Patent Description:
In the related art, a technique for inspecting a crane by flying a flying object such as a drone around the crane is known (for example, refer to <CIT>). The article "<NPL>et al. discloses a mission definition system and an automated flight process it enables to implement measurement plans for discrete infrastructure inspections using aerial platforms, and specifically multi-rotor drones. Japanese Unexamined Patent Publication No. <CIT> discloses a display device that superimposes a path of a mobile unit automatically traveling or flying onto a real scene.

The preamble of claim <NUM> is known from <NPL>.

Incidentally, the crane has a complicated structure having many complicated members such as ropes and booms as compared with a structure such as a building. Therefore, it is difficult to accurately confirm a flight route of the flying object flying around it.

The present invention has been made in view of the above circumstances, and an object of the present invention is to make it possible to easily and accurately confirm the flight route of the flying object as compared with the related art.

According to an embodiment of the present invention, there is provided a display device including a display unit, and control means for displaying a flight route of a flying object flying while photographing surroundings of a crane on the display unit.

The control means is configured to acquire disposition state data of the crane, to set the flight route based on the disposition state data of the crane such that the flying object flies along the set flight route, to display the crane and the flight route on the display unit, and to display the flight route in a display mode viewed from at least two different directions.

According to another embodiment of the present invention, there is provided a route display program that displays a flight route of a flying object flying while photographing surroundings of a crane on a display unit, in which the program causes a computer to function as display control means for acquiring disposition state data of the crane, for setting the flight route based on the disposition state data of the crane such that the flying object flies along the set flight route, and for displaying the flight route in a display mode viewed from at least two different directions, in a case in which the crane and the flight route are displayed on the display unit.

According to the present invention, it is possible to easily and accurately confirm the flight route of the flying object as compared with the related art.

<FIG> is a diagram illustrating an outline of a crane inspection system (hereinafter, simply referred to as "inspection system") <NUM> according to the embodiment of the present invention.

As illustrated in <FIG>, the inspection system <NUM> includes a crane <NUM> which is an inspection target, a moving body <NUM> moving surroundings of the crane <NUM>, and information terminals <NUM> and <NUM> that performs predetermined processing on data acquired by the moving body <NUM>, a management server <NUM>, and a remote controller <NUM>.

The management server <NUM> is connected to a network <NUM> such as a general public network.

In addition to the management server <NUM>, base stations <NUM> and <NUM>, the information terminals <NUM> and <NUM>, and the like are connected to the network <NUM>. The management server <NUM> can exchange data with nodes connected to the network <NUM>, that is, the base stations <NUM> and <NUM>, the moving body <NUM>, and a plurality of the information terminals <NUM> and <NUM>.

The remote controller <NUM> is configured to communicate with the moving body <NUM> and the information terminal <NUM>, and mediates transmission and reception of information between them (for example, image information acquired by the moving body <NUM>). In addition, the remote controller <NUM> is configured to control an operation of the moving body <NUM>, and, for example, it is possible to manually operate the moving body <NUM>.

The base station <NUM> is a base station of a satellite communication line capable of transmitting and receiving radio waves via a satellite <NUM>, and the base station <NUM> is a base station of a so-called mobile phone communication line.

When the base stations <NUM> and <NUM> receive various data from the moving body <NUM>, the crane <NUM>, and the like, the base stations <NUM> and <NUM> transmit the data to the management server <NUM> via the network <NUM>.

The crane <NUM> has various sensors for detecting a state of each part of the crane <NUM> itself and a controller <NUM> as will be described later (refer to <FIG>). The controller <NUM> transmits information detected by the various sensors to the base stations <NUM> and <NUM> by a first communication unit <NUM> and a second communication unit <NUM> (refer to <FIG>), and receives predetermined information.

An inspection information database <NUM> and a customer information database <NUM> are connected to the management server <NUM>. A control device <NUM> (refer to <FIG>) included in the management server <NUM> causes the inspection information database <NUM> to store diagnostic information data (to be described later) received from the moving body <NUM> and the crane <NUM> via the base stations <NUM> and <NUM>, and state information data generated from the diagnostic information data.

The control device <NUM> included in the management server <NUM> transmits the state information data stored in the inspection information database <NUM> to the predetermined information terminals <NUM> and <NUM> via the network <NUM>. The control device <NUM> included in the management server <NUM> determines a transmission destination of information based on contents of the customer information database <NUM>. The information is transmitted, for example, to the information terminal <NUM> used by a site supervisor who is a user of the crane <NUM>, a serviceman of a crane manufacturer, and the like or to the information terminal <NUM> used by an administrator who is a business-involved user using the crane <NUM> at a place away from the site, and is displayed on a display screen of the information terminals <NUM> and <NUM>.

Although <FIG> illustrates only one for the crane <NUM>, the information terminals <NUM> and <NUM>, the management server <NUM> is actually configured to transmit and receive the information between a large number of cranes <NUM> and a large number of information terminals <NUM> and <NUM>.

Here, the moving body <NUM> will be described.

<FIG> is a block diagram showing a control system of the moving body <NUM>.

The moving body <NUM> has a plurality of rotors, can fly by controlling output of a motor that is a drive source of each rotor, and can freely perform raising/lowering operations, forward/backward/rightward/leftward movements, positive/negative turning, and the like. It is a flying object so-called drone (unmanned aerial vehicle).

The moving body <NUM> moves the surroundings of the crane <NUM> which is an inspection target, images each part thereof, and transmits the acquired captured image data to the predetermined information terminals <NUM> and <NUM> and the management server <NUM>.

As illustrated in <FIG>, the moving body <NUM> includes a camera <NUM> serving as imaging means, a positioning unit <NUM>, a direction sensor <NUM>, a height sensor <NUM>, a posture sensor <NUM>, a microphone (sound detection sensor) <NUM>, a temperature sensor <NUM>, a drive unit <NUM>, a control unit <NUM>, a data storage unit <NUM>, a memory <NUM>, a first communication unit <NUM>, and a second communication unit <NUM>.

It is not necessary that all of the sensors such as the positioning unit <NUM>, the direction sensor <NUM>, the height sensor <NUM>, the posture sensor <NUM>, the microphone <NUM>, and the temperature sensor <NUM> which are described above are mounted on the moving body <NUM>. The moving body <NUM> may include at least the camera <NUM>.

The camera <NUM> is supported to be directed in a predetermined direction from the machine body of the moving body <NUM>, and images a scene ahead of the line of sight in accordance with a direction of the machine body. The camera <NUM> can continuously acquire captured images at a constant frame rate. Accordingly, it is possible to perform imaging of a plurality of locations including an inspection location. An image signal obtained by imaging is output to an image processing unit <NUM> connected to the camera <NUM>. Captured image data having a predetermined format is generated by the image processing unit <NUM>, and is recorded in the memory <NUM>.

