Work support device and work system equipped with the same

Abstract

To achieve acquirement of an effective image even if a revolving body revolves during imaging of a specific site of a work mechanism.SOLUTION: A work support device 100S supports work of a demolition machine including a work attachment using an unmanned flying body 50 having a camera 503 and capable of moving to a position suited to a generated command signal. A controller 101 of the work support device 100S, when an upper revolving body executes a revolving operation which satisfies prescribed conditions in such a state that the unmanned flying body 50 is positioned at a specific imaging position, generates a command signal for moving the unmanned flying body 50 to an effective imaging position. The specific imaging position is a position for the camera 503 to image a specific portion of the work attachment and is a position changing according to a revolving position of the upper revolving body. The effective imaging position is a position at which the camera 503 can image a prescribed imaging object and a position not changing according to the revolving position of the upper revolving body.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a work support device and a work system including the same. [Background technology]

[0002] Conventionally, hydraulic excavators have been known as construction machines, having a machine body and a work attachment supported on the machine body so that it can be raised or lowered. Patent Document 1 discloses a technology in which an autonomous flying vehicle equipped with a camera captures images of a work site from above and displays the images on a display device, allowing an operator operating the hydraulic excavator to check the images. In this technology, when the upper rotating body of the hydraulic excavator rotates, the position and orientation of the flying vehicle are adjusted so that the upper rotating body is displayed in the same orientation on the display device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6938389 Summary of the Invention [Problem to be solved by the invention]

[0004] The technology described in Patent Document 1 has a problem in that if the rotating body rotates while capturing an image of a specific portion of the work attachment, a valid image cannot be acquired. Specifically, in the above technology, the flying object is positioned at an imaging position such that the entire hydraulic excavator fits within the camera's angle of view (imaging range). However, at actual work sites, operators often need to be able to zoom in and check the tip of the work attachment (work mechanism) while working. If the upper rotating body rotates while the flying object is positioned close to the work attachment, the tip of the work attachment will move out of the camera's angle of view, making it impossible to capture a valid image. In this case, it is possible to adjust the camera orientation to follow the rotation of the rotating body, but this process is cumbersome and may result in a delay between the rotation and the adjustment of the camera orientation, making it similarly difficult to capture a valid image.

[0005] An object of the present invention is to provide a work support device and a work system equipped with the same that can acquire valid images even if the rotating body rotates while imaging a specific part of a work mechanism. [Means for solving the problem]

[0006] The present invention provides a work support device. The work support device supports a work machine including a lower main body, a revolving body that can revolve relative to the lower main body, and a work mechanism supported on the revolving body, using an air vehicle that has an imaging device and can move to a position in accordance with a generated command signal. The work support device includes a control unit that generates the command signal. When the revolving body performs a rotation operation that satisfies a predetermined condition while the air vehicle is located at a specific imaging position, the control unit generates a movement command signal, which is the command signal for moving the air vehicle to an effective imaging position. The specific imaging position is a position where the imaging device captures an image of a specific part of the work mechanism, and which changes depending on the rotation position of the revolving body. The effective imaging position is a position where the imaging device can capture an image of a predetermined imaging target, and which does not change depending on the rotation position of the revolving body.

[0007] According to this configuration, when the flying object is positioned at a specific imaging position, the imaging device captures images of specific parts of the work mechanism, allowing for detailed understanding of the work status of the work machine. However, if the rotating body rotates under specified conditions in this state, the imaging device will be unable to effectively capture images of the specific parts because the specific imaging position changes depending on the rotation position of the rotating body. Even in such a case, the control unit generates a movement command signal to move the flying object to an effective imaging position where the imaging device can capture the specified imaging target and does not change depending on the rotation position of the rotating body, thereby providing effective images to the worker. Furthermore, compared to adjusting the orientation of the imaging device to follow the rotation of the rotating body, this prevents processing complexity and delays.

[0008] The above configuration may further include an image display unit capable of displaying an image captured by the imaging device.

[0009] According to this configuration, when the flying object is placed at a specific imaging position, the worker can check the image of the specific part captured by the imaging device on the image display unit. Furthermore, even if the rotating body rotates under predetermined conditions in this state, the flying object moves to an effective imaging position, so the worker can be provided with an image of the imaging target through the image display unit.

[0010] In the above configuration, the effective image capturing position may be a position where the image capturing device can capture an image of the entire work machine as the image capturing target.

[0011] According to this configuration, the imaging device can capture an image of the entire work machine at the effective imaging position, regardless of the rotation position of the rotating body.

[0012] In the above configuration, the rotating body may be supported by the lower body so as to be rotatable about a central axis of rotation, and the effective imaging position may be a position above the work machine and on the central axis of rotation.

[0013] According to this configuration, regardless of the rotation position of the rotating body, the imaging device can capture an image of the relative positional relationship between the lower body and the rotating body at the effective imaging position.

[0014] In the above configuration, the effective imaging position may be a position where the imaging device can image a specific area as the imaging target, and the specific area may be an area set relatively with the lower body as a reference.

[0015] With this configuration, the imaging device can capture an image of a specific area at the effective imaging position regardless of the rotation position of the rotating body. Because this specific area is an area relative to the lower body, it can continue to capture an image of the imaging area even when the lower body is moving.

[0016] In the above configuration, the lower body is a lower running body that can run in a forward / backward direction on a running surface, and the specific area may include at least one of the areas in front of and behind the lower running body in the forward / backward direction.

[0017] According to this configuration, regardless of the rotation position of the rotating body, the imaging device can capture an image of the area in front or behind the lower body at the effective imaging position.

[0018] In the above configuration, the work mechanism may be capable of performing work on a work object, and the effective imaging position may be a position where the imaging device can capture an image of the work object as the imaging target.

[0019] According to this configuration, the imaging device can capture an image of the work object at the effective imaging position regardless of the rotation position of the rotating body.

[0020] In the above configuration, the aircraft may further include an input unit capable of receiving information regarding a candidate movement position, which is a position to which the aircraft can next move, and the effective imaging position may be the candidate movement position input to the input unit.

[0021] According to this configuration, the imaging device can capture an image of the imaging target at the movement candidate position, regardless of the rotation position of the rotating body.

[0022] The above configuration may further comprise a candidate position display unit capable of displaying information relating to the candidate movement positions.

[0023] According to this configuration, the operator can set the next movement position of the flying object from the input unit based on the information displayed on the candidate position display unit.

[0024] In the above configuration, the movement candidate position may include the specific image capture position.

