Crane operation support system, layout unit and program

Abstract

To provide a crane work support system by which a flying body can fly without being affected by a magnetic body.SOLUTION: A crane work support system includes a flying body 60 and a station 61. The flying body 60 has a magnetic sensor 66. The flying body 60 flies by using the magnetic sensor 66. The station 61 is provided in a crane 30 or in the periphery of the crane such that the flying body 60 can be arranged. The station 61 is made of a nonmagnetic body. The flying body 60 takes off from the station 61 and flies around the crane 30 so as to support work of the crane 30.SELECTED DRAWING: Figure 1

Description

Technical Field

[0004] ,

[0006] , , , , , ,

[0005] , , A third magnetic sensor is provided in the aforementioned arrangement section, , , , , , , ,

[0001] The present invention relates to a crane operation support system and an arrangement unit and Program Mu related thereto.

Background Art

[0002] Patent Document 1 discloses a technique for flying a flying object called a drone around a crane and inspecting the crane using the drone. The flying object has a magnetic azimuth sensor, and the measured value of the magnetic azimuth sensor is used for flight control.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, attachments, materials, machine tools, etc. are stored at the work site where a crane is used, and many of the attachments, materials, machine tools, etc. are made of magnetic materials such as steel materials as raw materials. Since magnetic materials affect the magnetic field, the measurement accuracy of the magnetic azimuth sensor of the flying object decreases. Therefore, magnetic materials have an adverse effect on the flight control of the flying object.

[0005] An object of the present invention is to provide a crane operation support system capable of reducing the influence from magnetic materials when a flying object flies.

Means for Solving the Problems

[0006] The present invention a flying object having a magnetic sensor and flying using the magnetic sensor, and an arrangement unit provided on or around a crane and capable of arranging the flying object, A third magnetic sensor is provided in the aforementioned arrangement section, A crane work support system equipped with, The aforementioned arrangement portion is made of a non-magnetic material. The aircraft takes off from the designated area and assists the crane's operation by flying around the crane.

[0007] The present invention An aircraft having a magnetic sensor and flying using said magnetic sensor, A crane or its vicinity is provided, and the aircraft can be positioned thereon, and the positioning section is made of a non-magnetic material, A second magnetic sensor is provided on or near the crane to detect abnormal magnetic fields, Equipped with, The aforementioned flying object is a crane operation support system that assists the operation of the crane by taking off from the deployment area and flying around the crane, When the second magnetic sensor detects an abnormal magnetic field, the aircraft flies in a manner that prevents it from entering the vicinity of the second magnetic sensor. [Effects of the Invention]

[0008] According to the present invention, the influence of magnetic materials on an aircraft during flight can be reduced. [Brief explanation of the drawing]

[0009] [Figure 1] This is a drawing of a crane operation support system. [Figure 2] This is a perspective view of the station equipment and the aircraft. [Figure 3] This is a block diagram of the aircraft and its support equipment. [Figure 4] This is a diagram of a crane operation system in a modified example. [Figure 5] This is a diagram of the main part of the crane in a modified crane work system. [Modes for carrying out the invention]

[0010] The embodiments will be described in detail below with reference to the drawings.

[0011] <1. Overview of the Crane Operation Support System> Figure 1 shows a crane operation support system.

[0012] The crane operation support system includes a steel plate mat 10, a station device 20, a crane 30, a magnetic sensor 50, a flying object 60, and an operation support device 80. Note that the flying object 60, the station device 20, and the operation support device 80 are much smaller than the crane 30. However, in FIG. 1, in order to illustrate the flying object 60, the station device 20, and the operation support device 80, the flying object 60, the station device 20, and the operation support device 80 are illustrated in a larger size. Also, although the thickness of the steel plate mat 10 is sufficiently small compared to the height of the crane 30, in FIG. 1, the steel plate mat 10 is illustrated with a greater thickness in order to illustrate the steel plate mat 10

