JP2022109644A - Lifting support system, lifting support method, and lifting support program - Google Patents

Abstract

To provide a lifting support system, a lifting support method, and a lifting support program for supporting the unloading efficiently in the lifting work.SOLUTION: A lifting support system CS1 includes a control unit 21 connected to a suspended object turning device 15 for suspending a suspended load. The control unit 21 acquires a first direction with respect to the present orientation of the suspended object and a second direction with respect to the orientation of the suspended object in unloading at an unloading place, calculates a turn instruction angle by using the first direction and the second direction, and instructs the turning at the turn instruction angle to the suspended object turning device 15.SELECTED DRAWING: Figure 1

Description

The present invention relates to a lifting support system, a lifting support method, and a lifting support program for supporting lifting work.

A suspended object turning device for positioning the object suspended by a wire in the turning direction is sometimes used (see, for example, Patent Document 1). In this suspended object turning device, a gimbal frame for rotatably supporting the flywheel is integrally provided with a gimbal shaft for tiltably supporting the flywheel. Then, the suspended object is rotated by utilizing the gyroscopic effect caused by tilting of the flywheel that rotates around the central axis.

JP 2014-131940 A

However, when the suspended object is to land on the unloading site, the operator needs to operate the suspended object turning device. Furthermore, a slinging operator may use an intermediary rope attached to the suspended object to guide it to the target position. For this reason, the work at the unloading site was time-consuming.

A lifting support system for solving the above problems includes a control unit connected to a suspended object swing device for suspending a suspended load. Then, the control unit acquires information on a first direction of the orientation of the suspended object and a second direction of the orientation of the unloading place, and according to the relationship between the first direction and the second direction, to output a turning instruction to the suspended object turning device.

Advantageous Effects of Invention According to the present invention, unloading can be efficiently performed in lifting work.

Explanatory drawing of the system of embodiment. Explanatory drawing of the hardware constitutions of embodiment. Explanatory drawing of the lifting apparatus of embodiment. Explanatory drawing of the processing procedure of embodiment. Explanatory drawing of the processing procedure of embodiment. Explanatory drawing of the processing procedure of embodiment. Explanatory drawing of the calculation method of the turning angle of embodiment. FIG. 4 is an explanatory diagram of captured images of the embodiment, where (a) is an explanatory diagram before turning and (b) is an explanatory diagram during turning; FIG. 10 is an explanatory diagram of a method of calculating a turning angle according to another embodiment, in which (a) is an image of a photographing station, and (b) is an explanatory diagram of three-dimensional design data;

An embodiment of a lifting support system, a lifting support method, and a lifting support program will be described below with reference to FIGS. 1 to 8. FIG. This embodiment will be described as a lifting support system used when a lifting device (tower crane) is used at a construction site.

As shown in FIG. 1, in the lifting support system CS1 of the present embodiment, a control unit 10, a suspended object turning device 15, a support server 20, and a management terminal 30 are used. The control unit 10 is provided in a tower crane C1 as a lifting device.

As shown in FIG. 3, a revolving frame C11 is mounted 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 the operator's operation, the swing operation of the swing frame C11, the raising and lowering (inclination angle) operation of the jib C13 (boom), and the up and down operation of the hook C14 are performed at the driver's seat C12 of the tower crane C1.

A suspended load C15 is suspended from the hook C14 via a suspended article swinging device 15 . A Skyjuster (registered trademark) can be used as the suspended object turning device. The suspended object turning device 15 tiltably supports the flywheel on a gimbal frame that rotatably supports the flywheel. The suspended object turning device 15 controls the direction of the suspended object C15 by utilizing the gyro effect caused by tilting the rotating flywheel.
The suspended object in this embodiment corresponds to the suspended object turning device 15 and the suspended object C15 which are suspended by the hook C14.

(Description of hardware configuration)
The hardware configuration of the information processing device H10 that constitutes the control unit 10, the hanging device 15, the support server 20, and the management terminal 30 will be described with reference to FIG. 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 can be realized by other hardware.

The communication device H11 is an interface that establishes a communication path with another device and executes data transmission/reception, such as a network interface or a wireless interface.

The input device H12 is a device that receives input of various information, such as a mouse and a keyboard. The display device H13 is a display or the like that displays various information.
The storage unit H14 is a storage device that stores data and various programs for executing various functions of the control unit 10, the hanging device 15, the support server 20, and the management terminal 30. FIG. Examples of the storage unit H14 include ROM, RAM, hard disk, and the like.

