JP6630893B1 - Hanging work support system - Google Patents

Abstract

An object of the present invention is to provide a technique for efficiently or safely supporting a suspending operation by taking a means for controlling a movement of a suspending tool. A hanging work support system includes a rotary wing device attached to a hanging tool. A control is performed to cause the rotary wing device 100 to generate a thrust in the horizontal direction and move the hanging member 12 toward a target point (for example, the victim V). Thus, the hanging operation from a relatively high position is supported, and the efficiency and safety of the operation can be improved. [Selection diagram] Fig. 1

Description

  The present invention relates to a technique for efficiently or safely supporting a hanging operation from a relatively high position, such as rescue of a victim or a victim using a helicopter.

  BACKGROUND ART When rescuing victims and victims left behind by natural disasters or mountain disasters, rescue and transport are performed via wire ropes suspended from helicopters. However, helicopter rescue work is affected by the strong wind pressure (downwash) from the main rotor, and the helicopter comes into contact with the slope and there is a risk of crash. Therefore, in order to safely rescue from the air, it is necessary to secure a sufficient altitude (at least a height of 20 m or more). However, it is very difficult and skillful to pass such a wire rope suspended from a relatively high sky to a location where a rescuer can reach, or to approach it.

  Further, in construction sites such as high-rise buildings, there are many operations of unloading suspended loads such as steel materials and panels using a climbing crane and transporting them to a predetermined place. Such a lifting operation is very dangerous. For example, when a suspended load starts to rotate due to wind or the like, there is generally no way to stop the suspended load, which may cause wire breakage, load collapse, contact, and the like.

  Conventionally, various techniques for suppressing rotation of a hook of a crane have been proposed (for example, see Patent Document 1). In the technique disclosed in Patent Document 1, the hook is not rotated under a set force between the receiving seat that rotatably supports the hook and the mounting means to the receiving seat fastened to the hook. A friction member is arranged so that the hook is rotated when a force exceeding the force is applied. With this configuration, the crane hook is prevented from rotating during transfer, and is prevented from being damaged or damaged due to contact with another object due to the rotation of the suspended member.

JP 2007-1754 A

  The present invention has been made in view of the problems such as the dangers and difficulties in suspending work from a relatively high position, and by taking measures to control the movement of the hanging tool in the air, efficiently or safely assists the suspending work. The aim is to provide technology that can do it.

  In order to solve the above-described problem, the hanging work support system of the present invention is attached to a hanging tool, and the hanging tool is directed to a target point in a horizontal direction from the point vertically below the hanging tool. Including a rotatable wing device that can be moved.

  In the hanging work support system, it is preferable that the rotary wing device is attached to the hanging tool via a gimbal mechanism having at least two axes.

  Further, it is preferable that the suspension work support system includes a balancer for maintaining the horizontal attitude of the rotary wing device when the rotary wing device is not operating.

  Further, the suspension work support system, the rotary wing device, a positioning unit that measures the position information of the rotary wing device, a storage unit that stores the position information of the target point, a control unit that drives and controls the rotary wing, It is preferable that the control unit controls the driving of the rotary wing such that the distance between the position of the rotary wing device measured by the positioning unit and the position of the target point is reduced.

  In addition, the hanging work support system includes a transmission unit that transmits, to the outside, difference information between the height position of the rotary wing device measured by the positioning unit and the height position of the target point. Preferably, it is provided.

  The hanging work support system further includes a terminal device at the target point capable of wirelessly communicating with the rotary wing device, the terminal device including a positioning unit that measures position information of the terminal device, It is preferable that the wing device includes a receiving unit that receives position information of the terminal device measured by a positioning unit of the terminal device.

  Further, the hanging work support system, the rotary wing device includes a target point recognition unit capable of recognizing a relative positional relationship with the target point, and a control unit that drives and controls the rotary wing, the control unit includes: It is preferable that drive control of the rotary wing is performed so that the rotary wing device moves toward a target point recognized by the target point recognition unit.

  Further, it is preferable that the hanging work support system further includes a terminal device at the target point, and the terminal device is configured to cause the target point recognition unit of the rotary wing device to recognize its presence.

  Further, the hanging work support system of the present invention includes a rotary wing device attached to the hanging member and configured to suppress unintended vibration of the hanging member.

  Further, the hanging work support system of the present invention includes a rotary wing device which is attached to the hanging tool and operates to generate a moment on the hanging tool.

