JP7293939B2 - Work machines and work machine support servers - Google Patents

Description

The present invention relates to working machines such as building demolition machines.

A technique has been proposed in which a camera attached to an autonomous flying vehicle captures an image of a space that cannot be captured by a camera attached to an upper revolving body of an excavator (see, for example, Patent Document 1).

International Publication WO2017/131194

However, if the shovel operates independently of the position of the flying object, the possibility of contact between the shovel and the flying object increases.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a work machine or the like capable of reducing the possibility of contact with an unmanned airplane flying around.

The present invention comprises a lower traveling body, an upper revolving body that can swivel with respect to the lower traveling body, a working mechanism that extends from the upper revolving body, the lower traveling body, the upper revolving body, and the working mechanism. and a control device for controlling each operation mode. The present invention also relates to a work machine support server having communication functions with each of the work machine and the unmanned aerial vehicle.

The working machine of the present invention is
The control device
a first state recognition element that recognizes the real space position of the unmanned aircraft;
a second state recognition element that recognizes the real space occupation state of the working mechanism;
The unmanned airplane can contact the working mechanism based on the real space position of the unmanned airplane recognized by the first state recognition element and the real space occupancy state of the working mechanism recognized by the second state recognition element. a target position trajectory generation element that generates a target position trajectory that is a time series of target positions of the unmanned aerial vehicle so that the unmanned aerial vehicle can fly in a state of low stability;
a wireless communication device that transmits the target position trajectory generated by the target position trajectory generation element to a remote control device of the unmanned aircraft and displays the target position trajectory on an output interface of the remote control device ;
characterized by comprising

According to the work machine with this configuration, the target position trajectory of the unmanned aircraft is adjusted so as to maintain a low possibility of contact between the two in view of the real space position of the unmanned aircraft and the real space occupation state of the working mechanism. generated. Therefore, by flying the unmanned airplane according to the target position trajectory, the state in which the possibility of contact is low is maintained, or the possibility of contact is reduced. "Recognition" is a concept that includes determining, estimating, or predicting the possibility of contact between the working mechanism and the unmanned aerial vehicle, and receiving or reading the determination result from a storage device.

In the work machine of the present invention, the second state recognition element recognizes an operation mode of an operation mechanism for at least one of the lower traveling body, the upper revolving body, and the working mechanism, and and the target position trajectory generation element recognizes the real space position of the unmanned aircraft recognized by the first state recognition element and the second state recognition element A target that is a time series of target positions of the unmanned aerial vehicle so that the unmanned aerial vehicle can fly in a state where the possibility of contact with the working mechanism is low based on the recognized changing state of the real space occupation state of the working mechanism. A position trajectory is preferably generated.

According to the working machine of this configuration, the operating mechanism for operating at least one of the undercarriage, upper revolving body, and working mechanism (hereinafter referred to as "working mechanism, etc." as appropriate) is predicted in view of the operation mode of the operating mechanism. The target position trajectory of the unmanned aerial vehicle is generated so as not to increase the possibility of contact between the working mechanism and the unmanned aerial vehicle in the future, in view of the change in the real space occupation state of the working mechanism. Therefore, by flying the unmanned airplane according to the target position trajectory, the state in which the possibility of contact is low is maintained, or the possibility of contact is reduced.

In the working machine of the present invention, the first state recognition element is attached to the working mechanism obtained through an imaging device mounted on the unmanned airplane and transmitted from the unmanned airplane to the working machine. Preferably, the real space position of the unmanned aerial vehicle is recognized based on the captured image data representing the captured image including the marker.

According to the working machine with this configuration, by using the captured image data of the working machine including the marker acquired by the imaging device mounted on the unmanned airplane, even if the distance measuring sensor is not mounted on the unmanned airplane, A real space position of the unmanned aerial vehicle may be known.

The work machine support server of the present invention includes:
a first state recognition element that recognizes a real space position of the unmanned aerial vehicle based on communication with the unmanned aerial vehicle or the working mechanism;
a second state recognition element that recognizes a real space occupation state of the working mechanism based on communication with the working mechanism or the unmanned aerial vehicle;
The unmanned airplane can contact the working mechanism based on the real space position of the unmanned airplane recognized by the first state recognition element and the real space occupancy state of the working mechanism recognized by the second state recognition element. a target position trajectory generation element that generates a target position trajectory that is a time series of target positions of the unmanned aerial vehicle so that the unmanned aerial vehicle can fly in a state of low stability;
a wireless communication device that transmits the target position trajectory generated by the target position trajectory generation element to a remote control device of the unmanned aircraft and displays the target position trajectory on an output interface of the remote control device ;
characterized by comprising

