Lifting support system, lifting support method, and lifting support program

Abstract

To provide a lifting support system, a lifting support method, and a lifting support program for supporting the unloading efficiently in the lifting work.SOLUTION: A lifting support system CS1 includes a control unit 21 connected to a suspended object turning device 15 for suspending a suspended load. The control unit 21 acquires a first direction with respect to the present orientation of the suspended object and a second direction with respect to the orientation of the suspended object in unloading at an unloading place, calculates a turn instruction angle by using the first direction and the second direction, and instructs the turning at the turn instruction angle to the suspended object turning device 15.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a lifting support system, a lifting support method, and a lifting support program for supporting a lifting operation. [Background technology]

[0002] A fly slewing device is sometimes used to position the slewing direction of an object suspended by a wire (see, for example, Patent Document 1). In this fly slewing device, a gimbal shaft for tiltably supporting a flywheel is integrally provided on a gimbal frame that rotatably supports a flywheel. The gyro effect caused by the tilting of the flywheel rotating around the central axis is used to rotate the flywheel. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2014-131940 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, when landing the load at the unloading site, an operator must operate the load revolving device. Furthermore, the rigger may use an assistant rope attached to the load to guide it to the destination. This makes the work at the unloading site time-consuming. [Means for solving the problem]

[0005] A lifting support system for solving the above problem includes a control unit connected to a hanging load revolving device that suspends a load. The control unit acquires information regarding a first direction for the orientation of the hanging load and a second direction for the orientation of the unloading location, and outputs a revolving command to the hanging load revolving device according to the relationship between the first direction and the second direction. Effect of the Invention

[0006] According to the present invention, unloading can be carried out efficiently in lifting operations. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is an explanatory diagram of a system according to an embodiment. [Diagram 2] FIG. 2 is an explanatory diagram of a hardware configuration of the embodiment. [Diagram 3] FIG. [Figure 4] FIG. [Diagram 5] FIG. [Figure 6] FIG. [Figure 7] FIG. 4 is an explanatory diagram of a method for calculating a turning angle according to the embodiment. [Figure 8] 5A and 5B are explanatory diagrams of captured images in an embodiment, in which FIG. 5A is an explanatory diagram of an image before turning, and FIG. [Figure 9] 13A and 13B are explanatory diagrams of a method for calculating a rotation angle according to another embodiment, where FIG. 13A is a camera seat image, and FIG. 13B is an explanatory diagram of three-dimensional design data. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Hereinafter, an embodiment of a lifting support system, a lifting support method, and a lifting support program will be described with reference to Fig. 1 to Fig. 8. In this embodiment, a lifting support system used in a case where a lifting device (tower crane) is used at a construction site will be described.

[0009] As shown in Fig. 1, the lifting support system CS1 of this embodiment uses a control unit 10, a hanging equipment rotation device 15, a support server 20, and a management terminal 30. The control unit 10 is provided in a tower crane C1 serving as a lifting device.

[0010] As shown in Fig. 3, a rotating frame C11 is placed on the mast C10 of the tower crane C1, and a driver's seat C12 is provided on the rotating frame C11. When lifting work is performed by an operator, the operator uses the driver's seat C12 of the tower crane C1 to perform the rotation of the rotating frame C11, the raising and lowering (tilt angle) of the jib C13 (boom), and the raising and lowering of the hook C14.

[0011] A load C15 is suspended from the hook C14 via a hanging load revolving device 15. Skyjaster (registered trademark) can be used as this hanging load revolving device. This hanging load revolving device 15 supports a flywheel tiltably on a gimbal frame that rotatably supports the flywheel. The hanging load revolving device 15 controls the direction of the load C15 by utilizing the gyro effect that is generated by tilting the rotating flywheel. The hanging object in this embodiment corresponds to the hanging object rotation device 15 and the suspended load C15 suspended by the hook C14.

[0012] (Hardware configuration description) 2, the hardware configuration of the information processing device H10 that constitutes the control unit 10, the fly slewing device 15, the support server 20, and the management terminal 30 will be described. The information processing device H10 includes a communication device H11, an input device H12, a display device H13, a storage unit H14, and a processor H15. Note that this hardware configuration is an example, and it can also be realized by other hardware.

