JP7521261B2 - Lifting support system, lifting support method, and lifting support program - Google Patents

Description

The present invention relates to a lifting support system, a lifting support method, and a lifting support program that support lifting operations in lifting devices such as cranes.

When transporting materials and equipment, lifting devices such as tower cranes are sometimes used. In these lifting devices, the load is transported while suspended by a wire, which can cause the load to sway. For example, when the jib is rotated or raised and lowered, the load will sway due to the law of inertia when the movement starts or the direction is changed. The load can also sway due to external forces such as wind. For this reason, technology to suppress the swaying is being considered (see, for example, Patent Document 1). In the technology disclosed in this document, the jib tip position is measured in real time by a jib tip position measuring device in a tower crane. The swing of the load is also measured in real time by a load swing width measuring device. The automatic operation control device performs feedback control and fuzzy control of the movement of the load based on the jib tip position and the swing of the load measured in real time.

Japanese Patent Application Publication No. 10-258989

However, slowing down to suppress vibrations would not improve the efficiency of lifting operations.

The lifting support system for solving the above problem includes an information acquisition unit that acquires information on the swaying state of the lifted object, and a control unit that communicates with the lifting device. The control unit uses the swaying state information acquired by the information acquisition unit to identify the position of the lifted object suspended from the lifting unit of the lifting device, and when swaying is detected at the position of the lifted object, identifies the amplitude and period of the swaying, and performs an operation on the lifting device to position the lifting unit above the lifted object with the amplitude corresponding to the period.

The present invention can assist in efficient and accurate transportation during lifting operations.

FIG. 1 is an explanatory diagram of a system according to an embodiment. FIG. 1 is an explanatory diagram of a tower crane according to an embodiment. FIG. 2 is an explanatory diagram of a hardware configuration of the embodiment. FIG. 4 is an explanatory diagram of data recorded in a lifting information storage unit of the embodiment. FIG. 5A to 5C are explanatory diagrams of image recognition in a captured image according to an embodiment. 5A to 5C are explanatory diagrams for explaining a swing in a photographed image according to an embodiment. 10A is an explanatory diagram of the suppression of swaying in an embodiment, where (a) is an explanatory diagram when there is no swaying, (b) is an explanatory diagram when swaying occurs, (c) is an explanatory diagram when the maximum swing position is reached, and (d) is an explanatory diagram when a turning operation is performed.

Below, an embodiment of a lifting support system, a lifting support method, and a lifting support program will be described with reference to Figures 1 to 8. In this embodiment, the lifting support system will be described as being used when a lifting device (tower crane) is used at a construction site.

1, the present embodiment uses a control unit 10, a support server 20, and a management terminal 30. The control unit 10 is provided in a tower crane C1 serving as a lifting device.
As shown in FIG. 2, a revolving frame C11 is placed on the mast C10 of the tower crane C1, and a driver's seat C12 is provided on the revolving frame C11. When lifting work is performed by an operator, the operator uses the driver's seat C12 of the tower crane C1 to perform revolving operation of the revolving frame C11, raising and lowering (tilt angle) operation of the jib C13 (boom), and raising and lowering operation of the hook C14. Then, a load C15 fixed to the hook C14 suspended by a wire from the lifting part C130 of the jib C13 is transported. The operator can also operate the tower crane C1 by remote control or automatic driving. The control unit 10 is provided on the tower crane C1.

(Hardware configuration description)
3, the hardware configuration of the information processing device H10 constituting the control unit 10, the support server 20, and the management terminal 30 will be described. The information processing device H10 includes a communication device H11, an input device H12, a display device H13, a storage unit H14, and a processor H15. Note that this hardware configuration is an example, and it is also possible to realize it using other hardware.

The communication device H11 is an interface that establishes a communication route between other devices and transmits and receives data, such as a network interface or a wireless interface.

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

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

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

(System configuration)
Next, each function of the lifting support system will be described with reference to FIG.
The control unit 10 provided on the tower crane C1 includes an imaging device 11 and a drive control unit 12.