  Further, it is preferable that the suspension work support system is configured such that the rotary wing device suppresses unintended rotation of the suspension.

  Further, it is preferable that the suspension work support system is configured such that the rotary wing device conveys the suspended load to the target point by applying a rotational moment to the suspension tool.

  ADVANTAGE OF THE INVENTION According to this invention, the control which moves a suspension toward a target point can be performed by generating a horizontal thrust in a rotary wing apparatus. Thereby, the hanging operation from a relatively high position can be supported, and the efficiency and safety of the operation can be improved.

It is a key map of the hanging operation support system by a 1st embodiment of the present invention. It is a perspective view showing an example of a rotary wing device attached to a hanger. It is a figure for explaining control and operation of a rotary wing device. It is a block diagram for explaining the system configuration of a rotary wing device. It is a conceptual diagram of a control model in a rotary wing device. It is a perspective view showing other examples of a rotary wing device attached to a hanger. It is a figure for explaining the example of other support work by a hanging work support system. It is a figure for explaining the example of other support work by a hanging work support system. It is a figure for explaining the example of the support in the conveyance work of the suspended load. It is a perspective view showing still another example of a rotary wing device attached to a hanger. It is a figure for explaining the example of other support work by a hanging work support system. It is a conceptual diagram of the hanging work support system by 2nd Embodiment of this invention. It is a perspective view showing still another example of a rotary wing device attached to a hanger. It is a figure for explaining the example of other support work by a hanging work support system.

(1st Embodiment)
FIG. 1 is a conceptual diagram of a hanging work support system 10 according to a first embodiment of the present invention. As can be easily understood from FIG. 1, the support operation by the present system 10 is assumed to rescue the victim V by using a wire rope 12 suspended from a helicopter 11 hovering in the sky. For this purpose, a rescue device 13 such as a clothing harness or a carabiner hook is attached near the distal end of the wire rope 12.

  In the hanging work support system 10, the rotary wing device 100 is attached to a hanging tool. In addition, here, in addition to a connecting tool such as a hook suspended from a hoisting device in the sky, a rescue tool, and the like, a `` hanging tool '' includes a wire connecting these tools, a rope, and a sheave attached thereto. Will be interpreted.

  The rotary wing device 100 according to the present embodiment has a function of moving a hanging tool or a suspended load (hereinafter, referred to as a “hanging tool or the like”) in a horizontal direction from the point vertically below the suspended point. I have.

  FIG. 2 shows an example of the rotary wing device 100. As shown in the figure, as the rotary wing device 100, a multicopter type unmanned aerial vehicle, that is, a so-called drone body can be adopted as it is. FIG. 2 illustrates a so-called hexa-type rotary wing device 100 having six rotors 101. However, in the practice of the present invention, the number of rotors is not particularly limited. FIG. 2 shows an example in which the rotary wing device 100 is mounted on a three-axis gimbal mechanism 80 known as a gyroscope frame structure.

  The gimbal mechanism 80 includes a first ring frame 81, a second ring frame 82 that is rotatable about first axes (81 a, 81 b) perpendicular to the first ring frame 81, and a second ring frame 82. A third ring frame 83 that is rotatable about a second horizontal axis (82a, 82b) is passed over the center of the third ring frame 83, and is orthogonal to the second axis (82a, 82b). It comprises a rod frame 84 that is rotatable around third axes (83a, 83b). The rotary wing device 100 is installed substantially at the center of a rod frame 84 that passes through the center of the gimbal mechanism 80.

  The rotary wing device 100 attached to the gimbal mechanism 80 falls down in a posture in which the center of gravity of the airframe is the lowest unless autonomous posture control described later is operated. Therefore, even when the attitude control is not activated, the balancer for enabling the rotary wing device 100 to maintain the horizontal attitude (the “horizontal attitude” is an attitude in which the rotation planes of all the rotors 101 are horizontal). (Not shown).

  Here, the control and operation of the rotary wing device 100 according to the present embodiment will be slightly described. The rotary wing device 100 has a translational operation function capable of moving by generating a thrust in the horizontal direction (front-back, left-right) while autonomously controlling the attitude of the body, and a rotation operation function capable of rotating on the spot. I have. The motive power required for these operations is supplied from a large battery separately provided to the main body of the rotary wing device 100. Further, it may be supplied from a helicopter 11 (or a crane 21 described later) via a sub cable. Therefore, during the suspending operation, the rotary wing device 100 can be operated continuously.