The camera <NUM> is not limited to those which acquire an image of visible light, and an infrared camera for imaging of infrared rays may be used. When the infrared camera is used, distance image data can be obtained by using a phase difference method.

Moreover, the camera <NUM> is not limited to a monocular camera, and a stereo camera may be used. In this case, it is also possible to obtain the distance image data.

The positioning unit <NUM> is a global navigation satellite system (GNSS) receiver and measures a current position of the moving body <NUM>. Real time kinematic (RTK), which has higher accuracy than global positioning system (GPS), is applied to the positioning unit <NUM> of the present embodiment.

The direction sensor <NUM> is a three-axis gyro azimuth sensor and detects an advancing direction of the moving body <NUM> and a tilt angle of the machine body.

The height sensor <NUM> is, for example, an optical type and projects light downward to detect a height of the machine body from a phase difference generated by reflected light thereof.

The posture sensor <NUM> includes a three-dimensional acceleration sensor and detects acceleration in each direction of an X-axis, a Y-axis, and a Z-axis which are defined in the moving body <NUM>. A posture of the machine body can be detected from gravitational acceleration detected for each of these axes.

The microphone <NUM> has directivity, and detects sound of an object located ahead in the same direction as that of the line of sight of the camera <NUM>.

The temperature sensor <NUM> is a so-called radiation thermometer, which is a non-contact type. The temperature sensor <NUM> detects a temperature of the object located ahead in the same direction as that of the line of sight of the camera <NUM>.

Each of these sensors may be any as long as it can detect desired information, and its sensor type, detection principle, and the like are not limited to those described above.

The first communication unit <NUM> performs data communication with the base station <NUM> via the satellite <NUM>.

The second communication unit <NUM> performs data communication with the base station <NUM> directly.

The drive unit <NUM> is configured to output a thrust for a movement operation of the moving body <NUM>, and has a plurality of rotors and a plurality of motors serving as rotation drive sources provided for each rotor. The drive unit <NUM> is controlled by the control unit <NUM> so that the machine body moves in a target movement direction.

The data storage unit <NUM> is a non-volatile storage device that stores various information relating to a control program and control of the moving body <NUM>.

The memory <NUM> stores captured image data captured by the camera <NUM> and detection data detected by the microphone <NUM> and the temperature sensor <NUM>.

The memory <NUM> may include the non-volatile storage device. In addition, the memory <NUM> may include a removable recording medium. In this case, the removed recording medium is used to transmit and receive the captured image data and the detection data to the external information terminals <NUM> and <NUM> and the management server <NUM> without passing through the network <NUM>.

The control unit <NUM> comprehensively controls each part of the moving body <NUM> based on a control program stored in the data storage unit <NUM>, a control command transmitted from the information terminals <NUM> and <NUM>, and the like.

For example, the control unit <NUM> acquires information on the position and a posture of the moving body <NUM> at the time of imaging and detection from the direction sensor <NUM> and the posture sensor <NUM>, and records the information in the memory <NUM> in association with the captured image data and the detection data (hereinafter, the captured image data and the detection data associated with the information on the position and the posture of the moving body <NUM> at the time of imaging and detection are referred to as "diagnostic information data"). In addition, the control unit <NUM> transmits the diagnostic information data to the information terminals <NUM> and <NUM> and the management server <NUM> via the first communication unit <NUM> and the second communication unit <NUM>.

Subsequently, the crane <NUM> will be described.

<FIG> is a side surface view of the crane <NUM>.

In the present embodiment, as the crane <NUM>, a so-called mobile tower crane will be described as an example. In describing the crane <NUM> below, a forward moving direction of the crane <NUM> (a predetermined forward moving direction of a lower traveling body <NUM>, regardless of a facing direction of a rotating platform <NUM>,) will be defined as "front". A rearward moving direction will be defined as "rear". A left-hand side in a state of facing the front will be defined as "left". A right-hand side in a state of facing the front will be defined as "right".

As illustrated in <FIG>, the crane <NUM> includes the lower traveling body <NUM> having a crawler type that can travel by itself, the rotating platform <NUM> mounted on the lower traveling body <NUM> to be capable of turning, and a front attachment <NUM> attached to a front side of the rotating platform <NUM> to be capable of derricking.

The rotating platform <NUM> configures a main body of the crane <NUM>, and includes a turning frame <NUM> extending in forward and rearward directions. A boom attachment portion <NUM> is provided on a front side of the turning frame <NUM>, and a base end <NUM> of a tower boom <NUM> (to be described later) is attached to the boom attachment portion <NUM> to be capable of derricking.

In addition, in the turning frame <NUM>, a mast attachment portion <NUM> is provided in the vicinity of a rear side of the boom attachment portion <NUM>. A base end of a mast <NUM> (to be described later) is attached to the mast attachment portion <NUM> to be pivotable. Furthermore, in the turning frame <NUM>, a base end of a backstop <NUM> (to be described later) is attached to a rear side of the mast attachment portion <NUM> to be pivotable.

A counterweight <NUM> for balancing a weight between a front attachment <NUM> and a suspended load is arranged on the rear side of the turning frame <NUM>. In addition, a boom derricking winch (not illustrated) is arranged on the rear side of the turning frame <NUM>. On the other hand, a cab <NUM> in which a driver's seat and various manipulation devices (both not illustrated) are disposed is provided on a front right side of the turning frame <NUM>.

The front attachment <NUM> is provided in the rotating platform <NUM>, and transports loads such as materials between a ground and a high place. The front attachment <NUM> includes the tower boom <NUM>, a tower jib <NUM>, and a tower strut <NUM>.

The tower boom <NUM> is attached to the rotating platform <NUM> to be capable of derricking. The tower boom <NUM> includes a lower boom <NUM> whose base end (foot portion) <NUM> is attached to the boom attachment portion <NUM> of the turning frame <NUM> to be capable of derricking, a plurality of (for example, three levels) intermediate booms <NUM> whose base end is attached to a tip of the lower boom <NUM>, and an upper boom <NUM> attached to a tip of the intermediate boom <NUM> located on a most tip side. A jib derricking winch <NUM> and a main winding winch <NUM> (to be described later) are attached to the lower boom <NUM>.