[0025] According to this configuration, the flying object can be moved again to the specific image capture position based on the operator's intention.

[0026] In the above configuration, the control unit may be capable of receiving information corresponding to an amount of operation for rotating the rotating body, and the condition may be that the amount of operation exceeds a predetermined threshold value.

[0027] According to this configuration, when an operation is input such that the amount of operation exceeds a predetermined threshold, the flying object can be moved to the effective image capture position. Therefore, even with a slight turning movement, the flying object can be kept at the specific image capture position.

[0028] In the above configuration, the control unit may be capable of determining whether the specific part is included in the image captured by the imaging device, and the condition may be that the specific part changes from being included in the image to not being included in the image.

[0029] With this configuration, if the specific part is moved out of the imaging range of the imaging device due to the rotation, the flying object can be moved to the effective imaging position. Therefore, even with a slight rotation, the flying object can remain at the specific imaging position.

[0030] In the above configuration, the control unit may be capable of receiving information corresponding to the rotation angle of the rotating body relative to the lower body, and the condition may be that the change in the rotation angle exceeds a predetermined threshold value.

[0031] According to this configuration, when the amount of change in the rotation angle of the rotating body exceeds a predetermined threshold, the flying body can be moved to the effective image capture position. Therefore, even with a slight rotation, the flying body can be kept at the specific image capture position.

[0032] In the above configuration, the specific imaging position may include a right-side specific imaging position where the imaging device images the specific part from the right side of the work mechanism, and a left-side specific imaging position where the imaging device images the specific part from the left side of the work mechanism.

[0033] According to this configuration, it is possible to image a specific part from a more desirable direction depending on the structure of the work machine and the conditions at the work site.

[0034] In the above configuration, the control unit may input the generated command signal to a remote control device capable of sending and receiving signals to and from the aircraft, thereby moving the aircraft to a position according to the command signal.

[0035] According to this configuration, the flying object can be moved to an effective imaging position by using a remote control device capable of transmitting and receiving signals to and from the flying object.

[0036] The above configuration may further include a transmitter capable of transmitting a command signal generated by the controller to the flying object.

[0037] According to this configuration, the flying object can be moved to an effective imaging position by transmitting a command signal directly to the flying object through the transmitter.

[0038] The present invention provides a work system comprising a work machine including a lower body, a rotating body rotatable relative to the lower body, and a work mechanism supported by the rotating body, and the work support device described above.

[0039] According to this configuration, even if the rotating body rotates while an image of a specific part of the work mechanism is being captured, it is possible to obtain a valid image using a work system including the work support device and the work machine.

[0040] The present invention also provides a work system, which includes an aircraft having an imaging device and capable of moving to a position in response to a generated command signal, and the work support device described above.

[0041] According to this configuration, even if the rotating body rotates while imaging a specific part of the work mechanism, it is possible to obtain valid images using a work system including a work support device and an aircraft. [Effects of the Invention]

[0042] According to the present invention, it is possible to provide a work support device and a work system equipped with the same that can acquire valid images even if the rotating body rotates while imaging a specific part of the work mechanism. [Brief explanation of the drawings]

[0043] [Figure 1] 1 is a side view showing a work machine according to an embodiment of the present invention. [Figure 2] 1 is a block diagram of a work machine and an air vehicle according to an embodiment of the present invention. [Figure 3] 1 is a plan view showing a state in which an aircraft according to an embodiment of the present invention is placed at a specific imaging position. [Figure 4] 1 is an enlarged perspective view showing an image of a specific portion of a working mechanism captured by an imaging device according to an embodiment of the present invention; [Figure 5]1 is a plan view showing a state in which an aircraft according to an embodiment of the present invention is placed at an effective imaging position. [Figure 6] 1 is a flowchart of a process executed by a work assistance device according to an embodiment of the present invention. [Figure 7] FIG. 10 is a plan view showing a state in which the flying object according to a modified embodiment of the present invention is placed at an effective imaging position. [Figure 8] FIG. 10 is a perspective view showing a modified embodiment of the flying object according to the present invention capturing an image of a work object at an effective imaging position. [Figure 9] 10A and 10B are diagrams showing images displayed on a display device in a modified embodiment of the present invention. [Figure 10] 10A and 10B are diagrams showing images displayed on a display device in a modified embodiment of the present invention. [Figure 11] 10A and 10B are diagrams showing images displayed on a display device in a modified embodiment of the present invention. [Figure 12] FIG. 10 is a diagram showing the relationship between an aircraft, a work machine, a cloud, and a site management side in a modified embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0044] A preferred embodiment of the present invention will now be described with reference to the drawings. Fig. 1 is a side view showing a demolition machine 100 (work machine) equipped with a work support device 100S (Fig. 2) according to one embodiment of the present invention. Fig. 2 is a block diagram of the demolition machine 100 and unmanned aerial vehicle 50 according to this embodiment.

[0045] The demolition machine 100 comprises a crawler-type lower traveling body 1 (lower main body), an upper rotating body 2, a cab 3, and a work attachment 4 (work mechanism). The lower traveling body 1 can travel in the front-rear direction on a traveling surface such as the ground. The lower traveling body 1 can turn its traveling direction to the left or right by changing the rotation speed of the left and right crawlers on the lower traveling body 1. The upper rotating body 2 is mounted on the lower traveling body 1 so as to be able to rotate around a rotation center axis CL extending in the vertical direction. The cab 3 is located at the front end of the upper rotating body 2, and allows an operator (worker) to board. Inside the cab 3, operating units and the like, which will be described later, are located.

[0046] The work attachment 4 is a member that performs a predetermined task. The work attachment 4 is attached to the front end of the upper rotating body 2, adjacent to the cab 3 in the left-right direction of the upper rotating body 2. The work attachment 4 has a boom 5 supported on the upper rotating body 2 so as to be able to be raised and lowered about a horizontal axis in the left-right direction, an inter-boom 6 supported at the tip of the boom 5 so as to be rotatable about the horizontal axis in the left-right direction, an arm 7 supported at the tip of the inter-boom 6 so as to be rotatable about the horizontal axis in the left-right direction, and a working unit 8 attached to the tip of the arm 7. In the example of FIG. 1 , the working unit 8 is an open-close crushing device, but the working unit 8 may also be an excavation bucket or a crushing breaker.

[0047] In FIG. 1, the front-rear and left-right directions of the lower running body 1 and the front-rear and left-right directions of the upper rotating body 2 coincide with each other, but when the upper rotating body 2 rotates relative to the lower running body 1, the front-rear and left-right directions of the two differ.

