Imaging equipment and monitoring system

Abstract

To provide an imaging apparatus capturing around a construction machinery and a monitoring system monitoring around a construction machinery, which stably acquire video for monitoring.SOLUTION: An imaging apparatus 2 capturing around a construction machinery 10 includes an arm 20 attached to the construction machinery 10, and a flight vehicle (drone 30) provided with imaging means (camera 31), the flight vehicle being suspended from the arm 20 while capable of flying freely. A monitoring system 1 monitoring around a construction machinery 10 includes an arm 20 attached to the construction machinery 10, a flight vehicle (drone 30) suspended from the arm 20 while capable of flying freely, and display means (displays 44, 54) displaying video captured by the flight vehicle.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a photographing device for photographing the periphery of a construction machine and a monitoring system for monitoring the periphery of a construction machine.

Background Art

[0002] For video acquisition for unmanned and automated operation of construction machines, a plurality of in-vehicle cameras attached to the construction machines and fixed cameras installed around the construction machines are required. In particular, when monitoring construction machines (such as wheel loaders) that perform complex operations and travel at high speeds in a tunnel, many in-vehicle cameras and fixed cameras for obtaining overhead images are used. However, even if the number of in-vehicle cameras is increased, there is a limit to the range that can be photographed, so there are cases where it is not possible to obtain highly visible images that accurately capture the locations to be monitored. In addition, in the case of in-vehicle cameras, since the vibration of the construction machine is directly transmitted, it is necessary to take measures to suppress the influence of the vibration of the construction machine on the camera mount in order to obtain highly visible images without blur. On the other hand, a monitoring method using a drone has been proposed. Specifically, for example, a mobile flying body device for monitoring a plurality of remotely operated work machines using a drone has been proposed (see Patent Document 1). In addition, a safety flight system for enhancing the safety during drone flight has also been proposed (see Patent Document 2).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the mobile aircraft device described in the cited document 1 is placed on the ground near the working area of ​​the work machine when monitoring the work machine, and is configured to include a housing, an aircraft (drone), and a connection cable connecting the housing and the aircraft. Therefore, a transport work machine (forklift, etc.) must be prepared in addition to the work machine to be monitored to transport the mobile aircraft device to the vicinity of the working area. In addition, for example, in a tunnel where GPS radio waves cannot reach, it is narrow and the influence of wind from a blower is large, so it is difficult to fly stably around heavy machinery performing high-speed and complex work, and there is a risk of the aircraft crashing. Furthermore, although the safe flight system described in Patent Document 2 can prevent the aircraft from crashing, it requires the installation of guidelines in advance, and the aircraft can only fly within the range that follows the guidelines.

[0005] The present invention has been made in consideration of the above-mentioned problems, and aims to provide an imaging device that captures images of the area around a construction machine and a surveillance system that monitors the area around a construction machine, and to stably obtain surveillance images with high visibility. [Means for solving the problem]

[0006] In order to solve the above problem, the invention according to claim 1 is a photographing device for photographing the surroundings of a construction machine, An arm attached to the construction machine; No. 1 An aircraft equipped with a photographing means; an arm adjustment means for adjusting the arm to maintain a distance between the arm and the aircraft at a predetermined specific distance; A second imaging means capable of imaging an area including both the tip of the arm and the aircraft; Equipped with The flying object is suspended from the arm so as to be able to fly freely. And, The arm adjustment means adjusts the arm based on the photographed image data acquired by the second photographing means. It is characterized by:

[0007] The invention according to claim 2 is the photographing device according to claim 1, The arm is extendable and retractable. The length of the arm can be adjusted to follow the flying object.

[0008] The invention according to claim 3 is the photographing device according to claim 1 or 2, The arm is attached to the construction machine via a universal joint mechanism, The orientation of the arm can be adjusted to follow the flying object.

[0009] The invention according to claim 4 is the photographing device according to claim 1, The arm is attached to the construction machine via a rotating mechanism, The arm's rotation angle can be adjusted to follow the flying object.

[0010] The invention according to claim 5 is the photographing device according to claim 1 or 4, The arm includes a moving means movable along the arm, the flying object is suspended from the moving means of the arm so as to be able to fly freely; Follow the aircraft hand, The position of the moving means is adjustable.

[0012] Claim 6 The invention relates to claims 1 to 5 The imaging device according to any one of claims 1 to 5, A suspension member that connects the aircraft and the arm; a drum around which the suspension member is wound, The drum is biased in a direction in which the hanging member is wound up.

