JP7420896B1 - Operator skill evaluation device and crane having the operator skill evaluation device - Google Patents

Abstract

[Problem] An operator who can evaluate in more detail the operator's skill in each process of lifting a suspended load, transporting a suspended load, and touching the ground, which require different skills in handling a suspended load. A crane having a skill evaluation device and the operator skill evaluation device is provided. [Solution] Operation-related information Oi that is information related to the operation of an operating tool for an operator P to operate a crane 11, posture-related information Pi that is information related to the attitude of the crane 11, and suspensions carried by the crane. A storage unit 4 that stores suspended load-related information Li, which is information related to the load, and a skill-related information generation model 3, which generates skill-related information that is information related to the skill of the operator P to operate the crane 11. a control unit 2 that utilizes the operation-related information Oi, posture-related information Pi, and suspended load-related information Li stored in the storage unit 4 to generate skill-related information, and outputs the generated skill-related information; has. [Selection diagram] Figure 1

Description

The present invention relates to a work vehicle operator skill evaluation device and a crane having the operator skill evaluation device.

Conventionally, when a mobile crane is used to transport a suspended load, the operator of the mobile crane has a swing operating tool, an undulating operating tool, an extending/contracting operating tool, for operating the boom of the mobile crane. A plurality of operating tools such as a winch operating tool for lifting or lowering the suspended load are operated. Further, the operator must operate the mobile crane while simultaneously operating the plurality of operating tools so as to prevent the suspended load from coming into contact with structures at the work site. Further, the operator needs to adjust the position of the suspended load, which is swayed due to changes in the attitude and speed of the boom. For this reason, the operator's skill in operating the mobile crane greatly influences the handling of the suspended load, including the transport time of the suspended load by the mobile crane and the content of the transport work. For example, if the skill required to transport the suspended load by the mobile crane exceeds the skill of the operator, the operator may not be able to transport the suspended load to a predetermined position within an appropriate time. It gets expensive. Therefore, an operation support device is known that is capable of estimating the operator's skill and providing operation support that is suitable for the operator's skill. For example, as in Patent Document 1.

The operator operation support device described in Patent Document 1 includes an operation skill level estimating means for estimating the skill (operation skill level) representing the skill level and work difficulty of the operator. The operation skill level estimating means includes an operation instruction value calculated based on a stop time, which is the time required for the swing of the suspended load to attenuate to a predetermined value or less, during a transportation operation by the crane, and a swing angle of the suspended load, and the operation instruction value calculated based on the swing angle of the suspended load. The skill of the operator is estimated based on the difference between the operation amount of the control lever actually operated by the operator. The operator operation support device instructs the operator to appropriately operate the operating lever based on the estimated operating skill level.

Japanese Patent Application Publication No. 11-79663

The work of transporting the suspended load by the crane includes a ground cutting process of hoisting the suspended load placed on the ground, a conveyance process of conveying the suspended load in a lifted state, and a lowering of the hoisted load to a predetermined position. Includes grounding process. Therefore, the handling of the suspended load in the crane requires not only an operation technique for reducing the shaking of the suspended load to a predetermined value or less, but also an operation technique for the lifting process of the suspended load and an operation technique for the grounding process of the suspended load. is also greatly influenced. However, the operating skill level estimating means described in Patent Document 1 estimates the operator's skill based only on the operating technique for suppressing the shaking of the suspended load among various operating techniques necessary for handling the suspended load by the crane. I'm guessing. Therefore, it is not possible to appropriately evaluate the operator's skill in situations where different operating techniques are required in handling the hoisted load by the crane.

The purpose of the present invention is to evaluate in more detail the operator's skill in each process of lifting the suspended load, transporting the suspended load, and touching the ground, which require different skills in handling the suspended load. It is an object of the present invention to provide an operator skill evaluation device that can perform operator skill evaluation, and a crane having the operator skill evaluation device.

The present inventors were able to evaluate in more detail the skill of the operator in each process of lifting the suspended load, transporting the suspended load, and touching the ground, which require different skills in handling the suspended load. We investigated an operator skill evaluation device that can be used as an operator skill evaluation device, and a crane that has the above-mentioned operator skill evaluation device. As a result of intensive studies, the present inventors came up with the following configuration.

The operator skill evaluation device according to the present invention includes operation-related information that is information related to the operation of an operating tool for an operator to operate a crane having a telescoping boom that can be rotated and raised and lowered, and information related to the attitude of the crane. a storage unit that stores attitude-related information, which is information related to the crane, and suspended load-related information, which is information related to the suspended load carried by the crane; and skill-related information, which is information related to the operator's skill in operating the crane. The skill-related information is generated based on the operation-related information, the posture-related information, and the suspended load-related information stored in the storage unit using a skill-related information generation model that generates information. A control unit that outputs the skill-related information.

The suspended load related information includes information related to the position of the suspended load with respect to the crane and information related to the weight of the suspended load applied to the telescopic boom. The skill-related information generation model is based on the operation-related information, the posture-related information, and the suspended load-related information to generate the skill-related information when the operator uses the crane to lift the suspended load from the ground surface. Lifting skill-related information that is the lifting skill-related information that is the skill-related information when the operator uses the crane to move the lifted load in a plan view; The control unit is configured to be able to generate at least one of the lifting skill-related information, which is the skill-related information when lowering a suspended load onto a ground surface.

The operator skill evaluation device described above utilizes a skill-related information generation model to obtain not only operation-related information and posture-related information, but also information related to the position of a suspended load with respect to a telescopic boom and the suspended load applied to the telescopic boom. Generate at least one of lifting skill-related information, moving skill-related information, or lifting skill-related information, which is skill-related information regarding the state of the suspended load, based on the suspended load-related information including information related to the weight of the suspended load. do. That is, the operator skill evaluation device generates skill-related information for individually evaluating various skills required of the operator in handling the suspended load by the crane. The skill-related information is information that quantifies the skill of the operator for each process in the work of transporting the suspended load using the crane. Therefore, the operator skill evaluation device outputs the operator's skill in all steps from the lifting load step to the lifting load grounding step. This enables a more detailed evaluation of the operator's skill in each process of the suspended load cutting process, the suspended load transport process, and the suspended load grounding process, which require different skills in handling the suspended load. be able to.

Further, it is preferable that the driver skill evaluation device of the present invention includes the following configuration. The operation-related information includes viewpoint-related information that is information related to the viewpoint of the operator when the operator is operating the crane.

In the above configuration, the operator's viewpoint-related information included in the operation-related information is used to evaluate the operator's skill. The viewpoint-related information includes not only information linking the movement of the suspended load and the operation of the operating tool, but also information regarding the operator's thoughts, emotions, and psychological state. Therefore, the operator skill evaluation device not only evaluates the operator's operation of the crane operating tool based on the operation-related information, the posture-related information, and the suspended load-related information, but also evaluates the viewpoint-related information. Based on this, the operator's skills including his or her psychological state while operating the crane are evaluated. This enables a more detailed evaluation of the operator's skill in each process of the suspended load cutting process, the suspended load transport process, and the suspended load grounding process, which require different skills in handling the suspended load. be able to.

Further, it is preferable that the driver skill evaluation device includes the following configuration. The skill-related information generation model includes the operation-related information, the posture-related information, and the The apparatus is configured to generate at least one of the lifting skill-related information, the moving skill-related information, and the hanging skill-related information based on the hanging load-related information.

In the above-described configuration, the operator skill evaluation device evaluates the operator's skill based on operation-related information, attitude-related information, and suspended load-related information until the suspended load is transported from the first position to the second position. Evaluating skills. In other words, the operator skill evaluation device evaluates each of the operation-related information, the posture-related information, and the suspended load-related information in the process from lifting the suspended load by the crane to touching the ground at the target position into one continuous piece. As one piece of information, the skill of the pilot is evaluated. This enables a more detailed evaluation of the operator's skill in each of the suspended load cutting process, the suspended load transport process, and the suspended load grounding process, which require different skills in handling the suspended load. be able to.

Moreover, it is preferable that the operator skill evaluation device according to one embodiment of the present invention includes the following configuration. The skill-related information generation model includes information including the operation-related information, the posture-related information, and the suspended load-related information of an expert crane operator whose skill in operating the crane is higher than a threshold value as teacher information. This is a machine learning model that is machine learned as follows.

In the above-described configuration, the operator skill evaluation device evaluates the operator's skill by using a skill-related information generation model that is machine-learned using operation-related information, posture-related information, and suspended load-related information of an expert as teacher information. can be evaluated as a level of proficiency based on the expert. This enables a more detailed evaluation of the operator's skill in each process of the suspended load cutting process, the suspended load transport process, and the suspended load grounding process, which require different skills in handling the suspended load. be able to.

Moreover, it is preferable that the operator skill evaluation device according to one embodiment of the present invention includes the following configuration. The control unit uses the skill-related information generation model according to mechanical characteristics of the crane operated by the operator.

In the above configuration, the operator skill evaluation device evaluates the operator skill using a skill-related information generation model that is compatible with cranes that have different mechanical characteristics such as structure, allowable transport load, and movable range depending on the model. ing. As a result, the skill of the operator in each of the steps of lifting the suspended load off the ground, transporting the suspended load, and touching the ground of the suspended load, which require different skills depending on the mechanical characteristics of the crane, can be evaluated in more detail. can be evaluated.