[0013] <2. Steel Plate Mat> The steel plate mat 10 is laid on the ground 2 at the work site for the purpose of protecting the ground at the work site and securing a work platform. The steel plate mat 10 is used as a work floor at the work site. The crane 30 travels on the steel plate mat 10, and the worker performs work on the steel plate mat 10. The steel plate mat 10 is made of a magnetic material. A magnetic material refers to a substance that exhibits ferromagnetism. The magnetic field around the steel plate mat 10 made of a magnetic material is affected by the steel plate mat 10. For example, since the steel plate mat 10 disturbs the magnetic field around it and the geomagnetic field, the magnetic field around the steel plate mat 10 is different from the geomagnetic field when there is no steel plate mat 10. On the other hand, a non-magnetic material does not disturb the magnetic field and the geomagnetic field around it. A non-magnetic material refers to a material other than a magnetic material, and a diamagnetic material and a paramagnetic material are also non-magnetic materials. Copper, wood, aluminum, etc. are non-magnetic materials. Hereinafter, a magnetic field that is not the geomagnetic field is referred to as an abnormal magnetic field, and a magnetic field disturbed from the geomagnetic field is also referred to as an abnormal magnetic field

[0014] <3. Station Device> The station device 20 is a stand that supports the flying object 60 from below in a state where the non-flying flying object 60 is separated upward from the steel plate mat 10. Also, the station device 20 is a stand where the flying object 60 takes off and lands. The station device 20 is movable on the steel plate mat 10 and its height is adjustable

[0015] As shown in Figure 2, the station device 20 comprises a station 21, a height adjuster 22, a trolley 23, and a magnetic sensor 24. The station 21 is attached to the height adjuster 22, particularly its upper end. The height adjuster 22, particularly its lower end, is attached to the trolley 23.

[0016] Station 21 is a platform on which the aircraft 60 can be placed. The aircraft 60 is placed on Station 21 before flight. Station 21 is made of a non-magnetic material, particularly a resin material or aluminum. Therefore, Station 21 does not disturb the surrounding magnetic field and geomagnetic field. In the example shown in Figure 2, Station 21 is provided in the shape of a plate. However, the shape of Station 21 is not limited to a plate, as long as the aircraft 60 can be placed on it.

[0017] The height adjuster 22 is, for example, a lift having a telescopic rod that can extend and retract vertically, a hydraulic cylinder, an air cylinder, a jack, or a linkage mechanism. The height adjuster 22 extends upward and retracts downward using power from a prime mover (e.g., an electric motor, internal combustion engine, steam engine, hydraulic equipment, or turbine), the elastic force of a spring, hydraulics, pneumatics, or human power. The height adjuster 22 raises and lowers the station 21 by its extension and retraction movement, and maintains the height of the station 21 by stopping the extension and retraction movement. In this way, the height adjuster 22 moves the station 21 vertically to adjust the height of the station 21. The uppermost position in the lifting range of the station 21 by the height adjuster 22 is not particularly limited, but may be higher or lower than the height of the lower traveling body 31 described later.

[0018] The trolley 23 is movable on the steel plate 10. The trolley 23 moves on the steel plate 10 using power from a prime mover (e.g., electric motor, internal combustion engine, steam engine, hydraulic equipment or turbine) or by human power.

[0019] The magnetic sensor 24 is installed on the station 21, particularly around the periphery of the upper surface of the station 21. The magnetic sensor 24 measures the direction of the magnetic field in its vicinity. The magnetic sensor 24 is, for example, an analog or digital compass, and displays the measured direction of the magnetic field using, for example, a needle or a display. By looking at the display of the magnetic sensor 24, the user can understand the direction of the magnetic field around the station 21 and further investigate whether or not an abnormal magnetic field is occurring around the station 21. If the user confirms that the direction of the magnetic field measured by the magnetic sensor 24 is the same as the direction of the Earth's magnetic field, the aircraft 60 takes off from the station 21. On the other hand, if the user confirms that the direction of the magnetic field measured by the magnetic sensor 24 is different from the direction of the Earth's magnetic field, i.e., that an abnormal magnetic field is occurring, the station device 20 and the aircraft 60 are moved until the direction of the magnetic field measured by the magnetic sensor 24 is the same as the direction of the Earth's magnetic field. At this time, if necessary, the height of the station 21 is increased using the height adjuster 22 to move the station 21 and the aircraft 60 further away from the steel plate 10.