  Rotor wing devices generally known as drones include a quad type (4 shots), a hexa type (6 shots), and an octo type (8 shots) depending on the number of rotors. Is the same. Therefore, the relationship between control and operation will be described with reference to FIG. 3 using the simplest quad-type example.

  In the rotary wing device, the rotor is arranged so that the central axis of rotation comes at each vertex of a regular polygon having an even number of angles (square in the example of FIG. 3). A motor is provided at the end of each diagonal frame, and the rotation axis of the motor and the rotation axis of the rotor propeller (blade) are directly connected. In the example of FIG. 3, the propellers of four rotors are rotated by four motors.

  The rotation directions of two diagonal rotors are the same, and the rotation directions of two rotors adjacent to each other are opposite. That is, assuming that the rotation directions of the two rotors R1 and R3 on the y-axis diagonal are clockwise, the rotation directions of the two rotors R2 and R4 on the x-axis diagonal are counterclockwise. However, the inclination of each propeller of each of the rotors R1, R2, R3, and R4 is set in a direction in which lift is generated in the fuselage when the rotor rotates in the predetermined direction.

  When all the rotors R1, R2, R3, and R4 are rotated in the predetermined direction at the same rotation speed, the anti-torques generated by the rotation cancel each other, and the horizontal attitude of the aircraft is maintained. For example, when the rotation speed of the rotor R1 is reduced and the rotation speed of the rotor R3 is increased from the stationary state, the nose (the rotor R1 side) is lowered, and the airframe tilts. When the fuselage is tilted in such a manner, a horizontal component is generated in the lift caused by the rotation of the rotors R1, R2, R3, and R4, and the force becomes a thrust for advancing the fuselage forward (in the y-axis direction in FIG. 3). At this time, the rotation speeds of the rotors R2 and R4 are also adjusted in order to prevent the body from rotating.

  Further, by providing a difference between the rotation speed of a pair of rotors on a certain diagonal line and the rotation speed of a pair of rotors on another diagonal line adjacent thereto, the airframe can be rotated. For example, when the rotation speed of the rotors R1 and R3 rotating clockwise is higher than the rotation speeds of the rotors R2 and R4 rotating counterclockwise, the counterclockwise torque in the counter torque balance generated by the reaction wheel effect is reduced. The aircraft will rotate in a counterclockwise direction.

  FIG. 4 is a block diagram for explaining a system configuration of the rotary wing device 100. The rotary wing device 100 according to the present embodiment includes a control unit 110 configured to drive and control a rotor system 120 that is a rotary wing. The rotor system 120 specifically includes six stepping motors (hereinafter simply referred to as “motors”) and a plurality of propellers (blades) directly connected to each motor. The rotation speed of each motor of the rotor system 120 is controlled by an ESC (Electric Speed Controller) 121.

  The control unit 110 includes a flight control system 111, a guidance system 112, and a navigation system 113 to realize an autopilot function. That is, autonomous operation control of the rotary wing device 100 is performed by the navigation system 113 performing a steering command to the flight control system 111 in accordance with the route and speed determined by the guidance system 112.

  An IMU (Inertial Measurement Unit) 130, a three-axis direction sensor (electronic compass) 141, a GPS (Global Positioning System) 142, and an altitude (barometric pressure) sensor 143 are connected to the control unit 110. The IMU 130 has a gyro sensor 131 that can detect angular velocities around three axes and an acceleration sensor 132 that can detect acceleration in three axes. That is, the IMU 130 and the three-axis azimuth sensor 141 form an attitude heading reference (AHRS) of the rotary wing device 100.

  Autonomous attitude control and translation control of the rotary wing device 100 by the flight control system 111 will be further described. FIG. 5 shows a conceptual diagram of a control model in which the rotor system 120 is controlled. A signal having a duty ratio D for performing PWM control on the number of revolutions Ω of each of N (for example, 6) motors is input to the control plant shown in FIG. Thrust T and reaction torque τa corresponding to the input D are generated from each rotor, and the aircraft dynamically operates according to the torque τ generated by various elements such as the arrangement of the rotor, the rotation direction, and the resultant thrust U resulting from them. .

The actual roll, pitch, and yaw angular velocity ω = [p, q, r] ^T of the rotary wing device 100 is measured by the IMU 130 and fed back to the control system. The target value r (moving direction and speed) from the navigation system 113 is input to the gyro feedback controller, and the control input u is determined by comparing the target value r with the actual angular speed ω. The mixer determines the rotational speed distribution of each motor of the rotor system 120 according to the algorithm model of the control operation principle described above, and reflects the distribution on the PWM control signal D for driving the ESC 121.