According to another aspect, the driver skill evaluation device according to the present invention preferably includes the following configuration. The storage unit further stores environment-related information that is information related to the environment around the crane. The skill-related information generation model generates the lifting skill-related information, the moving skill-related information, or the lifting skill-related information based on the operation-related information, the posture-related information, the suspended load-related information, and the environment-related information. The control unit is configured to be able to generate at least one of the information. The control unit uses the skill-related information generation model to generate the skill-related information based on the operation-related information, the posture-related information, the suspended load-related information, and the environment-related information stored in the storage unit. generate.

In the above-described configuration, the operator skill evaluation device evaluates the operator's skill using a skill-related information generation model that takes into account temperature, humidity, wind speed, rainfall, etc. at the time of crane operation. As a result, the skill of the operator can be appropriately improved in each of the lifting process, the lifting process, and the lifting process, which require different skills depending on the environment surrounding the crane. can be evaluated.

According to another aspect, the driver skill evaluation device according to the present invention preferably includes the following configuration. The crane includes the operator skill evaluation device described above.

Since the operator skill evaluation device is mounted on the crane, the operator's skill can be evaluated while the operator is using the crane to transport a suspended load.

According to another aspect, the driver skill evaluation device according to the present invention preferably includes the following configuration. In the operator skill evaluation device described above, the storage unit and the control unit are located in a server that can communicate with a plurality of the cranes using a communication line. The storage unit stores the operation-related information, the posture-related information, and the suspended load-related information that the plurality of cranes each operated by different operators output to the storage unit using the communication line. Memorize each. The control unit uses the skill-related information generation model to control the operation of the plurality of cranes based on the operation-related information, the posture-related information, and the suspended load-related information for each of the plurality of cranes acquired by the storage unit. The skill-related information is generated for each of the pilots who are piloting the vehicle.

The operator skill evaluation device evaluates the skills of a plurality of operators operating various types of cranes at various locations via communication lines. This makes it possible to understand differences and trends in the operator's crane operating skills depending on region, organization, age, crane model, and work content.

The terminology used herein is for the purpose of defining particular embodiments only, and is not intended to limit the invention.

As used herein, "and/or" includes all combinations of one or more of the associated listed components.

As used herein, the use of "including," "comprising," or "having" and variations thereof refers to the described features, steps, elements, components, and/or , specifying the existence of equivalents thereof, may include one or more of steps, acts, elements, components, and/or groups thereof.

As used herein, "attached," "connected," "coupled," and/or their equivalents are used in a broad sense, including "direct and indirect" attachment; Includes both connections and combinations. Furthermore, "connected" and "coupled" are not limited to physical or mechanical connections or couplings, but can include direct or indirect connections or couplings.

In this specification, an embodiment of a driver skill evaluation device according to the present invention will be described.

In the following description, numerous specific examples are set forth to provide a thorough understanding of the invention. However, it will be apparent to one skilled in the art that the invention may be practiced without these specific examples.

Accordingly, the following disclosure should be considered as illustrative of the invention and is not intended to limit the invention to the particular embodiments illustrated in the drawings or description.

[study]
In this specification, learning or machine learning refers to the work of adjusting the parameters of a model (program) in a machine (processor) so that the output corresponding to the input is the correct answer. In this embodiment, the skill-related information generation model that is the learning target is trained using supervised learning based on teacher information that is a combination of input data and correct answers to the input data, or using only input data. Among unsupervised learning methods that determine whether an answer is correct or not, at least supervised learning is performed.

[model]
In this specification, a model means a specific calculation formula, function, or calculation method that has been trained. A model is a mathematical expression that expresses the relationship between input and output. The model transforms the input data according to a mathematical formula. Creating a model means learning the model. Models include regression models that predict values, classification models that classify data, and the like.

[Neural network model]
In this specification, a neural network model means a mathematical model in which a plurality of processing units that linearly transform input are coupled to each other. The neural network model has an input layer, at least one intermediate layer, an output layer, a function connecting the input layer and the intermediate layer, and a function connecting the intermediate layer and the output layer. The input layer, the intermediate layer, and the output layer are a plurality of variables into which data is input. The neural network model sequentially transforms data input to the input layer using the function and outputs the converted data. The parameters of the function in the neural network model are adjusted ( learned). By repeating the learning of the neural network model, it is possible to reduce the error between the output data and the correct answer based on the input data.

[perspective]
In this specification, a viewpoint means a position where the line of sight is focused when viewing an object. The viewpoint of the operator includes not only a position where the operator is consciously looking while operating the crane, but also a position where the operator is unconsciously looking.

[Operation related information]
In this specification, the operation-related information refers to information related to the operation of an operating tool used by an operator to operate a crane having a telescoping boom that is rotatable and capable of raising and lowering. The operation related information includes, for example, information related to the operation amount, operation timing, and operation time of each operating tool in the crane per unit time.

[Posture-related information]
In this specification, posture-related information means information related to the posture of the crane. The posture-related information is related to, for example, the position of the crane, the rotation angle of a swivel base in the crane, the up-and-down angle of a telescopic boom in the crane, the length of the telescopic boom in the crane, and the amount of wire rope paid out in the crane. Contains information to

[Hanging load related information]
In this specification, the suspended load related information means information related to the suspended load carried by the crane. The suspended load related information includes, for example, the type of the suspended load, the weight of the suspended load, the load from the suspended load applied to the telescopic boom, the position of the suspended load relative to the crane per unit time, and the shaking relative to the crane. related to the width, the direction of shaking with respect to the crane, the period of shaking with respect to the crane, a first position for lifting the suspended load from the ground surface, a second position for suspending the suspended load from the ground surface, and a transport route of the suspended load. Contains information.

[Viewpoint related information]
In this specification, this is information related to the operator's viewpoint when the operator is operating the crane. The viewpoint-related information includes the position of the operator's viewpoint per unit time when the operator is seated in the operator's seat of the crane, and the unit time of the operator when the operator is operating the crane. The information includes the position of each viewpoint, the movement direction of the operator's viewpoint, the distribution of the operator's viewpoint, and the number of blinks of the operator per unit time.

[Environment-related information]
In this specification, environment-related information means information related to the environment around the crane. The environment-related information includes, for example, information related to conditions specific to the location where the crane is installed, the time the crane is in operation, the weather, the season, and the like.

[skill]
As used herein, skill refers to the degree of skill, skill, or ability to do a specific thing. Therefore, the skill of the crane operator means the degree of skill, skill, and ability of the operator when operating the crane. The highly skilled operator has excellent techniques, skills, and abilities related to operating the crane. The skills of the crane include, for example, the degree of technology, skill, and ability related to the magnitude of swinging of a suspended load, the transport speed of a suspended load, the stability of a suspended load, the accuracy of grounding of a suspended load, safety, etc. .

[Lifting skill related information]
In this specification, lifting skill related information means information related to the skill of the operator when the operator uses the crane to lift the suspended load from the first position. The lifting skill-related information may include, for example, a numerical value that allows objective comparison of the operator's skill in lifting the suspended load that is grounded at the first position to a predetermined height based on a lifting skill evaluation index. It is expressed by.

[Lifting skill evaluation index]
In this specification, the lifting skill-related information refers to an index that objectively evaluates the skill of the operator when the operator uses the crane to lift the suspended load from the ground surface. For example, in the ground cutting step of hoisting the suspended load from the first position, the telescopic boom of the crane increases in deflection due to an increase in load due to winding up of the wire rope. The tip position of the telescopic boom moves outward in the working radial direction of the crane device due to an increase in deflection. At this time, the frictional force between the suspended load and the ground surface is reduced by winding up the wire rope. The suspended load is pulled outward in the working radial direction caused by a shift in the position of the suspended load with respect to the tip position of the telescopic boom, which is stronger than the frictional force generated between the suspended load and the ground surface. When it becomes larger, it moves outward in the working radial direction.

In the ground cutting step, a highly skilled operator (expert person) estimates the amount of movement of the tip position of the telescopic boom based on the winding amount of the wire rope and the load information of the suspended load. Furthermore, the operator adjusts the tip position of the telescopic boom by raising and lowering the telescopic boom so that the suspended load does not move in the horizontal direction during the ground cutting. In this way, in the ground cutting process, the operator's hoisting operation of the telescopic boom, hoisting operation of the wire rope, load change of the suspended load, viewpoint information of the operator, operation time until completion of the ground cutting, operation An index for evaluating the timing of operating the tool, etc. is referred to as the above-mentioned lifting skill evaluation index. The lifting skill evaluation index can convert the skill of the operator in the ground cutting process into a numerical value or the like.

[Movement skill related information]
In this specification, moving skill related information means information related to the skill of the operator when the operator uses the crane to move the suspended load in plan view. The movement skill-related information may be, for example, the ability of the operator to move the suspended load lifted above the first position to a second position in plan view, which can be objectively compared based on a movement skill evaluation index. It is expressed by numerical values, etc.

[Movement skill evaluation index]
In this specification, the moving skill related information refers to an index for objectively evaluating the skill of the operator when the operator uses the crane to move the suspended load in a horizontal direction in a plan view. means. For example, in a conveying process of moving the suspended load from a first position to a second position in a plan view, the telescopic boom conveys the suspended load by a turning operation by a rotating base. The suspended load moves outward in a turning radius direction from a tip position of the telescoping boom in plan view due to centrifugal force generated as the telescoping boom rotates. Further, the suspended load suspended from the wire rope moves in the turning direction later than the tip of the telescopic boom moves in the turning direction. Therefore, the suspended load moves further in the turning direction than the tip of the telescopic boom when the telescopic boom is stopped.