[0020] Alternatively, the user may use the magnetic sensor 66 of the aircraft 60, described later, instead of the magnetic sensor 24, to determine the generation and direction of an abnormal magnetic field around station 21. In this case, if the magnetic sensor 66 outputs the detected direction and magnitude of the magnetic field to a display device, and the display device displays the direction and magnitude of the magnetic field detected by the magnetic sensor 66, the user can understand the direction and magnitude of the magnetic field detected by the magnetic sensor 66.

[0021] <4. Crane> As shown in Figure 1, the crane 30 is a mobile tower crane. Most of the parts and materials of the crane 30 are made of magnetic material. The crane 30 comprises a lower traveling body 31, an upper slewing body 32, a cab 33, a house 34, a counterweight 35, a tower boom 36, a tower jib 37, a tower strut 38, a boom luffing winch (not shown), a jib luffing winch 40, a main hoisting winch 41, and a load hook 42.

[0022] The lower track 31 is a self-propelled crawler. The lower track 31 travels on the steel plate 10. The upper slewing body 32 is rotatably mounted on the lower track 31. The cab 33 is mounted in front of the upper slewing body 32. Inside the cab 33 is a driver's seat and various operating devices for operating the crane 30. The housing 34 is mounted on the upper slewing body 32 behind the cab 33. The housing 34 houses hydraulic equipment and electrical components. The counterweight 35 is mounted at the rear of the upper slewing body 32. The tower boom 36 is connected to the upper slewing body 32 in a way that allows it to be raised and lowered.

[0023] The tower boom 36 is connected to the upper slewing body 32 in a luffable manner. The tower jib 37 is connected to the tip of the tower boom 36, i.e., the upper end of the tower boom 36, in a luffable manner. The tower strut 38 is pivotably mounted on the top of the tower boom 36. The boom luffing winch is mounted on the upper slewing body 32 behind the cab 33. The boom luffing winch winds in and pays out the rope, thereby luffing the tower boom 36. The jib luffing winch 40 is mounted on the bottom of the tower boom 36. The jib luffing winch winds in and pays out the rope, thereby pivoting the tower strut 38 and luffing the tower jib 37. The main hoisting winch 41 is mounted on the bottom of the tower boom 36. The main hoisting rope 41a, pulled out from the main hoisting winch 41, is guided to the tip of the tower jib 37 by various sheaves attached to the tower boom 36 and tower jib 37, and hangs down from the tip of the tower jib 37. A load hook 42 is attached to the lower end of the hanging main hoisting rope 41a. The main hoisting winch 41 winds in and unwinds the main hoisting rope 41a, thereby raising and lowering the load hook 42 and the load.

[0024] <5. Magnetic Sensor> The magnetic sensor 50 is attached to the crane 30. In the example shown in Figure 1, the magnetic sensor 50 is attached to the tower boom 36, but it is not limited to this, and may be attached to, for example, the tower jib 37. The magnetic sensor 50 may also be installed around the crane 30. For example, the magnetic sensor 50 may be attached to a structure built around the crane 30.

[0025] The magnetic sensor 50 detects the presence or absence of an abnormal magnetic field. If the magnetic sensor 50 detects an abnormal magnetic field, the aircraft 60 flies in a way that avoids entering the vicinity of the magnetic sensor 50. For example, the magnetic sensor 50 has a transmitter and transmits an abnormal signal to the aircraft 60 when it detects an abnormal magnetic field. When the aircraft 60 receives an abnormal signal from the magnetic sensor 50, it flies in a way that avoids entering the vicinity of the magnetic sensor 50.

[0026] <6. Flying Objects> The aircraft 60 is an unmanned multirotor, commonly referred to as a drone. The aircraft 60 takes off from the station equipment 20, particularly station 21, flies around the crane 30, and then lands back on the station equipment 20, particularly station 21. The flight path of the aircraft 60 from takeoff from station 21 to landing back on station 21 is realized by the flight path program described later.

