod 121 is an example of a vertical holding unit, and is detachably attached to the top of the backhoe 101. The extendable arm 122 is an example of a horizontal holding unit, and is connected to the center rod 121.

[0027] The center rod 121 holds the drone 102 at a position higher than the ceiling of the driver's seat of the backhoe 101. Holding the drone 102 at a position higher than the ceiling of the driver's seat makes it possible to prevent the drone 102 from coming into contact with moving parts such as the boom 111, the arm 112, or the bucket 113.

[0028] The center rod 121 is provided with a mechanism that allows it to rotate, and the telescopic arm 122 can rotate around the center rod 121. The center rod 121 may rotate in response to the flight operation of the drone 102 rotating around the center rod 121, or may rotate by power from a drive unit within the backhoe 101.

[0029] FIG. 2 shows an example configuration of the flight control mechanism 103 of FIG. 1. The flight control mechanism 103 of FIG. 2 includes a center rod 121, an extendable arm 122, a spring member 211, a connecting member 216, a fixing member 214, and a fixing member 215. The backhoe 101 is connected to the drone 102 by wire via a power cable 213, and supplies power to the drone 102 via the power cable 213. The center rod 121, the extendable arm 122, the spring member 211, the fixing member 214, the fixing member 215, and the power cable 213 are covered by a protective cover 217. Note that it is preferable that the protective cover 217 does not specify a protected area, but rather protects the protected area as appropriate. For example, the protective cover 217 may be made extendable to match the spring member 211, or the spring member 211 may be made extendable without being extendable.

[0030] The drone 102 and the telescopic arm 122 are connected via a connecting member 216 and a spring member 211. The spring member 211 is a replaceable elastic member. The spring member 211 has a spring structure and elastically deforms as the drone 102 moves. By connecting the drone 102 and the telescopic arm 122 flexibly using a spring structure rather than a rigid connection, the flight control mechanism 103 can use the gyro of the drone 102 to perform horizontal maintenance control and altitude control. This allows the drone 102 to maintain a floating state during flight. When the drone 102 is powered off, it is suspended from the telescopic arm 122, and when the drone 102 is powered on, the gyro can return the drone to a floating state. The gyro is an example of an aircraft positioning device.

[0031] By keeping the drone 102 in a floating state, it is possible to reduce the effects of changes in posture and vibrations of the backhoe 101 that are transmitted to the camera or measuring device mounted on the drone 102 via the flight control mechanism 103. Instead of the spring member 211, other members such as wires or ropes may be used to connect the drone 102 and the telescopic arm 122. For example, the spring member 211 can be removed from the flight control mechanism 103 and replaced with another member.

[0032] The telescopic arm 122 is an example of a telescopic member and has a telescopic function. The telescopic arm 122 is, for example, a telescopic cylinder, and extends and retracts in the direction of arrow 221 using hydraulic or pneumatic pressure in accordance with the flight movement of the drone 102. The telescopic arm 122 extending and retracting in accordance with the flight movement allows the drone 102 to move in the direction of arrow 221. The direction of arrow 221 is an example of the direction from the vertical holding unit toward the aircraft.

[0033] The telescopic arm 122 rotates or extends around the center rod 121 in response to the flight movement of the drone 102, allowing the camera or measuring device mounted on the drone 102 to obtain images or measurement results of a specified location.

[0034] Instead of the telescopic cylinder, other telescopic members such as a ball screw may be used as the telescopic arm 122. If there is no need to change the distance between the drone 102 and the center rod 121, a non-telescopic arm without telescopic function may be used as the horizontal holding unit instead of the telescopic arm 122.

[0035] The telescopic arm 122 is connected to the center rod 121 by a connecting part 212. The connection by the connecting part 212 is a pin connection, and the telescopic arm 122 can tilt upward and downward by a predetermined angle around the connecting part 212, as shown by arrow 222. The predetermined angle may be in the range of 5 to 20 degrees. The connecting part 212 is an example of a connection point between a vertical holding part and a horizontal holding part.

[0036] By providing such a connecting portion 212, the telescopic arm 122 tilts up and down in response to the flight movement of the drone 102, allowing the drone 102 to change its height. Therefore, even if the backhoe 101 tilts significantly and the spring member 211 cannot absorb the change in attitude, the drone 102 can be stabilized above the backhoe 101. When the drone 102 is started, a gyro included in the drone 102 is used to perform horizontal maintenance control so that the drone 102 and the telescopic arm 122 are horizontal. Note that, although an example configuration in which the center rod 121 is rotatable has been shown in this embodiment, this is not limited thereto, and the connecting portion 212 may also have a mechanism for rotating. Furthermore, although an example configuration in which the horizontal holding portion has an extension / retraction function has been shown, this is not limited thereto, and the extension / retraction function may not be included.