The processor H15 controls each process in the control unit 10, the lifting device 15, the support server 20, and the management terminal 30 using programs and data stored in the storage unit H14. Examples of the processor H15 include, for example, a CPU and an MPU. This processor H15 expands programs stored in ROM or the like into RAM and executes various processes for each process.

Processor H15 is not limited to performing software processing for all the processing that it itself executes. For example, the processor H15 may include a dedicated hardware circuit (for example, an application specific integrated circuit: ASIC) that performs hardware processing for at least part of the processing performed by the processor H15. That is, the processor H15 includes [1] one or more processors that operate according to a computer program (software), [2] one or more dedicated hardware circuits that execute at least part of various processes, or [ 3) as a circuit that includes a combination thereof. A processor includes a CPU and memory, such as RAM and ROM, which stores program code or instructions configured to cause the CPU to perform processes. Memory, or computer-readable media, includes any available media that can be accessed by a general purpose or special purpose computer.

(System configuration)
Next, each function of the lifting support system will be described with reference to FIG.
A control unit 10 provided in the tower crane C1 includes a three-dimensional measuring device 12, an imaging device 13, and a drive control section 14.

The three-dimensional measuring instrument 12 is provided at the tip of the jib C13 of the tower crane C1 and acquires a three-dimensional image of the surroundings. The three-dimensional measuring device 12 uses laser light, for example, to detect objects (obstacles) existing in the surroundings. For the three-dimensional measuring instrument 12, for example, LiDAR (Light Detection and Ranging) technology for acquiring three-dimensional point group information as three-dimensional detection information can be used. In this LiDAR, for example, by rotating a scan plane formed by one-dimensionally swinging a laser beam 360 degrees in the normal direction, 3D point cloud information about surrounding obstacles can be obtained.

The image capturing device 13 is provided at the tip of the jib C13 of the tower crane C1, and captures moving images including the lower hook C14, the suspended object turning device 15, and the suspended load C15.
The drive control unit 14 performs drive control according to the turning operation of the turning frame C11, the raising and lowering operation of the jib C13, and the vertical operation of the hook C14.

The control unit 10 then transmits the three-dimensional point cloud information from the three-dimensional measuring device 12 , the moving image from the imaging device 13 , and the drive information from the drive control unit 14 to the support server 20 .

The support server 20 is a computer system that uses information acquired from the control unit 10 to support lifting work. The support server 20 includes a control section 21 , a teacher information storage section 22 , a learning result storage section 23 , a design information storage section 24 and a lifting information storage section 25 .
The control unit 21 performs processing (including a learning stage, an information acquisition stage, a route creation stage, a transportation management stage, etc.), which will be described later. The control unit 21 functions as a learning unit 211, an information acquisition unit 212, a route creation unit 213, a transport management unit 214, and the like by executing programs for each process for this purpose.

Learning unit 211 generates a prediction model for recognizing a subject included in an image by performing machine learning using teacher data. In the present embodiment, machine learning is used to generate a prediction model for recognizing the load area and unloading area. For example, deep learning can be used as a machine learning technique.

The information acquisition section 212 acquires various types of information from the control unit 10 . In this embodiment, three-dimensional measurement information and a moving image of the lower end of the jib C13 are acquired from the control unit 10 . Surrounding obstacles can be detected from this three-dimensional measurement information. Also, the suspended load C15 can be confirmed by the moving image. Further, the information acquisition section 212 acquires operation information such as hoisting operation information of the jib C13 and turning operation information of the turning frame C11 from the control unit 10 .

The route creation unit 213 creates a transport route using the three-dimensional model of the building site recorded in the design information storage unit 24 and the three-dimensional point group information measured by the three-dimensional measuring device 12 . The route generating unit 213 includes an offset table in which offsets are set according to cargo widths. The offset is the distance to avoid contact with an obstacle. Then, the route creating unit 213 provides a transfer area map in which a transfer route can be set in an area separated by an offset 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 individual values that evaluate the risk at the time of contact according to the distance from the obstacle to the divided area. Therefore, the route creation unit 213 holds individual value calculation information for calculating individual values according to distances. Then, the route creating unit 213 creates an efficient transport route with a low evaluation value in the transport area map.

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

Teacher data used for machine learning is recorded in the teacher information storage unit 22 . In this embodiment, it is recorded before learning. As teaching data, a plurality of images of a suspended load (hook) photographed from above and a plurality of images of unloading locations photographed from above are used. Further, each image is associated with a frame designating a load area and an unloading area.