According to the work machine support server with this configuration, the target position of the unmanned airplane is maintained so that the possibility of contact between the two is low, in view of the real space position of the unmanned airplane and the real space occupation state of the working mechanism. A trajectory is generated. Therefore, by flying the unmanned airplane according to the target position trajectory, the state in which the possibility of contact is low is maintained, or the possibility of contact is reduced.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an explanatory diagram relating to the configuration of a working machine and an unmanned aircraft as one embodiment of the present invention; Explanatory drawing about the structure of the operating mechanism of a working machine. 1 is an explanatory diagram relating to the function of a work machine as one embodiment of the present invention; FIG. FIG. 4 is an explanatory diagram relating to an image output mode in the image output device; FIG. 4 is an explanatory diagram of a target position trajectory of an unmanned aircraft generated in consideration of the real space occupancy state of working machines; FIG. 4 is an explanatory diagram of a target position trajectory of an unmanned aircraft generated in consideration of the real space occupancy state of working machines; 1 is an explanatory diagram regarding the configuration of a work machine support server as an embodiment of the present invention; FIG.

(composition)
A working machine 10 as one embodiment of the present invention shown in FIG. The work machine 10 is, for example, a crawler excavator (construction machine), and includes a crawler-type lower running body 110 and an upper revolving body 120 mounted on the lower running body 110 so as to be able to turn via a revolving mechanism 130 . ing. A cab (driver's cab) 122 is provided on the front left side of the upper revolving body 120 . A working attachment serving as a working mechanism 140 is provided at the front central portion of the upper swing body 120 .

The working mechanism 140 includes a boom 141 attached to the upper rotating body 120 so as to be able to rise and fall, an arm 143 rotatably connected to the tip of the boom 141, and a tip of the arm 143 rotatably connected to the boom 141 . a bucket 145 in which the The working mechanism 140 is equipped with a boom cylinder 142, an arm cylinder 144, and a bucket cylinder 146, which are configured by telescopic hydraulic cylinders. Other attachments such as a nibbler may be attached to the tip of the arm 143 instead of the bucket 145 .

The boom cylinder 142 is interposed between the boom 141 and the upper revolving body 120 so as to expand and contract when supplied with hydraulic oil to rotate the boom 141 in the hoisting direction. The arm cylinder 144 is interposed between the arm 143 and the boom 141 so as to expand and contract when supplied with hydraulic oil to rotate the arm 143 about the horizontal axis with respect to the boom 141 . The bucket cylinder 146 is interposed between the bucket 145 and the arm 143 so as to expand and contract when supplied with hydraulic oil to rotate the bucket 145 about the horizontal axis with respect to the arm 143 .

Work machine 10 includes work machine control device 20 , wireless communication device 202 , input interface 210 , and output interface 220 . The work machine control device 20 is configured by an arithmetic processing device (single-core processor or multi-core processor or a processor core that constitutes this), reads necessary data and software from a storage device such as a memory, and processes the data and the software. Arithmetic processing is executed according to

The work machine control device 20 includes a first state recognition element 21 , a second state recognition element 22 and a target position trajectory generation element 23 . The first state recognition element 21 recognizes the real space position of the unmanned aerial vehicle 40 . The second state recognition element 22 recognizes the real space occupation state of the work mechanism 140 . The target position trajectory generation element 23 is based on the real space position of the unmanned airplane 40 recognized by the first state recognition element 21 and the real space occupancy state of the working mechanism 140 recognized by the second state recognition element 22. A target position trajectory that is a time series of target positions of the unmanned airplane 40 is generated so that the unmanned airplane 40 can fly with a low possibility of contact with the working mechanism 140 .

The operating mechanism 211 constituting the input interface 210 includes a travel operating device, a turning operating device, a boom operating device, an arm operating device, and a bucket operating device. Each operating device has an operating lever that receives a rotating operation. An operating lever (running lever) of the operating device for running is operated to move the lower running body 110 . The travel lever may also serve as a travel pedal. For example, a traction pedal may be provided that is fixed to the base or lower end of the traction lever. An operation lever (turning lever) of the turning operation device is operated to move a hydraulic turning motor that constitutes the turning mechanism 130 . An operating lever (boom lever) of the boom operating device is operated to move the boom cylinder 142 . An operating lever (arm lever) of the arm operating device is operated to move the arm cylinder 144 . An operating lever (bucket lever) of the bucket operating device is operated to move the bucket cylinder 146 .

