JP7639352B2 - 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.

When transporting materials and equipment, lifting devices such as tower cranes are sometimes used. Technology that takes into consideration the safety of work using such lifting devices has also been developed (see, for example, Patent Document 1). In the technology disclosed in this document, a three-dimensional measurement sensor is installed at the site where work is performed with a climbing crane to perform three-dimensional measurement of the site, and the three-dimensional measurement data measured by the three-dimensional measurement sensor is sent to an information processing device. Then, a suspended load discrimination means provided in the information processing device automatically discriminates the position and size of the suspended load from the three-dimensional measurement data, and the climbing crane is controlled based on the position and size of the suspended load.

JP 2019-167221 A

However, there are cases where the 3D measurement sensor cannot accurately identify the suspended load. For example, if there is a background object beyond the suspended load, it may not be possible to distinguish between the suspended load and the background object.

The lifting support system for solving the above problem includes a lifting device that lifts a suspended load and a control unit that communicates with a three-dimensional measuring device. The control unit acquires suspension position information of the suspended load from the lifting device, acquires three-dimensional measurement information including the shape of the suspended load from the three-dimensional measuring device, and identifies the size of the suspended load at a position corresponding to the suspension position information in the three-dimensional measurement information.

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. 2 is an explanatory diagram of a hardware configuration of the embodiment. FIG. FIG. FIG. 2 is an explanatory diagram of a lifting device and its surroundings according to an embodiment. FIG. 4 is an explanatory diagram of a display screen according to the embodiment. FIG. 4 is an explanatory diagram of a captured image according to an embodiment. FIG. 4 is an explanatory diagram of three-dimensional measurement according to the embodiment. FIG. 2 is an explanatory diagram of a three-dimensional point cloud according to the embodiment. FIG. 4 is an explanatory diagram of a monitoring range according to the embodiment. FIG. 4 is an explanatory diagram of a display screen according to the embodiment.

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 11. 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.

As shown in FIG. 1, this 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, which serves as a lifting device. Here, we assume that multiple tower cranes C1 (mobile structures) are used at a construction site.

As shown in FIG. 5, three-dimensional models of multiple structures 502 are placed in a virtual space 500. A rotating frame C11 (rotating section) is placed on the mast C10 of a tower crane C1, which is one of the structures 502, and a driver's seat C12 is provided on the rotating frame C11. When lifting work is performed by an operator, the operator's seat C12 of the tower crane C1 performs the rotation operation of the rotating frame C11, the raising and lowering (tilt angle) operation of the jib C13 (boom), and the up and down operation of the hook C14. Then, a load C15 suspended from the hook C14 is transported. It is also possible to combine remote operation or automatic driving operation with the operation of the operator.

(Hardware configuration description)
2, 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 (computer-readable medium) such as RAM and ROM, and the memory stores program code or instructions configured to cause the CPU to execute processes. The memory includes any available medium accessible 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 a three-dimensional measuring device 12, an imaging device 13, and a drive control unit 14.

As shown in FIG. 5, two three-dimensional measuring devices 12a and 12b are used. The three-dimensional measuring device 12a is provided at the tip of the jib C13 of the tower crane C1 and acquires three-dimensional measurement information of the surroundings in the downward direction. The three-dimensional measuring device 12b is provided on the jib C13 side of the rotating frame C11 and acquires three-dimensional measurement information of the surroundings in the horizontal direction. The three-dimensional measuring devices 12a and 12b detect objects (obstacles) present in the surroundings, for example, using laser light. For example, LiDAR (Light Detection and Ranging) technology that acquires three-dimensional point cloud information as three-dimensional measurement information can be used for the three-dimensional measuring devices 12a and 12b. For example, the LiDAR can rotate a scan plane formed by swinging a laser light in one dimension 360 degrees in the normal direction. Alternatively, the LiDAR can acquire three-dimensional point cloud information about surrounding obstacles by swinging the laser light left and right and up and down in a limited range in front.

The imaging device 13 is provided at the tip of the jib C13 of the tower crane C1 and captures video including the lower hook C14 and the suspended load C15.
The drive control unit 14 performs drive control in response to the rotation operation of the rotating frame C11, the raising and lowering operation of the jib C13, and the up and down operation of the hook C14.
Then, the control unit 10 in FIG. 1 transmits the three-dimensional point cloud information from the three-dimensional measuring devices 12 a and 12 b, the video from the imaging device 13 , and the drive information of the drive control unit 14 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, a design information storage unit 22, an evaluation information storage unit 23, and a lifting information storage unit 24.