A prediction model generated by machine learning is recorded in the learning result storage unit 23 . In this embodiment, this prediction model is recorded during learning. In this embodiment, by inputting a photographed image, a first prediction model for recognizing a suspended cargo area and a second prediction model for recognizing an unloading place area in the photographed image are recorded.

Three-dimensional design data created using BIM (Building Information Modeling) or the like is recorded in the design information storage unit 24 . This three-dimensional design data is recorded when a building site is designed using three-dimensional CAD. Three-dimensional design data as three-dimensional model information includes project information, element models, attribute information, and layout information.

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

Attribute information is attribute information of this element model. This attribute information includes information on specifications (element ID, element type, standard, dimension, area, volume, material, etc.).
The placement information includes information on coordinates for placing each element model. Further, in the placement information, the scheduled date of placement of each element model is associated with the coordinates.

In the lifting information storage unit 25, lifting management data related to the suspended load of the control unit 10 is recorded. This lifting management data is recorded when various information is acquired from the management terminal 30 . The lifting management data includes information on work ID, crane ID, lifting position, hanging position, and planned route.

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

The lifting position information and suspension position information are information relating to the lifting position (transportation start position) and suspension position (transportation target position) specified by the administrator.
Planned route information is recorded when a route is generated. The planned route information is information relating to the transport route created using the transport area map.

The management terminal 30 is a computer terminal used by a construction site manager. Instead of being operated by the operator at the driver's seat C12, the manager uses the management terminal 30 to remotely operate the tower crane C1 at the construction site to instruct lifting work.

(Lifting support processing)
Next, with reference to FIGS. 4 to 7, the processing procedure of the lifting support method performed in the support server 20 configured as described above during lifting work will be described.

(processing during learning)
The processing during learning will be described with reference to FIG.
First, the control unit 21 of the support server 20 executes teacher information acquisition processing (step S101). Specifically, the learning unit 211 of the control unit 21 acquires teacher data (load image, unloading place image) from the teacher information storage unit 22 .

Next, the control unit 21 of the support server 20 executes machine learning processing (step S102). Specifically, the learning unit 211 of the control unit 21 inputs the acquired suspended load image and generates a first prediction model for predicting the suspended load area by machine learning. Also, the learning unit 211 inputs the acquired unloading place image and generates a second prediction model for predicting the unloading place area by machine learning.

Next, the control unit 21 of the support server 20 executes prediction model recording processing (step S103). Specifically, the learning unit 211 of the control unit 21 records the generated first and second prediction models in the learning result storage unit 23 .

(Lifting instruction processing)
The lifting instruction processing will be described with reference to FIG.
First, the control unit 21 of the support server 20 executes design information acquisition processing (step S201). Specifically, the information acquisition unit 212 of the control unit 21 acquires the current date from the system timer, and uses the design information storage unit 24 to obtain an element model whose scheduled placement date is before the current date. Identify. Then, the information acquisition unit 212 arranges the specified element model in the virtual space. Further, the information acquisition unit 212 acquires operation information from the control units 10 of other tower cranes C1 arranged around. Next, element models of mobile structures such as the mast C10 and jib C13 of another tower crane C1 are arranged in the virtual space according to the operation information. Then, the transport management unit 214 outputs the management screen displaying the virtual space to the display device H13 of the management terminal 30. FIG.

Next, the control unit 21 of the support server 20 executes mapping processing (step S202). Specifically, the route creation unit 213 of the control unit 21 acquires the three-dimensional point cloud information around the tower crane C1 measured by the three-dimensional measuring device 12 from the control unit 10 of the tower crane C1. Then, the route creation unit 213 arranges and displays the point cloud data in addition to the element models arranged in the virtual space displayed on the management screen.