[0048] The demolition machine 100 also has cylinders (hydraulic cylinders) that operate the work attachment 4, including a boom cylinder 9 that raises and lowers the boom 5, an inter-boom cylinder 10 that rotates the inter-boom 6, an arm cylinder 11 that rotates the arm 7, and a work cylinder 12 that operates the working unit 8. The working unit 8 operates in response to the extension and contraction of the work cylinder 12 via a link 13 attached to the tip of the arm 7. The link 13 has a first link 14 and a second link 15.

[0049] The boom 5 has a lower main boom 5a and an upper front boom 5b. The main boom 5a and the front boom 5b are detachable, and when the demolition machine 100 is transported or stored, it is disassembled into a set of the upper rotating body 2 and the main boom 5a (base machine set) and a set of the work attachment 4 excluding the main boom 5a (attachment set). Note that the structure of the work attachment 4 is not limited to the above.

[0050] Because the work attachment 4 of the demolition machine 100 is long as shown in FIG. 1 , it is difficult for the operator in the cab 3 to check the posture of the work attachment 4 or the state of the working unit 8. In this embodiment, an unmanned aerial vehicle 50 (aerial vehicle) flies around the demolition machine 100 and acquires image information, thereby notifying the operator of the status of the work site and supporting the demolition machine 100. Note that this support includes direct support for the operation of the demolition machine 100, support for the operator operating the demolition machine 100, and further support for workers, managers, etc. in remote locations. For such support, the demolition machine 100 has a work support device 100S.

[0051] 2, the demolition machine 100 further includes an operation unit 21, an input unit 22, a position information detection unit 23, an attitude information detection unit 24, a turning angle detection unit 25, a travel drive unit 31, a turning drive unit 32, an attachment drive unit 33, a display device 40, and a controller 101. The work support device 100S is configured from the input unit 22, the controller 101, and the display device 40.

[0052] The operating unit 21 is disposed inside the cab 3 and is operated by the operator. The operating unit 21 includes a plurality of operating levers that receive operations for rotating the upper rotating body 2, raising and lowering the boom 5, rotating the inter-boom 6, rotating the arm 7, and operating the working unit 8. When the operator operates the operating levers, a signal corresponding to the amount of operation is input to the controller 101.

[0053] The input unit 22 is disposed inside the cab 3. The operator can input various types of information through the input unit 22. As an example, the operator inputs information for using the unmanned aerial vehicle 50 from the input unit 22 (aircraft use switch). The operator also inputs information about the object to be imaged by the camera 503 of the unmanned aerial vehicle 50 from the input unit 22. Note that the information about the object to be imaged may be, for example, coordinate specification, or may be selected from objects identified by image recognition. A signal corresponding to the information input to the input unit 22 is input to the controller 101.

[0054] The position information detection unit 23 acquires position information of the demolition machine 100 at the work site. As an example, the position information detection unit 23 can acquire body coordinate information, which is information regarding the absolute coordinates at the work site of a body reference point that is provided in advance on the upper rotating body 2. The body reference point functions as a GNSS (Global Navigation Satellite System) mobile station. Meanwhile, a GNSS reference station (not shown) is provided to acquire the body coordinate information. The GNSS reference station is a reference station that is located at the work site or in a position closest to the work site. Note that, in addition to the well-known GPS (Global Positioning System), satellite positioning systems such as GLONASS (Global Navigation Satellite System), Galileo, and QZSS (Quasi-Zenith Satellite System) may also be adopted as the GNSS.

[0055] The posture information detection unit 24 includes four sensors attached respectively to the boom cylinder 9, inter-boom cylinder 10, arm cylinder 11, and working cylinder 12, and detects the stroke (extension amount, length) of each cylinder. The posture information detection unit 24 can calculate the posture of the work attachment 4 based on the detected stroke of each cylinder. The lengths of each member of the boom 5, inter-boom 6, arm 7, and working unit 8 used in this calculation are stored in advance in the controller 101. The angles of each member corresponding to the stroke of each cylinder are also stored in the same way. The posture of the work attachment 4 detected by the posture information detection unit 24 is input to the controller 101.

[0056] The swing angle detection unit 25 detects the swing angle of the upper rotating body 2 relative to the lower traveling body 1. In this embodiment, the state in which the forward direction of the lower traveling body 1 and the forward direction of the upper rotating body 2 coincide is defined as a swing angle of zero degrees, and the swing angle is detected by defining a right swing of the upper rotating body 2 as positive and a left swing as negative. The swing angle detected by the swing angle detection unit 25 is input to the controller 101.

[0057] The travel drive unit 31, the swivel drive unit 32, and the attachment drive unit 33 drive each component of the demolition machine 100. These drive units drive each component at a drive speed that corresponds to the amount of operation received by the operating lever of the operation unit 21. These drive units include hydraulic circuits such as hydraulic pumps and hydraulic motors. The travel drive unit 31 controls the travel of the lower travel unit 1, the swivel drive unit 32 controls the rotation of the upper swivel unit 2, and the attachment drive unit 33 controls the elevation, rotation, and operation of the work attachment 4.

[0058] The display device 40 is arranged inside the cab 3 so as to be visible to the operator. The display device 40 receives a predetermined display command signal, and displays various pieces of information to be notified to the operator in response to the display command signal.

[0059] The controller 101 is composed of a CPU (Central Processing Unit), a ROM (Read Only Memory) that stores a control program, a RAM (Random Access Memory) used as a work area for the CPU, and the like. As shown in FIG. 2, the controller 101 is connected to an operation unit 21, an input unit 22, a position information detection unit 23, an attitude information detection unit 24, a rotation angle detection unit 25, a traveling drive unit 31, a rotation drive unit 32, an attachment drive unit 33, and a display device 40. Also, as shown in FIG. 2, the controller 101 can transmit and receive signals to and from the unmanned aerial vehicle 50 via a wireless communication mechanism (not shown). The controller 101 and the unmanned aerial vehicle 50 may be connected via a network. In this case, the controller 101 may be a server (server computer). The network may have any configuration, and may include a wireless communication network, the Internet, a VPN (Virtual Private Network), a WAN (Wide Area Network), a wired network, or any combination thereof.