[0013] The communication device H11 is an interface that establishes a communication path with another device and transmits and receives data, and is, for example, a network interface or a wireless interface.

[0014] The input device H12 is a device that accepts input of various information, such as a mouse, a keyboard, etc. The display device H13 is a display or the like that displays various information. The memory unit H14 is a storage device that stores data and various programs for executing various functions of the control unit 10, the fly rotation device 15, the support server 20, and the management terminal 30. Examples of the memory unit H14 include a ROM, a RAM, a hard disk, etc.

[0015] The processor H15 uses the programs and data stored in the memory H14 to control each process in the control unit 10, the fly rotation device 15, the support server 20, and the management terminal 30. Examples of the processor H15 include a CPU and an MPU. The processor H15 loads the programs stored in the ROM, etc., into the RAM and executes various processes for each process.

[0016] The processor H15 is not limited to a processor that performs software processing for all the processes it executes. For example, the processor H15 may be equipped with a dedicated hardware circuit (e.g., an application specific integrated circuit: ASIC) that performs hardware processing for at least a part of the processes it executes. That is, the processor H15 may be configured as a circuit including: (1) one or more processors that operate according to a computer program (software); (2) one or more dedicated hardware circuits that execute at least a part of the various processes; or (3) a combination thereof. The processor includes a CPU and memory such as RAM and ROM, and the memory stores program code or instructions that are configured to cause the CPU to execute the processes. The memory, i.e., the computer-readable medium, includes any available medium that can be accessed by a general-purpose or dedicated computer.

[0017] (System Configuration) Next, each function of the lifting support system will be explained using FIG. A control unit 10 provided on the tower crane C1 includes a three-dimensional measuring device 12, an imaging device 13, and a drive control unit .

[0018] The three-dimensional measuring device 12 is provided at the tip of the jib C13 of the tower crane C1 and acquires a three-dimensional image of the surroundings. The three-dimensional measuring device 12 detects objects (obstacles) present in the surroundings, for example, using laser light. For this three-dimensional measuring device 12, for example, LiDAR (Light Detection and Ranging) technology that acquires three-dimensional point cloud information as three-dimensional detection information can be used. With this LiDAR, for example, a scan plane formed by waving laser light in one dimension can be rotated 360 degrees in the normal direction to acquire three-dimensional point cloud information about surrounding obstacles.

[0019] The imaging device 13 is provided at the tip of the jib C13 of the tower crane C1 and captures a video including the lower hook C14, the hanging load rotation device 15, and the suspended load C15. The drive control unit 14 performs drive control in response to the rotation operation of the rotating frame C11, the raising and lowering operation of the jib C13, and the up and down operation of the hook C14.

[0020] Then, the control unit 10 transmits the three-dimensional point cloud information from the three-dimensional measuring device 12 , the video from the imaging device 13 , and the drive information of the drive control unit 14 to the support server 20 .

[0021] The support server 20 is a computer system that supports the lifting operation by using information acquired from the control unit 10. The support server 20 includes a control unit 21, a teacher information storage unit 22, a learning result storage unit 23, a design information storage unit 24, and a lifting information storage unit 25. The control unit 21 performs processes (including a learning stage, an information acquisition stage, a route creation stage, a transport management stage, etc.) described below. By executing a program for each process for this purpose, the control unit 21 functions as a learning unit 211, an information acquisition unit 212, a route creation unit 213, a transport management unit 214, etc.

[0022] The learning unit 211 performs machine learning using the teacher data to generate a prediction model for recognizing a subject included in an image. In this embodiment, a prediction model for recognizing a suspended load area and an unloading place area is generated by machine learning. For example, deep learning can be used as a machine learning method.

[0023] The information acquisition unit 212 acquires various types of information from the control unit 10. In this embodiment, 3D measurement information and a video of the area below the tip of the jib C13 are acquired from the control unit 10. This 3D measurement information makes it possible to detect surrounding obstacles. Also, the video makes it possible to confirm the load C15. Furthermore, the information acquisition unit 212 acquires operation information such as hoisting operation information for the jib C13 and rotation operation information for the rotating frame C11 from the control unit 10.