Next, the control unit 21 of the support server 20 executes height setting processing (step S203). Specifically, the route creation unit 213 of the control unit 21 uses the three-dimensional point group information to confirm the existence of the element model of the structure (fixed structure) arranged in the virtual space. Next, the route creation unit 213 specifies the highest position in the fixed structure whose existence has been confirmed. Then, the route generating unit 213 calculates the lifting height by adding the clearance height (for example, 5 m) to the highest position of the fixed structure. In this case, the route generating unit 213 determines the lifting height for transporting below 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 transport information setting process (step S204). Specifically, the route creation unit 213 of the control unit 21 outputs a transportation input screen to the management terminal 30 . In this case, the manager uses the management terminal 30 to input information about the goods. For example, the element ID recorded in the design information storage unit 24 is input for the conveyed article. If the transported article is not recorded in the design information storage unit 24, the size including the width of the article is entered. Furthermore, the management screen is used to input the transport start position and the transport target position. Here, the transfer start position and the transfer 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 213 identifies the coordinates of the specified transport start position and transport target position. Then, the route creation unit 213 assigns a work ID, and records the lifting management data including the transported article information acquired from the management screen in the lifting information storage unit 25 .

Next, the control unit 21 of the support server 20 executes offset setting processing according to the cargo width (step S205). Specifically, the route creation unit 213 of the control unit 21 uses an offset table to calculate the offset based on the size of the article to be conveyed. In this case, the offset is set within a range that does not matter which direction the conveyed product faces.

Next, the control unit 21 of the support server 20 executes a process of creating a lifting path (step S206). Specifically, the route creation unit 213 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 a plurality of divided areas. The route creating unit 213 calculates an individual value using the individual value calculation information based on the distance from each obstacle for each representative position (for example, the center of gravity) of each divided area. Then, the route creating unit 213 totals the calculated individual values to calculate an evaluation value for each divided area. In this case, when the distance from the obstacle is short or when the score is high, a high evaluation value is set.

Next, the route generation unit 213 uses the transport region map to determine the hook position (movement start position) → the suspended load movement source position ( A three-dimensional carriage route is generated from the carriage start position) to the load movement destination position (the carriage target position). In this case, on 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 region P1) and links. For example, an "A* (A-star) search algorithm" can be used as the route search algorithm. This A* search algorithm uses a cost function that serves as a guidepost for the search in the graph search problem of finding the path from the movement start position→the transport start position→the transport target position. The cost function specifies a transport route with a low sum of the cost from the start to the n point and the expected cost (evaluation value) from the n point to the goal. Then, the route creating unit 213 records the generated transport route in the lifting information storage unit 25 as planned route information in association with the lifting management data.

Next, the control unit 21 of the support server 20 executes a transportation start process (step S207). Specifically, the transportation management section 214 of the control section 21 outputs a start confirmation screen to the display device H13 of the management terminal 30 . The start confirmation screen includes selection buttons for whether to start (“Yes” or “No”). When the transportation management unit 214 detects that the "Yes" button has been pressed on the start confirmation screen, it instructs the drive control unit 14 of the control unit 10 of the tower crane C1 to start transportation.

The lifting process will be described with reference to FIG.
The control unit 21 of the support server 20 executes lifting processing along the lifting path (step S301). Specifically, the transport management unit 214 of the control unit 21 instructs the drive control unit 14 to perform the turning operation of the turning frame C11 and the hoisting operation of the jib C13 according to the planned route recorded in the lifting information storage unit 25. Instruct to stop.

Next, the control unit 21 of the support server 20 executes a captured image acquisition process (step S302). Specifically, the transportation management unit 214 of the control unit 21 acquires an image captured by the imaging device 13 from the control unit 10 of the tower crane C1.

Next, the control unit 21 of the support server 20 executes a load identification process (step S303). Specifically, the transport management unit 214 of the control unit 21 inputs the acquired photographed image into the first prediction model recorded in the learning result storage unit 23 to specify the suspended load area.

Next, the control unit 21 of the support server 20 executes determination processing as to whether or not the suspension position is approached (step S304). Specifically, the transport management unit 214 of the control unit 21 identifies the tip position of the jib C13 on the planned route. If the suspension position is within the photographable range from the tip position of the jib C13, it is determined that the suspension position is approached.

When it is determined that the suspension position is outside the photographable range and is not close to the suspension position (“NO” in step S304), the control unit 21 of the support server 20 performs a captured image acquisition process. (Step S302) The subsequent processes are repeated.

On the other hand, if it is determined that the suspension position has been approached ("YES" in step S304), the control unit 21 of the support server 20 executes the captured image acquisition process (step S305) in the same manner as in step S302. ).

Next, the control unit 21 of the support server 20 executes a process of identifying the suspended load and the suspension location (step S306). Specifically, the transport management unit 214 of the control unit 21 inputs the acquired photographed image to the first prediction model recorded in the learning result storage unit 23, and identifies the suspended load area. Further, the transportation management unit 214 inputs the acquired photographed image to the second prediction model recorded in the learning result storage unit 23 to identify the unloading location area.
As shown in FIG. 7, in a photographed image 500, a suspended cargo area 501 and an unloading place area 502 are specified.