[0060] The controller 101 functions as if it were equipped with a drive control unit 102, a mode switching unit 103, an aircraft control unit 104, an image processing unit 105, and a display command unit 106, as a result of the CPU executing a control program stored in the ROM. These functional units do not have physical entities, but correspond to units of functions executed by the programs. In other words, it can be said that the controls executed by these functional units are essentially executed collectively by the controller 101. Note that each functional unit may be distributed across multiple controllers.

[0061] The drive control unit 102 inputs drive command signals to the traveling drive unit 31, the slewing drive unit 32, and the attachment drive unit 33 in accordance with the content of the operation received by the operating unit 21. As a result, the operations of the lower traveling body 1, the upper slewing body 2, the work attachment 4, etc. are controlled.

[0062] The mode switching unit 103 has a function of switching the flight mode of the unmanned aerial vehicle 50 according to predetermined conditions. In this embodiment, the mode switching unit 103 switches the flight mode among a standby mode, an ATT tip confirmation mode (also called a monitoring mode or a work support mode), and a bird's-eye view mode.

[0063] The air vehicle control unit 104 generates a command signal to be input to the unmanned air vehicle 50. Specifically, the air vehicle control unit 104 controls the position and orientation of the unmanned air vehicle 50 according to the flight mode set by the mode switching unit 103. The air vehicle control unit 104 moves the unmanned air vehicle 50 to a predetermined position and adjusts the orientation (attitude) of the unmanned air vehicle 50 by sending a command signal to the unmanned air vehicle 50 (air vehicle drive unit 501). The target position of the unmanned air vehicle 50 is set based on latitude, longitude, and altitude. In addition, position information of the unmanned air vehicle 50 can be acquired from a GPS sensor. Attitude information of the unmanned air vehicle 50 includes, for example, information about rotation around the yaw axis, roll axis, and pitch axis of the unmanned air vehicle 50. Such attitude information of the unmanned air vehicle 50 can be acquired from a sensor such as an inertial measurement unit (IMU) mounted on the unmanned air vehicle 50. Furthermore, the aircraft control unit 104 adjusts the orientation of the camera 503 mounted on the unmanned aircraft 50 by sending a command signal to the camera driving unit 502.

[0064] The image processing unit 105 receives image information captured by the camera 503 of the unmanned aerial vehicle 50 and processes the image information so that it can be displayed on the display device 40.

[0065] The display command unit 106 inputs the image information processed by the image processing unit 105 to the display device 40. As a result, the operator can visually recognize the image from the camera 503 on the display device 40.

[0066] The unmanned aerial vehicle 50 is capable of flying above the work site and acquires information about the surrounding area of ​​the work site to support the work of the demolition machine 100. The unmanned aerial vehicle 50 can move to a position according to a command signal that is generated. When the unmanned aerial vehicle 50 is not in use, the unmanned aerial vehicle 50 waits at a home point HP (Figure 1) located on the ground. The unmanned aerial vehicle 50 has an aerial vehicle driving unit 501, a camera driving unit 502, and a camera 503 (imaging device).

[0067] The air vehicle drive unit 501 is used to fly the unmanned air vehicle 50, and includes, for example, four (multiple) propellers, a motor for rotating the propellers, and a battery for supplying power to the motor. By adjusting the rotation and speed of each propeller, the ascent, descent, forward movement, backward movement, turning, hovering, and the like of the unmanned air vehicle 50 are controlled.

[0068] The camera driving unit 502 includes a motor that adjusts the orientation of the camera 503. In this embodiment, the camera 503 can rotate around a horizontal axis extending in the left-right direction between a position in which the angle of view of the camera 503 faces vertically downward of the unmanned aerial vehicle 50 and a position in which the angle of view of the camera 503 faces forward.

[0069] The camera 503 acquires image information from the unmanned aerial vehicle 50 in a predetermined imaging area. The type of camera 503 is arbitrary, and may be, for example, a wide-angle camera. The camera 503 acquires an image of the forward environment in front of the unmanned aerial vehicle 50 using an imaging element such as a CCD (Charge-Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The camera 503 may, for example, acquire an image of the forward environment in real time and supply it to the controller 101 in a stream format at a predetermined frame rate. The camera 503 also preferably includes a gimbal (not shown). The gimbal functions to keep the optical axis of the camera 503 in a constant direction (for example, a predetermined direction in a horizontal plane) even if the attitude of the unmanned aerial vehicle 50 changes.

[0070] As described above, in this embodiment, the mode switching unit 103 of the controller 101 switches the flight mode of the unmanned aerial vehicle 50 between the standby mode, the ATT tip confirmation mode, and the bird's-eye view mode. The standby mode is a mode in which the unmanned aerial vehicle 50 waits or returns to the home point HP in FIG. 1.

[0071] The ATT tip confirmation mode is a mode in which the camera 503 of the unmanned aerial vehicle 50 captures a magnified image of the tip of the work attachment 4, i.e., the working unit 8 (specific portion), allowing the operator or a worker located around the demolition machine 100 to monitor the working status of the work attachment 4. The position of the unmanned aerial vehicle 50 at this time is referred to as the ATT (attachment) tip photographing position (also referred to as the specific photographing position). FIG. 3 is a plan view showing the unmanned aerial vehicle 50 according to this embodiment positioned at the ATT tip photographing position in the ATT tip confirmation mode. The ATT tip photographing position includes a right ATT tip photographing position (dashed line in FIG. 3 ) (also referred to as the right effective photographing position) where the camera 503 photographs the working unit 8 from the right side of the work attachment 4 in the left-right direction of the upper rotating body 2, and a left ATT tip photographing position (solid line in FIG. 3 ) (also referred to as the left effective photographing position) where the camera 503 photographs the working unit 8 from the left side of the work attachment 4 in the left-right direction. Figure 4 is an enlarged perspective view showing the camera 503 of the unmanned aerial vehicle 50 capturing an image of the working unit 8 of the work attachment 4 at the photographing position of the tip of the left ATT in Figure 3. In Figure 4, the angle of view A (imaging range) of the camera 503 is shown by a dashed line.

[0072] On the other hand, the bird's-eye view mode is a mode in which the operator and surrounding workers can check a predetermined bird's-eye view image. The position of the unmanned aerial vehicle 50 in the bird's-eye view mode is referred to as the bird's-eye view shooting position (also referred to as the effective shooting position). FIG. 5 is a plan view showing the unmanned aerial vehicle 50 placed at the bird's-eye view shooting position in the bird's-eye view mode. As shown in FIG. 5, in this embodiment, the bird's-eye view shooting position is set so that the unmanned aerial vehicle 50 is positioned above the demolition machine 100 and the entire demolition machine 100 fits within the angle of view A. At such a bird's-eye view shooting position, even if the upper rotating body 2 rotates in any direction relative to the lower traveling body 1, the entire demolition machine 100 is included within the angle of view A, so the operator can easily check the status of the demolition machine 100 based on the image captured by the camera 503.