The control unit 21 performs the processes described below (processing including an information acquisition stage, a route creation stage, an area setting stage, a transport management stage, etc.). By executing programs for each process, the control unit 21 functions as an information acquisition unit 211, a route creation unit 212, an area setting unit 213, a transport management unit 214, etc.

The information acquisition unit 211 acquires various information from the control unit 10. In this embodiment, it acquires three-dimensional measurement information and video of the area below the tip of the jib C13 from the control unit 10. This three-dimensional measurement information makes it possible to detect obstacles in the vicinity. The video also makes it possible to confirm the load C15. Furthermore, the information acquisition unit 211 acquires operation information such as information on the raising and lowering operation of the jib C13, information on the rotation operation of the rotating frame C11, and the up and down operation of the hook C14 from the control unit 10. The distance from the tip of the jib C13 to the load C15 can be calculated from the winding length of the suspension wire during the up and down operation of the hook C14.

The route creation unit 212 creates a transport route using the three-dimensional model of the construction site recorded in the design information storage unit 22 and the three-dimensional point cloud information measured by the three-dimensional measuring device 12. This route creation unit 212 has an offset table in which an offset is set according to the width of the load. The offset is a distance that allows a margin of error to avoid contact with an obstacle. The route creation unit 212 then provides a transport area map in which a transport route can be set in an area that is the offset away from the obstacle. In this transport area map, an evaluation value is mapped for each divided area (polygon) that constitutes the map. This evaluation value is a value obtained by summing up individual values that evaluate the risk of contact depending on the distance from the obstacle to the divided area. For this reason, the route creation unit 212 holds individual value calculation information for calculating individual values depending on the distance. Then, the route creation unit 212 creates an efficient transport route with a low evaluation value in the transport area map.

The transport management unit 214 operates the tower crane C1 according to the created 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, the slower the transport speed is set. Furthermore, the transport management unit 214 has a range determination table for determining the monitoring range for the transport speed. In this range determination table, the faster the transport speed, the larger the monitoring range is set. In this embodiment, a first monitoring range for slowing down the transport speed and a second monitoring range for stopping the transport are determined. The first monitoring range is positioned outside the second monitoring range.

The design information storage unit 22 records three-dimensional design data created using BIM (Building Information Modeling) or the like. This three-dimensional design data is recorded when a construction site is designed using three-dimensional CAD. The three-dimensional design data as three-dimensional model information includes project information, element models, attribute information, and placement information.

The project information includes information regarding the name of the construction site, the longitude and latitude, the direction of the construction site, and the like.
The element model is information regarding a three-dimensional model (BIM object) of each building element (constituent member) used on a construction site.

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

The evaluation information storage unit 23 records evaluation management data. This evaluation management data is recorded when evaluation information is registered. The evaluation management data includes element type information and score information.

The element type information is information on an identifier for identifying each architectural element that may be included in the design data. The element type also includes an obstacle identified by the three-dimensional point cloud information.
The score information is information about the importance of each architectural element. A high score is set for architectural elements that should avoid contact with the suspended load and for three-dimensional point clouds.

The lifting information storage unit 24 records lifting management data related to the load suspended by the control unit 10. This lifting management data is recorded when various information is acquired from the management terminal 30. The lifting management data includes information related to the job ID, crane ID, lifting position, hanging position, transported object, planned route, and actual route.

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 item information is information regarding an identifier for identifying the equipment or materials to be lifted.

The planned route information is recorded when a route is generated. The planned route information is information about a transport route generated using a transport area map.
The actual route information is information regarding the actual route traveled by the 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 is a computer terminal used by the manager of the construction site. Instead of the operator in the cab C12, the manager uses the management terminal 30 to remotely control the tower crane C1 at the construction site and instruct the lifting work.

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

First, as shown in FIG. 3, the control unit 21 of the support server 20 executes a design information acquisition process (step S101). Specifically, the information acquisition unit 211 of the control unit 21 acquires the current date from the system timer, and uses the design information storage unit 22 to identify element models whose planned placement date is before the current date. The information acquisition unit 211 then places the identified element models in the virtual space. Furthermore, the information acquisition unit 211 acquires operation information from the control units 10 of other tower cranes C1 placed in the vicinity. Next, element models of movable structures such as the masts C10 and jibs C13 of the other tower cranes C1 are placed according to the operation information. The transport management unit 214 then outputs a management screen displaying the virtual space to the display device H13 of the management terminal 30.