Each operating lever constituting the operating mechanism 211 is arranged around a seat S on which an operator sits, as shown in FIG. 2, for example. The seat S is in the form of a high-back chair with armrests, but may be in any form in which the operator can sit, such as a low-back chair without a headrest, or a chair without a backrest.

A pair of left and right traveling levers 2110 corresponding to the left and right crawlers are arranged in a horizontal row in front of the seat S. As shown in FIG. One control lever may serve as a plurality of control levers. For example, the right operation lever 2111 provided in front of the right frame of the seat S shown in FIG. 2 functions as a boom lever when operated in the front-rear direction, and when operated in the left-right direction. may function as a bucket lever. Similarly, a left operating lever 2112 provided in front of the left frame of the seat S shown in FIG. It may function as a swivel lever in some cases. The lever pattern may be arbitrarily changed by an operator's operation instruction.

An image output device 222 forming the output interface 220 is arranged in front of the seat S as shown in FIG. 2, for example. The image output device 222 may further include a speaker (audio output device).

The unmanned airplane 40 includes an airplane control device 400 , a wireless communication device 402 , an imaging device 410 and a ranging device 420 . Unmanned aerial vehicle 40 may be a component of work machine 10 . In this case, work machine 10 may be provided with a basement from which unmanned aerial vehicle 40 takes off and arrives. The unmanned airplane 40 is a rotary wing aircraft, and includes a plurality of (for example, 4, 6, or 8) blades, an electric motor (actuator) for rotating the plurality of blades, a battery that supplies power to the motor, and the like. ing. Unmanned aerial vehicle 40 is operable through remote controller 50 . For example, the input interface 210 may constitute a remote control device for the unmanned airplane 40 .

(function)
In the unmanned airplane 40, the airplane control device 400 receives the flight command signal transmitted from the remote controller 50 through the wireless communication device 402 (FIG. 3/STEP 402). In response to this, the airplane control device 400 performs the first flight operation control (FIG. 3/STEP 404). That is, according to the flight command signal, the rotation of each of the actuators (electric motors) and the plurality of blades powered by the actuators is controlled. As a result, the unmanned airplane 40 can fly, ascend or descend on the spot, or stay in the air by means of air currents generated by rotating the plurality of blades.

In the unmanned airplane 40, the imaging device 410 acquires a captured image including a specific portion of the working mechanism 140, such as the bucket 145 as the tip of the attachment (FIG. 3/STEP 406). As a result, for example, as shown on the left side of FIG. 4, when the work machine 10 is destroying a building, the bucket 145 is captured by the imaging device 410 mounted on the unmanned aerial vehicle 40 obliquely forward left and upward. is imaged from Captured image data representing the captured image is transmitted to work machine 10 via wireless communication device 402 by airplane control device 400 (FIG. 3/STEP 408).

In work machine 10, captured image data is received by work machine control device 20 through wireless communication device 202 (FIG. 3/STEP 202). The work machine control device 20 causes the image output device 222 to display an environmental image (all or part of the captured image itself, or a simulated environmental image generated based on the captured image) corresponding to the captured image data (FIG. 3). / STEP 204). As a result, for example, as shown on the right side of FIG. 4, the image output device 222 displays an environment image including the bucket 145 when the work machine 10 is destroying the building.

In the work machine control device 20, the first state recognition element 21 recognizes the relative position of the unmanned airplane 40 with respect to the work mechanism 140 (FIG. 3/STEP 206). For example, based on the shape and size of each of bucket 145, arm 143, and boom 141 in the captured image, by querying an image database, unmanned aircraft 40 can be determined based on designated locations of bucket 145, arm 143, and boom 141, respectively. is estimated. Further, a marker having a predetermined shape is attached at least to a designated portion of each of the arm 143 and the boom 141, and based on the shape and size of the marker in the captured image, an image database is referred to, thereby determining each of the arm 143 and the boom 141. A relative position of the unmanned aerial vehicle 40 with respect to the specified location may be estimated. A range-finding image sensor or TOF sensor is mounted on the unmanned aircraft 40, and the relative position of the unmanned aircraft 40 with respect to the specified locations of the bucket 145, the arm 143, and the boom 141 based on the range-finding data acquired through the sensor. may be estimated.

The position (and attitude) of the unmanned airplane 40 in the world coordinate system (or the real space coordinate system) is measured, and the measurement result is transmitted from the unmanned airplane 40 to the work machine 10, whereby the first state recognition element 21 may measure the position of unmanned aerial vehicle 40 in real space, or the relative position of unmanned aerial vehicle 40 with respect to designated locations of bucket 145 , arm 143 and boom 141 .