[0013] Claim 7 The present invention relates to a monitoring system for monitoring the periphery of a construction machine, An arm attached to the construction machine; a flying object suspended from the arm so as to be capable of flying; The flying object The first photographing means is provided A display means for displaying the image captured by the an arm adjustment means for adjusting the arm to maintain a distance between the arm and the aircraft at a predetermined specific distance; A second imaging means capable of imaging an area including both the tip of the arm and the aircraft; Equipped with 、 The arm adjustment means adjusts the arm based on the photographed image data acquired by the second photographing means. It is characterized by: Effect of the Invention

[0014] According to the present invention, highly visible surveillance video can be stably acquired. [Brief description of the drawings]

[0015] [Figure 1] 1 is a diagram illustrating a configuration of a monitoring system according to an embodiment of the present invention. [Diagram 2] FIG. 1 is a diagram illustrating a configuration of an imaging device according to an embodiment of the present invention. [Diagram 3] FIG. 13 is a diagram illustrating a photographing device when the construction machine is a wheel loader. [Figure 4] FIG. 13 is a diagram illustrating a photographing device when the construction machine is a free section excavator. [Diagram 5] 13A and 13B are diagrams illustrating a modified example of the imaging device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. However, the technical scope of the present invention is not limited to the following embodiments and examples shown in the drawings.

[0017] [Surveillance System] FIG. 1 is a diagram illustrating the configuration of a monitoring system 1 according to an embodiment of the present invention. The monitoring system 1 is a system for monitoring the unmanned operation of the construction machine 10. Specifically, the system uses a drone 30 as an air vehicle to acquire video of the construction machine 10, specifically, an overhead video of the construction machine 10 and its surroundings, and displays the acquired video, thereby allowing a worker to grasp the operating status of the construction machine 10, etc.

[0018] The monitoring system 1 is composed of a construction machine 10 to be monitored, an imaging device 2 including an arm 20 attached to the construction machine 10 and a drone 30 suspended from the arm 20, an air vehicle remote control device 40 for remotely controlling the drone 30, and a construction machine remote control device 50 for remotely controlling the construction machine 10. In addition, since publicly known construction machines 10 and drones 30 can be used, detailed explanations are omitted.

[0019] The aircraft remote control device 40 comprises a control unit 41, a first communication unit 42, a second communication unit 43, a display unit 44, and an operation unit 45. The control unit 41 includes a central processing unit (CPU), a random access memory (RAM), a read only memory (ROM), etc. (not shown). The CPU reads out various processing programs stored in the ROM, loads them into the RAM, and executes various processes according to the processing programs, thereby controlling the overall operation of each part of the aircraft remote control device 40.

[0020] The first communication unit 42 is configured, for example, by a wireless communication module, etc. The first communication unit 42 is configured to transmit and receive various signals and various data to and from a communication unit (not shown) of the drone 30 connected via the communication network N1. The second communication unit 43 is configured, for example, by a wireless communication module, etc. The second communication unit 43 transmits and receives various signals and various data to and from the second communication unit 53 of the construction machine remote control device 50 connected via the communication network N2.

[0021] The display unit 44 is configured with, for example, a liquid crystal display, etc. The display unit 44 performs a given display process in accordance with a display signal input from the control unit 41. The operation unit 45 is configured with, for example, an operation lever, an operation button, etc. The operation unit 45 outputs an operation signal to the control unit 41 in response to an operation by an operator.

[0022] The drone 30 is equipped with a camera 31, and a control unit (not shown) of the drone 30 transmits photographed image data (video information) acquired by the camera 31 to the air vehicle remote control device 40 via a communication unit of the drone 30. The control unit 41 then causes the display unit 44 to display a photographed image based on the photographed image data from the drone 30. As a result, the video acquired by the drone 30 is displayed on the display unit 44. The operator of the aircraft remote control device 40 operates the operation unit 45 while watching the image displayed on the display unit 44 (or while directly viewing the drone 30). Then, the control unit 41 transmits command data corresponding to the operation signal from the operation unit 45 to the drone 30 via the first communication unit 42. This causes the drone 30 to perform the operation desired by the operator. In addition, the control unit 41 transmits the captured image data transmitted from the drone 30 and received by the first communication unit 42 to the construction machinery remote control device 50 via the second communication unit 43.