Next, the control unit 21 of the support server 20 executes a scoring process based on the attribute information (step S102). Specifically, the information acquisition unit 211 of the control unit 21 acquires the element type of each component model arranged in the virtual space from the attribute information in the design information storage unit 22. Then, the information acquisition unit 211 acquires a score corresponding to the element type from the evaluation information storage unit 23.

Next, the control unit 21 of the support server 20 executes a mapping process (step S103). Specifically, the path creation unit 212 of the control unit 21 acquires, from the control unit 10 of the tower crane C1, three-dimensional point cloud information of the surroundings of the tower crane C1 measured by the three-dimensional measuring device 12. Then, the path creation unit 212 arranges and displays the point cloud data in addition to the element models arranged in the virtual space displayed on the management screen.

In FIG. 6, point cloud data 511 of the surroundings of the tower crane C1 is displayed on a management screen 510. This point cloud data 511 is, for example, detected equipment and materials placed on the ground. The management screen also includes a video screen 512 of the suspended load C15 captured by the imaging device 13.

Next, the control unit 21 of the support server 20 executes a height setting process (step S104). Specifically, the path creation unit 212 of the control unit 21 uses the three-dimensional point cloud information to confirm the existence of an element model of a structure (fixed structure) placed in the virtual space. Then, the path creation unit 212 identifies the highest position of the fixed structure whose existence has been confirmed. Then, the path creation unit 212 calculates the lifting height by adding a margin (e.g., 5 m) to the highest position of the fixed structure. In this case, the path creation unit 212 determines the lifting height for transport to be equal to or lower than the height at which the hook C14 can be hoisted by the jib C13.

Next, the control unit 21 of the support server 20 executes a process for setting transport information (step S105). Specifically, the route creation unit 212 of the control unit 21 outputs a transport input screen to the management terminal 30. In this case, the manager uses the management terminal 30 to input information about the transported item. For example, the name of the transported item is input. Furthermore, the manager uses the management screen to input the transport start position and the transport target position. Here, the transport start position and the transport target position are specified in the virtual space of the management screen displayed on the display device H13. In this case, the route creation unit 212 identifies the coordinates of the specified transport start position and the transport target position. Then, the route creation unit 212 assigns a work ID and records the lifting management data including the transported item information acquired from the management screen in the lifting information storage unit 24.

Next, the control unit 21 of the support server 20 executes a process for acquiring point cloud information of the suspended load (step S106). Specifically, the area setting unit 213 of the control unit 21 instructs the drive control unit 14 to operate the hook C14 up and down to hoist the suspended load C15 to a predetermined height. In this case, a height that can secure a distance from the ground object is used. Then, the area setting unit 213 acquires the up and down operation information of the hook C14 and the hoisting operation information of the jib C13 as the suspension position information from the drive control unit 14. Then, the area setting unit 213 calculates the suspension length (distance L1 described later) from the tip of the jib C13 to the hook C14 from the winding length of the suspension wire by the up and down operation of the hook C14. Furthermore, the area setting unit 213 calculates the distance (distance L2 described later) from the revolving frame C11 to the hook C14 using the up and down operation information and the hoisting operation information (hoisting angle). The area setting unit 213 then acquires 3D point cloud information of the surroundings of the tower crane C1 measured by the 3D measuring devices 12a and 12b from the control unit 10 of the tower crane C1. This 3D point cloud information includes background objects in addition to the suspended load.

7 shows a photographed image 520 acquired by the imaging device 13. This photographed image 520 includes images of the hook C14 and the suspended load C15 as well as images of surrounding structures (background objects).
As shown in a full view 530 in Fig. 8, the three-dimensional measuring instruments 12a and 12b irradiate laser beams 531 and 532 to obtain three-dimensional point cloud information. In this case, the three-dimensional measuring instrument 12a obtains three-dimensional measurement information in the downward direction from the tip of the jib C13 of the tower crane C1. The three-dimensional measuring instrument 12b obtains three-dimensional measurement information of the surroundings in the horizontal direction from the revolving frame C11. As a result, for the load C15 suspended at distances L1 and L2, the three-dimensional measuring instrument 12a obtains three-dimensional measurement information relating to the horizontal size, and the three-dimensional measuring instrument 12b obtains three-dimensional measurement information relating to the vertical size.