A positioning device such as a GPS mounted on the unmanned airplane 40 measures latitude (Y coordinate value) and longitude (X coordinate value) in the world coordinate system (or real space coordinate system). A TOF sensor or barometric sensor measures the absolute altitude or barometric altitude (Z coordinate value) in the world coordinate system.

The respective angles of the coupling mechanism (or joint mechanism) of the upper swing body 120 and boom 141, the coupling mechanism of boom 141 and arm 143, and the coupling mechanism of arm 143 and bucket 145, and boom 141, arm 143 and bucket 145 , the positions and orientations of boom 141, arm 143, and bucket 145 in the work machine coordinate system (the coordinate system whose position and orientation are fixed with respect to upper swing structure 120) are measured. A positioning device such as a GPS mounted on the upper swing structure 120 measures the latitude (Y coordinate value) and longitude (X coordinate value) in the world coordinate system of the upper swing structure 120 and thus the work machine coordinate system. A Z coordinate value in the world coordinate system of the work machine coordinate system is determined in advance. The attitude of the work machine coordinate system in the world coordinate system is measured by the azimuth sensor and the tilt angle sensor mounted on the upper swing body 120 . As a result, the positions and attitudes of boom 141, arm 143 and bucket 145 in the world coordinate system are measured.

In the work machine control device 20, the second state recognition element 22 recognizes the operator's operation mode of each operation lever that constitutes the operation mechanism 211 (FIG. 3/STEP 208).

In the work machine control device 20, the second state recognition element 22 recognizes the actual space occupancy state of the work mechanism 140 based on the operator's operation mode of each operation lever that constitutes the operation mechanism 211 (FIG. 3/STEP 210). . The respective angles of the coupling mechanism (or joint mechanism) of the upper swing body 120 and boom 141, the coupling mechanism of boom 141 and arm 143, and the coupling mechanism of arm 143 and bucket 145, and boom 141, arm 143 and bucket 145 , the space occupation states of boom 141, arm 143, and bucket 145 in the work machine coordinate system (the coordinate system whose position and attitude are fixed with respect to upper swing structure 120) are measured. Since the rotational angular velocity of each coupling mechanism is predicted based on the operation mode of each control lever, the change mode of the real space occupation state of each of boom 141, arm 143 and bucket 145 over a specified period from the current time can be recognized or predicted. be.

For example, based on operator actuation of the control lever to lift arm 143 relative to boom 141 at or just before time t=t1, the real space occupation of arm 143 and bucket 145, as shown in FIG. The state is predicted to change from the real space occupancy state (see solid line) at time t=t1 to the real space occupancy state (see dashed line) at time t=t2. Thereby, it is possible to recognize how the space Occ[t1, t2] occupied by the arm 143 and the bucket 145 expands during the period [t1, t2] (see the shaded area in FIG. 5).

Also, based on the operator's manipulation of the control lever for the upper swing structure 120 at or immediately before time t=t1, the actual space occupation state of the boom 141, the arm 143 and the bucket 145 as shown in FIG. is predicted to change from the real space occupied state (see solid line) at time t=t1 to the real space occupied state (see broken line) at time t=t2. Thereby, it is possible to recognize how the space Occ [t1, t2] occupied by the boom 141, the arm 143 and the bucket 145 in the period [t1, t2] spreads (see the shaded area in FIG. 6).

The unmanned airplane 40 can contact the working mechanism 140 based on the real space position of the unmanned airplane 40 recognized by the first state recognition element 21 and the real space occupation state of the working mechanism 140 recognized by the second state recognition element 22. A target position trajectory, which is a time series of target positions of the unmanned aerial vehicle 40, is generated by the target position trajectory generating element 23 so that the unmanned aerial vehicle 40 can fly in a state of low stability (FIG. 3/STEP 212). As a result, for example, as shown in FIG. 5, the position trajectory (or the occupied space Occ[t1 , t2]) is generated as the target position trajectory P[t1, t2]. The real space position of unmanned aerial vehicle 40 is preferably maintained above work mechanism 140 . Also, as shown in FIG. 6, the position trajectory (or the occupied space Occ[t1 , t2]) is generated as the target position trajectory P[t1, t2].

The work machine controller 20 transmits the target position trajectory (or a signal for specifying it) to the unmanned aerial vehicle 40 via the wireless communication device 202 (FIG. 3/STEP 214).