[0024] The route creation unit 213 creates a transport route using a three-dimensional model of the construction site recorded in the design information storage unit 24 and three-dimensional point cloud information measured by the three-dimensional measuring device 12. The route creation unit 213 has an offset table in which an offset is set according to the width of the load. The offset is a distance that allows a margin to avoid contact with an obstacle. The route creation unit 213 then provides a transport area map in which a transport route can be set in an area that is the offset away from the obstacle. In this transport area map, an evaluation value is mapped for each divided area (polygon) that constitutes the map. This evaluation value is a value obtained by summing up individual values ​​that evaluate the risk of contact depending on the distance from the obstacle to the divided area. For this reason, the route creation unit 213 holds individual value calculation information for calculating individual values ​​depending on the distance. The route creation unit 213 then creates an efficient transport route with a low evaluation value in the transport area map.

[0025] The transport management unit 214 operates the tower crane C1 according to the created transport route. The transport management unit 214 has a speed determination table for determining the transport speed (normal speed) according to the size (dimensions and weight) of the suspended load. In this speed determination table, the larger the size, the slower the transport speed is set.

[0026] The teacher information storage unit 22 stores teacher data used for machine learning. In this embodiment, the teacher data is stored before learning. As the teacher data, a plurality of images of a suspended load (hook) photographed from above and a plurality of images of an unloading location photographed from above are used. Furthermore, each image is associated with a frame that specifies the suspended load area and the unloading location area, respectively.

[0027] The learning result storage unit 23 records a prediction model generated by machine learning. In this embodiment, this prediction model is recorded during learning. In this embodiment, by inputting a photographed image, a first prediction model that recognizes a suspended load area in the photographed image and a second prediction model that recognizes an unloading place area are recorded.

[0028] The design information storage unit 24 records three-dimensional design data created using BIM (Building Information Modeling) or the like. This three-dimensional design data is recorded when a construction site is designed using a three-dimensional CAD. The three-dimensional design data as three-dimensional model information includes project information, element models, attribute information, and placement information.

[0029] The project information includes information on the name of the construction site, the longitude and latitude, the direction of the construction site, etc. An element model is information about a three-dimensional model (BIM object) of each building element (constituent material) used on a construction site.

[0030] The attribute information is the attribute information of this element model. This attribute information includes information related to specifications (element ID, element type, standard, dimensions, area, volume, material, etc.). The placement information includes information about the coordinates at which each element model is to be placed. Furthermore, the placement information associates the coordinates with the planned placement date at which each element model is to be placed.

[0031] The lifting information storage unit 25 records lifting management data related to the load suspended by the control unit 10. This lifting management data is recorded when various information is acquired from the management terminal 30. The lifting management data includes information related to the job ID, the crane ID, the lifting position, the lowering position, and the planned route.

[0032] The job ID is information regarding an identifier for identifying each lifting job. The crane ID is information regarding an identifier for identifying the tower crane C1 used in each lifting operation.

[0033] The lifting position information and the hanging position information are information about the lifting position (transport start position) and the hanging position (transport target position) designated by the manager. The planned route information is recorded when a route is generated. The planned route information is information about a transport route generated using a transport area map.

[0034] The control terminal 30 is a computer terminal used by a manager of the construction site. The manager uses the control terminal 30 to remotely control the tower crane C1 at the construction site and instructs the lifting work, instead of the operation by the operator in the driver's seat C12.

[0035] (Lifting support processing) Next, a procedure of a lifting support method performed during a lifting operation in the support server 20 configured as above will be described with reference to Figs.

[0036] (Learning process) The learning process will be described with reference to FIG. First, the control unit 21 of the support server 20 executes a process of acquiring teacher information (step S101). Specifically, the learning unit 211 of the control unit 21 acquires teacher data (hanging load image, unloading place image) from the teacher information storage unit 22.

[0037] Next, the control unit 21 of the support server 20 executes machine learning processing (step S102). Specifically, the learning unit 211 of the control unit 21 inputs the acquired suspended load image and generates a first prediction model that predicts the suspended load area through machine learning. The learning unit 211 also inputs the acquired unloading place image and generates a second prediction model that predicts the unloading place area through machine learning.