[0023] The construction machine remote control device 50 includes a control unit 51 , a first communication unit 52 , a second communication unit 53 , a display unit 54 , and an operation unit 55 . The control unit 51 includes a CPU, RAM, ROM, etc. (not shown). The CPU reads out various processing programs stored in the ROM, loads them into the RAM, and executes various processes according to the processing programs, thereby providing overall control over the operation of each part of the construction machine remote control device 50.

[0024] The first communication unit 52 is configured, for example, by a wireless communication module, etc. The first communication unit 52 transmits and receives various signals and various data to and from a communication unit (not shown) of the construction machine 10 connected via the communication network N3. The second communication unit 53 is configured, for example, by a wireless communication module, etc. The second communication unit 53 transmits and receives various signals and various data to and from the second communication unit 43 of the aircraft remote control device 40 connected via the communication network N2.

[0025] The display unit 54 is configured with, for example, a liquid crystal display, etc. The display unit 54 performs a given display process in accordance with a display signal input from the control unit 51. The operation unit 55 is configured with, for example, an operation lever, an operation button, etc. The operation unit 55 outputs an operation signal to the control unit 51 in response to an operation by an operator.

[0026] The control unit 51 causes the display unit 54 to display a captured image based on the captured image data from the aircraft remote control device 40. As a result, the video captured by the drone 30 is displayed on the display unit 54. The operator of the construction machine remote control device 50 operates the operation unit 55 while watching the image displayed on the display unit 54 (or while directly viewing the construction machine 10). Then, the control unit 51 transmits command data corresponding to the operation signal from the operation unit 55 to the construction machine 10 via the first communication unit 52. This causes the construction machine 10 to perform the operation desired by the operator.

[0027] The operator of the construction machine remote control device 50 can operate the construction machine remote control device 50 while getting off the construction machine 10, or can operate the construction machine remote control device 50 while riding on the construction machine 10. The operator of the air vehicle remote control device 40 can operate the air vehicle remote control device 40 while getting off the construction machine 10, or can operate the air vehicle remote control device 40 while riding on the construction machine 10. For example, if the construction machine 10 is a machine that works inside a tunnel, the operator who gets off the construction machine 10 may be outside the tunnel or inside the tunnel. Furthermore, the operator of the aircraft remote control device 40 and the operator of the construction machine remote control device 50 may be the same operator or different operators. Furthermore, the aircraft remote control device 40 and the construction machine remote control device 50 may be configured as an integrated unit.

[0028] The construction machine 10 may be capable of automatic operation. In other words, the construction machine 10 may be one that cannot travel or work unless a human operates it (one that is not equipped with any technology that automates driving operations), one that is equipped with technology that automates some of the driving operations, or one that is equipped with technology that automates all of the driving operations. The drone 30 may also be capable of automatic operation. In other words, the drone 30 may be one that cannot fly or take pictures without a human being performing driving operations (one that is not equipped with any technology that automates driving operations), one that is equipped with technology that automates some driving operations, or one that is equipped with technology that automates all driving operations. In addition, in this embodiment, the photographed image data (video information) acquired by the camera 31 of the drone 30 is transmitted to the construction machine remote control device 50 via the air vehicle remote control device 40, but this is not limited thereto. For example, the drone 30 may transmit the photographed image data acquired by the camera 31 to both the air vehicle remote control device 40 and the construction machine remote control device 50.

[0029] [Photographing device] FIG. 2 is a diagram illustrating the configuration of an imaging device 2 according to an embodiment of the present invention. The imaging device 2 is a device for acquiring images used for monitoring the construction machine 10. The imaging device 2 is configured with an arm 20 attached to the construction machine 10, a drone 30 suspended from the arm 20, a suspension wire 60 for suspending the drone 30 from the arm 20, a power supply cable 70 for supplying power to the drone 30, and an arm adjustment device 80 for adjusting the length and orientation of the arm 20.