Next, the control unit 21 of the support server 20 executes direction control processing (step S307). Specifically, the transport management unit 214 of the control unit 21 rotates the jib C13 so that the angle (deviation angle) between the long axis of the suspended load area at the time of landing and the long axis of the unloading area becomes zero. command to turn the suspended article turning device 15 in the direction indicated by the arrow.

As shown in FIG. 7, with the current direction d0 of the jib C13 as a reference, the angle a1 (first direction) of the long axis d1 of the suspended load area and the angle a2 (first direction) of the long axis d2 of the unloading area area. two directions). The long axis d2 of this unloading area is the unloading orientation at the unloading area. Furthermore, by turning the jib C13 with respect to the current direction d0, the arrival angle a3 of the crane in the direction d4 at the time of unloading is specified. This arrival angle a3 is acquired from the drive control unit 14 . Then, the transport management unit 214 uses the direction of the suspended load, the direction of the unloading place, and the direction of the jib to calculate the turning angle of the suspended object turning device 15 by the following equation.
[Turn angle]=[a2]-([a1]+[a3])

As shown in FIG. 8( a ), in a photographed image 510 , a suspended load area 511 and an unloading place area 512 are specified. Then, it instructs to turn at the turning angle.
In this case, as shown in FIG. 8B, in the photographed image 520, the lifted load area 521 and the unloading place area 522 turn in a direction in which the deviation angle becomes smaller.

Next, the control unit 21 of the support server 20 executes determination processing as to whether or not the directions match (step S308). Specifically, the transport management unit 214 of the control unit 21 determines that the directions match when the deviation angle falls within a predetermined error range.

If it is determined that the directions do not match ("NO" in step S308), the control unit 21 of the support server 20 repeats the process after the captured image acquisition process (step S305).

On the other hand, if it is determined that the directions match ("YES" in step S308), the control unit 21 of the support server 20 executes landing control processing (step S309). Specifically, the transport management unit 214 of the control unit 21 instructs the hanging object turning device 15 to maintain the current posture. Then, when the suspended load C15 reaches above the unloading place, the transport management unit 214 instructs the drive control unit 14 to lower the hook C14 until it reaches the transport target position.

According to this embodiment, the following effects can be obtained.
(1) In this embodiment, the imaging device 13 is provided at the tip of the jib C13 of the tower crane C1, and captures moving images of the lower hook C14 and the suspended load C15. As a result, it is possible to acquire the suspended load C15 and the photographed image below the suspended load C15.

(2) In the present embodiment, the control unit 21 of the support server 20 executes processing during learning. As a result, the state of the suspended load and the unloading location can be confirmed from above using the photographed image.

(3) In this embodiment, the control unit 21 of the support server 20 executes mapping processing (step S202). As a result, it is possible to check the status of the transport area based on the design information and the three-dimensional point group information.

(4) In the present embodiment, the control unit 21 of the support server 20 executes a photographed image acquisition process (step S302) and a load identification process (step S303). This makes it possible to identify the state of the suspended load from the photographed image.

(5) In the present embodiment, when it is determined that the suspension position is approached (“YES” in step S304), the control unit 21 of the support server 20 performs a photographed image acquisition process (step S305). A load and suspension position identification process (step S306) is executed. This makes it possible to identify the positional relationship between the suspended load and the suspension location.

(6) In this embodiment, the control unit 21 of the support server 20 executes direction control processing (step S307). As a result, the suspended load can be landed at an appropriate position in consideration of the direction of the suspended load, the direction of the suspension location, and the direction of the jib.

This embodiment can be implemented with the following modifications. This embodiment and the following modified examples can be implemented in combination with each other within a technically consistent range.
- In the above embodiment, a tower crane is assumed as a lifting device, but the device is not limited to a tower crane as long as it is a device that transports by lifting.

- In the above-described embodiment, the control unit 21 of the support server 20 executes the process of specifying the suspended load and the suspension position (step S306). Here, the hanging position is specified by image recognition. The method of specifying the hanging position is not limited to image recognition. For example, the suspension position may be specified using three-dimensional point group information measured by the three-dimensional measuring device 12 .
Alternatively, the three-dimensional design data recorded in the design information storage unit 24 may be used to identify the suspension position. For example, assume a case where a beam member as a conveyed object is suspended at a desired position.