[0037] The backhoe 101 is connected to the drone 102 by wire via a power cable 213, and supplies power to the drone 102 via the power cable 213. The power cable 213 is fixed to the telescopic arm 122 by a fixing member 214, and is fixed to the center rod 121 by a fixing member 215. A curled cord, for example, is used for the portion of the power cable 213 between the drone 102 and the fixing member 214.

[0038] As the fixing members 214 and 215, for example, detachable insulation locks, wires, etc. that fasten the power cable 213 to the extendable arm 122 or the center rod 121 are used.

[0039] Fixing the power cable 213 with the fixing members 214 and 215 makes it possible to prevent the power cable 213 from sagging without controlling the tension of the power cable 213. Therefore, the power cable 213 is prevented from coming into contact with or being caught on the boom 111, arm 112, or bucket 113 of the backhoe 101 during work.

[0040] The drone 102 operates continuously while the backhoe 101 is in operation using power supplied from the backhoe 101. The drone 102 can be stabilized at the tip of the flight control mechanism 103 when the power supply is cut off or when not in use.

[0041] FIG. 3 shows an example of a method for mounting the flight control mechanism 103 of FIG. 2. FIG. 3(a) shows an example of a side view of the center rod 121 of FIG. 2. The rod support part 311 is detachably mounted on the upper part of the backhoe 101. The center rod 121 is installed so as to pass through a central opening of the rod support part 311, and is supported by the rod support part 311. The center rod 121 and the rod support part 311 are included in the flight control mechanism 103.

[0042] By removing the rod support 311 from the backhoe 101, the flight control mechanism 103 can be removed from the backhoe 101. When the flight control mechanism 103 is removed from the backhoe 101, the power cable 213 is also removed from the backhoe 101. The center rod 121 is an example of a rotating member, and the center rod 121 and the rod support 311 are an example of a connecting part.

[0043] A drive unit 314 in the backhoe 101 is, for example, a motor, and drives the center rod 121 via a rotational power transmission mechanism 313. The center rod 121 rotates around the central axis of the center rod 121 as indicated by arrow 315 by the power transmitted from the drive unit 314 via the rotational power transmission mechanism 313. This allows the telescopic arm 122 to rotate around the center rod 121, and to follow the rotation of the backhoe 101 or to be statically fixed in any direction.

[0044] The center rod 121 is connected to a rotational power transmission mechanism 313 via a slip clutch 312. This makes it possible to cut off the transmission of power from the drive unit 314 to the center rod 121 when the telescopic arm 122 rotates only by the power of the drone 102. The slip clutch 312 is also called an overload protection device.

[0045] If it is not necessary to rotate the center rod 121 using power from the backhoe 101, the rotational power transmission mechanism 313 and the drive unit 314 can be omitted.

[0046] 3(b) shows an example of a plan view of the rod support part 311 of FIG. 3(a) viewed from above. A convex part 321 is attached to the outer periphery of the center rod 121, and convex parts 322 and 323 are attached to the upper surface of the rod support part 311. The angle range θ between the convex parts 322 and 323 corresponds to the range of movement of the boom 111, arm 112, and bucket 113 of the backhoe 101.

[0047] As the center rod 121 rotates, the convex portion 321 rotates circumferentially in the direction indicated by arrow 331 or arrow 332. When the convex portion 321 rotating in the direction indicated by arrow 331 reaches the position of convex portion 322, the rotation stops. When the convex portion 321 rotating in the direction indicated by arrow 332 reaches the position of convex portion 323, the rotation also stops. Therefore, any rotational movement of the convex portion 321 that enters the angle range θ is mechanically prohibited.

[0048] This prevents the drone 102 from rotating within the movable range of the boom 111, arm 112, and bucket 113, and prevents the drone 102 from coming into contact with or colliding with the boom 111, arm 112, or bucket 113. Preventing the drone 102 from interfering with the movement of the backhoe 101, which changes rapidly, makes it easier to control the flight of the drone 102 in conjunction with the attitude and movement of the backhoe 101.