Next, the control unit 21 of the support server 20 executes a clustering process (step S107). Specifically, the region setting unit 213 of the control unit 21 identifies clusters of points in each of the three-dimensional point cloud information acquired from the three-dimensional measuring devices 12a and 12b by a known clustering process. The region setting unit 213 then identifies a cluster corresponding to the load C15 below the hook C14 using the distance to each cluster and the distance L1 from the tip of the jib C13 to the hook C14 in the three-dimensional point cloud information acquired from the three-dimensional measuring device 12a. The region setting unit 213 also identifies a cluster corresponding to the hook C14 and the load C15 using the distance to each cluster and the distance L2 from the revolving frame C11 in the three-dimensional point cloud information acquired from the three-dimensional measuring device 12b.

Figure 9 shows three-dimensional point cloud information 540 acquired from the three-dimensional measuring device 12. Here, a clustering process is performed on the three-dimensional point cloud information 540 to identify the clusters of the point cloud. Then, within the three-dimensional point cloud information 540, clusters 541 and 542 of the hook C14 and the load C15, which are located at a distance according to the suspension length, can be identified. Note that cluster 543 is a point cloud of the jib C13 of another tower crane C1. Also, clusters 544 and 545 are point clouds of surrounding structures.

Next, the control unit 21 of the support server 20 executes a process for identifying the size of the suspended load (step S108). Specifically, the area setting unit 213 of the control unit 21 determines the scale of the three-dimensional point cloud information using the distance to each cluster. The area setting unit 213 then calculates the length of the cluster of the suspended load C15 contained in each piece of three-dimensional point cloud information acquired from the three-dimensional measuring devices 12a and 12b, and identifies the size of the suspended load using the scale. Here, the horizontal size (load width) is calculated using the three-dimensional point cloud information acquired from the three-dimensional measuring device 12a, and the vertical size (height) is calculated using the three-dimensional point cloud information acquired from the three-dimensional measuring device 12b.

Next, the control unit 21 of the support server 20 executes a process for setting an offset according to the width of the package (step S109). Specifically, the path creation unit 212 of the control unit 21 uses an offset table to calculate an offset based on the size of the package. In this case, the offset is set within a range that will accommodate the package no matter which direction it is facing.

Next, the control unit 21 of the support server 20 executes a process for creating a lifting route (step S110). Specifically, the route creation unit 212 of the control unit 21 creates a transport area map in the transportable area at the lifting height. This transport area map is composed of multiple divided areas. The route creation unit 212 calculates individual values for each representative position (e.g., center of gravity) of each divided area based on the distance from each obstacle using the individual value calculation information. The route creation unit 212 then sums up the calculated individual values to calculate an evaluation value for each divided area. In this case, a high evaluation value is set when the distance from the obstacle is short or when the score is high.

Next, the route creation unit 212 uses the transport area map to generate a three-dimensional transport route from the hook position (movement start position) → the load movement origin position (transport start position) → the load movement destination position (transport target position) by the shortest path with a low total evaluation value of each divided area on the route. In this case, in the horizontal movement plane, a route search algorithm is applied to a graph consisting of nodes (for example, the center of gravity of the divided area P1) and links. As the route search algorithm, for example, the "A* (A-star) search algorithm" can be used. This A* search algorithm uses a cost function that serves as a guidepost for the search in a graph search problem that finds a path from the movement start position → the transport start position → the transport target position. The cost function specifies a transport route with a low total cost (evaluation value) from the start to the nth point and the expected cost from the nth point to the goal. Then, the route creation unit 212 records the generated transport route as planned route information in the lifting information storage unit 24 in association with the lifting management data.

Next, the control unit 21 of the support server 20 executes a process for setting the monitoring range (step S111). Specifically, the transport management unit 214 of the control unit 21 uses a speed determination table to determine a transport speed according to the size of the suspended load. Furthermore, the transport management unit 214 uses the range determination table to determine the monitoring range from the transport speed.