[0027] As shown in Figure 3, the aircraft 60 performs auxiliary tasks for the purpose of assisting the crane 30's lifting operations while flying around the crane 30. Examples of auxiliary tasks include, but are not limited to, photography, observation, monitoring, inspection, lighting, lifting assistance, transportation, measurement, surveying, cleaning, tidying up, guidance, or alarms. "Assisting the crane's operations" includes not only assistance during the crane's operations, but also assistance before or after the crane's operations, and assistance between the crane's operations. In other words, in this invention, "assisting the crane's operations" includes not only cases where the crane directly assists in the crane's operations (photography, observation, monitoring, lighting, lifting assistance, etc.), but also cases where assistance is provided in preparation for the crane's operations (inspection, measurement, surveying, etc.) before the crane's operations (including preparation for the next operations after the current operations), and cases where assistance is provided for cleanup after the crane's operations. Flight of the aircraft 60 refers to movement in the up, down, forward, backward, left, and right directions, as well as turning and hovering. Turning refers to yawing.

[0028] The aircraft 60 includes multiple propellers 61, multiple drive units 62, angular acceleration sensors 63, acceleration sensors 64, satellite navigation receiver 65, magnetic sensor 66, barometric pressure sensor 67, three-dimensional distance measuring sensor 68, control unit 69, camera 70, memory unit 71, communication unit 72, and illuminator 73.

[0029] Each propeller 61 is connected to a drive unit 62. The drive unit 62 drives each propeller 61 individually. The aircraft 60 flies through the air as the propellers 61 are driven.

[0030] The angular acceleration sensor 63 is an attitude measurement unit that measures the attitude of the aircraft 60, namely the yaw angle, roll angle, and pitch angle. Specifically, the angular acceleration sensor 63 detects angular acceleration around three mutually orthogonal axes. The angular acceleration sensor 63 is also a velocity sensor that detects angular velocity around the three axes by time integration processing of the detected angular acceleration. The angular acceleration sensor 63 then calculates the attitude of the aircraft 60, namely the yaw angle, roll angle, and pitch angle, from at least one of the detected angular acceleration and angular velocity. The angular acceleration sensor 63 then transmits the measured attitude to the control unit 69.

[0031] The acceleration sensor 64 is a speed measuring unit that measures the speed of the aircraft 60's movement in the up, down, forward, backward, left, and right directions. Specifically, the acceleration sensor 64 detects acceleration in three mutually orthogonal axes. The acceleration sensor 64 is also a speed sensor that detects velocity in the three axes by time integration processing of the detected velocity. The acceleration sensor 64 calculates the speed of the aircraft 60's movement in the up, down, forward, backward, left, and right directions from at least one of the detected acceleration and velocity. The acceleration sensor 64 transmits the measured speed of the aircraft 60 to the control unit 69.

[0032] The satellite navigation receiver 65 is a positioning sensor that measures the position of the aircraft 60 by receiving satellite radio waves. The satellite navigation receiver 65 also measures the speed and direction of the aircraft 60 based on the change in the aircraft 60's position.

[0033] The magnetic sensor 66 detects the direction and magnitude of the magnetic field and measures the direction of the flying object 60 from the direction and magnitude of the magnetic field. The magnetic sensor 66 transmits the measured direction to the control unit 69. Note that the measurement value of the magnetic sensor 66 is affected by surrounding magnetic materials, and the error in the measurement value of the magnetic sensor 66 increases as it gets closer to a magnetic material.

[0034] The barometric pressure sensor 67 detects atmospheric pressure and measures the altitude of the aircraft 60. The barometric pressure sensor 67 transmits the measured altitude to the control unit. The reference for the altitude measured by the barometric pressure sensor 67 is the altitude of the aircraft 60 at takeoff. In other words, the measured altitude of the barometric pressure sensor 67 is calibrated so that the measured altitude of the barometric pressure sensor 67 is zero at the time of takeoff of the aircraft 60. As described above, since the aircraft 60 takes off from station 21 of the station device 20, the measured altitude of the barometric pressure sensor 67 is referenced to the height of station 21.