[0049] 1, by connecting the drone 102 to the backhoe 101 via the center rod 121 and the telescopic arm 122, it is possible to efficiently obtain images or measurement results from outside the range of the moving parts of the backhoe 101 using the drone 102. In particular, images or measurement results from above are suitable for work with reduced perspective.

[0050] For example, when the backhoe 101 is remotely controlled to perform excavation and loading work, a camera can be mounted on the drone 102 to obtain side or overhead images that are useful for remote control.

[0051] The side image is an image of the boom 111, arm 112, and bucket 113 taken from the side, and is used to grasp the perspective between the backhoe 101 and the work target. The overhead image is an image of the ground taken from above the backhoe 101, and is used to grasp the entire view ahead while traveling.

[0052] Furthermore, by mounting the measurement device on the drone 102, the measurement device can avoid moving parts. This allows appropriate topographical data to be acquired, and an appropriate excavation path can be generated based on the highly accurate topographical data. Generating an appropriate excavation path improves the efficiency of excavation work and reduces work costs. The reference coordinates of the ground shape can be acquired, for example, using a GNSS receiver mounted on the drone 102.

[0053] 1 is merely an example of a construction machine, and the flight control mechanism 103 may be attached to other construction machines such as a bulldozer, a wheel loader, a dump truck, etc. The drone 102 connected to the construction machine via the flight control mechanism 103 acquires images or measurement results from above the construction machine, thereby assisting in excavation and loading work, earthwork, leveling work, transportation work, etc.

[0054] 2 is merely an example, and some of the components may be omitted or modified depending on the application or conditions of flight control mechanism 103. For example, if there is little possibility that power cable 213 will sag, fixing members 214 and 215 can be omitted.

[0055] The mounting method of flight control mechanism 103 shown in Figure 3 is merely an example, and flight control mechanism 103 may be mounted to backhoe 101 using a different mounting method. The ground shape shown in Figure 4 is merely an example, and the ground shape that is the target of work during excavation work will change depending on the progress of the construction work.

[0056] Although the disclosed embodiments and their advantages have been described in detail, those skilled in the art may make various modifications, additions, and omissions without departing from the scope of the invention as clearly set forth in the claims. [Explanation of symbols]

[0057] 101, 401 Backhoe 102 Drone 103 Flight Control Mechanism 111 Boom 112 Arm 113 Bucket 121 Center rod 122 Telescopic Arm 211 Spring members 212 Connecting part 213 Power Cable 214, 215 Fixing member 216 Connecting member 217 Protective Cover 221, 222, 315, 331, 332 arrows 311 Rod support 312 Slip Clutch 313 Rotational Power Transmission Mechanism 314 Drive unit 321~323 Convex part 402 Slope 411 Driver's seat

Claims

1. a vertical holding unit that holds the aircraft that acquires information about the observation target at a position higher than a construction machine connected to the aircraft by a cable; a horizontal holding unit connected to the vertical holding unit to acquire information about the observation target; and An information acquisition system characterized in that the information on the observation target is acquired from above the construction machine.

2. 2. The information acquisition system according to claim 1, wherein the vertical holding unit holds the aircraft at a position higher than a movable unit of the construction machine.

3. 3. The information acquisition system according to claim 2, wherein the horizontal holding unit is provided so as to be able to acquire information about the observation target at a specified location.

4. the vertical holding portion has a detachable connecting portion, 4. The information acquisition system according to claim 3, wherein the connection part is attached to an upper part of the construction machine and includes a rotating member that is rotatable on the upper part of the construction machine.

5. The horizontal holding portion has an expansion and contraction function, The information acquisition system according to claim 4, wherein the telescopic function is realized by a telescopic member that can be extended or contracted in accordance with the flight motion of the aircraft.

6. 6. The information acquisition system according to claim 5, wherein the extendable member extends and retracts in a direction from the vertical holding portion toward the aircraft.

7. 7. The information acquisition system according to claim 1, wherein the horizontal holding unit is tiltable upward or downward by a predetermined angle at a connection point between the vertical holding unit and the horizontal holding unit.

8. a vertical holding unit that holds the aircraft that acquires information about the observation target at a position higher than a construction machine connected to the aircraft by a cable; a horizontal holding unit connected to the vertical holding unit to acquire information about the observation target; and An information acquisition system characterized in that, when the aircraft is started, the aircraft is controlled to be level using an aircraft position device provided in the aircraft.

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