# US 10,767,347 B2 · Shovel and autonomous aerial vehicle flying around shovel > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,767,347 B2 - Document ID: US10767347B2 - Status: Granted - Kind: B2 - Application number: 16/047,426 - Filed: 2018-07-27 - Published: 2018-12-27 - Granted: 2020-09-08 - Earliest claimed: 2016-01-29 - Assignees: Sumitomo(S.H.I.) Construction Machinery Co., Ltd. - Applicants: Sumitomo(S.H.I.) Construction Machinery Co., Ltd. - Inventors: Takashi Nishi; Sou Sakuta; Takaaki Morimoto; Takeya Izumikawa - Web page: https://patentgrep.com/patent/US10767347B2 ## CPC - E02F 9/262: {with follow-up actions to control the work tool, e.g. controller} - E02F 9/205: {Remotely operated machines, e.g. unmanned vehicles (E02F3/8866 takes precedence)} - E02F 9/24: Safety devices {, e.g. for preventing overload (E02F9/226 takes precedence)} - E02F 9/26: Indicating devices {(E02F5/145 takes precedence)} - E02F 9/261: {Surveying the work-site to be treated} - G05D 1/0011: {associated with a remote control arrangement} - G05D 1/0094: {involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target} - H04N 7/18: Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast - H04N 7/181: {for receiving images from a plurality of remote sources} - H04N 7/185: {from a mobile camera, e.g. for remote control} - B64U 10/14: with four distinct rotor axes, e.g. quadcopters - B64U 2101/30: for imaging, photography or videography - B64U 2201/104: using satellite radio beacon positioning systems, e.g. GPS - B64U 2201/20: Remote controls - E02F 3/43: Control of dipper or bucket position; Control of sequence of drive operations - E02F 9/2029: {Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed (control for hydraulic or pneumatic drives E02F9/2203, E02F9/2221 and E02F9/2253 take precedence)} - E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract A shovel includes a lower traveling body, an upper turning body mounted on the lower traveling body; and a receiver, a direction detecting device, a controller, and a display device mounted on the upper turning body, wherein the receiver is configured to receive an image captured by a camera-mounted autonomous aerial vehicle, the direction detecting device is configured to detect a direction of the shovel, the controller is configured to generate information related to a target rotation angle of the camera-mounted autonomous aerial vehicle based on the direction of the shovel, and the display device is configured to display the captured image in a same direction as a direction of an image that is captured when the camera-mounted autonomous aerial vehicle rotates by the target rotation angle. ## Claims ### Claim 1 A shovel comprising: a lower traveling body; an upper turning body mounted on the lower traveling body; a receiver mounted on the upper turning body and configured to receive an image captured by a camera-mounted autonomous aerial vehicle; a direction detecting device mounted on the upper turning body and configured to detect a direction of the shovel; a controller mounted on the upper turning body and configured to generate information related to a target rotation angle of the camera-mounted autonomous aerial vehicle based on the direction of the shovel; and a display device mounted on the upper turning body and configured to display the captured image in a same direction as a direction of an image that the camera-mounted autonomous aerial vehicle is configured to capture when the camera-mounted autonomous aerial vehicle rotates by the target rotation angle. ### Claim 2 (depends on 1) The shovel according to claim 1, wherein the receiver is configured to receive information related to a direction of the camera-mounted autonomous aerial vehicle, and the controller is configured to generate the information related to the target rotation angle based on the direction of the shovel and the direction of the camera-mounted autonomous aerial vehicle. ### Claim 3 (depends on 1) The shovel according to claim 1, wherein the controller is configured to rotate the captured image by the target rotation angle and cause the display device to display the captured image. ### Claim 4 (depends on 1) The shovel according to claim 1, wherein a direction of the camera-mounted autonomous aerial vehicle when the camera-mounted autonomous aerial vehicle rotates by the target rotation angle is the same as the direction of the shovel. ### Claim 5 (depends on 1) The shovel according to claim 1, further comprising: a transmitter mounted on the upper turning body, wherein the transmitter is configured to transmit, to the camera-mounted autonomous aerial vehicle, either the information related to the target rotation angle or a combination of the information related to the target rotation angle and information related to a target flight position of the camera-mounted autonomous aerial vehicle, and the target flight position is a position that is higher by a predetermined height relative to a predetermined point on the shovel and is away by a predetermined distance relative to the predetermined point. ### Claim 6 (depends on 1) The shovel according to claim 1, further comprising: a transmitter mounted on the upper turning body, wherein the transmitter is configured to transmit, to the camera-mounted autonomous aerial vehicle, information related to the direction of the shovel as information related to the target rotation angle. ### Claim 7 An autonomous aerial vehicle comprising: a camera configured to capture an image of a shovel; a transmitter configured to transmit the image captured by the camera; and a controller configured to obtain a direction of the shovel based on the captured image and determine a target rotation angle of the autonomous aerial vehicle based on the direction of the shovel, wherein an angle between a direction of the autonomous aerial vehicle when the autonomous aerial vehicle rotates by the target rotation angle and a direction of the shovel is a preliminarily set angle. ### Claim 8 (depends on 7) The autonomous aerial vehicle according to claim 7, wherein the transmitter is configured to transmit an image obtained by rotating the captured image by the target rotation angle. ### Claim 9 (depends on 7) The autonomous aerial vehicle according to claim 7, wherein the autonomous aerial vehicle rotates by the target rotation angle. ### Claim 10 An autonomous aerial vehicle comprising: a camera configured to capture an image of a shovel; a transmitter configured to transmit the image captured by the camera; a receiver configured to receive information generated by the shovel; and a controller configured to determine a target rotation angle of the autonomous aerial vehicle based on the information generated by the shovel, wherein an angle between a direction of the autonomous aerial vehicle when the autonomous aerial vehicle rotates by the target rotation angle and a direction of the shovel is a preliminarily set angle. ### Claim 11 A shovel comprising: a lower traveling body; an upper turning body mounted on the lower traveling body; a receiver mounted on the upper turning body and configured to receive an image captured by a camera-mounted autonomous aerial vehicle, the captured image including a marker image such that a direction of the shovel is identified, the marker image being an image of a mark attached to the shovel; and a controller mounted on the upper turning body and configured to guide a movement of the shovel based on the marker image included in the captured image. ### Claim 12 An autonomous aerial vehicle comprising: a camera configured to capture an image of a shovel; a transmitter configured to transmit the image captured by the camera; and a controller configured to obtain a position and a direction of the shovel based on the captured image, wherein the captured image includes a marker image that is an image of a mark attached to the shovel.