[0035] The three-dimensional ranging sensor 68 measures the distance to obstacles around the aircraft 60 using laser light or ultrasound. The three-dimensional ranging sensor 68 may also employ LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging). The three-dimensional ranging sensor 68 transmits the measured distance to the control unit 69. Obstacles here include the ground, and the altitude of the aircraft 60 is also measured by the three-dimensional ranging sensor 68. The reference for the altitude measured by the three-dimensional ranging sensor 68 is the altitude of the aircraft 60 at the time of takeoff. In other words, the measurement altitude of the three-dimensional ranging sensor 68 is calibrated so that the measurement altitude of the three-dimensional ranging sensor 68 at the time of takeoff of the aircraft 60 is zero. As described above, since the aircraft 60 takes off from station 21 of the station device 20, the measurement altitude of the three-dimensional ranging sensor 68 is based on the height of station 21. Furthermore, if the altitude of the aircraft 60 is low, the altitude measured by the three-dimensional ranging sensor 68 is used, and if the altitude of the aircraft 60 is high, the altitude measured by the barometric pressure sensor 67 is used.

[0036] The control unit 69 is a microcomputer consisting of a CPU, RAM, and storage medium. The control unit 69 controls the drive unit 62 based on measurements (i.e., one or more measurements from yaw angle, roll angle, pitch angle, speed, position, orientation, direction, altitude, and distance) taken by one or more sensors among the angular acceleration sensor 63, acceleration sensor 64, satellite navigation receiver 65, magnetic sensor 66, barometric pressure sensor 67, and three-dimensional distance measuring sensor 68. The drive unit 62 individually drives the propellers 61 under the control of the control unit 69. By driving the propellers 61, the attitude of the aircraft 60 is controlled and the aircraft 60 flies through the air. When the control unit 69 controls the drive unit 62, all of the angular acceleration sensor 63, acceleration sensor 64, satellite navigation receiver 65, magnetic sensor 66, barometric pressure sensor 67, and three-dimensional distance measuring sensor 68 may be used, or only some of them may be used.

[0037] The control unit 69 has a flight path program in its storage medium, which consists of a time-series arrangement of latitude, longitude, and altitude. The time-series of latitude, longitude, and altitude constitutes the flight path of the aircraft 60, which is the path taken by the aircraft 60 from takeoff from station 21 until landing back at station 21.

[0038] The control unit 69 monitors the measurements from the satellite navigation receiver 65, magnetic sensor 66, barometric pressure sensor 67, and three-dimensional ranging sensor 68, and controls the drive unit 62 based on the flight path program to cause the aircraft 60 to follow the flight path. Note that the altitude reference in the flight path program is not the ground, but the top surface of the station 21, which will be described later. In other words, the altitude in the flight path program is expressed as the height from the top surface of the station 21.

[0039] Camera 70 is mounted on the aircraft 60. Camera 70 may be capable of tilting, panning, or both, or its orientation may be fixed. Camera 70 captures an image of what it is pointed at. Camera 70 comprises a lens, an image sensor, and a signal processing unit. The lens forms an image of what it is pointed at onto the image sensor. The lens may be a fixed-focus lens or a zoom lens. The image sensor captures the image formed by the lens by photoelectric conversion. The signal processing unit processes the image captured by the image sensor to generate a still image, a video, or both. The wavelength range that camera 70 is sensitive to is a broad wavelength range including the visible light band, the ultraviolet band, the infrared band, or two or more of these.

[0040] The control unit 69 records still images, videos, or both captured by the camera 70 in the storage unit 71. The control unit 69 records the measured values ​​of the satellite navigation receiver 65, magnetic sensor 66, barometric pressure sensor 67, and three-dimensional distance measuring sensor 68 in time series in the storage unit 71. The control unit 69 causes the communication unit 72 to immediately transmit still images captured by the camera 70 to the work support device 80. The control unit 69 causes the communication unit 72 to immediately transmit streaming videos captured by the camera 70 to the work support device 80. The control unit 69 immediately transmits the measured values ​​of the satellite navigation receiver 65, magnetic sensor 66, barometric pressure sensor 67, and three-dimensional distance measuring sensor 68 to the work support device 80 in time series. After the flight of the aircraft 60, the control unit 69 may cause the communication unit 72 to transmit the still images, videos, and measured values ​​recorded in the storage unit 71.