As illustrated in the drawing, each pillar member of the intermediate booms <NUM> adjacent to each other in a length direction is connected by using a connecting pin. In addition, the intermediate boom <NUM> located on a lowermost side and the lower boom <NUM>, and the intermediate boom <NUM> located on an uppermost side and the upper boom <NUM> are respectively connected to each other by using the connecting pins.

The upper boom <NUM> has a shape whose upper portion protrudes forward when the tower boom <NUM> is in a standing posture (posture illustrated in <FIG>). A lower side portion of the upper boom <NUM> is attached to a tip (upper end) of the intermediate boom <NUM> located on the uppermost side. The tower jib <NUM> (to be described later) is attached to a front end side of the upper boom <NUM> to be capable of derricking, and the tower strut <NUM> (to be described later) is attached to an upper end side of the upper boom <NUM> to be capable of oscillating. In addition, a triangular sheave bracket <NUM> projects rearward in the upper boom <NUM>. A tower guide sheave <NUM> and a guide sheave <NUM> are attached to the sheave bracket <NUM> to be rotatable.

The tower jib <NUM> is attached to a tip of the upper boom <NUM> of the tower boom <NUM> to be capable of derricking. The tower jib <NUM> includes a lower jib <NUM> whose base end is attached to the upper boom <NUM> to be capable of derricking, an intermediate jib <NUM> attached to a tip of the lower jib <NUM>, and an upper jib <NUM> provided in a tip of the intermediate jib <NUM>. A guide sheave <NUM> and a point sheave <NUM> are attached to a tip side of the upper jib <NUM> to be rotatable. A main winding rope <NUM> (to be described later) is wound around the guide sheave <NUM> and the point sheave <NUM>.

The tower strut <NUM> is attached to the upper end side of the upper boom <NUM> of the tower boom <NUM> to be capable of oscillating. The tower strut <NUM> connects a first strut <NUM>, a second strut <NUM>, and a third strut <NUM> by using a first connecting portion <NUM>, a second connecting portion <NUM>, and a third connecting portion <NUM>. In this manner, the tower strut <NUM> is configured as a triangular structure.

Here, the first connecting portion <NUM> of the tower strut <NUM> is attached to the upper end side of the upper boom <NUM>. In this manner, the tower strut <NUM> is attached to an upper end of the tower boom <NUM> to be capable of oscillating while the first connecting portion <NUM> serves as a fulcrum. In addition, one end of a pendant rope <NUM> is connected to the second connecting portion <NUM>, and the other end of the pendant rope <NUM> is connected to the tip side of the upper jib <NUM> of the tower jib <NUM>. Furthermore, a boom-side pendant rope <NUM> (to be described later) is connected to the third connecting portion <NUM>.

The jib derricking winch <NUM> is attached to the lower boom <NUM> of the tower boom <NUM>. The jib derricking winch <NUM> causes the tower jib <NUM> to perform derricking via the tower strut <NUM>. The jib derricking winch <NUM> and the third connecting portion <NUM> of the tower strut <NUM> are connected to each other by a jib derricking rope <NUM>.

The jib derricking rope <NUM> is provided between the jib derricking winch <NUM> and the tower strut <NUM>. The jib derricking rope <NUM> includes a lower spreader <NUM> having a plurality of sheaves attached to the intermediate boom <NUM> of the tower boom <NUM>, an upper spreader <NUM> having a plurality of sheaves provided to face the lower spreader <NUM>, a winding rope <NUM> wound around the jib derricking winch <NUM> in a state of being sequentially wound around the sheave of the lower spreader <NUM> and the sheave of the upper spreader <NUM>, and a boom-side pendant rope <NUM> in which one end is connected to the upper spreader <NUM> and the other end is connected to the third connecting portion <NUM> of the tower strut <NUM>.

Therefore, the winding rope <NUM> is wound and unwound by the jib derricking winch <NUM>. In this manner, the upper spreader <NUM> moves close to and away from the lower spreader <NUM>, and the tower strut <NUM> oscillates while the first connecting portion <NUM> serves as a fulcrum. The oscillation of the tower strut <NUM> is transmitted to the tower jib <NUM> via the pendant rope <NUM>. In this manner, the tower jib <NUM> is configured to perform derricking on the tip side of the tower boom <NUM>.

The main winding winch <NUM> is located in the vicinity of an upper side of the jib derricking winch <NUM>, and is attached to the lower boom <NUM> of the tower boom <NUM>. One end of the main winding rope <NUM> is wound around the main winding winch <NUM>. The other end of the main winding rope <NUM> is attached to a suspended load hook <NUM> via the guide sheave <NUM> of the sheave bracket <NUM>, the guide sheave <NUM> of the tower jib <NUM>, and the point sheave <NUM>. Therefore, the main winding rope <NUM> is wound and unwound by the main winding winch <NUM> so that the suspended load hook <NUM> can be raised and lowered.

The backstop <NUM> is provided between the turning frame <NUM> and the lower boom <NUM> of the tower boom <NUM>. The backstop <NUM> supports the standing tower boom <NUM> from behind.

Abase end of the mast <NUM> is attached to the mast attachment portion <NUM> of the turning frame <NUM> to be pivotable. The tip of the mast <NUM> is a free end that is pivotable in upward, downward, forward, and rearward directions.

A boom spreader <NUM> is provided in the tip of the mast <NUM>, and the boom spreader <NUM> and the upper boom <NUM> of the tower boom <NUM> are connected to each other via a pendant rope <NUM> having a certain length. In addition, a boom derricking rope <NUM> sequentially wound over the boom spreader <NUM> and a spreader (not illustrated) on the turning frame <NUM> side is wound around a tower boom derricking winch (not illustrated) provided in the turning frame <NUM>.

Therefore, when the boom derricking rope <NUM> is wound or unwound by tower boom derricking winch, the tower boom <NUM> can perform derricking (standing or lowering) via the pendant rope <NUM>.

<FIG> is a block diagram illustrating a control system of the crane <NUM>.

As illustrated in this drawing, the crane <NUM> includes the controller <NUM> that comprehensively controls each part of the crane <NUM>. More specifically, the controller <NUM> executes control of various operations such as traveling, turning, and the suspension load of the crane <NUM>, and processing of abnormality detection. The controller <NUM> includes a CPU, a ROM and RAM which are storage devices, and a calculation processing device including other peripheral circuits.

In addition, the crane <NUM> includes a load cell <NUM>, a boom angle sensor <NUM>, a manipulated variable sensor <NUM>, a jib angle sensor <NUM>, a tilt sensor <NUM>, a lift meter <NUM>, and the like as a sensor for acquiring information on a state of each part of the crane <NUM>.