In the conveying process, if the suspended load is located outside the tip of the telescopic boom in the turning radius direction, the highly skilled operator lowers the telescopic boom and moves the telescopic boom in a plan view. Move the tip of the boom closer to the suspended load. In addition, in the conveyance process, when the suspended load is located inward in the turning radius direction from the tip of the telescopic boom, the operator raises the telescopic boom and raises the telescopic boom in a plan view. bring the tip of the rod closer to the suspended load. Furthermore, in the conveying process, the operator may locate the suspended load in front of the tip of the telescoping boom in the rotation direction during the turning operation, and the tip of the telescoping boom may be positioned in front of the suspended load at the second position. Adjust the rotation speed of the telescoping boom to keep up with. In this way, the lifting and turning operations of the telescopic boom by the operator in the conveyance process, the position of the suspended load relative to the tip position of the telescopic boom, and the movement of the suspended load from the first position to the second position. The moving skill evaluation index is an index for evaluating the moving time, moving speed, operation timing of the operating tool, etc. The movement skill evaluation index can convert the operator's skill in the transport process into a numerical value or the like.

[Hanging skill related information]
In this specification, the lifting skill-related information means information related to the skill of the operator when the operator lowers the suspended load to the second position using the crane. For example, the hanging skill-related information may objectively evaluate the skill of an operator to hang the suspended load located above the second position downward until it touches the ground at the second position, based on a hanging evaluation index. It is expressed by numerical values etc. that can be compared to.

[Hanging skill evaluation index]
In this specification, the lifting skill-related information refers to an index for objectively evaluating the skill of the operator when the operator uses the crane to lower the suspended load and ground it. do. For example, in the grounding step of suspending the suspended load to the second position, the deflection of the telescoping boom is reduced due to a reduction in load due to lowering of the wire rope. The tip position of the telescopic boom moves inward in the working radial direction of the crane device due to a decrease in deflection. At this time, the frictional force between the suspended load and the ground surface increases due to the lowering of the wire rope. The suspended load is pulled inward in the working radial direction caused by a shift in the position of the suspended load with respect to the tip position of the telescopic boom, which is stronger than the frictional force generated between the suspended load and the ground surface. move inward in the working radial direction until it becomes smaller.

In the grounding process, a highly skilled operator estimates the amount of movement of the tip position of the telescopic boom based on the amount of winding down of the wire rope and the load information of the suspended load. Furthermore, the operator adjusts the tip position of the telescopic boom by raising and lowering the telescopic boom so that the suspended load does not move in the horizontal direction when touching the ground. In this way, in the grounding step, the operator's raising and lowering operation of the telescoping boom, winding down operation of the wire rope, load change of the suspended load, viewpoint information of the operator, operation time until completion of grounding, and operating tools. An index for evaluating the operation timing and the like is the above-mentioned hanging skill evaluation index. The lowering skill evaluation index can convert the operator's skill in the grounding process into a numerical value or the like.

[Threshold]
In this specification, a threshold value means a level of skill for determining whether the operator is a highly skilled operator. The threshold value is, for example, a predetermined level of skill-related information evaluated based on the lifting skill evaluation index, the moving skill evaluation index, and the lowering skill evaluation index for objectively evaluating the operator's skill. It is. The threshold value is determined from the lifting skill related information evaluated based on the lifting skill evaluation index, the moving skill related information evaluated based on the moving skill evaluation index, and the lifting skill related information evaluated based on the lifting skill evaluation index, For example, it is set based on a value calculated by statistical processing such as an average value, a root mean square, and a standard deviation. The operator is determined to be an expert if his skill is higher than the threshold. The threshold value is set based on each skill-related information accumulated through each process or all processes. Further, the threshold value may be weighted for each process by assigning a coefficient to each piece of skill-related information for each process based on the characteristics, tendencies, etc. of the expert.

According to an embodiment of the present invention, the operator in each process of the lifting process, the lifting process, and the lifting process, which require different skills in handling the hanging load. Skills can be evaluated in more detail.

FIG. 1 is a control block diagram of a driver skill evaluation device according to Embodiment 1 of the present invention. FIG. 2 is a schematic diagram showing the machine learning process of the driver skill evaluation device according to Embodiments 1 and 2 of the present invention. FIG. 3 is a route diagram showing the ground-off process, conveyance process, and ground contact process evaluated by the operator skill evaluation device of the present invention. FIG. 4 is a radar chart showing the driver's skill in the driver's skill evaluation device according to the first embodiment of the present invention. FIG. 5 is a control block diagram of a driver skill evaluation device according to another embodiment of the first embodiment of the present invention. FIG. 6 is a control block diagram of a driver skill evaluation device according to Embodiment 2 of the present invention. FIG. 7 is a schematic diagram showing a state in which a driver wears a viewpoint detection device that generates viewpoint-related information acquired by a driver skill evaluation device according to Embodiment 2 of the present invention. FIG. 8 is a composite image of viewpoints, which is viewpoint-related information in the ground cutting process and the ground contact process, acquired by the driver skill evaluation device according to the second embodiment of the present invention. FIG. 9 is a composite image of viewpoints, which is viewpoint-related information in the transport process, acquired by the operator skill evaluation device according to the second embodiment of the present invention. FIG. 10 is a control block diagram of a driver skill evaluation device according to Embodiment 3 of the present invention. FIG. 11 is a schematic diagram showing the machine learning process of the driver skill evaluation device according to Embodiment 3 of the present invention. FIG. 12 is a side view of a crane having an operator skill evaluation device according to Embodiment 4 of the present invention. FIG. 13 shows a control block diagram of a crane having an operator skill evaluation device according to Embodiment 4 of the present invention. FIG. 14 is a control block diagram of a driver skill evaluation device according to Embodiment 5 of the present invention.

[Embodiment 1]
<Overall configuration of pilot skill evaluation device>
A driver skill evaluation device according to an embodiment of the present invention will be described below with reference to FIGS. 1 to 4. FIG. 1 is a control block diagram of a driver skill evaluation device 1 according to Embodiment 1 of the present invention. FIG. 2 is a schematic diagram showing the machine learning process of the driver skill evaluation apparatus 1, 1A. FIG. 3 is a route diagram showing a ground-off process X1, a conveyance process Y1, and a ground-contact process X2 in which the operator skill evaluation devices 1, 1A, 1B, and 1C in each embodiment evaluate the skill. FIG. 4 is a radar chart showing the skill of the pilot in the pilot skill evaluation devices 1, 1A, 1B, and 1C in each embodiment.

In each of the following embodiments, the crane has a telescoping boom that can rotate and raise and lower. Further, a crane 11 (see FIG. 12), which is a rough terrain crane (hereinafter simply referred to as "crane"), will be explained as a crane. However, the crane may be an all-terrain crane, a truck crane, or the like. In addition, in the following description, operator P refers to a person operating a crane.

As shown in FIG. 1, the operator skill evaluation device 1 is a device that evaluates the skill of an operator P who operates a crane 11. In this embodiment, the operator skill evaluation device 1 includes operation-related information Oi, which is information related to the operation of the crane device operation tool 29 (see FIG. 13) for the operator P to operate the crane 11; Lifting skill-related information is information for evaluating the skill of the operator P based on posture-related information Pi, which is information related to the posture of At least one of information Si1, movement skill related information Si2, or hanging skill related information Si3 is output.

The driver skill evaluation device 1 is housed in a mobile terminal such as a smartphone, for example. The driver skill evaluation device 1 includes a control section 2, a storage section 4, a communication section 5, and a display section 6.

The control unit 2 includes a skill-related information generation model 3 that is used to evaluate the skill of the operator P based on the operation-related information Oi, posture-related information Pi, and suspended load-related information Li. The control unit 2 can receive operation-related information Oi, posture-related information Pi, and suspended load-related information Li from the crane.

The control unit 2 controls the driver skill evaluation device 1 . The control unit 2 uses the skill-related information generation model 3 to perform lifting operations based on, for example, operation-related information Oi, posture-related information Pi, and lifted load-related information Li input from the crane 11 or an external server S1. At least one of skill-related information Si1, movement skill-related information Si2, or hanging skill-related information Si3 is created.

Various programs and data are stored in the control unit 2 in order to control the driver skill evaluation device 1 including the skill-related information generation model 3, the storage unit 4, the communication unit 5, and the display unit 6. The control unit 2 can transmit operation-related information Oi, posture-related information Pi, and suspended load-related information Li input from an external server S1 or the like to the storage unit 4.

The skill-related information generation model 3 is used to evaluate the skill of the operator P based on the operation-related information Oi, posture-related information Pi, and suspended load-related information Li. The skill-related information generation model 3 is a machine learning model learned based on teacher data created by the learning pilot PL.

The control unit 2 can output operation-related information Oi, posture-related information Pi, and suspended load-related information Li input from the crane 11 or an external server (not shown) to the storage unit 4 and the display unit 6. Similarly, the control unit 2 sends lifting skill-related information Si1, movement skill-related information Si2, and hanging skill-related information Si3 created using the skill-related information generation model 3 to the storage unit 4 and the display unit 6. It is possible to output. In addition, the control unit 2 externally transmits operation-related information Oi, posture-related information Pi, suspended load-related information Li, lifting skill-related information Si1, movement skill-related information Si2, and lifting skill-related information Si3 via the communication unit 5. It is possible to output to the server S1 etc.

The control unit 2 stores various types of information stored in the storage unit 4, including operation-related information Oi, posture-related information Pi, suspended load-related information Li, lifting skill-related information Si1, movement skill-related information Si2, and hanging skill-related information Si3. Information can be obtained.