[0038] Next, the control unit 21 of the support server 20 executes a process of recording the prediction models (step S103). Specifically, the learning unit 211 of the control unit 21 records the generated first and second prediction models in the learning result storage unit 23.

[0039] (Lifting instruction processing) The lifting instruction process will be described with reference to FIG. First, the control unit 21 of the support server 20 executes a design information acquisition process (step S201). Specifically, the information acquisition unit 212 of the control unit 21 acquires the current date from the system timer, and uses the design information storage unit 24 to identify element models whose planned placement date is before the current date. Then, the information acquisition unit 212 places the identified element models in the virtual space. Furthermore, the information acquisition unit 212 acquires operation information from the control units 10 of other tower cranes C1 placed in the vicinity. Next, element models of movable structures such as the masts C10 and jibs C13 of the other tower cranes C1 are placed in the virtual space according to the operation information. Then, the transport management unit 214 outputs a management screen displaying the virtual space to the display device H13 of the management terminal 30.

[0040] Next, the control unit 21 of the support server 20 executes a mapping process (step S202). Specifically, the path creation unit 213 of the control unit 21 acquires, from the control unit 10 of the tower crane C1, three-dimensional point cloud information of the surroundings of the tower crane C1 measured by the three-dimensional measuring device 12. Then, the path creation unit 213 arranges and displays the point cloud data in addition to the element models arranged in the virtual space displayed on the management screen.

[0041] Next, the control unit 21 of the support server 20 executes a height setting process (step S203). Specifically, the path creation unit 213 of the control unit 21 uses the three-dimensional point cloud information to confirm the presence of an element model of a structure (fixed structure) arranged in the virtual space. Next, the path creation unit 213 identifies the highest position of the fixed structure whose presence has been confirmed. Then, the path creation unit 213 calculates a lifting height by adding a clearance height (e.g., 5 m) to the highest position of the fixed structure. In this case, the path creation unit 213 determines a lifting height for transport that is equal to or lower than the height at which the hook C14 can be hoisted by the jib C13.

[0042] Next, the control unit 21 of the support server 20 executes a setting process of the transport information (step S204). Specifically, the route creation unit 213 of the control unit 21 outputs a transport input screen to the management terminal 30. In this case, the manager inputs information about the transported object using the management terminal 30. For example, for the transported object, the element ID recorded in the design information storage unit 24 is input. Also, if the transported object is not recorded in the design information storage unit 24, the size including the cargo width is input. Furthermore, the transport start position and the transport target position are input using the management screen. Here, the transport start position and the transport target position are specified in the virtual space of the management screen displayed on the display device H13. In this case, the route creation unit 213 specifies the coordinates of the specified transport start position and the transport target position. Then, the route creation unit 213 assigns a work ID and records the lifting management data including the transported object information acquired from the management screen in the lifting information storage unit 25.

[0043] Next, the control unit 21 of the support server 20 executes a process of setting an offset according to the width of the package (step S205). Specifically, the path creation unit 213 of the control unit 21 uses an offset table to calculate an offset based on the size of the package. In this case, the offset is set within a range that allows the package to fit in whatever direction it faces.

[0044] Next, the control unit 21 of the support server 20 executes a process for creating a lifting route (step S206). Specifically, the route creation unit 213 of the control unit 21 creates a transport area map in the transportable area at the lifting height. This transport area map is composed of a plurality of divided areas. The route creation unit 213 calculates an individual value for each representative position (e.g., center of gravity) of each divided area based on the distance from each obstacle using the individual value calculation information. Then, the route creation unit 213 sums up the calculated individual values ​​to calculate an evaluation value for each divided area. In this case, a high evaluation value is set when the distance from the obstacle is short or when the score is high.

[0045] Next, the route creation unit 213 uses the transport area map to generate a three-dimensional transport route from the hook position (movement start position) → the load movement origin position (transport start position) → the load movement destination position (transport target position) by the path with the lowest total evaluation value of each divided area on the route and the shortest distance. In this case, a route search algorithm is applied to a graph consisting of nodes (for example, the center of gravity of the divided area P1) and links on the horizontal movement plane. As the route search algorithm, for example, the "A* (A-star) search algorithm" can be used. This A* search algorithm uses a cost function that serves as a guidepost for the search in a graph search problem for finding a path from the movement start position → the transport start position → the transport target position. The cost function specifies a transport route with a low total of the cost from the start to the nth point and the expected cost (evaluation value) from the nth point to the goal. Then, the route creation unit 213 records the generated transport route in the lifting information storage unit 25 as planned route information in association with the lifting management data.