The load cell <NUM> is attached to the boom spreader <NUM>, detects tension acting on the boom derricking rope <NUM> that causes the tower boom <NUM> to perform derricking, and outputs a control signal corresponding to the detected tension to the controller <NUM>.

The boom angle sensor <NUM> is attached to a base end side of the tower boom <NUM>, detects a derricking angle (hereinafter, also referred to as a boom angle) of the tower boom <NUM>, and outputs a control signal corresponding to the detected boom angle to the controller <NUM>. For example, as the boom angle, the boom angle sensor <NUM> detects a ground angle which is an angle with respect to a horizontal plane.

The jib angle sensor <NUM> is attached to a base end side of the tower jib <NUM>, detects a derricking angle (hereinafter, also referred to as a jib angle) of the tower jib <NUM>, and outputs a control signal corresponding to the detected jib angle to the controller <NUM>. For example, as the jib angle, the jib angle sensor <NUM> detects the ground angle which is the angle with respect to the horizontal plane.

For example, the manipulated variable sensor <NUM> detects a manipulated variable of a hydraulic pilot type operation lever, and outputs a control signal corresponding to the detected manipulated variable to the controller <NUM>.

The tilt sensor <NUM> detects a tilt of the crane <NUM>, that is a tilt of a ground on which the crane <NUM> is located, and outputs the tilt to the controller <NUM>.

The lift meter <NUM> detects a height position of the suspended load hook <NUM> and outputs the height position to the controller <NUM>.

In addition, the crane <NUM> includes an input unit <NUM>, a display device <NUM>, an alarm device <NUM>, a stop device <NUM>, a first communication unit <NUM>, a second communication unit <NUM>, an operation lever <NUM>, and a control valve <NUM>.

The input unit <NUM> is, for example, atouchpanel, and outputs a control signal corresponding to an operation from a worker to the controller <NUM>. The worker can operate the input unit <NUM> to set the number of application times of the main winding rope <NUM>, a length of the tower boom, and a mass of the suspended load hook <NUM>.

For example, the display device <NUM> includes a touch panel type display that is also used as the input unit <NUM>, and displays information on the suspended load or information on a work posture on a display screen, based on the control signal output from the controller <NUM>.

The alarm device <NUM> issues an alarm, based on a control signal output from the controller <NUM>.

The stop device <NUM> stops driving a hydraulic motor (not illustrated) connected to each of the main winding winch <NUM> and the jib derricking winch <NUM>, based on a control signal output from the controller <NUM>. For example, the stop device <NUM> is an electromagnetic switching valve which can cut off pressure oil supply from a hydraulic pump to a hydraulic motor.

The control valve <NUM> includes a plurality of valves that can be switched in accordance with a control signal from the controller <NUM>.

For example, the control valve <NUM> includes a valve for hydraulic pressure supply, interruption, and rotation direction switching from the hydraulic pump included in the crane body <NUM> to the hydraulic motor that rotationally drives drive wheels of the lower traveling body <NUM>, a valve for hydraulic pressure supply, interruption, and rotation direction switching from the hydraulic pump to the hydraulic motor that performs a turning operation of the rotating platform <NUM>, a valve for hydraulic pressure supply, interruption, and rotation direction switching from the hydraulic pump to the hydraulic motor that rotationally drives the tower boom derricking winch, a valve for hydraulic pressure supply, interruption, and rotation direction switching from the hydraulic pump to the hydraulic motor that rotationally drives the jib derricking winch <NUM>, and a valve for hydraulic pressure supply, interruption, and rotation direction switching from the hydraulic pump to the hydraulic motor that rotationally drives the main winding winch <NUM>.

The operation lever <NUM> includes a plurality of levers for inputting control signals for individually performing switching to various valves of the control valve <NUM> through the controller <NUM>.

For example, a traveling lever which is one of the operation levers <NUM> inputs a switching signal to a valve that performs hydraulic pressure supply, interruption, and rotation direction switching for the hydraulic motor that rotationally drives the drive wheels of the above-described lower traveling body <NUM>.

In addition, a turning lever which is one of the operation levers <NUM> inputs a switching signal to a valve that performs hydraulic pressure supply, interruption, and rotation direction switching from the above-described hydraulic pump to the hydraulic motor that performs a turning operation of the rotating platform <NUM>.

In addition, a boom derricking lever which is one of the operation levers <NUM> inputs a switching signal to a valve that performs hydraulic pressure supply, interruption, and rotation direction switching from the above-described hydraulic pump to the hydraulic motor that rotationally drives the tower boom derricking winch.

In addition, a jib derricking lever which is one of the operation levers <NUM> inputs a switching signal to a valve that performs hydraulic pressure supply, interruption, and rotation direction switching from the above-described hydraulic pump to the hydraulic motor that rotationally drives the jib derricking winch <NUM>.

In addition, a winding lever which is one of the operation levers <NUM> inputs a switching signal to a valve that performs hydraulic pressure supply, interruption, and rotation direction switching from the above-described hydraulic pump to the hydraulic motor that rotationally drives the main winding winch <NUM>.

The controller <NUM> inputs control signals corresponding to hydraulic pressure supply, interruption, and rotation direction switching to each valve configuring the corresponding control valve <NUM> in accordance with an operation of various levers configuring the operation lever <NUM>, and performs control on each hydraulic motor.

In this manner, a worker can operate the operation lever <NUM> to perform a traveling operation of the crane body <NUM>, a turning operation of the rotating platform <NUM>, a derricking operation of the tower boom <NUM>, a derricking operation of the tower jib <NUM>, and raising/lowering operations of the suspended load hook <NUM>.

<FIG> is a block diagram illustrating a configuration of the management server <NUM>.

As illustrated in this drawing, the management server <NUM> includes a control device <NUM>, a storage unit <NUM>, and a communication unit <NUM>.

The control device <NUM> includes a CPU and a calculation processing device having peripheral circuits. The control device <NUM> controls each unit of the management server <NUM> by reading and executing a control program stored in advance in the storage unit <NUM>.

For example, the storage unit <NUM> is a non-volatile storage device.

The communication unit <NUM> performs data communication (transmission and reception) via the network <NUM> in accordance with a predetermined procedure.

A display device <NUM> is connected to the control device <NUM>, and the control device <NUM> displays the information stored in the storage unit <NUM>, the inspection information database <NUM>, and the customer information database <NUM> on the display screen of the display device <NUM>.

The inspection information database <NUM> and the customer information database <NUM> are connected to the control device <NUM>.

The inspection information database <NUM> stores date and time information, a work machine ID of the crane <NUM>, and a diagnosis result which are received from the control device <NUM> via the base stations <NUM> and <NUM> (including a case via the crane <NUM>) from the moving body <NUM> in association with each other.