[0030] The arm 20 is a telescopic support arm (or rod), and is attached to a stand 21 installed on the construction machine 10. The platform 21 in this embodiment is a universal platform, that is, the arm 20 is connected to the construction machine 10 via a universal joint. Furthermore, the platform 21 in this embodiment is capable of switching the inclination angle (elevation angle) of the arm 20 with respect to a predetermined plane (e.g., the installation surface of the platform 21) in a range from 0 degrees to 180 degrees, and also capable of switching the rotation angle (azimuth angle) of the arm 20 with respect to a predetermined direction (e.g., the forward direction of the construction machine 10) in a range from -360 degrees to +360 degrees. Here, the inclination angles of 0 degrees and 180 degrees indicate a state in which the arm 20 is parallel to the predetermined plane (e.g., the installation surface of the platform 21), and the rotation angles of -360 degrees, 0 degrees, and +360 degrees indicate a state in which the tip of the arm 20 faces a predetermined direction (e.g., the forward direction of the construction machine 10). The inclination angle of the arm 20 is not limited to the range from 0 degrees to 180 degrees and can be changed as appropriate. Also, the rotation angle of the arm 20 is not limited to the range from -360 degrees to +360 degrees and can be changed as appropriate.

[0031] A suspension wire 60 is provided along the arm 20 . The drone 30 is connected to one end of the hanging wire 60, and the drone 30 is hung from the tip of the arm 20 by the hanging wire 60. The other end of the hanging wire 60 is connected to a wire drum 61 installed on the stand 21 (or in its vicinity).

[0032] The wire drum 61 is provided with a biasing member (not shown), and is constantly biased by this biasing member in a direction to wind up the suspension wire 60. The magnitude of the biasing force of the biasing member is set to a magnitude that does not affect the flight or hovering of the drone 30, and when the drone 30 flies against the biasing force of the biasing member, the wire drum 61 rotates in a direction to let out the suspension wire 60. In other words, the length of the extension portion of the suspension wire 60 (the portion of the suspension wire 60 that extends (hangs down) from the arm 20) is variable, and the drone 30 can fly freely within the range that the extension portion of the suspension wire 60 extends.

[0033] In addition, the wire drum 61 is configured to stop rotating in the winding direction when the length of the extended portion of the suspending wire 60 reaches a "specific length." This prevents the length of the extended portion of the suspending wire 60 from becoming less than the "specific length," thereby preventing the drone 30 from colliding with the arm 20 due to the force of the suspending wire 60 being wound around the wire drum 61, etc.

[0034] In this embodiment, the above-mentioned "specific length (shortest length of the extension part)" is set to a length at which the drone 30 does not come into contact with the ground (the running surface of the construction machine 10) when the inclination angle of the arm 20 is 0 degrees and the drone 30 suspended from the arm 20 is not flying (the rotor is stopped), and the maximum length of the extension part of the hanging wire 60 is set to be longer than the "specific length (shortest length of the extension part)". The maximum length of the extension part may be set to a length at which the drone 30 comes into contact with the ground (the running surface of the construction machine 10) when the inclination angle of the arm 20 is 0 degrees and the drone 30 suspended from the arm 20 is not flying (the rotor is stopped), or may be set to a length at which the drone 30 does not come into contact. By setting the length at which the drone 30 comes into contact, the range of photography possible by the drone 30 becomes wider. On the other hand, by setting the non-contact length, the drone 30 will not crash (fall to the ground) even if it does not fly, so it is only necessary to fly when necessary, such as when taking pictures with the camera 31, preventing unnecessary power consumption. Also, by setting the non-contact length, it is possible to prevent the drone 30 from crashing even if the drone 30 loses its attitude due to being blown by the wind or hitting an object. In addition, the minimum and maximum lengths of the extension portion of the suspension wire 60 may be variably controlled depending on the length, inclination angle, and rotation angle of the arm 20 so as to prevent the drone 30 from falling. The wire drum 61 may also be provided with a stopper. That is, the wire drum 61 may be configured to stop rotating in the direction in which the suspension wire 60 is let out when the force resisting the biasing force of the biasing member becomes equal to or greater than a "specific force." Here, the "specific force" is, for example, a force greater than the force applied when the drone 30 is flying. As a result, the stopper does not function when the drone 30 is flying or hovering, but when the drone 30 is blown by the wind or hits an object and a force equal to or greater than the "specific force" is applied to the wire drum 61, the stopper functions, thereby preventing the drone 30 from falling.

[0035] A pulley 62 is provided at the tip of the arm 20, and the suspension wire 60 is wound around the pulley 62. This allows the extending portion of the suspension wire 60 to smoothly expand and contract, i.e., the suspension wire 60 can be smoothly wound around the wire drum 61 and pulled out from the wire drum 61.