[0046] Next, the control unit 21 of the support server 20 executes a transport start process (step S207). Specifically, the transport management unit 214 of the control unit 21 outputs a start confirmation screen to the display device H13 of the management terminal 30. The start confirmation screen includes a selection button for whether or not to start ("Yes" or "No"). Then, when the transport management unit 214 detects pressing of the "Yes" button on the start confirmation screen, it instructs the drive control unit 14 of the control unit 10 of the tower crane C1 to start transport.

[0047] The lifting process will be described with reference to FIG. The control unit 21 of the support server 20 executes the lifting process along the lifting route (step S301). Specifically, the transport management unit 214 of the control unit 21 instructs the drive control unit 14 to stop the rotation operation of the rotating frame C11 and the raising and lowering operation of the jib C13 according to the planned route recorded in the lifting information storage unit 25.

[0048] Next, the control unit 21 of the support server 20 executes a process of acquiring the captured image (step S302). Specifically, the transport management unit 214 of the control unit 21 acquires the image captured by the imaging device 13 from the control unit 10 of the tower crane C1.

[0049] Next, the control unit 21 of the support server 20 executes a process for identifying the suspended load (step S303). Specifically, the transport management unit 214 of the control unit 21 inputs the acquired photographed image into the first prediction model recorded in the learning result storage unit 23, and identifies the suspended load area.

[0050] Next, the control unit 21 of the support server 20 executes a determination process as to whether the suspension position has been approached (step S304). Specifically, the transport management unit 214 of the control unit 21 identifies the tip position of the jib C13 on the scheduled route. If the tip position of the jib C13 is within a range where the suspension position can be photographed, it is determined that the suspension position has been approached.

[0051] If it is determined that the hanging position is outside the range where the image can be captured and that the user is not approaching the hanging position (if "NO" in step S304), the control unit 21 of the support server 20 repeats the process of acquiring the captured image (step S302) and subsequent processes.

[0052] On the other hand, if it is determined that the suspension position has been approached ("YES" in step S304), the control unit 21 of the support server 20 executes the process of acquiring a captured image (step S305), similarly to step S302.

[0053] Next, the control unit 21 of the support server 20 executes a process for identifying the suspended load and the suspension location (step S306). Specifically, the transport management unit 214 of the control unit 21 inputs the acquired photographed images into a first prediction model recorded in the learning result storage unit 23, and identifies the suspended load area. Furthermore, the transport management unit 214 inputs the acquired photographed images into a second prediction model recorded in the learning result storage unit 23, and identifies the unloading location area. As shown in FIG. 7, in a photographed image 500, a suspended load area 501 and an unloading place area 502 are identified.

[0054] Next, the control unit 21 of the support server 20 executes a direction control process (step S307). Specifically, the transport management unit 214 of the control unit 21 rotates the jib C13 and instructs the hanging structure rotation device 15 to rotate in a direction in which the angle (deviation angle) between the major axis of the suspended load area at the time of landing and the major axis of the unloading place area becomes zero.

[0055] As shown in FIG. 7, the angle a1 (first direction) of the long axis d1 of the suspended load area and the angle a2 (second direction) of the long axis d2 of the unloading location area are determined based on the current direction d0 of the jib C13. The long axis d2 of the unloading location area becomes the direction at the time of unloading at the unloading location. Furthermore, the reaching angle a3 of the crane in the direction d4 at the time of unloading is determined by the rotation operation of the jib C13 with respect to the current direction d0. This reaching angle a3 is obtained from the drive control unit 14. The transport management unit 214 then calculates the rotation angle of the hanging load rotation device 15 using the direction of the suspended load, the direction of the unloading location, and the direction of the jib according to the following formula. [Turning angle] = [a2] - ([a1] + [a3])

[0056] 8(a), a suspended load area 511 and an unloading place area 512 are identified in a photographed image 510. Then, rotation at a rotation angle is instructed. In this case, as shown in FIG. 8(b), the vehicle rotates in a direction in which the deviation angle between the suspended load area 521 and the unloading place area 522 in the photographed image 520 becomes smaller.