As shown in the overall view 550 of FIG. 10, a monitoring range (W1, W2) is set around the hanging area W0 of the load according to the hanging area W0. This hanging area W0 is generated based on the size (load width, height) calculated using the three-dimensional point cloud information acquired from the three-dimensional measuring devices 12a and 12b. The first monitoring range W1 is a deceleration area for decelerating the conveying speed, and the second monitoring range W2 is a stop area for temporarily stopping the conveying. In this embodiment, the first monitoring range W1 and the second monitoring range W2 are set in a rectangular parallelepiped shape having sides parallel to the horizontal direction in which the jib C13 extends. The upper end of this rectangular parallelepiped shape is set to the height position of the jib C13. In addition, the lower end of the rectangular parallelepiped shape is set to a position lower than the hanging area W0 by a predetermined length. The first monitoring range W1 is set to a size and position that includes the second monitoring range W2, a predetermined distance away from the second monitoring range W2. The second monitoring range W2 is set at a predetermined distance from the hanging area W0 and is of a size and position that includes the hanging area W0.

Next, as shown in Fig. 4, the control unit 21 of the support server 20 executes a transport start process (step S201). Specifically, the transport management unit 214 of the control unit 21 outputs a start confirmation screen to the display device H13 of the management terminal 30. The start confirmation screen includes a selection button for whether or not to start ("Yes" or "No"). Then, when the transport management unit 214 detects pressing of the "Yes" button on the start confirmation screen, it instructs the drive control unit 14 of the control unit 10 of the tower crane C1 to start transport.
In this case, the control unit 21 of the support server 20 executes a process of monitoring the surrounding situation (step S202). Specifically, the transport management unit 214 of the control unit 21 acquires 3D point cloud information of the surroundings of the tower crane C1 measured by the 3D measuring devices 12a and 12b from the control unit 10 of the tower crane C1.

Next, the control unit 21 of the support server 20 executes a process to determine whether an obstacle has been detected (step S203). Specifically, the transport management unit 214 of the control unit 21 checks the 3D point cloud information to see whether there is an obstacle included in the monitoring range. If there is a 3D point cloud (obstacle) included in the monitoring range, it is determined that an obstacle has been detected. On the other hand, if there is no 3D point cloud included in the monitoring range, it is determined that there is no obstacle detected.

If it is determined that no obstacle is detected ("NO" in step S203), the control unit 21 of the support server 20 executes normal transport processing (step S204). Specifically, the transport management unit 214 of the control unit 21 instructs the drive control unit 14 to transport at a normal speed determined using the speed determination table. Here, if the horizontal distance (first distance) from the mast C10 to the transport target position is different from the horizontal distance (second distance) from the mast C10 to the transport start position, the jib C13 is raised and lowered simultaneously with the rotating operation of the rotating frame C11 so that the horizontal distance from the mast C10 to the load C15 becomes the second distance.

On the other hand, if it is determined that an obstacle has been detected (YES in step S203), the control unit 21 of the support server 20 executes a process of determining whether or not the area is a deceleration area (step S205). Specifically, the transport management unit 214 of the control unit 21 identifies the positional relationship between the location of the detected obstacle and the monitoring range. If the obstacle is included in the first monitoring range W1, it is determined that the area is a deceleration area.

If it is determined to be a deceleration region (YES in step S205), the control unit 21 of the support server 20 executes a deceleration transport process (step S206). Specifically, the transport management unit 214 of the control unit 21 instructs transport at a deceleration speed relative to the normal speed. This deceleration speed can be calculated, for example, by multiplying the normal speed by a predetermined rate that is equal to or less than 1. The transport management unit 214 instructs the drive control unit 14 to transport at a deceleration speed.

On the other hand, if the obstacle is included in the second monitoring range W2 and it is determined to be a stop area ("NO" in step S205), the control unit 21 of the support server 20 executes a stop process (step S207). Specifically, the transport management unit 214 of the control unit 21 instructs the drive control unit 14 to stop the rotation operation of the rotating frame C11 and the raising and lowering operation of the jib C13.
In this case, as shown in FIG. 11, the transport management unit 214 outputs a message 561 indicating the stop on a management screen 560.

Next, the control unit 21 of the support server 20 executes a process for determining whether the obstacle has disappeared (step S208). Specifically, the transport management unit 214 of the control unit 21 checks whether an obstacle included in the second monitoring range W2 has disappeared in the three-dimensional point cloud information measured by the three-dimensional measuring devices 12a and 12b of the tower crane C1. For example, if the crane identified as an obstacle moves out of the second monitoring range W2, it is determined that the obstacle has disappeared.