[0036] In addition, a power supply cable 70 is provided along the arm 20 . One end of the power supply cable 70 is connected to a battery (not shown) of the drone 30, and the other end of the power supply cable 70 is connected to the power supply device 71. That is, power can be supplied from the power supply device 71 to the drone 30 via the power supply cable 70. The power supply device 71 is configured, for example, by a power generation device or a power storage device, and is installed on the construction machine 10.

[0037] The arm adjustment device 80 includes a control unit 81, a drive unit 82, and a camera 83. The arm adjustment device 80 recognizes the position of the drone 30 by the camera 83, and adjusts the length and orientation of the arm 20 so as to follow the drone 30. The control unit 81 includes a CPU, RAM, ROM, etc. (not shown). The CPU reads out various processing programs stored in the ROM, loads them into the RAM, and executes various processes according to the processing programs, thereby controlling the overall operation of each unit of the arm adjustment device 80.

[0038] The driving unit 82 changes the length of the arm 20 and changes the orientation of the arm 20 (the tilt angle and the rotation angle) in response to a driving signal input from the control unit 81. The camera 83 is installed on the base 21 (or in the vicinity thereof) and, for example, captures an image of an area including both the drone 30 and the tip of the arm 20 (e.g., the pulley 62), and outputs the captured image data to the control unit 81. Based on the captured image data from the camera 83, the control unit 81 outputs a drive signal to the drive unit 82 so that the distance between the drone 30 and the tip of the arm 20 becomes a predetermined "specific distance." Specifically, for example, when the distance between the drone 30 and the tip of the arm 20 is the "specific distance," if the drone 30 moves (the extended portion of the suspension wire 60 extends) and the distance between the drone 30 and the tip of the arm 20 is no longer the "specific distance," the length and orientation of the arm 20 are adjusted so as to maintain the "specific distance." Since there is a limit to the length and angle of the arm 20, and the length of the extension part of the hanging wire 60 is variable (the extension part of the hanging wire 60 is extendable), there are cases where the distance between the drone 30 and the tip of the arm 20 cannot be maintained at the "specific distance". In that case, the arm 20 is adjusted so that the distance between the drone 30 and the tip of the arm 20 is the shortest. Specifically, for example, when the length of the arm 20 is at its upper limit (the arm 20 is fully extended), if the distance between the drone 30 and the tip of the arm 20 cannot be maintained at the "specific distance" without further extending the arm 20, only adjustments other than the length of the arm 20 (the orientation of the arm 20) are continued, and the orientation of the arm 20 is adjusted as needed so that the distance between the drone 30 and the tip of the arm 20 approaches the "specific distance". Then, when the distance between the drone 30 and the tip of the arm 20 becomes the "specific distance" due to the drone 30 moving or the like, adjustment of the length of the arm 20 is resumed, and the length and orientation of the arm 20 are adjusted as needed so that the distance between the drone 30 and the tip of the arm 20 remains the "specific distance."

[0039] Therefore, when the construction machine 10 is a wheel loader, when the drone 30 moves toward above the work location to capture detailed images of the work location (such as the state of earth being loaded into the bucket) as shown in Fig. 3(a) during operation of the construction machine 10, the length and orientation of the arm 20 are adjusted accordingly. Also, when the construction machine 10 is traveling backwards, when the drone 30 moves toward the rear of the construction machine 10 to capture an overhead image of the rear of the construction machine 10 as shown in Fig. 3(b) during operation of the construction machine 10, the length and orientation of the arm 20 are adjusted accordingly. In addition, when the construction machine 10 is a free section excavator, when the construction machine 10 is working, for example as shown in FIG. 4, when the drone 30 moves toward above the work location to photograph details of the work location (such as the cutter tip excavation location), the length and orientation of the arm 20 are adjusted accordingly.

[0040] In this way, not only is the extension portion of the hanging wire 60 flexible, but the arm 20 can follow the movements of the drone 30, so even if the construction machine 10 is a machine that performs complex movements and travels at high speed, it is possible to obtain images that accurately capture the areas to be monitored on the construction machine 10 and its surroundings from any position within the reach of the arm 20 and hanging wire 60. In addition, since the drone 30 is suspended from the arm 20 in a state in which it can fly using its own rotor (propeller), stable images can be obtained that are less affected by the vibrations of the construction machine 10, even if the construction machine 10 is a machine that performs complex movements and travels at high speed. In addition, as shown in Figures 3(a) and 4, the drone 30 can capture detailed images of the work site, so even during manned construction, it is possible to check the excavation conditions (tip of the cutter) and loading conditions (inside the bucket) that people cannot approach on video, thereby improving safety and work efficiency.

