JP7472746B2 - 作業支援装置 - Google Patents
作業支援装置 Download PDFInfo
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- JP7472746B2 JP7472746B2 JP2020165395A JP2020165395A JP7472746B2 JP 7472746 B2 JP7472746 B2 JP 7472746B2 JP 2020165395 A JP2020165395 A JP 2020165395A JP 2020165395 A JP2020165395 A JP 2020165395A JP 7472746 B2 JP7472746 B2 JP 7472746B2
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- 238000012544 monitoring process Methods 0.000 claims description 6
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Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
- G05D1/1064—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones specially adapted for avoiding collisions with other aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/22—Taking-up articles from earth's surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0094—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/003—Flight plan management
- G08G5/0039—Modification of a flight plan
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/04—Anti-collision systems
- G08G5/045—Navigation or guidance aids, e.g. determination of anti-collision manoeuvers
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
- E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
Description
前記作業機械は、
下部走行体と、
前記下部走行体に搭載される上部旋回体と、
前記上部旋回体に回動可能に設けられる作業装置と、
前記撮像装置が撮像した画像を表示する表示装置とを有し、
当該作業支援装置は、前記飛行体と通信可能であり、前記飛行体に係る動作モードを複数のモード間で切り替えるモード切替部を有し、
前記複数のモードは、前記作業機械の周辺を監視可能な前記画像を取得する第1動作モードと、前記作業装置による作業を支援可能な前記画像を取得する第2動作モードとを含む、作業支援装置が提供される。
8 電装系装置
10 制御装置
40 無人飛行機
50 飛行制御装置
52 遠隔操作装置
80 画像出力装置
82 センサ類
821 GPSコンパス
822 回転角センサ
110 下部走行体
120 上部旋回体
122 キャブ(運転室)
130 旋回機構
140 作業機構
141 ブーム
142 ブームシリンダ
143 アーム
144 アームシリンダ
145 破砕機
146 バケットシリンダ
147 破砕機用シリンダ
150 位置情報取得部
151 姿勢情報取得部
152 向き情報取得部
1520 上部旋回体向き算出部
1521 下部走行体向き算出部
153 通信処理部
154 画像出力処理部
400 制御装置
401 機体情報取得部
402 目標飛行状態設定部
403 機体制御部
404 通信処理部
410 撮像装置
510 情報取得部
511 モード切替部
512 相対位置関係判定部
514 飛行制御部
5141 目標飛行位置算出部
5142 目標飛行姿勢算出部
Claims (5)
- 解体作業機械と、撮像装置を搭載した飛行体との位置関係を制御する作業支援装置であって、
前記解体作業機械は、
下部走行体と、
前記下部走行体に搭載される上部旋回体と、
前記上部旋回体に設けられる作業機構と、
前記撮像装置が撮像した画像を表示する表示装置とを有し、
前記作業機構が
前記上部旋回体に起伏可能に装着されるブームと、
前記ブームの先端に回動可能に連結されるアームと、
前記アームの先端に取り付けられた破砕機と、を備え、
当該作業支援装置は、前記飛行体と通信可能であり、前記飛行体に係る動作モードを複数のモード間で切り替えるモード切替部を有し、
前記複数のモードは、前記解体作業機械の周辺を監視可能な前記画像を取得する第1動作モードと、前記作業機構及び前記上部旋回体を含む旋回部分の側方から前記破砕機による作業を支援可能な破砕機と作業対象物とを含む前記画像を取得する第2動作モードとを含む、作業支援装置。 - 当該作業支援装置は、前記第1動作モードにおいて、前記飛行体を前記解体作業機械の後方位置でホバリングさせ、前記解体作業機械の周辺を監視可能な前記画像として、前記解体作業機械全体と前記解体作業機械の周辺とを含む前記画像を取得する、請求項1に記載の作業支援装置。
- 当該作業支援装置は、前記第2動作モードにおいて、前記飛行体を前記作業機構及び前記上部旋回体を含む旋回部分の側方の位置でホバリングさせ、前記破砕機による作業を支援可能な前記画像を取得する、請求項1又は2に記載の作業支援装置。
- 前記第1動作モードは、前記下部走行体を基準として前記飛行体の目標飛行位置を決定する下部基準モードを含み、
当該作業支援装置は、前記モード切替部が前記第1動作モードと前記第2動作モードとの間の切替を行う際、前記上部旋回体を基準として前記飛行体の目標飛行位置を決定する遷移処理を実行する、請求項1から3のうちのいずれか1項に記載の作業支援装置。 - 前記第1動作モードは、前記下部走行体を基準として前記飛行体の目標飛行位置を決定する下部基準モードを含み、