If it is determined that the failure has not disappeared ("NO" in step S208), the control unit 21 of the support server 20 continues the stop process (step S207).
On the other hand, if it is determined that the obstacle has disappeared (YES in step S208), the control unit 21 of the support server 20 restarts the process from the creation process of the transfer route (step S110). In this case, 3D point cloud information of the surroundings of the tower crane C1 measured by the 3D measuring devices 12a and 12b is acquired from the control unit 10 of the tower crane C1. Then, the current hook position is set as the transfer start position, and a transfer route to the transfer target position is created. As a result, the transfer route is created again based on the current state of the obstacle.

When the normal transport process (step S204) and the deceleration transport process (step S206) are being performed, the control unit 21 of the support server 20 executes a process for determining whether or not the rotation has ended (step S209). Specifically, the transport management unit 214 of the control unit 21 determines that the rotation has ended when the hook C14 of the tower crane C1 has reached above the transport target position.

If it is determined that the turning has not ended (if the answer is "NO" in step S209), the control unit 21 of the assistance server 20 repeatedly executes the process of monitoring the surrounding conditions (step S202) and subsequent processes.

On the other hand, if it is determined that the rotation has ended (YES in step S209), the control unit 21 of the support server 20 executes the unloading process (step S210). Specifically, the transport management unit 214 of the control unit 21 instructs the drive control unit 14 to lower the hook C14 until it reaches the transport target position.

Next, the control unit 21 of the support server 20 executes a process for recording the actual route (step S211). Specifically, the transport management unit 214 of the control unit 21 generates actual route information regarding the route that the load C15 actually passed through 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, and records this in the lifting information storage unit 24. Furthermore, this actual route information includes operation information regarding 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.

According to this embodiment, the following effects can be obtained.
(1) In this embodiment, the control unit 21 of the support server 20 executes a design information acquisition process (step S101) and a scoring process using attribute information (step S102). This makes it possible to identify obstacles based on three-dimensional model information. The control unit 21 also acquires operation information from the control units 10 of other tower cranes C1 arranged in the vicinity, and places element models of the masts C10 and jibs C13 of the other tower cranes C1. This makes it possible to identify obstacles whose placement positions change due to movement. Furthermore, by scoring using attribute information, it is possible to weight each element using the scores of the materials and equipment arranged in the virtual space.

(2) In this embodiment, the control unit 21 of the support server 20 executes a mapping process (step S103) and a height setting process (step S104). This makes it possible to detect obstacles that actually exist around the tower crane C1.

(3) In this embodiment, the control unit 21 of the support server 20 executes a process for acquiring point cloud information of the suspended load (step S106), a clustering process (step S107), and a process for identifying the size of the suspended load (step S108). This makes it possible to identify the size of the suspended load. For example, even if the size varies depending on the suspension state, it is possible to identify the suspension area according to the actual situation. Then, an appropriate offset and monitoring range can be set according to the width of the load.

(4) In this embodiment, the control unit 21 of the support server 20 executes a process for setting transport information (step S105) and a process for creating a transport route (step S110). This makes it possible to create an efficient transport route from the transport start position to the transport target position.

(5) In this embodiment, the control unit 21 of the support server 20 executes a transport start process (step S201) and a surrounding situation monitoring process (step S202). This makes it possible to detect a suddenly occurring obstacle. Then, if it is determined that no obstacle has been detected (if "NO" in step S203), the control unit 21 of the support server 20 executes a normal transport process (step S204). This makes it possible to carry out transport efficiently.

(6) In this embodiment, if it is determined that the area is a deceleration area (if "YES" in step S205), the control unit 21 of the support server 20 executes a deceleration transport process (step S206). This allows for easy avoidance of possible contact with an obstacle.

(7) In this embodiment, if it is determined that the area is a stopping area (if "NO" in step S205), the control unit 21 of the support server 20 executes a stopping process (step S207). This allows for avoidance of contact with an obstacle if there is a high possibility of such contact.

(8) In this embodiment, if it is determined that the obstacle has disappeared (if "YES" in step S208), the control unit 21 of the support server 20 executes the process of creating a transport route (step S110) and subsequent processes. This makes it possible to create an efficient transport route taking into account the current situation. For example, it is possible to reconstruct an efficient and accurate transport route by referring to the 3D point cloud information around the tower crane C1.