In the unmanned airplane 40, the target position trajectory is received by the airplane controller 400 through the wireless communication device 402 (FIG. 3/STEP 410). In response to this, the airplane control device 400 performs the second flight operation control (FIG. 3/STEP 412). That is, according to the target position trajectory, the rotational motion of each of the actuators (electric motors) and the plurality of blades powered by the actuators is controlled so that the unmanned airplane 40 flies. Thereby, for example, the unmanned aerial vehicle 40 can fly autonomously along the target position trajectory P[t1, t2] shown in FIGS. 5 and 6, respectively.

By transmitting the target position trajectory to the remote controller 50, the operator can be prompted to operate the remote controller 50 so that the unmanned airplane 40 flies according to the target position trajectory. The target position trajectory may be transmitted to the remote control device 50 on condition that the operation of the working mechanism 140 is stopped. Further, when the unmanned airplane 40 is flying autonomously or actively by executing the second flight motion control, the target position trajectory is displayed on the image display device constituting the output interface of the remote control device 50, or By displaying the information indicating that the second flight motion control is being executed, the operator can be made aware of the situation in which the remote control and thus the first flight motion control are disabled.

(effect)
According to the work machine 10 having this configuration, in consideration of the real space position of the unmanned aerial vehicle 40 and the real space occupying state of the working mechanism 140, the unmanned aerial vehicle 40 is maintained in a state in which the possibility of contact between the two is low. A target position trajectory P[t1, t2] is generated. Therefore, by flying the unmanned airplane 40 according to the target position trajectory P[t1, t2], the state in which the possibility of contact is low is maintained or the possibility of contact is reduced (FIGS. 5 and 5). See Figure 6).

(Another embodiment of the present invention)
A work machine support server 30 as one embodiment of the present invention shown in FIG. 7 has communication functions with each of the work machine 10 and the unmanned aerial vehicle 40 . The work machine support server 30 may be mounted on the unmanned airplane 40 and have a communication function with the work machine 10 . The work machine assistance server 30 includes a first state recognition element 21 , a second state recognition element 22 and a target position trajectory generation element 23 . In this case, work machine control device 20 does not need to have the functions of first state recognition element 21 , second state recognition element 22 and target position trajectory generation element 23 .

According to the work machine support server 30 having this configuration, the unmanned airplane 40 is positioned in real space and the working mechanism 140 is in the real space occupation state so as to maintain a state in which the possibility of contact between the two is low. 40 target position trajectory P[t1, t2] is generated and the target position trajectory P[t1, t2] is transmitted to the unmanned aerial vehicle 40 . In response to this, the actuator (electric motor) and by extension the rotational motion of each of the plurality of blades powered by the actuator is controlled so that the unmanned airplane 40 flies according to the target position trajectory P[t1, t2]. be done. This maintains a state in which the possibility of contact between the unmanned airplane 40 and the working mechanism 140 is low, or reduces the possibility of contact (see FIGS. 3, 5 and 6).

According to the above embodiment, the target position trajectory P[t1, t2] of the unmanned aerial vehicle 40 is generated based on the changing aspect of the real space occupation state of the working mechanism 140 (see FIGS. 5 and 6). In the embodiment, based on the actual space occupation state of the work mechanism 140 at each time point t, the distance between the occupied space and the unmanned aerial vehicle 40 is equal to or greater than a predetermined distance, or the target position of the unmanned aerial vehicle 40 is maintained. A trajectory may be generated.

When generating the target position trajectory, from the first specified position P(t1) as the real space position of the unmanned airplane 40 at the time t=t1 at which the relative position of the unmanned airplane 40 is estimated with reference to the specified point, from the time t=t2. A target position trajectory P[t1, t2] to the second specified position P(t2) as the target real space position of the unmanned airplane 40 at (>t1) may be generated. Specifically, the unmanned airplane 40 at the time t=t1 when the unmanned airplane 40 is separated from the marker M1 provided on the back surface of the arm 143 on the base end side (connection side of the boom 141) by the first specified distance. A time point t at which a marker M2 provided on the back surface of the arm 143 on the tip side (mounting side of the bucket 145 (or nibbler or the like)) is separated from the first specified position P(t1) as the real space position by the second specified distance. A target position trajectory P[t1, t2] to the second specified position P(t2) as the target real space position of the unmanned airplane 40 at =t2 (>t1) may be generated. As a result, the unmanned airplane 40 approaches the tip side of the arm 143 at the time t=t2 rather than the time t=t1, and the work situation by the bucket 145 or the nibbler connected to the tip side of the arm 143 becomes clearer. grasped. It is also suitable for inspecting buckets 145 or nibblers.