[0073] Here, when the flight mode of the unmanned aerial vehicle 50 is set to the ATT tip confirmation mode and an image such as that shown in FIG. 4 is displayed on the display device 40, if the operator operates the operation unit 21 (FIG. 2) to rotate the upper rotating body 2, the work attachment 4 will rotate together with the upper rotating body 2, causing the working unit 8 to move out of (disappear from) the angle of view A in FIG. 4. In this case, if an attempt is made to move the unmanned aerial vehicle 50 so as to follow the movement of the working unit 8, not only will the process become complicated, but control delays may occur. Such control delays not only cause confusion to the operator viewing the display device 40, but also may cause a collision between the work attachment 4 and the unmanned aerial vehicle 50 depending on the flight position of the unmanned aerial vehicle 50.

[0074] To solve the above problems, in this embodiment, the work support device 100S (controller 101) controls the flight of the unmanned aerial vehicle 50. Figure 6 is a flowchart of the processing executed by the work support device 100S. The flight control processing of the unmanned aerial vehicle 50 by the work support device 100S will be described in detail below.

[0075] With an operator on board the demolition machine 100 and the unmanned aerial vehicle 50 located at the home point HP (FIG. 1), the operator turns on the aerial vehicle use switch of the input unit 22 as needed. The controller 101 determines whether the aerial vehicle use switch has been turned on (step S1), and if the aerial vehicle use switch has been turned on (YES in step S1), the mode switching unit 103 changes the flight mode of the unmanned aerial vehicle 50 from standby mode to bird's-eye view mode, and the aerial vehicle control unit 104 moves the unmanned aerial vehicle 50 to the bird's-eye view shooting position of FIG. 5 (step S2). Note that if the aerial vehicle use switch is OFF in step S1 (NO in step S1), the unmanned aerial vehicle 50 continues to wait at the home point HP (step S10).

[0076] When the unmanned aerial vehicle 50 reaches the overhead shooting position, the camera 503 starts transmitting overhead video (step S3). At this overhead shooting position, the attitude of the unmanned aerial vehicle 50 is controlled so that it faces forward of the lower running body 1. This makes it possible to acquire images that correspond to a certain orientation. The operator can check the conditions around the demolition machine 100 by looking at the image displayed on the display device 40.

[0077] While the unmanned aerial vehicle 50 is positioned at the bird's-eye view photography position, the controller 101 periodically checks whether the aircraft use switch is ON (step S4). If the use switch is turned OFF (NO in step S4), the unmanned aerial vehicle 50 returns to the home point HP (step S10).

[0078] On the other hand, if the air vehicle use switch remains ON in step S4 (YES in step S4) and the operator instructs the input unit 22 to transition to the ATT tip confirmation mode (YES in step S5), the mode switching unit 103 transitions from the bird's-eye view mode to the ATT tip confirmation mode, and the air vehicle control unit 104 moves the unmanned air vehicle 50 to the ATT tip photographing position on the left side of FIG. 3 (step S6). The command signal for moving to the ATT tip photographing position may be set so that the air vehicle control unit 104 calculates the coordinates of the working unit 8 from the rotation angle of the upper rotating body 2 and the attitude of the work attachment 4, and the camera 503 can photograph the working unit 8. Note that a marker (not shown) may be attached to the working unit 8, and the command signal to the unmanned air vehicle 50 may be set so that the marker is included in the photographing range of the camera 503.

[0079] When the unmanned aerial vehicle 50 reaches the ATT tip position photographing position, the aerial vehicle control unit 104 adjusts the attitude of the unmanned aerial vehicle 50 and the direction of the camera 503 so that the working unit 8 is included within the angle of view A as shown in Figure 4 (step S7). Then, the camera 503 starts transmitting an image of the ATT tip (step S8). The operator can view the image displayed on the display device 40 and check the condition around the working unit 8 while working.

[0080] Furthermore, the mode switching unit 103 determines whether the upper rotating body 2 has performed a rotation operation that satisfies a predetermined condition while the ATT tip confirmation mode is being executed. In other words, the mode switching unit 103 determines whether the ATT tip (working unit 8) has moved out of the angle of view A of the camera 503 (step S9). In this embodiment, the rotation operation of the upper rotating body 2 is determined based on whether the rotation operation lever included in the operation unit 21 has been operated beyond a predetermined operation amount (threshold), as the above condition. If the rotation operation lever has been operated beyond the threshold, that is, if the ATT tip has moved out of the angle of view A (YES in step S9), the mode switching unit 103 transitions from the ATT tip confirmation mode to the bird's-eye view mode. As a result, the air vehicle control unit 104 transmits a command signal (movement command signal) to the unmanned air vehicle 50, causing the unmanned air vehicle 50 to move to the bird's-eye view shooting position shown in FIG. 5 (step S2). Thereafter, the camera 503 starts transmitting the overhead video (step S3), and the processes from step S4 onwards are repeated.

[0081] In step S9, if the turning operation lever is not operated beyond the threshold, i.e., if the tip of the ATT does not deviate from the angle of view A (NO in step S9), the mode switching unit 103 maintains the ATT tip confirmation mode.

[0082] As described above, in this embodiment, when the unmanned aerial vehicle 50 is positioned at the ATT tip photographing position, the camera 503 photographs the working unit 8 of the work attachment 4, thereby enabling detailed understanding of the working status of the demolition machine 100 (FIG. 4). On the other hand, if the upper rotating body 2 rotates under predetermined conditions in this state, the camera 503 will be unable to effectively capture an image of the working unit 8 because the ATT tip photographing position changes depending on the rotation position of the upper rotating body 2. Even in such a case, the controller 101 generates a movement command signal to move the unmanned aerial vehicle 50 to a bird's-eye view photographing position where the camera 503 can photograph the entire demolition machine 100 (predetermined imaging target) from above. Note that the bird's-eye view photographing position is a position that does not change depending on the rotation position of the upper rotating body 2. This makes it possible to provide effective images to the operator (worker). In this case, compared to when the orientation of the camera 503 or the unmanned aerial vehicle 50 is adjusted in accordance with the rotation of the upper rotating body 2, it is possible to prevent processing from becoming complicated or causing delays.