As shown in FIG. 9(a), in the photographed image 540 acquired from the imaging device 13, the long axis d1 of the suspended load area 541 is specified, and the length of the suspended load area is determined based on the current direction d0 of the jib C13. An angle a11 (first direction) of the axis d1 is calculated.

Furthermore, as shown in FIG. 9B, a top view 550 of the structure of the three-dimensional design data viewed from above is acquired. In this case, the unloading place area 552 indicates the installation position of the beam in the three-dimensional design data. Here, the angle a12 is the angle (angle from the Y-axis) of the installation direction of the beam (long axis d4 of the unloading area) on the absolute coordinates in the three-dimensional design data. Also, the angle a13 is the arrival angle of the crane on the absolute coordinates acquired from the drive control unit 14 . Then, using the angle a13, the angle a11 of the suspended load area is calculated as the angle ([a11]+[a13]) on the absolute coordinates. Then, the transport management unit 214 instructs the suspended object turning device 15 to turn so that the direction of the long axis d1 of the load area and the direction of the long axis d4 of the unloading area are aligned. In this case, the installation direction of the beam as viewed from the jib C13 is an angle a14. Then, the transport management unit 214 uses the orientation of the suspended load, the orientation of the design information, and the orientation of the jib to calculate the angle a14 for turning the suspended object turning device 15 by the following equation.

[Angle a14]=[a12]-([a11]+[a13])

- In the above-described embodiment, the control unit 21 of the support server 20 executes the process of specifying the suspended load and the suspension position (step S306). Here, the direction of the suspended load is identified by image recognition. The method of specifying the direction of the suspended load is not limited to image recognition. An azimuth angle (for example, a rotation angle with respect to true north) may be obtained. In this case, the hanging device 15 is provided with an orientation acquisition device using a position information system such as GNSS (Global Navigation Satellite System).

Next, technical ideas that can be grasped from the above embodiment and another example will be added below.
2. The lifting support system according to claim 1, wherein: (a) the control unit acquires a photographed image of the suspended object, and specifies the orientation based on the photographed image.

(b) The lifting according to claim 1 or (a), wherein the control unit acquires azimuth information from an azimuth acquisition device installed on the suspended object, and specifies the orientation by the photographing. support system.

(c) The lift according to any one of claims 1, (a), and (b), wherein the control unit acquires a photographed image of the unloading place and specifies the arrangement by the photographing. heavy support system.

(d) The control unit acquires an element model of the three-dimensional design data of the unloading place, and specifies the arrangement by the element model. A lifting support system according to any one of the preceding claims.

CS1... Lifting support system, C1... Tower crane, C10... Mast, C11... Revolving frame, C12... Driver's seat, C13... Jib, C14... Hook, C15... Suspended load, 10... Control unit, 12... Three-dimensional measuring instrument , 13... imaging device, 14... drive control unit, 15... suspended object turning device, 20... support server, 21... control unit, 211... learning unit, 212... information acquisition unit, 213... route creation unit, 214... transportation management Section 22: Teacher information storage unit 23: Learning result storage unit 24: Design information storage unit 25: Lifting information storage unit 30: Management terminal.

Claims (3)

A lifting support system comprising a control unit connected to a suspended object swing device for suspending a suspended object,
The control unit
obtaining a first direction of the current orientation of the suspended object and a second direction of the unloaded orientation of the suspended object at an unloading location;
A lifting support system, wherein a turning instruction angle is calculated using the first direction and the second direction, and the lifting support system instructs the suspended article turning device to turn at the turning instruction angle. A method of supporting lifting by using a lifting support system having a control unit connected to a swing device for suspending a suspended object, comprising:
The control unit
obtaining a first direction of the current orientation of the suspended object and a second direction of the unloaded orientation of the suspended object at an unloading location;
A lifting support method, comprising: calculating a turning instruction angle using the first direction and the second direction, and instructing the suspended article turning device to turn at the turning instruction angle. A program for supporting lifting using a lifting support system having a control unit connected to a swing device for suspending a suspended object, comprising:
the control unit,
obtaining a first direction of the current orientation of the suspended object and a second direction of the unloaded orientation of the suspended object at an unloading location;
A lifting support program characterized by calculating a turning instruction angle using the first direction and the second direction, and causing the lifting object turning device to function as a means for instructing a turn of the turning instruction angle. .

Images