  FIG. 6 is a perspective view illustrating an example of the rotary wing device 100 attached to the wire rope 12. In this example, the rotary wing device 100 is attached by connecting the first ring frame 81 of the gimbal mechanism 80 to the wire rope 12. It is preferable that the rotary wing device 100 is housed and protected in a mesh-shaped spherical shell 90 as shown in FIG.

  According to the hanging work support system 10 of the present embodiment, a thrust in the horizontal direction is generated in the rotary wing device 100, whereby the wire rope 12 and the rescue device 13 can be moved toward the victim V. Further, as shown in FIG. 7, the rescuer H suspended by the wire rope 12 can be easily guided to the place where the victim V is.

  The support work for delivering the hanging tool or the like to such a target point may be remotely controlled using the remote control system 170. For example, the crew of the helicopter 11 may remotely control the rotary wing device 100 visually or while viewing the image of the camera 150 mounted on the rotary wing device 100. Alternatively, the rescuer H suspended by the wire rope 12 may operate the steering controller and move toward the target point.

  Furthermore, the above-mentioned support work can be automatically performed by cooperation of the guidance system 112 and the navigation system 113 of the control unit 110. For this purpose, the rotary wing device 100 uses a positioning unit (for example, a GPS 142 and / or an altitude (atmospheric pressure) sensor 143) that measures the position information of the rotary wing device 100, and uses a helicopter via the hoisting device cooperation unit 180. Cooperation control with the eleven hoisting device 30 may be performed.

  As an example, the storage unit of the guidance system 112 stores in advance the position information of the target point where the victim V is. The navigation system 113 controls the rotor system 120 such that the distance between the position of the rotary wing device 100 measured by the GPS 142 and the position of the target point is reduced.

  That is, after the helicopter 11 arrives at the sky above the rescue site and hovers at a safe height, the guidance system 112 of the rotary wing device 100 forms an oblique route connecting the hovering position of the helicopter 11 and the position of the target point. Calculate. Then, the hoisting device 30 is operated to start suspending the rescuer H and the rotary wing device 100.

  The navigation system 113 controls the direction and the thrust of the rotary wing device 100 while measuring the height of the rotary wing device 100 with the altitude (atmospheric pressure) sensor 143 so as not to deviate from the calculated navigation route. At this time, the wireless communication control unit 160 transmits the altitude information of the rotary wing device 100 measured by the altitude (atmospheric pressure) sensor 143 to the hoisting device 30 in the sky. The drum drive control unit 32 controls the feeding length of the wire rope 12 automatically by rotating and driving the drum 31 while feeding back the measured altitude. Thereby, the rescue equipment 13 and the rescuer H can be quickly guided to the target point where the victim V waits along the set route.

  The position information of the target point may be set in the storage unit of the rotary wing device 100 by remote control from the rescue headquarters by communicating the position information from the smartphone or the like of the victim V to the rescue headquarters.

  FIG. 8 shows still another application example of the hanging work support system 10. In this application example, for example, wireless communication is performed with the rotary wing device 100 using a rescue terminal device 70 of a rescue worker who has arrived at a target point. The terminal device 70 has a positioning unit that measures its own current position, and transmits the position information to the wireless communication control unit 160 of the rotary wing device 100. Thereby, the position information of the target point can be set in the storage unit of the guidance system 112.

  Further, the rotary wing device 100 may include a target point recognition unit capable of recognizing a relative positional relationship between the own aircraft and the target point. For example, the guidance system 112 can recognize the victim V at the target point from the image of the camera 150 and measure its direction. Then, the navigation system 113 controls the rotor system 120 so that the rotary wing device 100 moves toward the victim V. Thus, the rescue device 13 can be safely and efficiently delivered to the victim V.

  Further, the guidance system 112 of the rotary wing device 100 may receive a signal from the terminal device 70 described above and recognize its presence. For example, a specific SOS image may be displayed on the display of the terminal device 70, and the guidance system 112 may recognize the image. Alternatively, the terminal device 70 may output a rescue signal and notify the rotary wing device 100 of its position. Such a rescue signal can be output as a signal obtained by modulating position information (for example, longitude and latitude) with light, sound, radio waves (microwaves), or the like.