[0083] In this embodiment, the work support device 100S is equipped with a display device 40 (image display unit). Therefore, when the unmanned aerial vehicle 50 is positioned at the ATT tip photographing position, the operator can view the image of the working unit 8 captured by the camera 503 on the display device 40. Even if the upper rotating body 2 rotates under predetermined conditions in this state, the unmanned aerial vehicle 50 moves to the overhead photographing position, and an image of the target to be photographed, such as the demolition machine 100, can be provided to the operator through the display device 40. In this case, compared to adjusting the orientation of the camera 503 or the unmanned aerial vehicle 50 in response to the rotation of the upper rotating body 2, it is possible to prevent unnecessary information from being displayed on the display device 40 due to processing delays, etc. The display device 40 is not limited to being positioned in the cab 3. It may be held by a worker located near the demolition machine 100, or it may be positioned in a remote location so that a remote operator or work manager located in a remote location can view the image.

[0084] In this embodiment, as described above, the overhead shooting position is a position where the camera 503 can capture an image of the entire demolition machine 100 as the imaging target. Therefore, regardless of the rotation position of the upper rotating body 2, the camera 503 can stably capture an image of the entire demolition machine 100 and its surroundings at the overhead shooting position. As a result, the operator can monitor the conditions around the demolition machine 100. In other words, the camera 503 of the unmanned aerial vehicle 50 can be used as a fixed camera.

[0085] Furthermore, in this embodiment, the condition for determining the rotation operation of the upper rotating body 2 is that when an operation in which the amount of operation exceeds a predetermined threshold is input to the operation unit 21, the unmanned aerial vehicle 50 is moved to the bird's-eye view shooting position. Therefore, for slight rotation operations, the unmanned aerial vehicle 50 is kept at the ATT tip shooting position, allowing images of the working unit 8 to continue to be acquired. As a result, frequent changes in the image displayed on the display device 40 can be prevented, reducing the burden on the operator. Note that the rotation operation may also be determined according to a characteristic value that takes into account the amount of operation input to the operation unit 21 and the operation time (timer).

[0086] In this embodiment, the ATT tip photographing position includes the right ATT tip photographing position (dashed line in FIG. 3) and the left ATT tip photographing position (solid line in FIG. 3). Therefore, it is possible to photograph the working unit 8 from a more desirable direction depending on the structure of the demolition machine 100 and the state of the work site (the relative positional relationship between the work object and the demolition machine 100).

[0087] In this embodiment, the work system according to the present invention may be configured by a demolition machine 100 (FIG. 1) and a work support device 100S (FIG. 2). Alternatively, the work system may be configured by an unmanned aerial vehicle 50 (FIG. 1) and a work support device 100S. In this case, the unmanned aerial vehicle 50 may include a controller 101 and generate command signals by itself. In either configuration, even if the upper rotating body 2 rotates while capturing images of the working unit 8 of the work attachment 4, each work system can be used to move the unmanned aerial vehicle 50 to a bird's-eye view shooting position and acquire effective images.

[0088] The work support device 100S according to the present invention and the work system including the same have been described above, but the present invention is not limited to this and can take on modified embodiments such as those described below.

[0089] <Variation 1> Figure 7 is a plan view showing an unmanned aerial vehicle 50 according to a modified embodiment of the present invention, positioned at a bird's-eye view shooting position. The bird's-eye view shooting position to which the unmanned aerial vehicle 50 moves is a position where the camera 503 can capture an image of a specific area as the imaging target, and the specific area may be an area set relative to the lower running body 1 as shown in Figure 7. In this case, the camera 503 can capture an image of the specific area at the bird's-eye view shooting position regardless of the rotation position of the upper rotating body 2. Furthermore, because the specific area is an area relative to the lower running body 1, it can continue to capture the image of the imaging area even when the lower running body 1 is moving.

[0090] In particular, as shown in Fig. 7, the specific area may include at least one of the area in front of and the area behind the lower traveling structure 1. In this case, the area in front of or behind the lower traveling structure 1 can be imaged at the bird's-eye photographing position regardless of the rotation position of the upper rotating structure 2. Therefore, the presence of obstacles or workers in the traveling direction of the lower traveling structure 1 can be confirmed in advance.

[0091] <Variation 2> Figure 8 is a perspective view showing an unmanned aerial vehicle 50 according to another variation of the present invention capturing an image of a work object T at a bird's-eye view shooting position. The work attachment 4 (Figure 1) is capable of performing demolition work (predetermined work) on a work object T such as a building, and the bird's-eye view shooting position may be a position where the camera 503 can capture an image of the work object T as the imaging target, as shown in Figure 8. With this configuration, the work object T can be captured at the bird's-eye view shooting position regardless of the rotation position of the upper rotating body 2, and the progress of the work can be confirmed.

[0092] <Variation 3> Furthermore, the overhead photography position may be a position above the demolition machine 100 and on the central axis of rotation CL of the upper rotating body 2. With this configuration, the relative positional relationship between the lower traveling body 1 and the upper rotating body 2 can be photographed at the overhead photography position regardless of the rotation position of the upper rotating body 2. Furthermore, because the unmanned aerial vehicle 50 is positioned on the central axis of rotation CL, contact between the work attachment 4 and the unmanned aerial vehicle 50 can be prevented.

[0093] <Variation 4> In the previous embodiment, the work support device 100S was described as being included in the demolition machine 100, as shown in FIG. 2 . However, the present invention is not limited to this. The work support device 100S may be a device independent of the demolition machine 100. Furthermore, when a commercially available aerial vehicle such as a drone is used as the unmanned aerial vehicle 50, a remote command device (remote controller) capable of transmitting and receiving signals between the unmanned aerial vehicle 50 (aircraft body) and the unmanned aerial vehicle 50 is prepared. In this case, the controller 101 may input a generated command signal (movement command signal) to the remote command device, thereby moving the unmanned aerial vehicle 50 to a position corresponding to the command signal. With this configuration, the unmanned aerial vehicle 50 can be moved from the ATT tip shooting position to the bird's-eye shooting position using the remote command device capable of transmitting and receiving signals to and from the unmanned aerial vehicle 50. In either embodiment, the controller 101 may be included in a terminal device, such as a tablet or smartphone, carried by a worker or work manager located near the demolition machine 100. The worker may also be a person who remotely operates the demolition machine 100. In this case, the remote command device is provided at the location where the worker remotely operates the demolition machine 100.