[0057] Next, the control unit 21 of the support server 20 executes a process of determining whether the directions match (step S308). Specifically, the transport management unit 214 of the control unit 21 determines that the directions match when the deviation angle falls within a predetermined error range.

[0058] If it is determined that the directions do not match (if "NO" in step S308), the control unit 21 of the support server 20 repeats the process of acquiring the captured image (step S305) and subsequent processes.

[0059] On the other hand, if it is determined that the directions match ("YES" in step S308), the control unit 21 of the support server 20 executes a landing control process (step S309). Specifically, the transport management unit 214 of the control unit 21 instructs the hanging facility rotation device 15 to maintain the current posture. Then, when the load C15 reaches above the unloading location, the transport management unit 214 instructs the drive control unit 14 to lower the hook C14 until it reaches the transport target position.

[0060] According to this embodiment, the following effects can be obtained. (1) In this embodiment, the imaging device 13 is provided at the tip of the jib C13 of the tower crane C1 and captures video of the lower hook C14 and the suspended load C15. This makes it possible to obtain captured images of the suspended load C15 and the area below the suspended load C15.

[0061] (2) In this embodiment, the control unit 21 of the support server 20 executes a learning process, which allows the state of the suspended load and the unloading location to be confirmed from above using the captured images.

[0062] (3) In this embodiment, the control unit 21 of the support server 20 executes a mapping process (step S202), which makes it possible to check the status of the transportation area based on the design information and the three-dimensional point cloud information.

[0063] (4) In this embodiment, the control unit 21 of the support server 20 executes a process of acquiring a photographed image (step S302) and a process of identifying a suspended load (step S303). This makes it possible to identify the state of the suspended load from the photographed image.

[0064] (5) In this embodiment, when it is determined that the load is approaching the suspension position (step S304: YES), the control unit 21 of the support server 20 executes a process of acquiring a captured image (step S305) and a process of identifying the load and the suspension position (step S306). This makes it possible to identify the positional relationship between the load and the suspension location.

[0065] (6) In this embodiment, the control unit 21 of the support server 20 executes a direction control process (step S307). This allows the load to land at an appropriate position, taking into account the direction of the load, the direction of the suspension location, and the direction of the jib.

[0066] This embodiment can be modified as follows: This embodiment and the following modifications can be combined with each other to the extent that there is no technical contradiction. In the above embodiment, a tower crane is assumed as the lifting device. However, the lifting device is not limited to a tower crane as long as it is a device that transports by lifting.

[0067] In the above embodiment, the control unit 21 of the support server 20 executes a process for identifying the suspended load and the suspension position (step S306). Here, the suspension position is identified by image recognition. The method for identifying the suspension position is not limited to image recognition. For example, the suspension position may be identified using three-dimensional point cloud information measured by the three-dimensional measuring device 12. The hanging position may be specified using three-dimensional design data recorded in the design information storage unit 24. For example, assume that a beam member as a transported object is hung at a desired position.

[0068] As shown in FIG. 9(a), in the captured image 540 acquired from the imaging device 13, the long axis d1 of the suspended load area 541 is identified, and the angle a11 (first direction) of the long axis d1 of the suspended load area is calculated based on the current direction d0 of the jib C13.

[0069] Furthermore, as shown in FIG. 9(b), a top view 550 of the structure of the three-dimensional design data is acquired. In this case, the unloading place area 552 indicates the installation position of the beam in the three-dimensional design data. Here, the angle a12 is the angle (angle from the Y axis) of the installation direction of the beam (long axis d4 of the unloading area) on the absolute coordinates in the three-dimensional design data. Also, the angle a13 is the arrival angle of the crane on the absolute coordinates acquired from the drive control unit 14. Then, the angle a11 of the suspended load area is calculated as the angle (〔a11〕+〔a13〕) on the absolute coordinates using the angle a13. Then, the transport management unit 214 instructs the hanging equipment rotation device 15 to rotate so that the direction of the long axis d1 of the suspended load area and the direction of the long axis d4 of the unloading area coincide with each other. In this case, the installation direction of the beam as seen from the jib C13 is the angle a14. Then, the transport management unit 214 uses the orientation of the suspended load, the orientation of the design information, and the orientation of the jib to calculate the angle a14 at which the hanging structure rotation device 15 is rotated according to the following formula.