[0041] The communication unit 72 can communicate wirelessly with the work support device 80 as well as the transmitter of the magnetic sensor 50. When the transmitter of the magnetic sensor 50 transmits an abnormal signal, the communication unit 72 receives the abnormal signal and forwards it to the control unit 69. If the control unit 69 receives an abnormal signal while the aircraft 60 is in flight, it corrects the flight path program. Specifically, if the latitude, longitude, and altitude in the flight path program are within a predetermined radius centered on the magnetic sensor 50, the control unit 69 corrects the flight path program so that the latitude, longitude, and altitude are outside that range. The control unit 69 controls the drive unit 62 based on the corrected flight path program so that the aircraft 60 does not enter the vicinity of the magnetic sensor 50.

[0042] The illuminator 73 is mounted on the aircraft 60 so as to be oriented in the same direction as the camera 70. The illuminator 73 projects illumination light in the direction towards which the camera 70 is pointed, illuminating the area in which the camera 70 is pointed. The object illuminated by the illuminator 73 is the object that the camera 70 is photographing, for example, a part of the crane 30 or the suspended load.

[0043] <7. Work support devices> The work support device 80 is located on the ground around the crane 30. In the example shown in Figure 1, the work support device 80 is outdoors. However, the work support device 80 may also be located, for example, inside the cab 33 or in an office near the crane 30. The work support device 80 may be fixed or portable.

[0044] The work support device 80 includes a computer 81, a display unit 82, and an input unit 83. The display unit 82 is connected to the computer 81. The display unit 82 is, for example, a liquid crystal display or an EL display, and displays images according to the video signals transferred from the computer 81. The input unit 83 is connected to the computer 81. The input unit 83 is, for example, a keyboard, mouse, touch panel, or push buttons, or a combination of two or more of these. When the input unit 83 is operated by the user, it transmits signals corresponding to the operation to the computer 81. In this way, the user can input various types of information to the computer 81 via the input unit 83, and the computer 81 can acquire the information input by the user.

[0045] Computer 81 comprises hardware components including a CPU, RAM, GPU, storage device, system bus, and communication unit. The communication unit of computer 81 communicates with the communication unit 72 of the aircraft 60. The storage device of computer 81 stores programs that can be executed by the CPU.

[0046] Before the aircraft 60 takes off, the CPU of the computer 81 executes a program, thereby realizing the flight path creation function of the computer 81. Specifically, when the user operates the input unit 83, the computer 81 generates a flight path program consisting of latitude, longitude, and altitude arranged in chronological order according to the user's operation. At this time, when the user inputs the height information of the station 21 via the input unit 83, the computer 81 acquires this height information, subtracts it from the ground-based altitude, and generates the flight path program using the resulting difference as the altitude. When the computer 81 transmits this flight path program to the communication unit 72 of the aircraft 60, the communication unit 72 receives the flight path program, and the control unit 69 stores the flight path program. As described above, the control unit 69 controls the drive unit 62 based on the flight path program, causing the aircraft 60 to fly along the flight path.

[0047] The recording and display functions of the computer 81 are realized by the execution of a program by the CPU of the computer 81 while the aircraft 60 is in flight. Specifically, the computer 81 records still images or videos, or both, transmitted by the communication unit 72 of the aircraft 60, and displays the still images or videos, or both, on the display unit 82. In addition, the computer 81 records the measured values ​​transmitted by the communication unit 72 of the aircraft 60, and displays the measured values ​​on the display unit 82.

[0048] During or after the flight of the aircraft 60, the computer 81 performs calculations related to auxiliary tasks (i.e., photography, observation, monitoring, inspection, lighting, lifting assistance, transport, measurement, or surveying) based on still images, videos, measurements, or a combination of two or more thereof.