The customer information database <NUM> stores the work machine ID of the crane <NUM>, customer information relating to a customer who owns the crane <NUM>, and a delivery destination address of the customer in association with each other. The delivery destination address of the customer which corresponds to one work machine ID can be set in any desired way.

Accordingly, the control device <NUM> specifies the customer and the delivery destination of the customer, when the information in the crane inspection information database <NUM> is updated for the specific crane <NUM>, and transmits the updated information of the crane <NUM>, or notifies the worker of the updated information. In addition, when there is an access from the customer side, the control device <NUM> may allow transmitting or reading various information recorded in the inspection information database <NUM> of the crane relating to the crane <NUM> of the customer. In this case, a password may be set for each customer in the customer information database <NUM>, and the password may be requested when there is an access from the customer side. It is preferable that the password is registered in the customer information database <NUM>.

Based on the diagnostic information data including the captured image data and the detection data which are acquired from the moving body <NUM>, the control device <NUM> performs diagnostic processing for determining whether or not there is an abnormality at the inspection locations of the crane <NUM> with regard to.

The inspection items are as follows, for example.

<FIG> is a block diagram illustrating a schematic control system of the information terminals <NUM> and <NUM>. Since the information terminals <NUM> and <NUM> of the present embodiment are configured in substantially the same manner, the information terminal <NUM> will be described below, and the description of the information terminal <NUM> will be omitted.

The information terminal <NUM> is, for example, a terminal device such as a personal computer, a smartphone, or a tablet terminal, and includes an input unit <NUM>, a display unit <NUM>, a communication unit <NUM>, a storage unit <NUM>, and a control unit <NUM>, as illustrated in <FIG>. The information terminal <NUM> corresponds to an example of the display device according to the present invention.

The input unit <NUM> includes, for example, a touch panel, and outputs an input signal corresponding to the operation content of the user to the touch panel to the control unit <NUM>.

The display unit <NUM> includes, for example, a touch panel type display <NUM> (refer to <FIG>), and displays various information on the display <NUM> based on a display signal input from the control unit <NUM>.

The communication unit <NUM> can perform data communication (transmission and reception) with the crane <NUM>, the moving body <NUM>, the management server <NUM>, and the like via the network <NUM>. The communication unit <NUM> may be configured to directly communicate with the crane <NUM>, the moving body <NUM>, and the management server <NUM>.

The storage unit <NUM> is a memory including a random access memory (RAM), a read only memory (ROM), and the like, stores various programs and data, and also functions as a work area of the control unit <NUM>.

In the present embodiment, the storage unit <NUM> stores in advance a route display program <NUM> for executing route display processing (refer to <FIG>) to be described later.

In addition, the storage unit <NUM> has a crane information database (DB) <NUM> in which various information about the crane is stored. In the crane information DB <NUM>, a plurality of pieces of model information (model name) and information on a structure of each model (including a shape and main dimension of each part) are stored in association with each other. Information on the structure of the crane includes, for example, types such as a derricking type (A frame, live mast, or both), a tower jib derricking type (swing lever, luffer), and front specification (crane only, tower only, or both).

In addition, the storage unit <NUM> stores a three-dimensional CAD (3D-CAD) data <NUM> of the crane <NUM>.

The crane information DB <NUM> and the three-dimensional CAD data <NUM> may be stored in another device (for example, a management server <NUM>) to which the information terminal <NUM> can communicate (can read information).

The control unit <NUM> comprehensively controls the information terminal <NUM> based on a user operation and the like. Specifically, the control unit <NUM> reads various programs from the storage unit <NUM> in accordance with an operation signal input from the input unit <NUM>, executes predetermined processing according to the program, temporarily stores a processing result in the storage unit <NUM>, and appropriately outputs the result to the display unit <NUM>.

Subsequently, route display processing for setting and displaying a flight route (movement route) of the moving body <NUM> at the time of inspection of the crane <NUM> will be described.

<FIG> is a flowchart illustrating a flow of the route display processing. <FIG> are diagrams illustrating a display example of the display <NUM> in the route display processing.

Here, a case in which the user operates the information terminal <NUM> to execute the route display processing, and sets and displays the flight route of the moving body <NUM> will be described. The route display processing is executed by reading and developing the route display program <NUM> from the storage unit <NUM> by the control unit <NUM> of the information terminal <NUM>.

Here, it is assumed that the crane <NUM> is stationary in an assembled state. In the following description, although the moving body <NUM> flies along the flight route after the flight route is set in the route display processing, the flight of the moving body <NUM> does not have to be included in the route display processing.

As illustrated in <FIG>, when the route display processing is executed, first, the control unit <NUM> acquires data of a disposition state of the crane <NUM> (hereinafter, referred to as "disposition state data") (step S1).

Here, the "disposition state" of the crane <NUM> means a state relating to the structure (including size and shape), the posture, the position and the direction of the crane <NUM>.

Specifically, in the step S1, the control unit <NUM> first sets the model of the crane <NUM> based on the user operation. When the user selects the model of the crane <NUM> via the input unit <NUM>, the control unit <NUM> reads out the information on the structure (including size and shape) of the model from the crane information DB <NUM> and sets it. In addition, in a case where there is a dimension (for example, a length of the boom) that cannot be specified only by selection of the model, the control unit <NUM> sets the dimension based on the user operation.

In step S1, the control unit <NUM> acquires information on the posture of the crane <NUM> from the crane <NUM> itself via the communication unit <NUM>. Specifically, the control unit <NUM> acquires, as information on the posture of the crane <NUM>, a boom angle, a jib angle, a tilt of the crane <NUM>, and a height of the suspended load hook <NUM> which are measured by the boom angle sensor <NUM>, the jib angle sensor <NUM>, a tilt sensor <NUM>, and a lift meter <NUM> of the crane <NUM>. The measured boom angle, jib angle, tilt of the crane <NUM>, and height of the suspended load hook <NUM> are displayed on the display device <NUM> of the crane <NUM>, and the user may input the measured value to the information terminal <NUM> while viewing the display.

In addition, in step S1, the control unit <NUM> acquires information on the position and the direction of the crane <NUM> by the positioning unit <NUM> and the direction sensor <NUM> of the moving body <NUM>. Specifically, information on the position and the direction of the crane <NUM> is acquired by stopping the moving body <NUM> at a predetermined position (for example, on a crawler) of the crane <NUM>, and measuring the position and the direction by the positioning unit <NUM> and the direction sensor <NUM>. A positioning unit and a direction sensor are provided in the crane <NUM>, and the position and the direction of the crane <NUM> may be measured by the positioning unit and the direction sensor. In addition, the position and the direction of the crane <NUM> may be acquired by direct input (numerical input) of the user.