[0094] <Variation 5> On the other hand, the work assistance device 100S may further include a transmitting unit (not shown) capable of transmitting a command signal generated by the controller 101 to the unmanned aerial vehicle 50. With this configuration, the unmanned aerial vehicle 50 can be moved from the ATT tip shooting position to the bird's-eye view shooting position by sending a command signal directly to the unmanned aerial vehicle 50 via the transmitting unit.

[0095] <Variation 6> Furthermore, the specific imaging position according to the present invention is not limited to the imaging position at the tip of the ATT. The specific part may be the entire work attachment 4, or a part of the work attachment 4 that is different from the working unit 8. Furthermore, the overhead imaging position as an effective imaging position may be the home point HP (FIG. 1), or may be another position such as a position that corresponds to a blind spot of the demolition machine 100 as seen by the operator.

[0096] <Variation 7> When the upper rotating body 2 rotates under predetermined conditions in step S9 of FIG. 6, the input unit 22 may receive information regarding a candidate movement position, which is a position to which the unmanned aerial vehicle 50 can next move. In this case, the aircraft control unit 104 of the controller 101 sets the candidate movement position input to the input unit 22 as the bird's-eye view shooting position and generates a command signal to move the unmanned aerial vehicle 50 to the candidate movement position. With this configuration, the operator can capture an image of the target desired by the operator at the candidate movement position, regardless of the rotation position of the upper rotating body 2. The candidate movement position may be a position from which the entire demolition machine 100 can be captured or another position. The candidate movement position may be input to the input unit 22 manually by the operator (worker) or automatically by the controller 101 or the like.

[0097] <Variation 8> When the above-mentioned candidate movement positions are input manually, the display device 40 (candidate movement position display unit) may be capable of displaying information relating to the candidate movement positions (see Figures 9 to 11 described below). In this case, the operator can set the next movement position of the unmanned aerial vehicle 50 based on the information displayed on the display device 40. The display device 40 may display the names of the movement destinations as candidate movement positions in a list, or may illustrate them on an overall map of the work site. Note that while the candidate movement positions are displayed, the image from the camera 503 may not be displayed. In this case, it is possible to prevent the operator from receiving unnecessary information.

[0098] <Variation 9> The above candidate movement positions may include the ATT tip photographing position. With this configuration, the unmanned aerial vehicle 50 can be moved again to the ATT tip photographing position based on the operator's intention. At this time, the rotation operation of the upper rotating body 2 may be stopped as a condition so that the unmanned aerial vehicle 50 can stably move to the ATT tip photographing position. As an example, the mode switching unit 103 may allow transition to the ATT tip photographing mode (step S5 in Figure 6) when the amount of change in the rotation angle detected by the rotation angle detection unit 25 is less than a predetermined threshold.

[0099] <Variation 10> Furthermore, the conditions for determining the rotation of the upper rotating body 2 are not limited to those in the above embodiment. If the controller 101 can determine whether the working unit 8 is included in the image captured by the camera 503 based on the image processing results of the image processing unit 105, the condition may be that the working unit 8 changes from being included in the image to being not included. With this configuration, if the working unit 8 moves out of the imaging range of the camera 503 due to the rotation, the unmanned aerial vehicle 50 can be moved to the overhead imaging position. Therefore, with a slight rotation, the unmanned aerial vehicle 50 can remain at the ATT tip imaging position.

[0100] <Variation 11> Furthermore, if the controller 101 is capable of receiving information corresponding to the rotation angle of the upper rotating body 2 relative to the lower running body 1 from the rotation angle detection unit 25, the condition may be that the amount of change in the rotation angle exceeds a predetermined threshold. With this configuration, when the amount of change in the rotation angle of the upper rotating body 2 exceeds a predetermined threshold, the unmanned aerial vehicle 50 can be moved to a bird's-eye view shooting position. In this case, too, a slight rotation movement can keep the unmanned aerial vehicle 50 at the ATT tip shooting position. Furthermore, because the unmanned aerial vehicle 50 does not move frequently, it is possible to prevent unnecessary information from being provided to the operator, and there is no visual burden on the operator.

[0101] <Variant 12> In the previous embodiment, in Figure 6, when the aircraft use switch is turned ON (YES in step S1), the mode switching unit 103 changes the flight mode of the unmanned aircraft 50 from standby mode to bird's-eye view mode, and the aircraft control unit 104 moves the unmanned aircraft 50 to the bird's-eye view shooting position in Figure 5 (step S2).However, the flight mode of the unmanned aircraft 50 may also transition directly from standby mode to ATT tip confirmation mode.

[0102] <Variation 13> Furthermore, after the determination of YES in step S9 of FIG. 6 is made, when the unmanned aerial vehicle 50 reaches the overhead photographing position again, the mode switching unit 103 may cause the display device 40 to display information regarding the next possible position (candidate movement position) for the unmanned aerial vehicle 50 via the display command unit 106. FIG. 9 shows an example of such information, an image displayed on the display device 40 in this variation. The display device 40 illustrates the unmanned aerial vehicle 50 and the demolition machine 100 positioned at the overhead photographing position, as well as multiple candidate movement positions indicated by arrows. Note that the unmanned aerial vehicle 50 does not need to be illustrated. The bottom of the display device 40 displays "In overhead mode" to notify the operator of the current mode, and also displays a message stating, "Please select an imaging position. If not selected, the overhead mode will be maintained." Note that the display of "5 seconds remaining" indicates the countdown time until the mode switching unit 103 decides to maintain the overhead mode.

[0103] The operator can select a desired position from the candidate movement positions displayed on the display device 40 and input the next candidate movement position by touching the position on the screen of the touch panel type display device 40, for example. Also, if the operator wants to maintain the overhead photography position, he or she can maintain the state shown in FIG. 9 until the countdown time reaches zero. As a result, the operator can easily set the destination of the unmanned aerial vehicle 50.

[0104] 10 and 11 are diagrams showing other images displayed on the display device 40 in this modification. Unlike FIG. 9, the example in FIG. 10 displays the candidate destinations by name. Similarly, the operator can input the next candidate destination by touching each name on the screen of the touch-panel display device 40. Also, in this example, when the countdown time reaches zero, the list of candidate destinations in FIG. 10 is hidden, and a "destination list" is displayed in the lower right corner of the display device 40, as shown in FIG. 11. When the operator touches this "destination list," the image in FIG. 10 is displayed again, allowing input of the candidate destination. The display on the display device 40 is not limited to those shown in FIGS. 9, 10, and 11. Coordinates based on the aircraft's position information or mode names (e.g., work support mode, monitoring mode) may also be displayed. The destination may also include the home point HP (FIG. 1).