[0041] In this embodiment, the above-mentioned "specific interval" is set to be shorter than the above-mentioned "specific length." By making the "specific interval" shorter than the "specific length," the extended portion of the suspension wire 60 is in a bent state when the drone 30 is hovering, etc., so that the vibration of the construction machine 10 is less likely to be transmitted to the drone 30, and it becomes possible to acquire more stable images that are not affected by the vibration of the construction machine 10.

[0042] The location of the wire drum 61 is not limited to the vicinity of the stand 21 and can be changed as appropriate, and may be, for example, the tip of the arm 20. In that case, the pulley 62 does not need to be provided at the tip of the arm 20. Furthermore, the locations where the stand 21, power supply device 71, control unit 81, drive unit 82, camera 83, etc. are installed can also be changed as appropriate.

[0043] Further, the arm 20 is not limited to a support arm (or rod) and may be, for example, a slewing jib crane as shown in FIG. In the example shown in FIG. 5, the arm 20 is rotatably attached to a support tower 22 installed on the construction machine 10, and the arm 20 is provided with a trolley 23 that can move along the arm 20. The wire drum 61 is provided on the trolley 23, and the hanging wire 60 is suspended from the trolley 23. The drive unit 82 is configured to switch the rotation angle of the arm 20 and move the trolley 23 in response to a drive signal input from the control unit 81. That is, the arm adjustment device 80 in the example shown in FIG. 5 is capable of adjusting the rotation angle of the arm 20 and the position of the trolley 23 by following the drone 30.

[0044] 〔effect〕 As described above, the photographing device 2 of this embodiment is a photographing device that photographs the area around the construction machine 10, and comprises an arm 20 attached to the construction machine 10 and a drone 30 (aircraft) equipped with a camera 31 (photographing means), and the drone 30 is suspended from the arm 20 so as to be able to fly freely. Therefore, even if the work site of the construction machine 10 is, for example, inside a tunnel that is narrow and subject to significant wind influences from fans and where GPS signals cannot reach, highly visible surveillance images can be obtained reliably, enabling safe and highly accurate unmanned operation (or unmanned / automated operation).

[0045] Specifically, the drone 30 can fly while suspended from the arm 20, so there is no need to worry about it falling, and it can obtain highly visible images that are less affected by the vibrations of the construction machine 10. In addition, because the drone 30 is suspended from the arm 20 and connected to the construction machine 10 via the arm 20, even if the work site of the construction machine 10 is a narrow tunnel that is greatly affected by the wind from the blower, or a windy place or a place with many obstacles, it is possible to prevent the drone from getting lost or crashing while arriving at the work site or while taking pictures at the work site, and surveillance footage can be obtained stably. In addition, there is no need to prepare a transport machine to transport the drone 30 to the work site in addition to the construction machine 10, nor is there any need to install guidelines to guide the flight of the drone 30. The work site of the construction machine 10 is not limited to inside a tunnel.

[0046] Furthermore, according to the imaging device 2 of this embodiment, the arm 20 is extendable and retractable, and the length of the arm 20 can be adjusted in accordance with the drone 30, as shown in, for example, FIGS. Therefore, the range that can be photographed by the drone 30 is wider than when the length of the arm 20 cannot be adjusted, so that highly visible images that accurately capture the area to be monitored can be obtained.

[0047] Furthermore, according to the imaging device 2 of this embodiment, as shown in Figures 1 to 4, for example, the arm 20 is attached to the construction machine 10 via a frame 21 (universal joint mechanism), and the orientation of the arm 20 (tilt angle, rotation angle) can be adjusted to follow the drone 30. Therefore, the range that can be photographed by the drone 30 is wider than when the orientation of the arm 20 cannot be adjusted, so that it is possible to obtain highly visible images that accurately capture the area to be monitored. Note that it is sufficient that at least one of the length and orientation of the arm 20 shown in Figures 1 to 4 is adjustable.