The imaging device 11 is provided at the tip of the jib C13 of the tower crane C1 and captures a video of the lifted object CL1 below. In this embodiment, the object suspended by the jib C13 is called the lifted object CL1, and includes the hook C14 and the suspended load C15, but may be either one of them.
The drive control unit 12 performs drive control in response to the rotation operation of the rotating frame C11, the raising and lowering operation of the jib C13, and the up and down operation of the hook C14.
Then, the control unit 10 transmits the video captured by the imaging device 11 and the drive information of the drive control unit 12 to the support server 20 .

The support server 20 is a computer system that supports lifting operations using information acquired from the control unit 10. The support server 20 includes a control unit 21 and a lifting information storage unit 22.

The control unit 21 performs the processes described below (processing including an information acquisition stage, a recognition stage, a swing control stage, a lifting management stage, etc.). By executing programs for each process for this purpose, the control unit 21 functions as an information acquisition unit 211, a recognition unit 212, a swing control unit 213, a transport management unit 214, etc.

The information acquisition unit 211 acquires various information from the control unit 10 and the management terminal 30. In this embodiment, a captured image (video) of the area below the tip of the jib C13 is acquired from the control unit 10 as swing state information and temporarily stored. This captured image makes it possible to check the state of the suspended load C15. Furthermore, the information acquisition unit 211 acquires from the control unit 10 up-down operation information of the wire suspending the hook C14. This up-down operation information makes it possible to identify the length of the wire from the tip of the jib C13 to the hook C14 (suspending length L). In addition, various instruction information input by the administrator is acquired from the management terminal 30.

The recognition unit 212 executes a process for recognizing a subject in the captured image. In this embodiment, image recognition processing is used to recognize the hook C14 in the captured image. For example, a predictive model for identifying the hook C14 is generated by machine learning using an image captured from above of the hook C14 as training information, and the model is stored in the recognition unit 212. In this training information, a variety of images including the suspended load C15 and objects on the ground can be used in the background below the hook C14.

The swing control unit 213 executes a process for stopping the swing of the hook C14 and the suspended load C15. In this embodiment, the adjustment amount of the swing operation of the revolving frame C11 and the raising and lowering operation of the jib C13 for stopping the swing is calculated according to the swing state of the hook C14. This swing control unit 213 holds information on a reference distance for determining whether or not a swing suppression operation is required.
Furthermore, the swing control unit 213 calculates the period T by the following stored period calculation formula: Here, it is assumed that the amplitude is sufficiently small compared to the hanging length L.
Period T = 2π√ [hanging length L] / [gravitational acceleration g]
The period is not limited to being calculated using the above-mentioned formula. For example, the period may be measured by observing the swing direction of the hook C14 from the captured image, or the period calculated by the period calculation formula and the measured period may be used together to calculate the statistical values of both.

The transport management unit 214 operates the tower crane C1 according to the transport route. This transport management unit 214 has a speed determination table for determining the transport speed (normal speed) according to the size (dimensions and weight) of the suspended load. In this speed determination table, the larger the size of the suspended load C15, the slower the transport speed is set.

As shown in FIG. 4, the lifting information storage unit 22 records lifting management data 220 related to the load suspended by the control unit 10. This lifting management data 220 is recorded when various information is acquired from the management terminal 30. The lifting management data 220 includes information related to the work ID, crane ID, lifting position, lowering position, and transported object.

The work ID is information regarding an identifier for identifying each lifting work.
The crane ID is information regarding an identifier for identifying the tower crane C1 used in each lifting operation.

The lifting position information and the hanging position information are information relating to the lifting position (transport start position) and the hanging position (transport target position) designated by the manager.
The transported goods information is information regarding an identifier for identifying the equipment or materials to be lifted and their size.

The lifting management data 220 is associated with planned route information 221 and actual route information 222. The planned route information 221 is recorded when a route is generated. The actual route information 222 is recorded after the lifting is completed.
The planned route information 221 is information about a transportation route. The planned route information 221 includes information about the operation timing and operation amount of the raising and lowering operation of the jib C13 and the turning operation of the turning frame C11 performed for the transportation route from the transportation start position to the transportation target position.

The actual route information 222 is information about the actual route traveled by the suspended load C15 based on the rotation operation of the rotating frame C11, the raising and lowering operation of the jib C13, and the up and down operation of the hook C14.