In this way, the disposition state data regarding the structure, posture, position, and direction of the crane <NUM> is acquired, and the disposition state of the crane <NUM> is specified by the disposition state data.

Next, the control unit <NUM> sets a flight condition (flight information) of the moving body <NUM> (step S2).

In the present embodiment, a lower limit of a distance between the moving body <NUM> and the crane <NUM> during flight (flight prohibition distance) is set as the flight condition of the moving body <NUM>. The "distance" in this case is not particularly limited, but it means a distance in a horizontal plane.

Next, the control unit <NUM> sets a flight route R of the moving body <NUM> based on the disposition state data of the crane <NUM> acquired in step S1 and the flight condition set in step S2, and displays the flight route R on the display <NUM> (step S3).

In this step, as illustrated in <FIG>, an entire route display screen <NUM> displaying an entire flight route R over an entire height of the crane <NUM> is displayed on the display <NUM>. The flight route R is configured such that a partial route R1 that moves around (one round) the crane <NUM> in a horizontal plane is set in a plurality of layers at a predetermined vertical distance over the entire height of the crane <NUM> (<FIG>).

Here, only a height position of each partial route R1 among the flight route R is indicated on the entire route display screen <NUM> in the present embodiment. The vertical distance between the partial routes R1 may be a predetermined default value or may be set in step S2.

In the entire route display screen <NUM> of the present embodiment, the entire crane <NUM> (side view appearance) is schematically displayed in two dimensions on a main window <NUM> of the display <NUM>, and a plurality of partial routes R1 (height positions of the partial routes) constituting the flight route R are displayed on the crane image. In the crane image, the main parts of the crane <NUM> are displayed in a distinguishable manner. The partial route R1 can be selected for editing and the like, and the selected partial route R1 is actively displayed (displayed by a large broken line in the drawing). In addition, the main information of the crane <NUM> (for example, model, front specification, boom length, boom angle, and the like) is displayed on a sub-window <NUM> at a right corner of the main window <NUM>.

On a right side of the main window <NUM>, a movement button <NUM> for moving the height of the selected partial route R1, an edit button <NUM> for editing the partial route R1, a flight point selection button <NUM> for selecting a flight point to be described later, and a complete button <NUM> for finishing the operation on the entire route display screen <NUM> are displayed.

Next, the control unit <NUM> determines whether or not an operation of editing the partial route R1 is performed (step S4). Here, the "editing" of the partial route R1 includes various operations relating to the partial route R1 including a "change" of the route to be described later.

Here, when the edit button <NUM> is operated in a state where the partial route R1 of any height is selected by the user, the control unit <NUM> determines that the operation of editing the partial route R1 has been performed (step S4; Yes), and the partial route R1 of the selected height (layer) is displayed in detail on the display <NUM> (step S5). The control unit <NUM> switches the display content of the display <NUM> from the entire route display screen <NUM> to the partial route display screen <NUM> in which the selected partial route R1 is displayed in detail.

In the partial route display screen <NUM> of the present embodiment, as illustrated in <FIG>, a cross section of the crane <NUM> having a selected height and a partial route R1 moving the surroundings of the crane <NUM> are displayed in a plane on the main window <NUM> of the display <NUM>. In the main window <NUM>, each part of the crane <NUM> is distinguishably displayed in the same manner as the entire route display screen <NUM>. A range of the flight prohibition distance set in step S2 is distinguishably displayed as a flight prohibition area F the surroundings of the crane <NUM>.

The partial route R1 is set (automatically generated) to move the surroundings of the crane <NUM> in the horizontal plane at the flight prohibition distance. More specifically, a plurality of waypoints WP are set to move the surroundings of the crane <NUM> outside the flight prohibition area F, and a partial route R1 is set to pass through the plurality of waypoints WP. The waypoints WP are also a plurality of photographing points at which the camera <NUM> performs photographing. In addition, on the partial route R1, a photographing point addition button SP for adding a waypoint WP (photographing point) is displayed between two adjacent waypoints WP.

In addition, the appearance of the crane and the height position of the partial route R1 displayed on the main window <NUM> are displayed on the sub-window <NUM> at the left corner of the display <NUM>. The sub-window <NUM> can be switched between display and non-display by operating a toggle button <NUM> displayed at the corner thereof (refer to <FIG>, and the like).

In the main window <NUM>, as illustrated in <FIG>, an end-to-end + predetermined value of the crane cross section is set to a lateral size of the screen and a longitudinal size is changed so that even a long crane cross section in the front-rear direction (left-right direction in the drawing) fits on the screen. As illustrated in <FIG>, in a case of a crane cross section having a larger lateral width (width in the vertical direction in the drawing), a lateral width + predetermined value is set to the longitudinal size of the screen, and the lateral size is changed.

Next, the control unit <NUM> determines whether or not an operation of changing the partial route R1 is performed (step S6).

In a case where it is determined that the operation of changing the partial route R1 has been performed (step S6; Yes), the control unit <NUM> changes the partial route R1 according to the operation (step S7). After that, the control unit <NUM> shifts the process to the above-described step S5 and displays the changed partial route R1.

In the present embodiment, the partial route R1 is changed by, for example, the following user operation.

First, when the user operates the photographing point addition button SP, as illustrated in <FIG>, the waypoint WP is disposed at the position of the operated photographing point addition button SP, and the photographing point addition buttons SP are additionally disposed on both sides thereof.

In addition, when the user presses the waypoint WP for a long time, for example, the waypoint WP is inversely displayed and becomes a movable active state as illustrated in <FIG>. When the user moves the waypoint WP and then releases it, the waypoint WP returns to an inactive state and is fixed, and the inverted display also returns to an original state. The waypoint WP cannot be disposed (moved) in the flight prohibition area F. In addition, when the waypoint WP is in the active state, a photographing point editing window <NUM> is pop-up displayed. The photographing point editing window <NUM> will be described later.

The user can appropriately change the partial route R1 by such an operation.

In a case where it is determined in step S6 that the operation of changing the partial route R1 is not performed (step S6; No), the control unit <NUM> determines whether or not the operation of editing the photographing conditions is performed (step S8).

In a case where it is determined that the operation of editing the photographing conditions has been performed (step S8; Yes), the control unit <NUM> edits the photographing conditions according to the operation (step S9). After that, the control unit <NUM> shifts the process to step S5 described above.