The storage unit 4 stores operation-related information Oi, posture-related information Pi, and lifted load-related information Li input from the crane 11 or an external server S1, lifting skill-related information Si1, and movement skill-related information input from the control unit 2. Si2, hanging skill related information Si3, etc. can be stored. The storage unit 4 includes a RAM that stores operation-related information Oi, posture-related information Pi, suspended load-related information Li, lifting skill-related information Si1, movement skill-related information Si2, and hanging skill-related information Si3, and a memory inside the processor. , hard disk, etc. The storage unit 4 sends the stored operation-related information Oi, posture-related information Pi, lifted load-related information Li, lifting skill-related information Si1, movement skill-related information Si2, hanging skill-related information Si3, etc. to the control unit 2. It is possible to output.

The communication unit 5 transmits and receives various information to and from the crane 11 (see FIG. 12), an external server S1, and the like. The communication unit 5 is capable of transmitting lifting skill-related information Si1, movement skill-related information Si2, and lifting skill-related information Si3 created by the control unit 2 using the skill-related information generation model 3 to an external server S1, etc. be. The control unit 2 also controls the operation-related information Oi, posture-related information Pi, suspended load-related information Li, lifting skill-related information Si1, movement skill-related information Si2, and hanging skill-related information Si3 stored in the storage unit 4. can be sent to an external server S1 or the like.

The communication unit 5 is capable of receiving operation-related information Oi, posture-related information Pi, suspended load-related information Li, lifting skill-related information Si1, movement skill-related information Si2, and hanging skill-related information Si3 from an external server S1, etc. be. Further, the communication unit 5 can receive various information including operation-related information Oi, posture-related information Pi, and suspended load-related information Li from the crane control device 30 via the crane communication device 30a.

The display unit 6 displays the operating status of the operator skill evaluation device 1, lifting skill-related information Si1, movement skill-related information Si2, and lifting skill-related information Si3 created by the control unit 2 using the skill-related information generation model 3. Display at least one of the following. The display unit 6 includes, for example, a liquid crystal display. At least one of the lifting skill-related information Si1, the moving skill-related information Si2, and the hanging skill-related information Si3 is input to the display unit 6 from the control unit 2 or the storage unit 4. The display unit 6 transmits skill-related information of the operator P to the operator P or a third party.

The control unit 2 of the operator skill evaluation device 1 configured as described above uses the skill-related information generation model 3 to evaluate the operator P based on the operation-related information Oi, posture-related information Pi, and suspended load-related information Li. At least one of lifting skill-related information Si1, movement skill-related information Si2, and hanging skill-related information Si3 is created. The operator skill evaluation device 1 can evaluate the skill of the operator P for each process that requires different skills in operating the crane 11.

<Creation of skill-related information generation model 3>
Next, creation of the skill-related information generation model 3 will be explained. The skill-related information generation model 3 is a machine learning model used to evaluate the skill of the operator P based on the operation-related information Oi, posture-related information Pi, and suspended load-related information Li. The skill-related information generation model 3 includes, for example, a neural network.

As shown in FIG. 2, the skill-related information generation model 3 includes learning operation-related information OiL, learning posture-related information PiL, and learning suspended load-related information of the learning pilot PL who is an expert whose skill is higher than a threshold value. A combination of the information LiL and at least one of learning lifting skill related information Si1L, learning moving skill related information Si2L, and learning lifting skill related information Si3L based on self-report of the learning operator PL or evaluation by a third party. This is a model trained based on teacher information consisting of .

The learning lifting skill related information Si1L is based on the lifting skill evaluation index, which is an index for objectively evaluating the skill of the operator PL when the operator PL uses the crane 11 to lift the suspended load W from the ground surface. This is the correct label of the skill evaluated. The learning movement skill related information Si2L is a movement skill that is an index for objectively evaluating the skill of the operator PL when the operator PL uses the crane 11 to move the suspended load W in the horizontal direction in plan view. This is the correct label of the skill evaluated based on the evaluation index. The learning lifting skill related information Si3L is an index for objectively evaluating the skill of the operator PL when the operator PL uses the crane 11 to lower the suspended load W onto the ground surface and ground it. This is the correct label of the skill evaluated based on the hanging evaluation index.

In this embodiment, an expert is defined as, for example, someone whose total operating time for the crane 11 exceeds a predetermined time, and who has self-reported or third-party evaluation learning lifting skill related information Si1L and learning moving skill. This is a pilot P whose evaluation of related information Si2L and learning suspension skill related information Si3L is equal to or higher than the average value of a certain number of pilots P, which is a threshold value.

As shown in FIGS. 2 and 3, the skill-related information generation model 3 includes the learning operator PL using the crane 11 to transport the suspended load W from at least the first position P1 to the second position P2. The operation-related information for learning OiL, the posture-related information for learning PiL, and the suspended load-related information for learning LiL are each input as one continuous piece of information.

For example, the control unit 2 uses learning operation related information OiL, learning posture related information PiL, and learning suspended load related information LiL input from the crane control device 30 to move the suspended load W to the first position P1 for each process. The range is divided into a range from 1 to 2, a range to move the suspended load W from the first position P1 to the second position P2, and a range until the suspended load W touches the ground at the second position P2.

Further, the control unit 2 uses the skill-related information generation model 3 to determine the lifting skill based on the learning operation-related information OiL, learning posture-related information PiL, and learning lifting load-related information LiL of each divided range. At least one of related information Si1, movement skill related information Si2, and hanging skill related information Si3 is generated. In this way, by using the skill-related information generation model 3, the control unit 2 can process the learning operation-related information OiL, the learning posture-related information PiL, and the learning suspended load-related information LiL as mutually related information. It is.

In the ground cutting step X1 in which the suspended load W is lifted from the first position P1 by the crane 11 (see FIG. 12), the learning operator PL operates the hoisting operation tool and the suspended load until the suspended load W is about to leave the ground surface. In many cases, a levying operation tool is operated to correct the deflection of the telescopic boom 19 (see FIG. 12) just before W leaves the ground surface. Therefore, from the start of hoisting to the end of hoisting of the main wire rope 24 (see FIG. 12), the control unit 2 uses the skill-related information generation model 3 to adjust the hoisting in response to changes in the required time and the load applied to the telescopic boom 19. Learning in accordance with the lifting skill evaluation index based on operation-related information Oi, posture-related information Pi, and lifted load-related information Li, including information such as the operation amount, operation timing, and operation amount per unit time of the operating tool and the hoisting tool. This can be evaluated as the lifting skill related information Si1 of the operator PL.

In the transport process Y1 in which the crane 11 moves the suspended load W from the first position P1 to the second position P2 in a plan view, the learning operator PL moves the suspended load W so that the suspended load W reaches the second position P2 first. The position of the tip of the telescopic boom 19 and the position of the suspended load W in the turning direction are adjusted by operating a turning operation tool. Furthermore, the learning operator PL operates the hoisting operation tool to adjust the position of the tip of the telescopic boom 19 and the position of the suspended load W in the turning radial direction so that the suspended load W does not move away from the center of rotation due to centrifugal force during turning. It is adjusted by Therefore, in transporting from the first position P1 to the second position P2, the control unit 2 uses the skill-related information generation model 3 to determine the required time, the amount of operation of the turning operating tool and the lifting operating tool, the operating timing, and Based on operation-related information Oi including information such as the amount of operation per unit time, posture-related information Pi, and suspended load-related information Li, the learning pilot PL's movement skill-related information Si2 is evaluated in accordance with the movement skill evaluation index. be able to.

In the grounding process X2 in which the suspended load W is lowered to the second position P2, which is the target position, the learning operator PL operates the hoisting (lowering) operating tool and lifts the hoisted load W just before it contacts the ground surface. The hoisting operation tool is operated to correct the deflection of the telescopic boom 19 just before the load W contacts the ground surface. Therefore, from the start to the end of hoisting the main wire rope 24, the control unit 2 uses the skill-related information generation model 3 to adjust the hoisting operation tool and the hoisting operation tool in response to changes in the required time and load on the telescopic boom. Based on the operation related information Oi including information such as the operation amount, operation timing, and operation amount per unit time, the posture related information Pi and the lifted load related information Li, the learning operator PL is lifted in accordance with the lifting evaluation index. This can be evaluated as the lowering skill related information Si3.

The control unit 2 generates lifting skill-related information Si1, movement skill-related information Si2, and lifting skill-related information Si3 generated using the skill-related information generation model 3, and learning lifting skill-related information that is the correct label of the teacher information. The parameters of the skill-related information generation model 3 are adjusted by machine learning so that the errors between Si1L, learning movement skill-related information Si2L, and learning hanging skill-related information Si3L are as small as possible. The control unit 2 repeats machine learning until the error converges within a certain range. The control unit 2 has a skill-related information generation model 3 for which machine learning has been completed.

As shown in FIG. 2, in this embodiment, the machine-learned skill-related information generation model 3 generates lifting skill-related information based on operation-related information Oi, posture-related information Pi, and lifted load-related information Li of the operator P. It is used to generate at least one of Si1, movement skill related information Si2, and hanging skill related information Si3.

The control unit 2 uses the machine-learned skill-related information generation model 3 to generate skill-related information regarding the trajectory of the hoisted load W, including the swing of the hoisted load W with respect to the operation of the crane 11 and the attitude of the crane 11. It is possible to generate lifting skill related information Si1, moving skill related information Si2, and hanging skill related information Si3.

<Skill evaluation by pilot skill evaluation device 1>
As shown in FIG. 1, when performing skill evaluation, a signal to start the skill evaluation is output from the crane control device 30 to the operator skill evaluation device 1. When the control unit 2 receives a signal to start the skill evaluation from the crane control device 30 via the communication unit 5, it displays on the display unit 6 that the skill evaluation is to be started.