The management terminal 30 shown in FIG. 1 is a computer terminal used by the manager of the construction site. In this embodiment, the manager uses the management terminal 30 to remotely operate the tower crane C1 at the construction site and instruct the lifting work, instead of the operation by the operator in the cab C12.

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

First, the control unit 21 of the support server 20 executes a process for setting a transport route (step S101). Specifically, the information acquisition unit 211 of the control unit 21 acquires a transport height at which structures around the tower crane C1 do not impede transport. This transport height can be acquired manually using the management terminal 30. The control unit 21 can also acquire BIM information at the construction site and detection information by cameras and three-dimensional sensors, and calculate the transport height by adding a margin height to the height of the obstacle identified based on the acquired information.
Furthermore, the information acquisition unit 211 outputs a transport input screen to the management terminal 30 and acquires information related to the crane ID, the transport start position, the transport target position, and the transported object. Then, the information acquisition unit 211 assigns a job ID and records the lifting management data 220 including the transported object information acquired from the management screen in the lifting information storage unit 22.

Then, the information acquisition unit 211 calculates a transport route from the transport start position to the transport target position in the transportable area at the transport height. A known route search algorithm is used to calculate this transport route. For example, the "A* (A-star) search algorithm" can be used as this route search algorithm. This A* search algorithm uses a cost function that serves as a guidepost for the search in a graph search problem that finds a path from the movement start position → the transport start position → the transport target position. The cost function uses a cost (evaluation value) assigned to each partial area that constitutes the transportable area. For example, if the obstacle is close or the obstacle is of high importance, the evaluation value is set high. Then, a transport route is identified that has a low total cost from the start to the nth point and a low estimated evaluation value from the nth point to the goal.
Then, the information acquisition unit 211 records the generated transport route as planned route information 221 in the lifting information storage unit 22 in association with the lifting management data 220 .

When the transport management unit 214 of the control unit 21 receives a transport start instruction from the management terminal 30, it instructs the drive control unit 12 of the control unit 10 of the tower crane C1 to start transport. In this case, the transport management unit 214 instructs transport at the transport speed recorded in the speed determination table according to the size of the suspended load C15.

During the transport, the shaking suppression process of steps S102 to S109 is executed.
In this case, the control unit 21 of the support server 20 executes an image acquisition process (step S102). Specifically, the information acquisition unit 211 of the control unit 21 acquires the image captured by the imaging device 11 from the control unit 10 of the tower crane C1.

Next, the control unit 21 of the support server 20 executes a process for identifying the lifting position (step S103). Specifically, the recognition unit 212 of the control unit 21 identifies the hook C14 using a prediction model in the captured image (each frame image of the video) acquired from the control unit 10. Then, the position of the hook C14 can be used to identify the suspended load C15 directly below it.
6, a hook C14 is identified in a photographed image 500 acquired by the imaging device 11. A suspended load C15 is present directly below this hook C14.

Next, the control unit 21 of the support server 20 executes a process of determining whether the swing is outside the allowable range (step S104). Specifically, the swing control unit 213 of the control unit 21 determines that the swing is within the allowable range when the position of the hook C14 is below the tip of the jib C13 and within a reference distance from the directly below position.

If the position of the hook C14 is not within the reference distance and it is determined that the swing is outside the allowable range (if "YES" in step S104), the control unit 21 of the support server 20 executes an amplitude determination process (step S105). Specifically, the swing control unit 213 of the control unit 21 determines the amplitude in the captured image. Here, the swing is monitored in a video for a predetermined time, and the distance from the position directly below the hanging position of the tip of the jib C13 to the maximum deviation position of the swing (maximum swing width) is determined as the amplitude.

Here, the amplitude in the turning direction and the amplitude in the radial direction relative to the turning direction are calculated.
As shown in FIG. 7, an amplitude SW1 indicates the amplitude in the rotational direction, and an amplitude SW2 indicates the amplitude in the radial direction.

Next, the control unit 21 of the support server 20 executes a process for identifying the period (step S106). Specifically, the information acquisition unit 211 of the control unit 21 acquires the hanging length L from the control unit 10, and calculates the period T using the period calculation formula. As described above, the period may be measured by observing the direction of the sway of the hook C14 from the captured image, or the period calculated by the period calculation formula and the measured period may be used together to calculate the statistical values of both.