[0105] As shown in Figures 9 and 10, the operator may move the unmanned aerial vehicle 50 from the overhead shooting position to the ATT tip shooting position (ATT left side or ATT right side in Figures 9 and 10). When moving the unmanned aerial vehicle 50 to the ATT tip shooting position again, it is desirable that the operator confirm that the rotation operation of the upper rotating body 2 has ended, and then touch the "ATT left side" or "ATT right side" display. The mode switching unit 103 may permit transition to the ATT tip confirmation mode on the condition that the amount of operation received by the rotation control lever or the change in the rotation angle detected by the rotation angle detection unit 25 is within a predetermined threshold value. In this case, the "ATT right side" or "ATT left side" display may be hidden or highlighted while the above condition is not met.

[0106] <Modification 14> FIG. 12 is a diagram showing the relationship between the unmanned aerial vehicle 50, the demolition machine 100, the cloud C, and the site management side 110 in a modification of the present invention. In the previous embodiment, the display device 40 was described as being arranged in the cab 3 so that it could be viewed by the operator and displaying various information to be notified to the operator. However, the present invention is not limited to this. The display device 40 may be provided on the terminal of the work manager (such as a site supervisor) so that the work manager can check it, or it may be displayed on the cloud C. In other words, not only the operator but also the work manager can obtain various information to support the work of the demolition machine 100. Furthermore, images captured by the camera 503 (FIG. 2) of the unmanned aerial vehicle 50 may be transmitted directly to the display device 40 or may be transmitted to the cloud C. In this case, the images may be transmitted from the cloud C to the operator in the demolition machine 100, workers located around the demolition machine 100, the manager in the site management side 110, or the like. Note that the workers and the manager may be located remotely. Also, a person who wants to check the image may access cloud C of their own volition and obtain the image. [Explanation of symbols]

[0107] 1 Lower running body (lower body) 10 Inter-boom cylinder 100 Demolition Machine 100S Work Support Device 101 Controller (control unit) 102 Drive control unit 103 Mode switching section 104 Aircraft control unit 105 Image processing section 106 Display command section 11 Arm cylinder 12 working cylinder 2 Upper rotating body 21 Control section 22 Input section 23 Location information detection unit 24 Posture information detection unit 25 Turning angle detection unit 3 Cab 31 Travel drive unit 32 Swivel drive unit 33 Attachment drive unit 4. Working attachment (working mechanism) 40 Display device (image display section, candidate position display section) 5. Boom 50 Unmanned Aerial Vehicles (Aerial Vehicles) 501 Aircraft Drive Unit 502 Camera drive unit 503 Camera 5a main boom 5b Front boom 6 Interboom 7 Arm 8 Working part (specific part) 9 Boom cylinder HP Home Point

Claims

1. A device for supporting a work machine including a lower body, a rotating body that can rotate relative to the lower body, and a work mechanism supported on the rotating body, using an aircraft that has an imaging device and is movable to a position in response to a generated command signal, a control unit that generates the command signal, the control unit generates a movement command signal, which is the command signal for moving the flying object to an effective image capture position, when the flying object performs a rotation operation that satisfies a predetermined condition while the flying object is located at a specific image capture position; the specific imaging position is a position at which the imaging device images a specific portion of the working mechanism, and is a position that changes depending on the rotation position of the rotating body, The effective imaging position is a position where the imaging device can capture an image of a predetermined imaging target and does not change depending on the rotation position of the rotating body.

2. The work support device according to claim 1 , further comprising an image display unit capable of displaying an image captured by the imaging device.

3. The work support device according to claim 1 , wherein the effective image capturing position is a position where the image capturing device can capture an image of the entire work machine as the image capturing target.

4. The rotating body is supported by the lower body so as to be rotatable about a rotation center axis, The work support device according to claim 1 , wherein the effective image capturing position is a position above the work machine and on the central axis of rotation.

5. the effective imaging position is a position where the imaging device can image a specific area as the imaging target, The work support device according to claim 1 , wherein the specific area is an area set relatively with the lower body as a reference.

6. the lower body is a lower running body that can run in a front-rear direction on a running surface, The work assistance device according to claim 5 , wherein the specific area includes at least one of an area in front of the lower traveling structure and an area behind the lower traveling structure in the front-rear direction.

7. the working mechanism is capable of performing work on a work object, The work support device according to claim 1 , wherein the effective image capturing position is a position where the image capturing device can capture an image of the work object as the image capturing target.

8. An input unit capable of receiving information regarding a candidate position to which the flying object can move next, The work support device according to claim 1 , wherein the effective image capture position is the movement candidate position input to the input unit.

9. The work support device according to claim 8 , further comprising a candidate position display unit capable of displaying information relating to the candidate movement positions.

10. The work support device according to claim 8 , wherein the movement candidate position includes the specific image capture position.

11. 2. The work support device according to claim 1, wherein the control unit is capable of receiving information corresponding to an amount of operation for rotating the rotating body, and the condition is that the amount of operation exceeds a predetermined threshold.

12. 2. The work support device according to claim 1, wherein the control unit is capable of determining whether the specific part is included in the image captured by the imaging device, and the condition is that the specific part changes from being included in the image to not being included in the image.

13. 2. The work support device according to claim 1, wherein the control unit is capable of receiving information corresponding to a rotation angle of the rotating body relative to the lower body, and the condition is that a change in the rotation angle exceeds a predetermined threshold value.

14. 2. The work support device according to claim 1, wherein the specific imaging positions include a right-side specific imaging position at which the imaging device images the specific part from the right side of the work mechanism, and a left-side specific imaging position at which the imaging device images the specific part from the left side of the work mechanism.

15. The work assistance device according to claim 1, wherein the control unit inputs the generated command signal into a remote control device capable of sending and receiving signals to and from the aircraft, thereby moving the aircraft to a position corresponding to the command signal.

16. The work support device according to claim 1 , further comprising a transmitter capable of transmitting a command signal generated by the controller to the flying object.

17. a work machine including a lower body, a rotating body that is rotatable relative to the lower body, and a work mechanism supported on the rotating body; The work support device according to claim 1 ; A working system comprising:

18. a flying object having an imaging device and capable of moving to a position in response to a generated command signal; The work support device according to claim 1 ; A working system comprising:

Images