[0049] <8. Favorable Effects> As explained above, since the aircraft 60 takes off from a non-magnetic station 21, the influence that the magnetic sensor 66 receives from magnetic materials during flight can be reduced.

[0050] Since station 21, which is made of a non-magnetic material, is located above and away from the steel plate 10, and the aircraft 60 takes off from station 21, the magnetic sensor 66 is less likely to be adversely affected by the steel plate 10, and the aircraft 60 takes off from station 21 without being affected by the magnetic effects of the steel plate 10. After takeoff, the aircraft 60 moves further away from the steel plate 10, so the flight control of the aircraft 60 is less affected by the steel plate 10.

[0051] Since the aircraft 60 lands at Station 21, the takeoff and landing points of the aircraft 60 coincide. Therefore, even without recalibrating the various sensors 63-68 of the aircraft 60 before re-takeoff, the measurement accuracy of the sensors 63-68 is maintained at a high level, and the flight control of the aircraft 60 after re-takeoff is performed well.

[0052] When the magnetic sensor 50 attached to the crane 30 detects an abnormal magnetic field, the aircraft 60 flies in a manner that avoids entering the vicinity of the magnetic sensor 50. As a result, the aircraft 60 and the magnetic sensor 66 are not affected by the abnormal magnetic field around the magnetic sensor 50. Therefore, the flight control of the aircraft 60 is performed effectively.

[0053] Since the magnetic sensor 24 is located on station 21, the user can check for abnormal magnetic fields around the aircraft 60 before takeoff.

[0054] If an abnormal magnetic field is generated around the aircraft 60 before takeoff, the abnormal magnetic field around the aircraft 60 can be eliminated by adjusting the position or height of the station device 20, or both.

[0055] <9. Variation> Although embodiments have been described above, the present invention is not limited to the embodiments described above. Modifications from the above embodiments are described below. At least two of the modifications described below may be applied in combination.

[0056] In the embodiment described above, the station device 20 moves horizontally on the steel plate 10. In contrast, as shown in Figure 4, the station device 20 moves horizontally on a reinforced concrete structure 100 surrounding the crane 30, for example, on the roof of a building. Although reinforcing bars are embedded in the slab of the roof of the structure 100, the station 21 of the station device 0 is located above the reinforcing bars inside the slab. As a result, the magnetic sensor 66 is less likely to be adversely affected by the reinforcing bars, and the aircraft 60 takes off from the station 21 without being affected by the magnetic effect of the reinforcing bars.

[0057] In the embodiment described above, the station device 20 moves horizontally on the steel plate 10. In contrast, as shown in Figure 5, the station device 20 moves horizontally on a floor surface provided on the upper rotating body 32 of the crane 30. The floor surface is, for example, the top surface of the scaffolding or house 34 provided on the upper rotating body 32. The floor surface is a component of the crane 30 and is made of a magnetic material. The station 21 of the station device 20 is located above the magnetic floor surface. Therefore, the magnetic sensor 66 is less likely to be adversely affected by the top surface of the scaffolding or house 34, and the aircraft 60 takes off from the station 21 without being affected by the magnetic effect of the top surface of the scaffolding or house 34.

[0058] In the above-described embodiment, the station device 20 is mobile and height-adjustable. In contrast, a non-movable base may be used instead of the trolley 23, making the station device 20 immobile. Alternatively, a non-extendable support column may be used instead of the height adjuster 22, making the station device 20 height-adjustable. Furthermore, the station device 20 may be a table, and the tabletop of the table may be made of a non-magnetic material.

[0059] In the above-described embodiment, the aircraft 60 follows a flight path by controlling the drive unit 62 based on a flight path program while monitoring the measured values ​​of the satellite navigation receiver 65, magnetic sensor 66, barometric pressure sensor 67, and three-dimensional ranging sensor 68. This function of the control unit 69 may also be realized by a remotely controlled computer located away from the aircraft 60. In this case, the control unit 69 immediately transmits the measured values ​​of the satellite navigation receiver 65, magnetic sensor 66, barometric pressure sensor 67, and three-dimensional ranging sensor 68 to the computer via the communication unit 72, the computer immediately generates a command signal based on the flight path program while monitoring the measured values ​​received from the communication unit 72, the computer immediately transmits the command signal to the communication unit 72, and the control unit 69 controls the drive unit 62 based on the received command signal.