Next, the control unit 21 of the support server 20 executes a process for determining whether or not the maximum swing has occurred (step S107). Specifically, the swing control unit 213 of the control unit 21 identifies the conveying direction (rotation direction or elevation direction) based on the planned route information 221 recorded in the lifting information storage unit 22. The swing control unit 213 then observes the hook C14 from the captured image, which matches the conveying direction, and identifies the point in time when the swing direction changes as the timing of the maximum swing width. The swing control unit 213 then checks whether the immediate timing has arrived. Note that when the hook C14 is swinging on an elliptical orbit, the immediate timing in the rotation direction and the immediate timing in the radial direction are determined separately.

If it is determined that the maximum swing is not yet reached (if "NO" in step S107), the control unit 21 of the support server 20 executes a standby process (step S108). Specifically, the swing control unit 213 of the control unit 21 waits until the immediately preceding timing. In this case, it waits while maintaining the current conveying speed. Then, the control unit 21 of the support server 20 repeats the process of determining whether the maximum swing is yet reached (step S107) and subsequent steps.

On the other hand, when the immediate timing arrives and it is determined that the maximum swing is not yet reached (YES in step S107), the control unit 21 of the support server 20 executes an accelerated movement process to the swing position (step S109). Specifically, the swing control unit 213 of the control unit 21 calculates the adjustment amount for the rotation operation of the rotating frame C11 and the raising and lowering operation of the jib C13 so that the tip of the jib C13 is above the maximum swing position. The swing control unit 213 then instructs the transport management unit 214 to perform a fast and smooth rotation operation of the rotating frame C11 and the raising and lowering operation of the jib C13 with this adjustment amount. In this case, the operation is instructed so that the tip of the jib C13 is positioned upward at the timing when the load C15 reaches the maximum swing position. This operation is not limited to being aligned with the conveying direction, and the swinging can at least be suppressed by moving the tip of the jib C13 to the maximum swing position where the kinetic energy becomes "0". Also, if the timing immediately before the rotation direction differs from the timing immediately before the radial direction, the rotation operation and the hoisting operation are performed separately.

As shown in Figure 8 (a), when the load does not sway in the conveying direction D0, the lifted object CL1 (hook C14, load C15) is located in a direction D1 directly below the lifting section C130 that supports the wire in the jib C13.
8B, when a swing occurs, the lifted object CL1 (hook C14, suspended load C15) deviates from the vertically downward direction D1. In this case, the lifted object CL1 (hook C14, suspended load C15) vibrates around the vertically downward direction D1.

As shown in FIG. 8(c), for example, when the maximum swing position D2 is reached in the rotation direction of the transport route, the jib C13 is accelerated and rotated (accelerated movement) so that the lifting section C130 is positioned directly above the lifted object CL1 (hook C14, load C15) as shown in FIG. 8(d). In this case, the speed of the rotation operation (acceleration and deceleration) is adjusted so that the transport speed of the load C15 is smoothly adjusted at the position where the wire is vertical. As a result, at the maximum swing position D2, the directly downward direction D1 coincides with the vertical direction, and the swing of the hook C14 and load C15 disappears, and the swing can be stopped. Note that the swing is suppressed not only in the rotation direction but also in the radial direction by the raising and lowering operation of the jib C13.

If it is determined that the vibration is within the allowable range ("NO" in step S104), the control unit 21 of the support server 20 skips the process from the amplitude specification process (step S105) to the accelerated movement process to the vibration position (step S109).
Next, the control unit 21 of the support server 20 executes a process of determining whether the turning and hoisting operation is completed (step S110). Specifically, the transport management unit 214 of the control unit 21 acquires driving information from the control unit 10, and determines the end of the turning and hoisting operation when the tip of the jib C13 arrives above the transport target position.

If it is determined that the turning and elevation operation has not ended (if "NO" in step S110), the control unit 21 of the support server 20 repeats the image acquisition process (step S102) and subsequent steps.