当該作業支援装置は、前記モード切替部が前記第1動作モードと前記第2動作モードとの間の切替を行う際、前記飛行体を一時的に上昇させる遷移処理を実行する、請求項1から4のうちのいずれか1項に記載の作業支援装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020165395A JP7472746B2 (ja) | 2020-09-30 | 2020-09-30 | 作業支援装置 |
EP21198161.8A EP3978692A1 (en) | 2020-09-30 | 2021-09-22 | Work support apparatus for work machine |
US17/448,719 US11835970B2 (en) | 2020-09-30 | 2021-09-24 | Unmanned aerial vehicle with work implement view and overview mode for industrial vehicles |
Applications Claiming Priority (1)
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---|---|---|---|
JP2020165395A JP7472746B2 (ja) | 2020-09-30 | 2020-09-30 | 作業支援装置 |
Publications (2)
Publication Number | Publication Date |
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JP2022057248A JP2022057248A (ja) | 2022-04-11 |
JP7472746B2 true JP7472746B2 (ja) | 2024-04-23 |
Family
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JP2020165395A Active JP7472746B2 (ja) | 2020-09-30 | 2020-09-30 | 作業支援装置 |
Country Status (3)
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US (1) | US11835970B2 (ja) |
EP (1) | EP3978692A1 (ja) |
JP (1) | JP7472746B2 (ja) |
Citations (2)
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WO2017131194A1 (ja) | 2016-01-29 | 2017-08-03 | 住友建機株式会社 | ショベル及びショベルの周囲を飛行する自律式飛行体 |
JP2019214836A (ja) | 2018-06-11 | 2019-12-19 | 株式会社フジタ | 作業機械の遠隔制御システム |
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JP6512657B2 (ja) * | 2015-03-24 | 2019-05-15 | 株式会社フジタ | 移動機器の周囲状況提示システム |
WO2016159839A1 (en) * | 2015-03-30 | 2016-10-06 | Volvo Construction Equipment Ab | System and method for determining the material loading condition of a bucket of a material moving machine |
DE102015116736A1 (de) * | 2015-10-02 | 2017-04-06 | Claas Selbstfahrende Erntemaschinen Gmbh | Verfahren zur sensorgestützten Bewirtschaftung |
US20170175363A1 (en) * | 2015-12-22 | 2017-06-22 | Caterpillar Inc. | Method for providing images of a work tool for a machine |
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2020
- 2020-09-30 JP JP2020165395A patent/JP7472746B2/ja active Active
-
2021
- 2021-09-22 EP EP21198161.8A patent/EP3978692A1/en active Pending
- 2021-09-24 US US17/448,719 patent/US11835970B2/en active Active
Patent Citations (2)
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WO2017131194A1 (ja) | 2016-01-29 | 2017-08-03 | 住友建機株式会社 | ショベル及びショベルの周囲を飛行する自律式飛行体 |
JP2019214836A (ja) | 2018-06-11 | 2019-12-19 | 株式会社フジタ | 作業機械の遠隔制御システム |
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JP2022057248A (ja) | 2022-04-11 |
US11835970B2 (en) | 2023-12-05 |
US20220100212A1 (en) | 2022-03-31 |
EP3978692A1 (en) | 2022-04-06 |
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