(9) In this embodiment, the three-dimensional measuring device 12a is provided at the tip of the jib C13 of the tower crane C1. This makes it possible to determine the horizontal width of the suspended load C15 from above. In addition, the three-dimensional measuring device 12b is provided on the jib C13 side of the rotating frame C11. This makes it possible to determine the vertical height of the suspended load C15 from the horizontal direction. The width and height then make it possible to determine the overall size of the suspended object.

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

- In the above embodiment, the three-dimensional measuring devices 12a, 12b use, for example, LiDAR technology to acquire three-dimensional point cloud information of obstacles. As long as the technology can identify the location of an obstacle, the use is not limited to LiDAR technology. For example, it is also possible to use a three-dimensional camera that identifies the position of an obstacle using the viewing angles of two image sensors. In this case, the information acquisition unit 211 may identify the element type by image recognition in the captured image. In this case, the evaluation information storage unit 23 can be used to acquire score information according to the element type.

In the above embodiment, the three-dimensional measuring devices 12a and 12b are provided at the tip of the jib C13 and the rotating frame C11 of the tower crane C1, respectively. The installation locations of the three-dimensional measuring device 12 are not limited to these. For example, in addition to or instead of the tip of the jib C13 and the rotating frame C11, the three-dimensional measuring device 12 may be provided at the mast C10, which is a part (rotating part) that is linked to the rotation of the jib C13, and the driver's seat C12, to acquire three-dimensional point cloud information. This makes it possible to identify the size of the suspended load C15 from various directions.
Also, only the width of the load may be specified using only the three-dimensional measuring device 12a provided on the tip of the jib C13, the revolving frame C11. In this case, the suspension area W0 is generated based on the width of the load and the height from the hook C14 to the suspended load C15.

- In the above embodiment, the load C15 is suspended from the hook C14. Here, the load C15 may be suspended via a hanging equipment rotation device. Skyjaster (registered trademark) can be used as this hanging equipment rotation device. This hanging equipment rotation device supports a flywheel tiltably on a gimbal frame that rotatably supports the flywheel. The hanging equipment rotation device controls the direction of the load C15 by utilizing the gyro effect generated by tilting the rotating flywheel. Then, in the process of acquiring point cloud information of the load (step S106), multiple pieces of 3D point cloud information in which the direction of the load C15 has been changed are acquired. In this case, the largest point cloud cluster is identified among the point cloud clusters in which the direction has been changed at the position of the load C15, and the size of the load C15 is identified by this point cloud cluster. This makes it possible to accurately identify the size of the load C15 using point cloud clusters arranged in different directions.

- In the above embodiment, the control unit 21 of the support server 20 executes a process for setting transport information (step S105). Here, the transport start position and transport target position are specified in the virtual space of the management screen of the display device H13. The method of specification is not limited to selection using the virtual space of the management screen. For example, the specification may be made by selecting an element model recorded in the design information storage unit 22. In this case, the center of gravity position is calculated based on the attribute information recorded in the BIM data, and the load is suspended at this center of gravity position. In this case, the path creation unit 212 uses the element model to calculate the load width when suspended at this center of gravity position.

The location may also be specified using a location information acquisition device. For example, a Global Navigation Satellite System (GNSS) can be used as the location information acquisition device. In this case, the location of the transported object is identified using a device carried by a worker at the construction site or a device attached to the equipment or materials of the transported object.

The transport start position and the transport target position may be set in advance in the transport schedule table. In this case, the management terminal 30 sets the transport information based on the specifications in the transport schedule table. The scheduled transport time may also be registered in the transport schedule table, and when the scheduled time arrives, a message may be output to the management terminal 30 prompting confirmation of the transport instruction.

In the above embodiment, the monitoring ranges (W1, W2) are set around the hook C14. The number of monitoring ranges is not limited to two as long as the range is closer to the suspension area of the load and the movement is more restricted.
In the above embodiment, the control unit 21 of the support server 20 executes a process for acquiring point cloud information of the suspended load (step S106). The timing for acquiring the point cloud information of the suspended load is not limited to this stage. For example, the mapping process (step S103) is performed in a state where the suspended load C15 is suspended to a predetermined height. In this case, the three-dimensional point cloud information of the suspended load C15 is acquired together with the three-dimensional point cloud information of the surroundings of the tower crane C1.
Then, after the clustering process (step S107) and the process of identifying the size of the suspended load (step S108), the control unit 21 of the support server 20 may execute a height setting process (step S104) according to the size of the suspended load.