[0048] In addition, according to the imaging device 2 of this embodiment, as shown in FIG. 5, for example, the arm 20 is attached to the construction machine 10 via a rotation mechanism, and the rotation angle of the arm 20 can be adjusted to follow the drone 30. Therefore, compared to a case where the rotation angle of the arm 20 cannot be adjusted, the range that can be photographed by the drone 30 is wider, so that it is possible to obtain a highly visible image that accurately captures the area to be monitored. Note that the arm 20 shown in Fig. 5 may be adjustable not only in rotation angle but also in tilt angle. Also, the arm 20 shown in Fig. 5 may be adjustable in length.

[0049] Furthermore, according to the imaging device 2 of this embodiment, as shown in FIG. 5, for example, the arm 20 is equipped with a trolley 23 (moving means) that can move along the arm 20, and the drone 30 is suspended from the trolley 23 of the arm 20 so as to be able to fly freely, and the position of the trolley 23 can be adjusted to follow the drone 30. Therefore, the range that can be photographed by the drone 30 is wider than when the position of the trolley 23 cannot be adjusted, so that it is possible to obtain highly visible images that accurately capture the area to be monitored. Note that it is sufficient that at least one of the rotation angle and the position of the trolley 23 of the arm 20 shown in Fig. 5 is adjustable.

[0050] In addition, according to the imaging device 2 of this embodiment, as shown in Figures 1 to 5, it is equipped with an arm adjustment device 80 (arm adjustment means) that adjusts the arm 20 to maintain the distance between the arm 20 and the drone 30 at a predetermined "specific distance." Therefore, the length of the arm 20, the direction of the arm 20 (tilt angle, rotation angle), the rotation angle of the arm 20, the position of the trolley 23, etc. can be adjusted so that the distance between the arm 20 and the drone 30 is maintained at a predetermined "specific distance," thereby making it possible to obtain highly visible images that accurately capture the area to be monitored. The "specific interval" may have a certain range. For example, the "specific interval" may be in a range from a first specific interval to a second specific interval (>first specific interval), and the arm 20 may be adjusted so that the interval between the arm 20 and the drone 30 is equal to or larger than the first specific interval and equal to or smaller than the second specific interval. Furthermore, the control by the arm adjustment device 30 (control for adjusting the arm 20 and the trolley 23 in accordance with the drone 30) is not limited to control for maintaining the distance between the arm 20 and the drone 30 at a "specific distance." For example, a camera 83 may be fixed to the tip of the arm 20 (the trolley 23 in the example shown in FIG. 5), and the arm 20 and the trolley 23 may be adjusted so that the drone 30 falls within the shooting range of the camera 83. 1 to 4 may be capable of adjusting the length and orientation of the arm 20 by a force from the drone 30 applied via the hanging wire 60. In that case, the length and orientation of the arm 20 can be adjusted in accordance with the movement of the drone 30 without using the arm adjustment device 80, so the imaging device 2 does not need to be equipped with the arm adjustment device 80. 5 may be capable of adjusting the rotation angle of the arm 20 and the position of the trolley 23 by a force from the drone 30 applied via the suspending wire 60. In that case, the imaging device 2 does not need to be provided with the arm adjustment device 80.

[0051] In addition, the imaging device 2 in this embodiment is equipped with a hanging wire 60 (hanging member) that connects the drone 30 and the arm 20, and a wire drum 61 (drum) around which the hanging wire 60 is wound, and the wire drum 61 is biased in a direction to wind up the hanging wire 60. That is, the extending portion of the hanging wire 60 is extendable. For example, if the extending portion is not extendable, the drone 30 is more likely to crash if the extending portion is lengthened to expand the range that can be photographed by the drone 30, and if the extending portion is shortened to prevent the drone 30 from falling, the range that can be photographed by the drone 30 is narrowed, and it is more likely that a highly visible image that accurately captures the area to be monitored cannot be obtained. In contrast, in the imaging device 2 according to this embodiment, the extending portion is extendable, so that it is possible to prevent the drone 30 from falling and to obtain a highly visible image that accurately captures the area to be monitored. The suspension member is not limited to a wire, but may be, for example, a rope, cable, chain, etc., as long as it can be wound around a drum. In addition, the suspending member is not limited to being wound around a drum. For example, one end of the suspending member may be connected to the drone 30, and the other end of the suspending member may be directly connected to the arm 20. In this case, the suspending member is preferably an expandable member (for example, a wire partially or entirely formed into a coil shape).