  Furthermore, the wireless communication control unit 160 may transmit difference information between the altitude of the rotary wing device 100 measured by the altitude (barometric pressure) sensor 143 and the altitude of the target point to the hoisting device 30 in the sky. . The drum drive control unit 32 rotationally drives the drum 31 so that the altitude difference indicated by the difference information becomes zero (or an offset may be appropriately given). Thereby, the feeding length of the wire rope 12 can be controlled until the height of the rescue device 13 becomes equal to the height of the target point.

  Further, a tension absorbing device 40 (see FIG. 8) for relaying the wire rope 12 in the air may be provided. The tension absorbing device 40 constantly detects the tension of the wire rope 12 on the sky side, and when detecting a sudden change in the tension, controls the rotation of the internal drum 41 to prevent the change in the tension from being transmitted to the lower wire rope 12a. To do. By controlling the rotation of the internal drum 41 at a high speed, for example, even when the body of the helicopter 11 swings up, down, left and right due to the wind, the change is alleviated and absorbed by the control of the internal drum 41, and thus the height of the rescue device 13 is increased. Can be kept constant.

  The fine adjustment of the final height when the rotary wing device 100 moves horizontally can be performed by controlling the amount of the wire rope 12a fed from the internal drum 41 of the tension absorbing device 40 at high speed. . By applying this system, for example, a refueling pipe can be delivered from a transport helicopter to a rescue helicopter hovering, and refueling in the air can be performed.

  The hanging work support system according to the present invention can also be applied to the transfer of luggage using a helicopter or a crane.

Referring to FIG. 9, the minimum thrust Th necessary for transporting the suspended load 14 having the load W in the horizontal direction is the suspension distance h (or the distance h may be approximated by the wire length). When it is sufficiently longer than the transport distance d from below the upper device 30, it can be approximated by the following equation (1).
Th ≒ (d / h) × W (1)
For example, in order to hold the suspended load 14 of the load W at a position shifted horizontally by 30 m from directly below the altitude of 300 m, the rotary wing device 100 only needs to have a thrust of at least about 1/10 of the load W. .

  Further, as another embodiment, the rotary wing device 100 may be attached to a hanging tool (wire rope 12) via arm brackets 15U and 15L as shown in FIG. According to this, the suspended load 14 can be transported horizontally, and a moment (torque) of a force for rotating the suspended load 14 about the wire rope 12 can also be generated.

  Further, as another embodiment of the hanging work system, a work space where the rotary wing device 100 can freely fly up, down, left, and right may be provided as shown in FIG. In the example of FIG. 11, an air space defined by an area having a diameter of 200 m on the ground and a horizontal area having a diameter of 180 m at an altitude of 100 m is set as a free work air space. By increasing the mobility of the rotary wing device 100 in such a free work space, the efficiency of the suspension work support can be further increased.

(Second embodiment)
In general, in a suspending operation using a helicopter or a crane, vibrations are generated in the suspended load due to disturbance factors such as a wind flying over the sky, a swiveling or wobbling of the crane. Such vibration is a complicated movement in which a so-called pendulum vibration mode in which a suspended load swings right and left and a rotational vibration mode in which the load rotates around a wire are mixed. Moreover, once the vibration occurs, it resonates with the natural frequency of the system of the wire and the suspended load, amplifies the amplitude, and its inertia makes it difficult to stop the vibration. According to the above-described suspension work support system 10 and the suspension work support system 20 using the crane 21 described below, such complicated and unintended vibrations are performed by performing feedback control so as to maintain the position of the rotary wing device 100. It can be suppressed easily.

  FIG. 12 is a conceptual diagram of the hanging work support system 20 according to the second embodiment of the present invention. Here, a climbing jib crane will be described as an example of the crane 21 that performs the lifting operation. A rotary blade device 100 is provided on a hook 23 suspended from the crane 21.

  The climbing jib crane 21 has a general structure including a jib (boom) 211, a hoisting device 212, an up-and-down device 213, a revolving structure provided with a balance weight, and the like, and a mast as necessary as the jib construction progresses. Equipped with a device for adding and lifting the revolving superstructure. The crane 21 performs hoisting, undulating, and turning motions by an operation of an operator in an operator cab 214 above the revolving superstructure.

  A hook 23 is suspended by a wire 22 at the tip of the jib 12. A hanging load 24 made of, for example, an H-shaped steel is slung on the hook 23, and the hoisting device 212 raises and lowers the wire 22 by lifting and lowering the wire 22.