Next, the technical ideas that can be understood from the above-described embodiment and other examples will be described below.
(a) the control unit,
Identifying a transportable area in which obstacles can be avoided according to the size of the identified suspended load;
The lifting support system according to claim 1, further comprising a transport route in the transportable area, the transport route having an evaluation value calculated based on a distance from the obstacle that is equal to or less than a reference value.

(b) the control unit,
According to the size of the specified suspended load, a warning range is set for the position of the suspended load;
The lifting support system according to claim 1 or (a), characterized in that when an obstacle is detected within the attention range in the three-dimensional measurement information acquired during lifting, an obstacle response process is executed.

(c) A lifting support system as described in claim 1, (a) or (b), characterized in that the three-dimensional measuring device acquires three-dimensional measurement information in a downward direction from the tip of the jib of the lifting device toward the suspended load.
(d) A lifting support system described in any one of (a) to (c) of claim 1, characterized in that the three-dimensional measuring device is arranged facing downward from the rotating part of the lifting device toward the suspended load to obtain horizontal three-dimensional measurement information.

(e) a lifting device is connected to the load;
The load is rotated by the hanging load rotation device, and a plurality of pieces of three-dimensional measurement information are acquired in the rotated state;
A lifting support system as described in any one of (a) to (d) of claims 1, characterized in that the control unit identifies the largest shape in the multiple three-dimensional measurement information as the size of the suspended load.

C1...tower crane, C10...mast, C11...rotating frame, C12...driver's seat, C13...jib, C14...hook, C15...suspended load, 10...control unit, 12, 12a, 12b...3D measuring device, 13...imaging device, 14...drive control unit, 20...support server, 21...control unit, 211...information acquisition unit, 212...route creation unit, 213...area setting unit, 214...transport management unit, 22...design information storage unit, 23...evaluation information storage unit, 24...lifting information storage unit, 30...management terminal.

Claims (3)

A lifting support system including a lifting device for lifting a suspended load and a control unit for communicating with a three-dimensional measuring device ,
The three-dimensional measuring device includes a first measuring device facing downward from the tip of the jib of the lifting device, and a second measuring device facing laterally from a rotating frame of the lifting device,
The control unit:
Acquire hanging position information of the load from the lifting device,
Acquiring three-dimensional measurement information including a shape of the suspended load from the first measuring instrument and the second measuring instrument ;
A lifting support system characterized by integrating the acquired three-dimensional measurement information and determining the horizontal size of the load at a position corresponding to the hanging position information, measured by the first measuring instrument, and the vertical size of the load measured by the second measuring instrument . A method for performing lifting assistance using a lifting assistance system including a lifting device for lifting a suspended load and a control unit for communicating with a three-dimensional measuring device , comprising:
The three-dimensional measuring device includes a first measuring device facing downward from the tip of the jib of the lifting device, and a second measuring device facing laterally from a rotating frame of the lifting device,
The control unit:
Acquire hanging position information of the load from the lifting device,
Acquiring three-dimensional measurement information including a shape of the suspended load from the first measuring instrument and the second measuring instrument ;
A lifting support method characterized by integrating the acquired three-dimensional measurement information and determining the horizontal size measured by the first measuring instrument and the vertical size measured by the second measuring instrument for the size of the suspended load at a position corresponding to the suspension position information. A program for performing lifting support using a lifting support system including a lifting device for lifting a suspended load and a control unit for communicating with a three-dimensional measuring device ,
The three-dimensional measuring device includes a first measuring device facing downward from the tip of the jib of the lifting device, and a second measuring device facing laterally from a rotating frame of the lifting device,
The control unit,
Acquire hanging position information of the load from the lifting device,
Acquiring three-dimensional measurement information including a shape of the suspended load from the first measuring instrument and the second measuring instrument ;
A lifting support program characterized by integrating the acquired three-dimensional measurement information and functioning as a means for determining the horizontal size measured by the first measuring instrument and the vertical size measured by the second measuring instrument for the size of the suspended load at a position corresponding to the suspension position information.

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