The control unit 2 obtains operation-related information Oi, posture-related information Pi, and suspended load-related information Li of the operator P from the time when the signal to start the skill evaluation is obtained until the load applied to the telescopic boom 19 becomes zero. Each piece of information is acquired from the crane control device 30 as one continuous piece of information. The control unit 2 causes the storage unit 4 to store the acquired operation-related information Oi, posture-related information Pi, and suspended load-related information Li of the operator P.

When the crane 11 transports the suspended load W from the first position P1 to the second position P2, the control unit 2 starts winding up the main wire rope 24 in order to lift the suspended load W located at the first position P1. The storage unit 4 stores operation-related information Oi, posture-related information Pi, and suspended load-related information Li until winding down of the main wire rope 24 for grounding the suspended load W conveyed to the second position P2 is completed. do.

Next, the control unit 2 uses the skill-related information generation model 3 to generate lifting skill-related information Si1, based on the operation-related information Oi, posture-related information Pi, and lifted load-related information Li, which are mutually related information. At least one of the movement skill related information Si2 and the hanging skill related information Si3 is generated.

The control unit 2 uses the skill-related information generation model 3 to generate lifting skill-related information Si1 that evaluates the skill of the operator P when, for example, a highly skilled person is given 10 points and a beginner is given 1 point. , generates movement skill related information Si2 and hanging skill related information Si3. Further, the control unit 2 may evaluate the overall skill by comprehensively evaluating the lifting skill related information Si1, the moving skill related information Si2, and the hanging skill related information Si3.

Next, the control unit 2 outputs the generated skill-related information among the lifting skill-related information Si1, the movement skill-related information Si2, and the hanging skill-related information Si3 to the storage unit 4 and the display unit 6.

The storage unit 4 stores the generated skill-related information as the skill-related information of the specific operator P in combination with the lifting skill-related information Si1, the movement skill-related information Si2, and the lifting skill-related information Si3.

As shown in FIG. 4, the operator P's skill-related information T1 generated from among the lifting skill-related information Si1, movement skill-related information Si2, and hanging skill-related information Si3 is input from the control unit 2 to the display unit 6. be done. The display unit 6 displays the input skill-related information using a numerical display, a laser chart C, or the like. Note that the laser chart C may display the average value Ta of the skills of the experts.

The operator skill evaluation device 1 configured as described above generates skill-related information for individually evaluating various skills required of the operator P in handling the suspended load W by the crane 11. The skill-related information is information that quantifies the skill of the operator P for each process in the work of transporting the suspended load W by the crane 11. Therefore, the operator skill evaluation device 1 outputs the operator's skill in all steps from lifting the suspended load W from the first position P1 to touching the suspended load W to the second position P2.

The operator skill evaluation device 1 also includes operation-related information Oi, posture-related information Pi, and suspended load-related information during a period from when the crane 11 lifts the suspended load W from the first position P1 to when it touches the ground at the second position P2. The skill of the pilot P is evaluated using each Li as one continuous piece of information. In other words, the operator skill evaluation device 1 individually evaluates the operator's skill in each process in a series of operations in which the operator P uses the crane 11 to transport the suspended load W from the first position P1 to the second position P2. Therefore, unnecessary information for skill evaluation can be eliminated.

Further, the operator skill evaluation device 1 collects information including operation-related information Oi, posture-related information Pi, and suspended load-related information Li of an expert, into learning operation-related information OiL and learning posture-related information PiL for machine learning. By using the machine-learned skill-related information generation model 3 as the learned hanging load-related information LiL, the skill of the operator P can be evaluated as a proficiency level based on an expert.

As a result, a process of cutting the suspended load W from the first position P1, which requires different skills in handling the suspended load W, a process of transporting the suspended load W from the first position P1 to the second position P2, and a process of transporting the suspended load W from the first position P1 to the second position P2, and It is possible to evaluate in more detail the skill of the pilot P in each step of the grounding process to the second position P2.

<Modified example of pilot skill evaluation device 1>
Next, a modification of the driver skill evaluation device 1 will be described using FIG. 5. FIG. 5 is a control block diagram of the driver skill evaluation device 1 according to another embodiment of the first embodiment.

As shown in FIG. 5, the control unit 2 of the operator skill evaluation device 1 may have a plurality of skill-related information generation models 3 depending on the type of crane, the size of the crane, etc. The control unit 2 includes, for example, a skill-related information generation model 3x for a truck crane, a skill-related information generation model 3y for a rough terrain crane with a lifting load of 25 tons, and a skill-related information generation model for a rough terrain crane with a lifting load of 100 tons. It has 3z.

The skill-related information generation model 3x includes learning operation-related information OiL, learning posture-related information PiL, and learning hoisted load-related information LiL when the learning operator PL operates a truck crane. Learning is based on teacher information consisting of a combination of at least one of learning lifting skill-related information Si1L, learning movement skill-related information Si2L, and learning lifting skill-related information Si3L based on declaration or evaluation by a third party. This is the model that was used.

Similarly, the skill-related information generation model 3y is a model learned using teacher information when the learning operator PL operated a rough terrain crane with a lifting load of 25 tons. The skill-related information generation model 3z is a model learned using teacher information obtained when the learning operator PL operated a rough terrain crane with a lifting load of 100 tons.

The control unit 2 switches to the skill-related information generation model 3 suitable for the type and size of the crane to be operated based on the type and size of the crane input in advance or information from the control device of the crane. For example, when operating a rough terrain crane with a lifting load of 25 tons or a rough terrain crane with a lifting load of 16 tons, the control unit 2 selects the skill-related information generation model 3y.

With this configuration, the operator skill evaluation device 1 selects skill-related information generation models 3x, 3y, and 3z that are compatible with cranes that have different mechanical characteristics such as structure, allowable transport load, and movable range for each model. The skill of the pilot P is evaluated based on the following. As a result, the process of cutting the suspended load W from the first position P1 to the ground, which requires different skills depending on the mechanical characteristics of the crane, the conveying process of the suspended load W from the first position P1 to the second position P2, and the lifting process. It is possible to evaluate in more detail the skill of the operator P in each step of the grounding process of the load W to the second position P2.

[Embodiment 2]
<Evaluation using viewpoint related information Vi>
<Overall configuration of pilot skill evaluation device 1A>
A driver skill evaluation device 1A according to a second embodiment of the driver skill evaluation device of the present invention will be described using FIGS. 2, 3, and 6 to 9. FIG. 6 is a control block diagram of the driver skill evaluation device 1A. FIG. 7 is a schematic diagram showing a state in which the operator P wears the viewpoint detection device 7 that generates the viewpoint-related information Vi acquired by the driver skill evaluation device 1A. FIG. 8 is a composite image Pv of the viewpoint Vp in the ground cutting process X1 and the grounding process X2, which is acquired by the driver skill evaluation device 1A. FIG. 9 is a composite image Pv of the viewpoint Vp in the transport process Y1 acquired by the operator skill evaluation device 1A. Note that in each of the following embodiments, a detailed explanation of the same points as those of the already described embodiments will be omitted, and the explanation will focus on the different parts.

As shown in FIG. 6, the operator skill evaluation device 1A measures the viewpoint Vp (see FIGS. 8 and 9) of the operator P when the operator P is operating the crane 11 (see FIG. 12). Lifting skill-related information Si1 and movement skill-related information Si2 are information for evaluating the skill of operator P based on operation-related information Oi including viewpoint-related information Vi, posture-related information Pi, and lifted load-related information Li. Alternatively, at least one of the hanging skill related information Si3 is output.

The control unit 2 includes a skill-related information generation model 3A that is used to evaluate the skill of the operator P based on the operation-related information Oi, viewpoint-related information Vi, posture-related information Pi, and suspended load-related information Li. Further, the control unit 2 can receive viewpoint-related information Vi from the viewpoint detection device 7 or the crane control device 30.

The storage unit 4 stores viewpoint-related information Vi input from the viewpoint detection device 7 or the crane control device 30. The storage unit 4 can output the stored viewpoint-related information Vi to the control unit 2.

The communication unit 5 can acquire viewpoint-related information Vi from the viewpoint detection device 7 or the crane control device 30.

<Viewpoint detection device>
As shown in FIG. 7, the viewpoint-related information Vi is detected by the viewpoint detection device 7 worn by the operator P. The viewpoint detection device 7 is a wearable terminal that is worn on the body of the operator P. In this embodiment, the viewpoint detection device 7 will be described as a glasses-type wearable terminal. The viewpoint detection device 7 is attached to an operator P of the crane 11. The viewpoint detection device 7 includes a frame 8, a viewpoint detection camera 9a, a visual field detection camera 9b, and a viewpoint detection device control unit 10.

The frame 8 configured as an eyeglass-type frame is provided with a viewpoint detection camera 9a, a visual field detection camera 9b, and a viewpoint detection device control section 10. The viewpoint detection camera 9a is a camera that photographs the pupils of both eyes of the operator P. The visual field detection camera 9b is a camera that photographs the scenery that the operator P is viewing.

The viewpoint detection device control unit 10 can acquire images taken from the viewpoint detection camera 9a and the visual field detection camera 9b. The viewpoint detection device control unit 10 determines the position of the viewpoint Vp of the operator P on the virtual plane every unit time based on the position of the pupil of the operator P and the photographing distance from the viewpoint detection camera 9a to the pupil of the operator P. It can be calculated as follows. Furthermore, the viewpoint detection device control unit 10 can convert the calculated position of the viewpoint Vp of the operator P on the virtual plane into the coordinates of the visual field image captured by the visual field detection camera 9b. Further, the viewpoint detection device control unit 10 can generate a composite image Pv in which the position of the transformed viewpoint Vp is combined with the visual field image.