  13, the hook 23 (or the block or sheave base 25) may be provided with an arm base 26 extending in the lateral direction, and a biaxial gimbal mechanism 60 attached to the tip of the arm base 26. Is mounted with a rotary wing device 100. The gimbal mechanism 60 may alternatively be a universal joint.

  According to this embodiment, when a thrust is generated in the rotary wing device 100 in a direction orthogonal to the direction in which the arm base 26 extends, a rotational moment can be generated in the hook 23 and the suspended load 24. Then, by generating a thrust on the rotary wing device 100 in a direction in which the arm table 26 extends at a position where the arm table 26 is directed to a target point (a loading place and an unloading place) as a transfer destination, the hook 23 and the suspension are generated. The load 24 can be transported horizontally to the target point. Furthermore, even if the suspended load 24 is unintentionally rotated by the rotation of the jib 211, the rotation can be suppressed early by operating the rotary wing device 100 in a direction to cancel the movement.

  Further, as a modified example of the present invention, the rotary wing device 100 may be attached to the reach balancer 300 as shown in FIG. 14, for example. The reach balancer 300 has balance arms 302 and 303 extending in opposite directions about an eyebolt 301 to which the wire 311 is fixed. A weight 304 is fixed to the tip of one balance arm 302, and a suspended load 305 is suspended from the tip of the other balance arm 303. In the case of this embodiment, a rotary wing device 100 that operates to suppress rotation of the entire reach balancer 300 and position the suspended load 305 in an intended direction is provided above the weight 304. According to the present embodiment, the rotary wing device 100 applies a moment of rotation to the reach balancer 300 while suppressing unintended rotation of the reach balancer 300, and causes the suspended load 305 to move from outside to inside the building under construction. It can be transported safely.

10 Hanging work support system (first embodiment)
11 Helicopter 12 Wire rope 13 Rescue equipment 14 Hanging load (luggage)
15U, 15L Arm bracket 20 Hanging work support system (second embodiment)
21 Crane 22 Wire 23 Hook 24 Suspended load 26 Arm base 30 Hoisting device 31 Drum 32 Drum drive control unit 40 Tension absorbing device 41 Internal drum 60 Gimbal mechanism (2-axis)
70 Terminal device 80 Gimbal mechanism (3 axes)
81 First ring frame 84 Rod frame 100 Rotor wing device 101 Rotor 110 Control unit 111 Flight control system 112 Guidance system 113 Navigation system 120 Rotor system 121 ESC
130 IMU
142 GPS
150 Camera 160 Wireless communication controller 170 Remote control system 300 Reach balancer 301 Eye bolt 302, 303 Balance arm 304 Weight 305 Hanging load 311 Wire H Rescue member V Distress (rescue required)
Th Horizontal thrust h Suspension distance (altitude)
d Transport distance r Target value (translation direction, speed)
u Control input (angular velocity)
D Revolution speed command signal (duty ratio) to each motor
N Number of rotors T Thrust of each rotor U Total thrust Ω Number of rotations of each motor τa Counter torque τ of each motor Total torque ω Angular velocity matrix of roll, pitch and yaw

Claims (3)

A suspending work machine that is a helicopter or a crane, a wire rope suspended from the suspending work machine, attached to a suspended load connected to the wire rope, and viewing the suspended load from a point below the suspended vertical. A hanging work support system including a rotary wing device that can be moved toward a target point in a horizontal direction,
The suspending operation is performed in a state in which a tension based on the weight of the suspended load and the rotary wing device is generated on the wire rope ,
The rotary wing device is attached to the wire rope via a gimbal mechanism of at least two axes,
The rotary wing device, a positioning unit that measures position information of the rotary wing device, a target point recognition unit that can recognize a relative positional relationship with the target point, and a storage that stores the position information of the target point. Unit, and a control unit that drives and controls the rotating wings,
A hanging work support system , wherein the control unit drives and controls the rotary wings such that the rotary wing device approaches the target point recognized by the target point recognition unit . The suspension work support system according to claim 1 , further comprising a terminal device at the target point, wherein the terminal device is configured to cause the target point recognition unit of the rotary wing device to recognize the presence of the terminal device. . The suspension work support system according to claim 1 or 2 , further comprising a balancer for maintaining a horizontal posture of the rotary wing device when the rotary wing of the rotary wing device stops rotating .

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