On the other hand, if it is determined that the rotation and hoisting operations have ended (YES in step S110), the control unit 21 of the support server 20 executes the unloading process (step S111). Specifically, the transport management unit 214 of the control unit 21 performs the lowering operation of the hook C14 until the load C15 lands at the transport target position. Then, the transport management unit 214 generates actual route information 222 regarding the route that the lifted object CL1 (hook C14, load C15) actually passed according to the rotation operation of the rotating frame C11, the hoisting operation of the jib C13, and the up and down operation of the hook C14, and records this in the lifting information storage unit 22 in association with the lifting management data 220. Furthermore, this actual route information 222 includes operation information of the rotation operation of the rotating frame C11, the hoisting operation of the jib C13, and the up and down operation of the hook C14.

According to this embodiment, the following effects can be obtained.
(1) In this embodiment, the control unit 21 of the support server 20 executes an image acquisition process (step S102) and a lifting position identification process (step S103), thereby making it possible to efficiently identify the suspended load C15.

(2) In this embodiment, the control unit 21 of the support server 20 executes a process of determining whether the vibration is outside the allowable range (step S104). This makes it possible to recognize large vibrations that occur during transport.

(3) In this embodiment, the control unit 21 of the support server 20 executes an amplitude identification process (step S105) and a period identification process (step S106). This makes it possible to identify the swaying state of the suspended load C15 and predict the immediate swing state based on the amplitude and period.

(4) In this embodiment, the control unit 21 of the support server 20 uses the hanging length L in the period determination process (step S106). This allows the period to be calculated quickly using the period calculation formula.

(5) In this embodiment, the lifting information storage unit 22 records the planned route information 221. This makes it possible to identify the immediate timing based on the conveying direction in the process of determining whether or not the maximum swing has occurred (step S107).

(6) In this embodiment, when the immediate timing arrives and it is determined that the maximum swing is not yet reached (YES in step S107), the control unit 21 of the support server 20 executes an accelerated movement process to the swing position (step S109). This reduces the potential energy at the maximum swing position, and suppresses the swing.

This embodiment can be modified as follows. This embodiment and the following modifications can be combined to the extent that they are not technically inconsistent.

In the above embodiment, a tower crane is assumed as the lifting device. However, the lifting device is not limited to a tower crane as long as it generates load swing during lifting.
In the above embodiment, the drive control unit 12 performs drive control in response to the rotation operation of the rotating frame C11, the raising and lowering operation of the jib C13, and the up and down operation of the hook C14. Even in manual lifting work, the control unit 21 of the support server 20 may perform the sway suppression process of steps S102 to S109.
In the above embodiment, the control unit 21 of the support server 20 executes a process for setting a transport route (step S101). The transport route setting is not limited to being performed by the support server 20, but may be performed manually. In this case, the transport route set in the management terminal 30 is recorded in the lifting information storage unit 22.

- In the above embodiment, the control unit 21 of the support server 20 executes a process for identifying the lifting position (step S103). Identifying the position of the suspended load is not limited to using image recognition of the hook C14. For example, an acceleration sensor may be added to the hook C14, and the control unit 21 of the support server 20 may acquire sway information from the acceleration sensor. Also, a position information acquisition device, for example, a Global Navigation Satellite System (GNSS), may be added to the hook C14. Also, the position of the suspended load C15 may be identified instead of the hook C14.

- In the above embodiment, the control unit 21 of the support server 20 executes an amplitude determination process (step S105). Images captured over a predetermined period are used to determine the amplitude. The method of determining the amplitude is not limited to this. For example, the acceleration at a predetermined position (directly below) may be measured, and the amplitude may be calculated based on this acceleration. In this case, the maximum amplitude of the potential energy corresponding to the kinetic energy according to the acceleration is calculated.

In the above embodiment, the control unit 21 of the support server 20 executes a process of identifying the period (step S106). The period is identified by observing the suspension length and the direction of the vibration in the captured image, but is not limited to these.
In the above embodiment, the imaging device 11 is provided at the tip of the jib C13 of the tower crane C1. However, the imaging device 11 is not limited to being provided at the tip of the jib C13, but may be provided at any location where the swing of the lifted object CL1 can be observed.

- In the above embodiment, when the immediate timing arrives and it is determined that the maximum swing is not yet reached (YES in step S107), the control unit 21 of the support server 20 executes an accelerated movement process to the swing position (step S109). Here, the swing suppression process is performed continuously during transport. The execution period of the swing suppression process is not limited to this, and may be performed only a predetermined period before unloading.