As shown in FIG. 6, the viewpoint detection device control unit 10 transmits the synthesized image Pv generated via a communication unit (not shown) to the crane control device 30 or It can be output to the control unit 2 via the communication unit 5 of the driver skill evaluation device 1. The composite image Pv includes information such as the position of the viewpoint Vp of the operator P of the crane 11 for each unit time, the moving direction of the viewpoint Vp, the distribution of the viewpoint Vp, and the number of blinks.

The viewpoint-related information Vi includes not only information about the skill of the pilot P but also information about the psychological state of the pilot P. The viewpoint-related information Vi is based on, for example, the position of the viewpoint Vp of the operator P per unit time while operating the crane, the moving direction of the viewpoint Vp, the distribution of the viewpoint Vp, the number of blinks, etc. In addition to skill level, it also includes information on psychological states such as level of tension, level of concentration, and level of agitation.

The control unit 2 acquires the composite image Pv from the viewpoint detection device 7 as the viewpoint-related information Vi included in the operation-related information Oi. The control unit 2 generates lifting skill-related information Si1 and movement skill based on the operation-related information Oi, viewpoint-related information Vi, posture-related information Pi, and lifted load-related information Li input using the skill-related information generation model 3A. At least one of the related information Si2 and the hanging skill related information Si3 is created.

<Creation of skill-related information generation model 3A>
Next, creation of the skill-related information generation model 3A will be explained. The skill-related information generation model 3A is a machine learning model used to evaluate the skill of the operator P based on the operation-related information Oi, viewpoint-related information Vi, posture-related information Pi, and suspended load-related information Li. The skill-related information generation model 3A includes, for example, a neural network.

As shown in FIG. 2, the skill-related information generation model 3A generates the learning operation-related information OiL and the learning operation-related information OiL of the learning operator PL, who is an expert whose skill in operating the crane 11 is higher than a threshold value. Included are learning viewpoint related information ViL, learning posture related information PiL, learning lifting load related information LiL, learning lifting skill related information Si1L based on self-report of the learning operator PL or evaluation by a third party, and learning movement. This model is learned based on teacher information that is composed of a combination of skill-related information Si2L and learning hanging skill-related information Si3L.

As shown in FIGS. 2 and 3, the skill-related information generation model 3A includes a process in which the learning operator PL uses the crane to transport the suspended load W from at least the first position P1 to the second position P2. The learning operation related information OiL, the learning viewpoint related information ViL, the learning posture related information PiL, and the learning hanging load related information LiL are each input as one continuous input information.

For example, the control unit 2 uses the input learning operation related information OiL, learning viewpoint related information ViL, learning posture related information PiL, and learning suspended load related information LiL to move the suspended load W to the first position P1 for each process. The range is divided into a range from 1 to 2, a range to move the suspended load W from the first position P1 to the second position P2, and a range until the suspended load W touches the ground at the second position P2. Further, the control unit 2 uses the skill-related information generation model 3 to generate operation-related information based on the learning operation-related information OiL, the learning posture-related information PiL, and the learning suspended load-related information LiL of each divided range. At least one of lifting skill-related information Si1, movement skill-related information Si2, and hanging skill-related information Si3 is generated.

As shown in FIG. 8, in the ground cutting step X1 (see FIG. 3) in which the suspended load W is lifted from the first position P1, the learning operator PL moves the telescopic boom 19 (see FIG. The viewpoint Vp is focused on the load cell M that displays the load applied to the load cell (see 12). Further, the learning operator PL focuses the viewpoint Vp on the image of the boom camera 19b (see FIG. 13) or on the suspended load W just before the suspended load W leaves the ground surface. That is, from the start of hoisting the main wire rope 24 (see figure) to the end of hoisting, the learning viewpoint related information ViL includes the surrounding situation of the suspended load W, the movement of the suspended load W, the load applied to the telescopic boom 19, and the learning viewpoint related information ViL. This is information indicating the skill of the learning pilot PL associated with the psychological state of the pilot PL.

As shown in FIG. 9, in the transport process Y1 of moving the suspended load W from the first position P1 to the second position P2 (see FIG. 3), the learning operator PL moves the suspended load W and the suspended load of the boom camera 19b. The viewpoint Vp is concentrated on the image Pw. That is, during transportation from the first position P1 to the second position P2, the learning viewpoint related information ViL is a learning perspective that associates the movement of the suspended load W, the surrounding situation of the suspended load W, and the psychological state of the learning operator PL. This is information indicating the skill of the pilot PL.

As shown in FIG. 8, in the grounding step X2 (see FIG. 3) in which the suspended load W is lowered to the first position P1, the learning operator PL holds the telescopic boom 19 until the suspended load W is just about to contact the ground surface. The viewpoint Vp is focused on the load meter that displays the applied load. Further, the learning operator PL focuses the viewpoint Vp on the suspended load image Pw or the suspended load W of the boom camera 19b just before the suspended load W contacts the ground surface. That is, from the start of lowering the main wire rope 24 to the end of lowering, the learning viewpoint related information ViL includes the surrounding situation of the suspended load W, the movement of the suspended load W, the load applied to the telescopic boom 19, and the learning operator. This is information indicating the skill of the learning pilot PL associated with the psychological state of the PL.

In this way, the learning viewpoint related information ViL is related to the movement of the suspended load W of the learning operator PL from the position of the viewpoint Vp, the viewpoint stay time per unit number of times, the distribution of viewpoints Vp, the movement direction of viewpoint Vp, etc. This is information that associates skill with the psychological state of the learning pilot PL.

The control unit 2 uses the skill-related information generation model 3A to generate lifting information based on the learning operation-related information OiL, the learning viewpoint-related information ViL, the learning posture-related information PiL, and the learning lifting load-related information LiL. Skill-related information Si1, movement skill-related information Si2, hanging skill-related information Si3, learning lifting skill-related information Si1L which is the correct answer label of teacher information, learning movement skill-related information Si2L, and learning lifting skill-related information The parameters of the skill-related information generation model 3A are adjusted by machine learning so that the error with Si3L is as small as possible.

The machine-learned skill-related information generation model 3A generates lifting skill-related information Si1 and movement skill-related information based on the operation-related information Oi, viewpoint-related information Vi, posture-related information Pi, and lifted load-related information Li of the operator P. It is used to generate at least one of Si2 and hanging skill related information Si3.

<Skill evaluation using pilot skill evaluation device 1A>
As shown in FIGS. 3 and 6, when the suspended load W is transported from the first position P1 to the second position P2, the control unit 2 causes the crane 11 to lift the suspended load W located at the first position P1, for example. Operation-related information Oi and viewpoint-related information Vi from the start of winding up of the main wire rope 24 until the winding down of the main wire rope 24 is completed for grounding the suspended load W transported to the second position P2. , posture related information Pi and suspended load related information Li are stored in the storage unit 4.

Next, the control unit 2 uses the skill-related information generation model 3A to associate the operation-related information Oi, viewpoint-related information Vi, posture-related information Pi, and suspended load-related information Li stored in the storage unit 4 with each other. As the information, at least one of lifting skill related information Si1, movement skill related information Si2, and hanging skill related information Si3 is generated.

As a result, the operator skill evaluation device 1A determines the ground-cutting process, the first The situation around the suspended load W of the operator P and the movement of the suspended load W in each step of the transport process of the suspended load W from the first position P1 to the second position P2 and the grounding process of the suspended load W to the second position P2 , the skill of the operator P can be evaluated in more detail by associating the state of the crane 11 with the psychological state of the learning operator PL.

[Embodiment 3]
<Evaluation using environment-related information>
<Overall configuration of pilot skill evaluation device 1B>
A driver skill evaluation device 1B according to a third embodiment of the driver skill evaluation device of the present invention will be described using FIGS. 10 and 11. FIG. 10 is a control block diagram of the operator skill evaluation device 1B. FIG. 11 is a schematic diagram showing the machine learning process of the driver skill evaluation device 1B.

As shown in FIG. 10, the operator skill evaluation device 1B includes environment-related information Ei, which is information related to the environment around the crane 11 operated by the operator P, operation-related information Oi, attitude-related information Pi, and Based on the hanging load related information Li, at least one of lifting skill related information Si1, movement skill related information Si2, or hanging skill related information Si3, which is information for evaluating the skill of the operator P, is output.

The control unit 2 generates a skill-related information generation model 3B used to evaluate the skill of the operator P based on environment-related information Ei, operation-related information Oi, viewpoint-related information Vi, posture-related information Pi, and suspended load-related information Li. has. Furthermore, environment-related information Ei can be input to the control unit 2 from an external server S1 or the like or from the crane control device 30.

The storage unit 4 stores environment-related information Ei input from the crane control device 30 or an external server S1. The storage unit 4 can output the stored environment-related information Ei to the control unit 2.

The communication unit 5 can acquire environment-related information Ei from the crane control device 30 or the external server S1.

The control unit 2 generates lifting skill-related information Si1 and movement skill based on environment-related information Ei, operation-related information Oi, posture-related information Pi, and lifted load-related information Li input using the skill-related information generation model 3B. At least one of the related information Si2 and the hanging skill related information Si3 is created.

<Creation of skill-related information generation model 3B>
Next, creation of the skill-related information generation model 3B will be explained. The skill-related information generation model 3B is a machine learning model used to evaluate the skill of the operator P based on the environment-related information Ei, operation-related information Oi, posture-related information Pi, and suspended load-related information Li. The skill-related information generation model 3B includes, for example, a neural network.