[0070] [Angle a14] = [a12] - ([a11] + [a13])

[0071] In the above embodiment, the control unit 21 of the support server 20 executes a process for identifying the suspended load and the suspension position (step S306). Here, the direction of the suspended load is identified by image recognition. The method for identifying the direction of the suspended load is not limited to image recognition. An azimuth angle (for example, a rotation angle with respect to true north) may also be acquired. In this case, an orientation acquisition device using a positioning information system such as a Global Navigation Satellite System (GNSS) is installed in the fly rotation device 15.

[0072] Next, the technical ideas that can be understood from the above-described embodiment and other examples will be described below. (a) The lifting support system according to claim 1, characterized in that the control unit acquires a photographed image of the hanging object and identifies the orientation by photographing the object.

[0073] (b) A lifting support system as described in (a) or (b), characterized in that the control unit acquires orientation information from an orientation acquisition device installed on the hanging structure and identifies the direction by photographing.

[0074] (c) A lifting assistance system as described in any one of claims 1, (a) and (b), characterized in that the control unit acquires an image of the unloading location and identifies the location through the image acquisition.

[0075] (d) A lifting assistance system as described in any one of (a) to (c) of claim 1, characterized in that the control unit acquires a component model of three-dimensional design data of the unloading location and identifies the arrangement using the component model. [Explanation of symbols]

[0076] CS1...lifting support system, C1...tower crane, C10...mast, C11...rotating frame, C12...driver's seat, C13...jib, C14...hook, C15...suspended load, 10...control unit, 12...3D measuring device, 13...imaging device, 14...drive control unit, 15...hanging load rotation device, 20...support server, 21...control unit, 211...learning unit, 212...information acquisition unit, 213...route creation unit, 214...transportation management unit, 22...teacher information memory unit, 23...learning result memory unit, 24...design information memory unit, 25...lifting information memory unit, 30...management terminal.

Claims

1. A lifting support system including a lifting equipment rotation device for suspending a lifting equipment and a control unit connected to a photographing device, The control unit: A flying object area is predicted using a first prediction model to which the photographed image acquired from the photographing device is input, and an unloading place area is predicted using a second prediction model to which the photographed image acquired from the photographing device is input, Obtain a first direction regarding a current orientation of the hanging object area and a second direction regarding an orientation of the hanging object at the time of unloading in the unloading place area; A lifting support system characterized by calculating a rotation instruction angle using the first direction and the second direction, and instructing the hanging equipment rotation device to rotate at the rotation instruction angle.

2. A method for performing lifting assistance using a lifting assistance system including a lifting equipment rotation device for suspending a lifting equipment and a control unit connected to a photographing device, comprising: The control unit: A flying object area is predicted using a first prediction model to which the photographed image acquired from the photographing device is input, and an unloading place area is predicted using a second prediction model to which the photographed image acquired from the photographing device is input, Obtain a first direction regarding a current orientation of the hanging object area and a second direction regarding an orientation of the hanging object at the time of unloading in the unloading place area; A lifting support method, comprising: calculating a rotation instruction angle using the first direction and the second direction; and instructing the hanging equipment rotation device to rotate at the rotation instruction angle.

3. A program for performing lifting support using a lifting support system including a lifting support rotation device for suspending a lifting support and a control unit connected to a camera, The control unit, A flying object area is predicted using a first prediction model to which the photographed image acquired from the photographing device is input, and an unloading place area is predicted using a second prediction model to which the photographed image acquired from the photographing device is input, Obtain a first direction regarding a current orientation of the hanging object area and a second direction regarding an orientation of the hanging object at the time of unloading in the unloading place area; A lifting support program characterized by calculating a rotation instruction angle using the first direction and the second direction, and functioning as a means for instructing the hanging equipment rotation device to rotate at the rotation instruction angle.

Images