- In the above embodiment, the control unit 21 of the support server 20 executes a process of determining whether the vibration is outside the acceptable range (step S104). Here, if the vibration is present below the tip of the jib C13 and within a reference distance from the directly below position, it is determined to be within the acceptable range. This reference distance may be changed depending on the situation. For example, the reference distance may be changed based on the evaluation value at each position of the route used when setting the route. In this case, the reference distance is shortened when the evaluation value is high. Also, the reference distance is shortened when the transport target position is close. This can promote sway suppression in places close to obstacles or close to the transport target position.

Next, the technical ideas that can be understood from the above-described embodiment and other examples will be described below.
(a) The lifting support system described in claim 1, characterized in that the control unit acquires a photographed image of the object suspended from the lifting unit in the information acquisition unit, and identifies the position of the object by image recognition of the photographed image.

(b) The lifting support system according to claim 1 or (a), characterized in that the control unit acquires length information of the wire that suspends the lifted object from the lifting unit of the lifting device, and calculates the period based on the length information.

(c) The lifting device is characterized in that the lifting section transports the lifted object in a first axial direction and a second axial direction, and the control section resolves the detected rocking motion into the first axial direction and the second axial direction, and performs operations in the first axial direction and the second axial direction. The lifting support system described in (b).

(d) A lifting support system as described in any one of (a) to (c) of claim 1, characterized in that the operation in the first axis direction is controlled by a rotation operation of the lifting unit, and the operation in the second axis direction is controlled by a raising and lowering operation of the lifting unit.

A1...transportable area, C1...tower crane, C10...mast, C11...rotating frame, C12...driver's seat, C13...jib, C130...lifting section, C14...hook, C15...suspended load, CL1...lifted object, 10...control unit, 11...imaging device, 12...drive control section, 20...support server, 21...control section, 211...information acquisition section, 212...recognition section, 213...swing control section, 214...transportation management section, 22...lifting information storage section, 30...management terminal.

Claims (3)

A lifting support system including an information acquisition unit that acquires information on the swing state of a lifted object and a control unit that communicates with a lifting device,
The control unit:
Calculating a transport route from a transport start position of the lifted object to a transport target position according to obstacles present around the lifting device;
Using the swing state information acquired by the information acquisition unit, a position of the lifted object suspended from the lifting unit of the lifting device is identified;
When a rocking motion is detected at the position of the lifted object, the amplitude and period of the rocking motion are identified;
The time when the direction of the deflection coincides with the conveying direction of the conveying route and the deflection direction changes is identified as the timing of the maximum deflection width;
A lifting support system characterized in that, at the timing , an accelerated movement operation is performed in the lifting device to position the lifting section above the lifted object. A method for performing lifting assistance using a lifting assistance system including an information acquisition unit that acquires swaying state information of a lifted object and a control unit that communicates with a lifting device,
The control unit:
Calculating a transport route from a transport start position of the lifted object to a transport target position according to obstacles present around the lifting device;
Using the swing state information acquired by the information acquisition unit, a position of the lifted object suspended from the lifting unit of the lifting device is identified;
When a rocking motion is detected at the position of the lifted object, the amplitude and period of the rocking motion are identified;
The time when the direction of the deflection coincides with the conveying direction of the conveying route and the deflection direction changes is identified as the timing of the maximum deflection width;
A lifting assistance method characterized in that, at the timing , an accelerated movement operation is performed in the lifting device to position the lifting section above the lifted object. A program for performing lifting assistance using a lifting assistance system including an information acquisition unit that acquires swaying state information of a lifted object and a control unit that communicates with a lifting device,
The control unit,
Calculating a transport route from a transport start position of the lifted object to a transport target position according to obstacles present around the lifting device;
Using the swing state information acquired by the information acquisition unit, a position of the lifted object suspended from the lifting unit of the lifting device is identified;
When a rocking motion is detected at the position of the lifted object, the amplitude and period of the rocking motion are identified;
The time when the direction of the deflection coincides with the conveying direction of the conveying route and the deflection direction changes is identified as the timing of the maximum deflection width;
A lifting assistance program characterized by functioning as a means for performing an accelerated movement operation in the lifting device to position the lifting section above the lifted object at the timing .

Images