In the present embodiment, the photographing conditions at the waypoints WP can be edited by activating the waypoints WP, which are also photographing points. Specifically, as illustrated in <FIG>, when the waypoint WP is activated, the photographing point editing window <NUM> showing the photographing conditions of the waypoint WP is pop-up displayed. By operating the photographing point editing window <NUM>, it is possible to edit the photographing conditions of the desired waypoint WP. In the photographing point editing window <NUM> of the present embodiment, for example, setting the photographing direction (<NUM> to <NUM> directions), setting a nose direction at the time of photographing, setting the photographing point (adjusting upward/downward/leftward/rightward), and deleting the photographing point can be performed. In addition, the addition and movement of the photographing points may be performed in the same manner as the above-described change operation of the waypoint WP.

The photographing point editing window <NUM> is displayed so as not to overlap the waypoint WP to be edited. For example, when the waypoint WP at a lower side of the screen is activated, the photographing point editing window <NUM> is displayed at an upper side of the screen as illustrated in <FIG>.

In a case where it is determined in step S8 that the operation of changing the photographing point is not performed (step S8; No), the control unit <NUM> shifts the process to step S3 described above and transitions the display content of the display <NUM> on the entire route display screen <NUM> (refer to <FIG>).

In the present embodiment, when an OK button <NUM> or a back button B is operated on the partial route display screen <NUM>, the screen switches to the entire route display screen <NUM>.

On the other hand, in a case where it is determined in step S4 described above that the operation of editing the partial route R1 is not performed (step S4; No), the control unit <NUM> determines whether or not the flight point selection operation is performed on the entire route display screen <NUM> (step S10).

When the flight point selection button <NUM> is operated by the user, the control unit <NUM> determines that the flight point selection operation has been performed (step S10; Yes), as illustrated in <FIG>, a flight point selection window <NUM> is pop-up displayed on the entire route display screen <NUM> (step S11). In the flight point selection window <NUM>, an altitude of the flight point (partial route R1) is displayed in a list together with the selection display (check mark in the drawing).

Next, the control unit <NUM> determines whether or not an operation of changing (selecting or deselecting) the flight point is performed (step S12).

In a case where it is determined that the operation of changing the flight point has been performed (step S12; Yes), the control unit <NUM> selects or deselects the flight point (partial route R1) according to the operation (step S13). After that, the control unit <NUM> shifts the process to step S11 described above.

For example, as illustrated in <FIG>, when a check mark of a certain flight point is removed by the user in the flight point selection window <NUM>, the partial route R1 corresponding to this flight point is deleted from the flight route R, and it is erased from the main window <NUM>.

In a case where it is determined in step S12 that the operation of changing the flight point is not performed (step S12; No), the control unit <NUM> shifts the process to the above-described step S3 and displays the entire route display screen <NUM> (refer to <FIG>).

In the present embodiment, when the user operates the OK button <NUM> of the flight point selection window <NUM>, the flight point selection window <NUM> is closed and the entire route display screen <NUM> is displayed.

On the other hand, in a case where it is determined in step S10 that the flight point selection operation is not performed (step S10; No), the control unit <NUM> confirms a flight plan based on the user operation (step S14).

In the present embodiment, when the user operates the complete button <NUM> of the entire route display screen <NUM>, the control unit <NUM> switches the display content of the display <NUM> from the entire route display screen <NUM> to a flight plan confirmation screen (not illustrated).

Here, as a flight plan, for example, the number of times of photographing, the photographing time, and the like are set by the user.

Next, the control unit <NUM> receives the flight start operation by the user, starts the flight of the moving body <NUM> (step S15), and causes the moving body <NUM> to fly along the set flight route R.

It is preferable that a flight order of the flight route R is first flying the lowest layer of the partial route R1, ascending to the top layer, and sequentially descending while moving from the top layer of the partial route R1 to the second lowest layer of the partial route R1 (refer to <FIG>). In this way, first, it is possible to confirm that the flight route R does not come into contact with the crane <NUM> by flying the lowest layer of the partial route R1 once to confirm the distance, and then flying the top layer (above the crane <NUM>). Once the confirmation at the lowest layer and the top layer is performed, it is possible to confirm whether or not a center position and the settings are correct. In addition, even if the moving body <NUM> falls due to the exhaustion of a remaining power source during the flight, a falling altitude can be kept low by going around a high place at an early stage when the remaining power source (for example, battery) of the moving body <NUM> is large after confirming the safety of the lowest level.

At this time, the control unit <NUM> of the moving body <NUM> acquires the captured image data and the detection data during the flight, and transmits the diagnostic information data including the captured image data and the detection data to the information terminals <NUM> and <NUM> and the management server <NUM>. The management server <NUM> performs diagnostic processing for determining a presence or absence of an abnormality in a predetermined inspection location of the crane <NUM> based on the received diagnostic information data. The information terminals <NUM> and <NUM> may execute this diagnostic processing.

At this time, as illustrated in <FIG>, the control unit <NUM> displays a live view screen <NUM> on the display <NUM> and displays a video photographed with the camera <NUM> in the live view. On the live view screen <NUM>, the video photographed with the camera <NUM> is displayed in the live view on the main window <NUM>, and the setting screen (partial route display screen) of the partial route R1 during the flight is displayed on the sub-window <NUM> at the right corner of the display <NUM>. In a second sub-window <NUM> in the sub-window <NUM>, the appearance of the crane and the height position of the partial route R1 during the flight are displayed. The second sub-window <NUM> may be displayed as a separate window outside the sub-window <NUM>.

After that, when the flight of the moving body <NUM> along the flight route R has ended (step S16), the control unit <NUM> stops the moving body <NUM> at a predetermined position and ends the route display processing.

In step S3 described above, although the crane appearance and the flight route R are displayed two-dimensionally on the entire route display screen <NUM>, the crane appearance and the flight route R may be three-dimensionally displayed as illustrated in <FIG>.

In this case, the control unit <NUM> reads out the three-dimensional CAD data <NUM> of the crane <NUM> from the storage unit <NUM> and causes the main window <NUM> to three-dimensionally display the appearance of the crane. The displayed crane <NUM> and flight routeR can be integrally operated (enlargement/reduction, rotation around an arbitrary axis, and the like) by the user operation.

When the user selects any of the partial routes R1, as illustrated in <FIG>, the control unit <NUM> displays a cross section of the crane at the altitude of the selected partial route R1 in the same manner as the partial route display screen <NUM> displayed in step S5 described above. The selected partial route R1 may also be displayed on this screen.

In a case where the crane appearance and the flight route R are three-dimensionally displayed, additional photographing points may be set in detail.