As shown in FIG. 11, the skill-related information generation model 3B is based on the information of the crane 11 when the learning operation-related information OiL, the learning posture-related information PiL, and the learning hoisted load-related information LiL of the learning operator PL are acquired. Information related to the surrounding environment is set as learning environment related information EiL, learning environment related information EiL, learning operation related information OiL, learning posture related information PiL, learning suspended load related information LiL, and learning operator. Teacher information consisting of a combination of at least one of learning lifting skill related information Si1L, learning moving skill related information Si2L, and learning lifting skill related information Si3L based on PL's self-report or third party evaluation. This is a model trained based on

The control unit 2 uses the skill-related information generation model 3B to generate lifting information based on the learning environment-related information EiL, the learning operation-related information OiL, the learning posture-related information PiL, and the learning lifting load-related information LiL. Skill-related information Si1, movement skill-related information Si2, hanging skill-related information Si3, learning lifting skill-related information Si1L which is the correct answer label of teacher information, learning movement skill-related information Si2L, and learning lifting skill-related information The parameters of the skill-related information generation model 3B are adjusted by machine learning so that the error with Si3L is as small as possible.

<Skill evaluation by pilot skill evaluation device 1B>
The machine-learned skill-related information generation model 3B includes operation-related information Oi, posture-related information Pi, and suspended load-related information Li in addition to the operation-related information Oi, posture-related information Pi, and suspended load-related information Li of the operator P. is used to generate at least one of lifting skill-related information Si1, movement skill-related information Si2, and lifting skill-related information Si3 based on environment-related information Ei that is information related to the environment of the crane 11 at the time of recording. Ru.

As a result, the operator skill evaluation device 1B determines whether to lift the suspended load W from the first position P1 or from the first position based on the environment-related information Ei, operation-related information Oi, posture-related information Pi, and suspended load-related information Li. It is possible to evaluate in more detail the skill in consideration of the influence of the environment in each scene of transporting the suspended load W from P1 to the second position P2 and landing the suspended load W at the second position P2.

[Embodiment 4]
<Crane with operator skill evaluation device>
<Overall configuration of crane>
A crane 11 having one of the operator skill evaluation devices 1, 1A, and 1B (operator skill evaluation device 1 will be described below) of the present invention will be described using FIGS. 12 and 13. FIG. 12 shows the overall configuration of a crane 11 having the operator skill evaluation device 1. FIG. 13 shows a control block diagram of the crane 11 having the operator skill evaluation device 1.

As shown in FIG. 12, the crane 11 is a mobile crane that can be moved to any location. The crane 11 includes a vehicle 12, a crane device 16, and a crane control device 30 (see FIG. 13).

The vehicle 12 is a traveling body that transports the crane device 16. Vehicle 12 has a plurality of wheels 13. The vehicle 12 runs using the engine 14 as a power source. Vehicle 12 has outriggers 15.

The crane device 16 is a working device that lifts a suspended load W using a wire rope. The crane device 16 includes a rotating base 17, a telescopic boom 19, a main hook block 20, a sub hook block 21, a hydraulic cylinder 22 for luffing, a main winch 23, a main wire rope 24, a sub winch 25, a sub wire rope 26, a cabin 27, etc. Equipped with.

The swivel base 17 is a rotating device that allows the crane device 16 to rotate. The swivel base 17 is provided on the frame of the vehicle 12 via an annular bearing. The turning base 17 has a hydraulic turning hydraulic motor 17a which is an actuator. The turning table 17 can be turned in one direction and the other direction by a turning hydraulic motor 17a.

The crane GNSS receiver 18 (see FIG. 13) is a receiver that constitutes a global navigation satellite system. The crane GNSS receiver 18 receives ranging radio waves from a satellite and detects the absolute coordinates of the crane GNSS receiver 18, such as latitude, longitude, altitude, and direction. The crane GNSS receiver 18 is provided on the swivel base 17.

The telescopic boom 19 is a movable support supporting the main wire rope 24 and the sub wire rope 26. The telescopic boom 19 is composed of a plurality of boom members. The telescopic boom 19 has a base end of a base boom member swingably provided at approximately the center of the swivel base 17 . The telescoping boom 19 includes a telescoping hydraulic cylinder 19a (see FIG. 13), which is an actuator for extending and contracting each boom member, and a luffing hydraulic cylinder 22 for raising and lowering the boom member. The telescopic boom 19 is extended and contracted in the axial direction by a telescopic hydraulic cylinder 19a. Further, the telescopic boom 19 includes a boom camera 19b which is an imaging device for photographing the suspended load W, and a jib 19c which is an extension member. The boom camera 19b (see FIG. 13) is located at the tip of the telescoping boom 19.

The main hook block 20 and the sub-hook block 21 are parts for hanging a suspended load W. The main hook block 20 has a plurality of hook sheaves around which the main wire rope 24 is wound, and a main hook 20a on which a suspended load W is hung. The sub-hook block 21 has a sub-hook 21a for hanging a hanging load W.

The main winch 23 is a device that winds up and lowers the main wire rope 24. The sub winch 25 is a device that winds up and lowers the sub wire rope 26.

The cabin 27 is a housing that covers the cockpit. The cabin 27 is mounted on the swivel base 17. The cabin 27 is provided with a pilot's seat (not shown). The driver's seat is provided with a travel operating tool 28 for operating the vehicle 12, a crane device operating tool 29 of the crane device 16, etc. (see FIG. 13).

As shown in FIG. 13, the operator skill evaluation device 1 is electrically connected to a crane control device 30 via a communication section 5. The operator skill evaluation device 1 can acquire operation-related information Oi, attitude-related information Pi, and suspended load-related information Li from the crane control device 30 via the communication unit 5. Note that the control unit 2 of the operator skill evaluation device 1 may be configured integrally with the crane control device 30.

The crane control device 30 controls each actuator of the crane 11. The crane control device 30 is provided within the cabin 27 (see FIG. 12). The crane control device 30 actually includes a CPU, ROM, RAM, HDD, etc. connected via a bus. Alternatively, the crane control device 30 is composed of a one-chip LSI or the like. The crane control device 30 stores various programs and data for controlling the operations of each actuator, switching valve, etc., and processing image data.

The crane control device 30 has a crane communication device 30a. The crane communication device 30a is capable of transmitting and receiving information to and from the communication unit 5 of the operator skill evaluation device 1.

The crane control device 30 is connected to the crane GNSS receiver 18. The crane control device 30 can acquire information regarding the position of the crane 11. The crane control device 30 is connected to the boom camera 19b. The crane control device 30 can continuously acquire the current image taken by the boom camera 19b every unit time. The crane control device 30 is connected to the travel operating tool 28 and the crane device operating tool 29. The crane control device 30 can generate a control signal for the crane device 16 based on an operation signal generated by operating the crane device operating tool 29. The crane control device 30 can transmit the generated control signals to each actuator.

The crane control device 30 can generate operation-related information Oi from the operation information of the travel operating tool 28 and the crane device operating tool 29. Further, the crane control device 30 can generate attitude-related information Pi from information on sensors of the swing hydraulic motor 17a, the telescopic hydraulic cylinder 19a, the luffing hydraulic cylinder 22, the main winch 23, the sub winch 25, and the like. Further, the crane control device 30 can generate suspended load related information Li from the suspended load image Pw of the boom camera 19b.

The crane control device 30 is electrically connected to the communication section 5 of the operator skill evaluation device 1 via the crane communication device 30a. The crane control device 30 can transmit operation-related information Oi, posture-related information Pi, and suspended load-related information Li of the crane 11 to the operator skill evaluation device 1 via the crane communication device 30a.

The crane 11 configured in this manner can move the vehicle 12 to an arbitrary position by operating the travel operating tool 28. Further, the crane 11 can transport the suspended load W to an arbitrary position by rotating, raising and lowering, extending and contracting the telescopic boom 19 by operating the operating tool 29 for the crane device. Further, the crane 11 can lift and suspend the load W using the main winch 23 or the like by operating the crane device operating tool 29. Further, the crane 11 is capable of outputting at least one of the lifting skill related information Si1, the moving skill related information Si2, and the lifting skill related information Si3 of the operator P by the operator skill evaluation device 1. As described above, since the operator skill evaluation device 1 is mounted on the crane 11, it is possible to evaluate the skill of the operator P while the operator P is transporting the suspended load W using the crane 11. .

[Embodiment 5]
<Configuration in which the server has a pilot skill evaluation device>
<Overall configuration of pilot skill evaluation device 1C>
A driver skill evaluation device 1C according to a third embodiment of the driver skill evaluation device of the present invention will be described using FIG. 14. FIG. 14 is a control block diagram of the driver skill evaluation device 1C.

As shown in FIG. 14, the operator skill evaluation device 1C is located in a server that can communicate with a plurality of cranes via a communication line L such as the Internet that is configured with at least one of wired and wireless communication lines.

The operator skill evaluation device 1C, for example, evaluates the operator Pa of the crane 11A, the crane At least one of lifting skill-related information Si1, movement skill-related information Si2, or lifting skill-related information Si3, which is information for evaluating the skills of the operator Pb of crane 11B and the operator Pc of crane 11C, is provided for each operator. Output.

The control unit 2 can receive operation-related information Oi, attitude-related information Pi, and suspended load-related information Li from each crane control device 30 of the plurality of cranes 11A, 11B, and 11C via a communication line.

The storage unit 4 can store operation-related information Oi, posture-related information Pi, and suspended load-related information Li input from each crane control device 30 of the plurality of cranes 11A, 11B, and 11C. The storage unit 4 can output the stored operation-related information Oi, posture-related information Pi, and suspended load-related information Li to the control unit 2.