Further, only one marker is provided on the tip side of the arm 143, and the distance from the unmanned airplane 40 to the bucket 145 is determined based on the captured image including the marker acquired through the imaging device 410 mounted on the unmanned airplane 40. A real space position estimated and determined according to the estimated distance may be set as the second designated position P(t2).

Further, when an obstacle such as a part of the building to be demolished is recognized on the target position trajectory P[t1, t2] of the unmanned airplane 40, the unmanned airplane 40 moves to the first specified position P ( Its flight behavior may be controlled to return or stay at t1). This prevents the unmanned airplane 40 from contacting the obstacle and being damaged. The flight operation may be controlled by the operator through the remote controller 50 so that the unmanned airplane 40 returns to or stays at the first designated position P(t1).

In addition, the second specified position P(t2) and, by extension, the target position trajectory P[t1, t2] may be adaptively changed as the real space occupation state of the work mechanism 140 changes.

10 Work machine 20 Work machine control device 21 First state recognition element 22 Second state recognition element 23 Target position trajectory generation element 30 Work machine support server 40 Unmanned airplane 202 Wireless communication device 210 Input interface 211 Operation mechanism 220 Output interface 222 Image output device 140 Work mechanism (work attachment) 400 Airplane control device 402 Wireless communication device 410 Imaging device .

Claims (4)

Operation modes of a lower traveling body, an upper revolving body capable of turning with respect to the lower traveling body, a working mechanism extending from the upper revolving body, and the lower traveling body, the upper revolving body, and the working mechanism A working machine comprising a control device for controlling
The control device
a first state recognition element that recognizes the real space position of the unmanned aircraft;
a second state recognition element that recognizes the real space occupation state of the working mechanism;
The unmanned airplane can contact the working mechanism based on the real space position of the unmanned airplane recognized by the first state recognition element and the real space occupancy state of the working mechanism recognized by the second state recognition element. a target position trajectory generation element that generates a target position trajectory that is a time series of target positions of the unmanned aerial vehicle so that the unmanned aerial vehicle can fly in a state of low stability;
a wireless communication device that transmits the target position trajectory generated by the target position trajectory generation element to a remote control device of the unmanned aircraft and displays the target position trajectory on an output interface of the remote control device ;
A working machine comprising: The work machine according to claim 1,
The second state recognition element recognizes an operation mode of an operation mechanism for at least one of the lower traveling body, the upper revolving body, and the working mechanism, and then determines the actual operation of the working mechanism based on the operation mode. The target position trajectory generation element recognizes a change mode of the space occupation state, and the real space position of the unmanned aerial vehicle recognized by the first state recognition element and the working mechanism recognized by the second state recognition element. Generating a target position trajectory, which is a time series of the target position of the unmanned aircraft, based on the changing state of the real space occupation state so that the unmanned aircraft can fly in a state where the possibility of contact with the working mechanism is low. A working machine characterized by: The working machine according to claim 1 or 2,
The first state recognition element is a captured image including a marker attached to the working mechanism, which is acquired through an imaging device mounted on the unmanned aerial vehicle and transmitted from the unmanned aerial vehicle to the working machine. A working machine that recognizes the real space position of the unmanned aircraft based on captured image data. Operation modes of a lower traveling body, an upper revolving body capable of turning with respect to the lower traveling body, a working mechanism extending from the upper revolving body, and the lower traveling body, the upper revolving body, and the working mechanism and a work machine support server having a function of communicating with each of the unmanned aerial vehicles, wherein
a first state recognition element that recognizes a real space position of the unmanned aerial vehicle based on communication with the unmanned aerial vehicle or the working mechanism;
a second state recognition element that recognizes a real space occupation state of the working mechanism based on communication with the working mechanism or the unmanned aerial vehicle;
The unmanned airplane can contact the working mechanism based on the real space position of the unmanned airplane recognized by the first state recognition element and the real space occupancy state of the working mechanism recognized by the second state recognition element. a target position trajectory generation element that generates a target position trajectory that is a time series of target positions of the unmanned aerial vehicle so that the unmanned aerial vehicle can fly in a state of low stability;
a wireless communication device that transmits the target position trajectory generated by the target position trajectory generation element to a remote control device of the unmanned aircraft and displays the target position trajectory on an output interface of the remote control device ;
A work machine support server characterized by comprising:

Images