For example, as illustrated in <FIG>, a base end part of the camera installed at the tip of the tower jib <NUM> becomes a blind spot and cannot be visually recognized (photographed) from the automatically generated partial route R1 that moves the surroundings of the crane. In this case, the three-dimensional model of the crane <NUM> is enlarged to display the corresponding location, and a desired photographing point (photographing direction) is set by a photographing direction mark M. The set photographing point is appropriately incorporated into, for example, the nearest partial route R1.

Accordingly, as illustrated in <FIG>, for example, the video of the photographing point (photographing direction) set by the photographing direction mark M is displayed on the live view screen <NUM> during the flight. Therefore, even a position that is a blind spot from the partial route R1 that simply moves the surroundings of the crane, it is possible to suitably visually recognize (photograph) the position.

As described above, according to the present embodiment, when the crane <NUM> and the flight route R are displayed on the display <NUM>, the flight route R can be displayed in a display mode viewed from two different directions (for example, the entire route display screen <NUM> and the partial route display screen <NUM> in the present embodiment).

Accordingly, the flight route R of the moving body <NUM> can be easily and accurately confirmed and identified as compared with the related art in which the flight route is simply viewed from one direction.

According to the present embodiment, in the display mode (partial route display screen <NUM>) on which the partial route R1 of the flight route R is displayed, the partial route R1 can be changed (set) based on the user operation.

Accordingly, the user can more accurately set a desired partial route R1 on the partial route display screen <NUM> on which the partial route R1 is displayed in detail.

According to the present embodiment, on the partial route display screen <NUM> displaying the partial route R1, a region where the moving body <NUM> cannot enter (flight prohibition area F) and a region where the moving body <NUM> can enter (for example, regions other than the flight prohibition area F) are displayed in a distinguishable manner.

Accordingly, the user can easily set a safe partial route R1.

According to the present embodiment, on the partial route display screen <NUM> displaying the partial route R1, the photographing point at which the moving body <NUM> performs photographing on the partial route R1 can be changed (set) based on the user operation.

Accordingly, the user can more accurately set a desired photographing point on the partial route display screen <NUM> on which the partial route R1 is displayed in detail.

According to the present embodiment, on the partial route display screen <NUM> displaying the partial route R1, a surface including the partial route R1 is displayed in a plane.

Accordingly, the user can confirm and identify the partial route R1 in detail.

According to the present embodiment, the crane <NUM> and the flight route R are configured to be integrally operated on the display <NUM> in a state where the crane <NUM> and the flight route R are three-dimensionally displayed.

Accordingly, the user can optionally change a display direction of the crane <NUM> and the flight route R, and can confirm the crane <NUM> and the flight route R from a desired direction.

Although the embodiment of the present invention has been described above, the present invention is not limited to the above embodiment.

For example, in the above embodiment, the entire route display screen <NUM> (two-dimensional and three-dimensional) and the partial route display screen <NUM> have been described as examples of the display modes of the crane <NUM> and the flight route R. As long as the flight route can be displayed in the display mode viewed from at least two different directions, the display mode is not limited to that of the above embodiment.

For example, as illustrated in <FIG>, it may be possible to display a display mode in which the crane <NUM> and the flight route R are displayed in a plane on a map. An example in <FIG> is the position confirmation screen <NUM>, and the position and direction of the crane <NUM> and the flight route R can be confirmed. For example, it is possible to confirm whether or not the crane <NUM> and the flight route R are out of a predetermined site by using the display on the map. The map information may be stored in the storage unit <NUM> in advance, or may be acquired from another terminal or the like via the network <NUM>.

Whether it is a two-dimensional display or a three-dimensional display is irrelevant in the display modes viewed from two different directions. That is, the display mode includes, for example, not only a display mode in which the partial route R1 is displayed two-dimensionally, but also a display mode in which the partial route R1 is three-dimensionally displayed.

In the above embodiment, the flight route R of the moving body <NUM> has partial routes R1 in the horizontal plane for a plurality of layers. However, the flight route of the moving body <NUM> at the time of inspection is not particularly limited, and may include, for example, a route moving in a vertical plane or a route along with a boom or a jib.

In addition, in step S1 of the route display processing, the disposition state data of the crane <NUM> is acquired from the crane <NUM> in real time, and then in the step S3, the flight route of the moving body <NUM> is set based on the disposition state data acquired in real time. That is, the process of steps S1 and S3 may be performed at any time (for example, at regular time intervals). Accordingly, the flight route can be suitably set (changed) even while the crane <NUM> is in operation.

Furthermore, the route display in real time may be performed during the flight of the moving body <NUM> in step S15.

In the above embodiment, the route display processing is executed by the route display program <NUM> in the information terminal <NUM>. The route display processing can be executed by any device capable of acquiring the disposition state data of the crane <NUM> and having computing power. Therefore, the display device according to the present invention includes the information terminals <NUM> and <NUM>, the management server <NUM>, and the crane <NUM> itself.

In the above embodiment, a mobile tower crane is exemplified as an example of the crane <NUM>. However, the present invention is not limited thereto. In addition to a mobile crane such as a wheel crane, a truck crane, a rough terrain crane, and an all terrain crane, it is applicable to various cranes such as a tower crane, a ceiling crane, a jib crane, a retractable crane, a stacker crane, a portal type crane, and an unloader.

Furthermore, the present invention is applicable not only to a crane including the suspended load hook but also to a crane for suspending attachment such as a magnet and an earth drill bucket.

In the above embodiment, the crane <NUM> is an inspection (photographing) target of the moving body <NUM>, and the present invention can be suitably applied to various photographing targets other than the crane. In addition to the crane, the photographing targets include rides such as a Ferris wheel and roller coasters, a windmill, an excavator, an airplane, and a ship. The present invention can also be applied to inspection of existing buildings.

The present invention is not limited to performing of inspection (diagnostic processing) based on an image, and can be applied to photographing that is not intended for inspection, for example, in a case where a captured image is displayed for an inspection operator.

Claim 1:
A display device (<NUM>, <NUM>, <NUM>) comprising:
a display unit (<NUM>); and
control means (<NUM>) for displaying a flight route (R) of a flying object (<NUM>) flying while photographing surroundings of a crane (<NUM>) on the display unit (<NUM>),
characterized in that
the control means (<NUM>) is configured to
acquire disposition state data of the crane (<NUM>),
set the flight route (R) based on the disposition state data of the crane (<NUM>) such that the flying object (<NUM>) flies along the set flight route (R),
display the crane (<NUM>) and the flight route (R) on the display unit (<NUM>), and
display the flight route (R) in a display mode viewed from at least two different directions.