[0052] In addition, the imaging device 2 according to this embodiment includes a power supply cable 70 connected to the drone 30. Therefore, it is possible to supply power to the drone 30 at all times and there is no need to charge it, so monitoring can be performed for long periods of time without interruption. The hanging member may function as a power supply cable.

[0053] In addition, the monitoring system 1 of this embodiment is a monitoring system that monitors the area around the construction machine 10, and includes an arm 20 attached to the construction machine 10, a drone 30 (aircraft) suspended from the arm 20 so as to be able to fly freely, and display units 44, 54 (display means) that display images captured by the drone 30. Therefore, the drone 30 can fly while suspended from the arm 20, eliminating the risk of it falling. Furthermore, it is possible to obtain highly visible images that are less affected by the vibrations of the construction machine 10. In addition, because the drone 30 is suspended from the arm 20 and connected to the construction machine 10 via the arm 20, even if the work site of the construction machine 10 is a narrow tunnel that is greatly affected by the wind from the blower, or a windy place or a place with many obstacles, it is possible to prevent the drone from getting lost or crashing while arriving at the work site or while taking pictures at the work site, and surveillance footage can be obtained stably. In addition, there is no need to prepare a transport machine to transport the drone 30 to the work site in addition to the construction machine 10, nor is there any need to install guidelines to guide the flight of the drone 30. The display means capable of displaying the video captured by the drone 30 may be provided in a device separate from the air vehicle remote control device 40 and the construction machine remote control device 50. In that case, at least one of the air vehicle remote control device 40 and the construction machine remote control device 50 does not need to be provided with a display means.

[0054] The monitoring system 1 according to this embodiment also includes a construction machine remote control device 50 (construction machine remote control means) for remotely controlling the construction machine 10. Therefore, unmanned operation of the construction machine 10 becomes possible.

[0055] The monitoring system 1 according to this embodiment also includes an aircraft remote control device 40 (aircraft remote control means) for remotely controlling the drone 30. Therefore, an image desired by the operator can be displayed on the display units 44, 54 as an image for monitoring. [Explanation of symbols]

[0056] 1. Surveillance System 2. Imaging Device 10. Construction machinery 20 Arm 21 Mounting base (universal joint mechanism) 23 Trolley (Transportation) 30 Drones (Flying Objects) 31 Camera (photography means) 40 Aircraft remote control device (aircraft remote control means) 44 Display section (display means) 50 Construction machinery remote control device (construction machinery remote control means) 54 Display section (display means) 60 Suspension wire (suspension member) 61 Wire drum (drum) 70 Power Cable 80 Arm adjustment device (arm adjustment means)

Claims

1. A photographing device for photographing an area around a construction machine, An arm attached to the construction machine; an aircraft provided with a first imaging means; an arm adjustment means for adjusting the arm to maintain a distance between the arm and the aircraft at a predetermined specific distance; and a second imaging means capable of imaging an area including both the tip of the arm and the aircraft, The flying object is suspended from the arm so as to be capable of flying freely, The arm adjustment means adjusts the arm based on photographic image data acquired by the second photographing means.

2. The arm is extendable and retractable.

2. The photographing device according to claim 1, wherein the length of the arm is adjustable so as to follow the flying object.

3. The arm is attached to the construction machine via a universal joint mechanism, 3. The imaging device according to claim 1, wherein the orientation of the arm is adjustable so as to follow the flying object.

4. The arm is attached to the construction machine via a rotating mechanism, 2. The photographing device according to claim 1, wherein the rotation angle of the arm is adjustable so as to follow the flying object.

5. The arm includes a moving means movable along the arm, the flying object is suspended from the moving means of the arm so as to be able to fly freely; 5. The photographing apparatus according to claim 1, wherein the position of the moving means is adjustable so as to follow the flying object.

6. A suspension member that connects the aircraft and the arm; a drum around which the suspension member is wound, 6. The photographing device according to claim 1, wherein the drum is biased in a direction in which the hanging member is wound up.

7. A monitoring system for monitoring the periphery of a construction machine, An arm attached to the construction machine; a flying object suspended from the arm so as to be capable of flying; A display means for displaying an image captured by a first image capturing means provided on the aircraft; an arm adjustment means for adjusting the arm to maintain a distance between the arm and the aircraft at a predetermined specific distance; and a second imaging means capable of imaging an area including both the tip of the arm and the aircraft, The monitoring system according to claim 1, wherein the arm adjustment means adjusts the arm based on photographed image data acquired by the second photographing means.

Images