[0060] In the embodiments described above, a tower crane 30, which is a crawler crane equipped with a tower-type attachment, was given as an example of a crane, but the invention is not limited to this. For example, instead of the tower crane 30, a mobile crane such as a crawler crane equipped with a crane-type attachment, a crawler crane wheel crane, or a truck crane may be used, or a fixed crane such as a port crane, overhead crane, gantry crane, or unloader may be used. The crane used instead of the crane 30 is not limited to a crane equipped with a hook as an attachment, but may also be a crane that suspends attachments such as a magnet and an earth drill bucket.

[0061] In the embodiment described above, the camera 70 mounted on the aircraft 60 was a so-called monocular camera, but it may also be a compound camera such as a stereo camera. Furthermore, the camera 70 was a camera capable of capturing both still images and videos, but it may be either a still camera or a video camera.

[0062] The various sensors mounted on the aircraft 60 may be used for purposes other than flight control of the aircraft 60, for example, to assist in the operation of the crane 30. For example, the three-dimensional distance measuring sensor 68 may be used for surveying, for example, to measure the three-dimensional shape of the crane 30 or the surrounding terrain or both.

[0063] The aircraft 60 may be equipped with tools to assist the crane 30 in its operations. [Explanation of symbols]

[0064] 10. Steel plates (magnetic material) 21 Stations (Deployment Area) 24. Magnetic Sensor (Third Magnetic Sensor) 30 Cranes 31 Lower track (crawler) 34 House (Magnetic Material) 50 Magnetic Sensor (Second Magnetic Sensor) 60 flying objects 66 Magnetic Sensors 100 structures

Claims

1. An aircraft having a magnetic sensor and flying using said magnetic sensor, A crane or its surrounding area is provided with a placement section on which the aircraft can be positioned, A third magnetic sensor is provided in the aforementioned arrangement section, A crane work support system equipped with, The aforementioned arrangement portion is made of a non-magnetic material. The aforementioned flying object is a crane operation support system that takes off from the deployment area and flies around the crane to assist in the operation of the crane.

2. The crane or its vicinity is further provided with a second magnetic sensor for detecting abnormal magnetic fields, When the second magnetic sensor detects an abnormal magnetic field, the aircraft flies in a manner that prevents it from entering the vicinity of the second magnetic sensor. A crane operation support system according to claim 1.

3. An aircraft having a magnetic sensor and flying using said magnetic sensor, A crane or its vicinity is provided, and the aircraft can be positioned thereon, and the positioning section is made of a non-magnetic material, A second magnetic sensor is provided on or near the crane to detect abnormal magnetic fields, Equipped with, The aforementioned flying object is a crane operation support system that assists the operation of the crane by taking off from the deployment area and flying around the crane, When the second magnetic sensor detects an abnormal magnetic field, the aircraft flies in a manner that prevents it from entering the vicinity of the second magnetic sensor. Crane operation support system.

4. The crane work support system according to any one of claims 1 to 3, wherein the arrangement part is installed at a distance above the magnetic body located below the arrangement part.

5. The aircraft lands at the designated location after assisting the crane's operation. A crane operation support system according to any one of claims 1 to 4.

6. The aforementioned arrangement is installed at a higher position than the crane's crawler. A crane operation support system according to any one of claims 1 to 5.

7. The aforementioned mounting section is provided so as to be able to adjust its height or move around the crane. A crane operation support system according to any one of claims 1 to 6.

8. An arrangement unit used in a crane work support system according to any one of claims 1 to 7.

9. A program for a crane operation support system according to any one of claims 1 to 7, A program for performing a flight process in which the aircraft takes off from the placement area and flies around the crane.

Images