The communication unit 5 is electrically connected to the communication line L. The communication unit 5 can acquire operation-related information Oi, posture-related information Pi, and suspended load-related information Li from each crane control device 30 of the plurality of cranes 11A, 11B, and 11C.

The control unit 2 controls the operation of the plurality of cranes 11A based on the operation-related information Oi, posture-related information Pi, and suspended load-related information Li of the plurality of cranes 11A, 11B, and 11C, which are input using the skill-related information generation model 3C. , 11B, and 11C, at least one of lifting skill-related information Si1, movement skill-related information Si2, or hanging skill-related information Si3 for each operator Pa, Pb, and Pc is created.

In this way, the operator skill evaluation device 1C acquires operation-related information Oi, posture-related information Pi, and suspended load-related information Li from a plurality of cranes, thereby determining the country, region, affiliated organization, age, crane model, It is possible to understand the differences and trends in the operator's crane operating skills depending on the work content. Furthermore, the skill-related information generation model 3 can be subjected to machine learning using the acquired plural pieces of operation-related information Oi, posture-related information Pi, and suspended load-related information Li. This makes it possible to evaluate in more detail the skill of the operator P in each scene of lifting the suspended load W, transporting the suspended load W, and touching down the suspended load W, which require different skills in handling the suspended load W. can.

<Other embodiments>
In the above-described embodiment, the operator skill evaluation devices 1, 1A, 1B, and 1C determine the lifting skill-related information Si1 and the movement skill based on the operation-related information Oi, posture-related information Pi, and lifted load-related information Li of the operator P. At least one of the related information Si2 and the hanging skill related information Si3 is output. However, the operator skill evaluation device may evaluate the operator's skill by adding operator-related information related to the operator, such as the operator's crane operating time and the type of model the operator has operating experience. Further, the operator skill evaluation device may evaluate the operator's skill by adding operator physical information related to the operator's body, such as the operator's heartbeat. In other words, the operator skill evaluation device evaluates the operator's skill by arbitrarily combining information related to skill evaluation such as viewpoint-related information in addition to the operator's operation-related information, attitude-related information, and suspended load-related information. May be evaluated.

In the above embodiment, the operator skill evaluation devices 1, 1A, 1B, and 1C also provide lifting skill related information Si1, based on the operation related information Oi, attitude related information Pi, and lifted load related information Li of the operator P. At least one of the movement skill related information Si2 and the hanging skill related information Si3 is output. However, the operator skill evaluation device may evaluate the skill regarding specific items such as the magnitude of the shaking of the suspended load and the rotation of the suspended load.

Furthermore, in each of the embodiments described above, the skill-related information generation models 3, 3A, 3B, 3C, 3x, 3y, and 3z are configured by neural network models. However, if the skill-related information generation model is composed of machine learning models such as support vector machine (SVM), decision tree, k-nearest neighbor method, naive Bayes, logistic regression, linear regression, nonlinear regression, stepwise regression, etc. good.

In the embodiment described above, the operator skill evaluation devices 1, 1A, 1B, and 1C acquire images of the suspended load W using the boom camera 19b of the crane 11 as an imaging device. However, the operator skill evaluation device may use a camera other than the boom camera 19b as the imaging device. The operator skill evaluation device may acquire images taken by, for example, an image capturing device such as a crane body camera, a camera installed at a construction site, or a camera mounted on a drone.

In each of the above-described embodiments, the operator skill evaluation devices 1, 1A, 1B, and 1C store the generated lifting skill-related information, movement skill-related information, and lifting skill-related information as data on an external server (not shown), etc. It may also be configured to output to

In each of the above-described embodiments, the skill-related information generation models 3, 3A, 3B, 3C, 3x, 3y, and 3z are the learning operation-related information OiL and the learning posture-related information of the learning pilot PL who is an expert. Machine learning is performed using information PiL and learning hanging load related information LiL as teacher data. However, the skill-related information generation model uses learning operation-related information OiL, learning posture-related information PiL, and learning suspended load-related information LiL with intermediate and beginner pilots who are not experts as the learning operator PL. Machine learning may also be implemented.

In each of the embodiments described above, the control unit 2 outputs the generated skill-related information among the lifting skill-related information Si1, the moving skill-related information Si2, and the hanging skill-related information Si3 to the display unit 6. However, the control unit may not only display one piece of generated skill-related information, but also display a plurality of pieces of skill-related information after performing statistical processing such as an average, a root mean square, and a standard deviation. .

The above-described embodiment merely shows a typical form, and various modifications can be made without departing from the gist of the embodiment. Furthermore, it goes without saying that the present invention can be implemented in various forms, and the scope of the present invention is indicated by the description of the claims, and furthermore, the meaning of equivalents described in the claims and all the equivalents within the scope are Including changes.

1, 1A, 1B, 1C Pilot skill evaluation device 2 Control unit 3, 3A, 3B, 3C, 3x, 3y, 3z Skill-related information generation model 4 Storage unit 5 Communication unit 6 Display unit 7 Viewpoint detection device 8 Frame 9a Viewpoint Detection camera 9b Visual field detection camera 10 Control unit for viewpoint detection device 11, 11A, 11B, 11C Crane 12 Vehicle 13 Wheels 14 Engine 15 Outrigger 16 Crane device 17 Swivel base 17a Hydraulic motor for swing 18 GNSS receiver for crane 19 Telescoping Boom 19a Telescopic hydraulic cylinder 19b Boom camera 19c Jib 20 Main hook block 21 Sub hook block 22 Hydraulic cylinder for luffing 23 Main winch 24 Main wire rope 25 Sub winch 26 Sub wire rope 27 Cabin 28 Traveling operation tool 29 Crane device operation Tools 30 Crane control device 20a Main hook 21a Sub-hook 30 Crane control device 30a Crane communication device Oi Operation-related information Pi Posture-related information Li Lifted load-related information Vi Viewpoint-related information Ei Environment-related information Si1 Lifting skill-related information Si2 Movement skill Related information Si3 Hanging skill related information W Hanging load Vp Viewpoint Pv Composite image Pw Hanging load image P, Pa, Pb, Pc Operator

Claims (8)

Operation-related information that is information related to the operation of an operating tool for an operator to operate a crane having a telescoping boom that is rotatable and hoistable; attitude-related information that is information related to the attitude of the crane; a storage unit that stores suspended load-related information that is information related to the suspended load to be transported;
The operation-related information and the posture-related information are stored in the storage unit using a skill-related information generation model that generates skill-related information that is information related to the crane operating skill of the crane operator. and a control unit that generates the skill-related information based on the suspended load-related information and outputs the generated skill-related information;
A pilot skill evaluation device having:
The above-mentioned hanging load related information is
information related to the position of the suspended load relative to the crane and information related to the load from the suspended load applied to the telescoping boom;
The skill-related information generation model is
Based on the operation-related information, the posture-related information, and the suspended load-related information, the lifting skill-related information is the skill-related information when the operator uses the crane to lift the suspended load from the ground surface; Moving skill-related information that is the skill-related information when the operator moves the suspended load lifted using the crane in a plan view, and the operator lowers the suspended load onto the ground surface using the crane. The control unit is configured to be able to generate at least one of the hanging skill-related information that is the skill-related information at the time of hanging.
Pilot skill evaluation device. The operator skill evaluation device according to claim 1, wherein the operation-related information includes:
including viewpoint-related information that is information related to the viewpoint of the operator when the operator is operating the crane;
Pilot skill evaluation device. The operator skill evaluation device according to claim 1 or 2, wherein the skill-related information generation model comprises:
Based on the operation-related information, the posture-related information, and the suspended load-related information in the process in which the operator uses the crane to lift the suspended load from at least a first position and suspend it to a second position, The controller is configured to be able to generate at least one of the lifting skill-related information, the moving skill-related information, and the hanging skill-related information;
Pilot skill evaluation device. The operator skill evaluation device according to claim 1 or 2,
The skill-related information generation model is
The machine learning model is machine learned using teacher information including the operation-related information, the posture-related information, and the suspended load-related information of an expert crane operator whose skill in operating the crane is higher than a threshold value. ,
Pilot skill evaluation device. The operator skill evaluation device according to claim 1 or 2,
The control unit includes:
using the skill-related information generation model according to mechanical characteristics of the crane operated by the operator;
Pilot skill evaluation device. The operator skill evaluation device according to claim 1 or 2,
The storage unit is
further storing environment-related information that is information related to the environment surrounding the crane;
The skill-related information generation model is
Based on the operation-related information, the posture-related information, the suspended load-related information, and the environment-related information, at least one of the lifting skill-related information, the movement skill-related information, or the hanging skill-related information is The control unit is configured to be able to generate
The control unit includes:
generating the skill-related information based on the operation-related information, the posture-related information, the suspended load-related information, and the environment-related information stored in the storage unit using the skill-related information generation model;
Pilot skill evaluation device. The crane comprising the operator skill evaluation device according to claim 1 or 2. The operator skill evaluation device according to claim 1 or 2,
The front storage unit and the control unit are
located in a server that can communicate with a plurality of cranes using a communication line,
The storage unit includes:
Each of the plurality of cranes operated by different operators respectively stores the operation-related information, the posture-related information, and the suspended load-related information output to the storage unit using the communication line,
The control unit includes:
Using a skill-related information generation model, the plurality of cranes are operated based on the operation-related information, the attitude-related information, and the suspended load-related information for each of the plurality of cranes acquired by the storage unit. generating the skill-related information for each operator;
Pilot skill evaluation device.

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