JP7629520B2 - Construction machinery and excavation adjustment method - Google Patents

Description

The present invention relates to a construction machine and a method for adjusting an excavation.

Conventionally, a near-infrared absorption moisture meter has been used to irradiate near-infrared rays onto goods being transported on a belt conveyor, and the moisture content of the goods is calculated, as disclosed in Patent Document 1.

JP 2017-32358 A

However, Patent Document 1 only calculates the moisture content of materials transported on a belt conveyor, and does not disclose anything about the moisture content or moisture ratio of materials excavated by heavy construction machinery. Furthermore, Patent Document 1 does not disclose anything about the use of unmanned aerial vehicles at construction sites.

Therefore, the present invention aims to provide an easy-to-use construction machinery, excavation measurement method, or unmanned aerial vehicle.

The construction machine of the first invention comprises a detection device that detects the properties of the excavated material from before it is excavated to after it is released, a change device that changes the properties of the excavated material, a storage section that stores the excavated material so that it can be released, and a control device that changes the properties of the excavated material using the change device when the excavated material is stored in the storage section based on the detection results of the detection device , and changes the properties of the excavated material using the change device when the excavated material is released from the storage section.
The excavated material adjustment method of the second invention includes a step of detecting the properties of the excavated material, and a step of changing the properties of the excavated material while the excavated material is contained in a storage section based on the detection results of the properties of the excavated material , and a step of changing the properties of the excavated material while the excavated material is released from the storage section .

According to the first invention, the properties of the excavated material are changed by the change device while the excavated material is stored in the storage section, and the properties of the excavated material are changed by the change device while the excavated material is released from the storage section, thereby realizing a construction machine that is easy to use.
According to the second invention, the properties of the excavated material are changed while the material is stored in the storage section, and the properties of the excavated material are changed while the material is released from the storage section, thereby realizing a user-friendly method for adjusting the excavated material .

1 is a schematic diagram of a construction machine according to a first embodiment of the present invention, showing an excavation state. FIG. FIG. 1 is a schematic diagram of a construction machine according to a first embodiment of the present invention, showing a loading state. FIG. 2 is a block diagram of the main parts of the first embodiment. 4 is a flowchart executed by the heavy equipment control device of the first embodiment. FIG. 11 is a schematic diagram of a construction machine illustrating a second embodiment of the present invention. 6A and 6B are diagrams showing a first modified example of the second embodiment, in which FIG. 6A shows an excavation state, FIG. 6B shows an excavation and loading state being performed simultaneously, and FIG. 6C shows an excavation and property change state being performed simultaneously. 7A and 7B are diagrams showing a second modified example of the second embodiment, in which FIG. 7A shows an excavation state, FIG. 7B shows an excavation and loading state being performed simultaneously, and FIG. 7C shows an excavation and property change state being performed simultaneously. FIG. 11 is a schematic diagram showing a towing vehicle and a scraper vehicle according to the third embodiment. FIG. 13 is a block diagram of a main part of the third embodiment.

A construction machine according to a first embodiment of the present invention will be described in detail below with reference to the accompanying drawings. Note that the present invention is not limited to the embodiment described below. In this embodiment, the description will continue using a hydraulic excavator 1 as an example of a construction machine.

First Embodiment
Fig. 1 and Fig. 2 are schematic diagrams showing a hydraulic excavator 1 according to this embodiment, with Fig. 1 showing an excavation state and Fig. 2 showing a loading state. Fig. 3 is a block diagram of the main parts of this first embodiment. In the following description, for convenience, the vertical direction is defined as the Z direction, and two axial directions perpendicular to each other in a horizontal plane are defined as the X direction and the Y direction.

The configuration of the hydraulic excavator 1 will be described below with reference to Figures 1 to 3. As is clear from Figure 1, the hydraulic excavator 1 of this embodiment is an autonomous type that does not have a driver's seat, and has a UAV (Unmanned Aerial Vehicle, hereinafter referred to as drone 100), which is an unmanned aerial vehicle. The hydraulic excavator 1 may be autonomous when traveling at a construction site, and may be transported on a trailer on public roads. The hydraulic excavator 1 may be operated autonomously, or remotely at a remote location away from the excavation site. The hydraulic excavator 1 may also be a manned type with a driver's seat.

The hydraulic excavator 1 of this embodiment has a drive system 10 (see FIG. 3), a traveling device 20, a slewing device 30, a main body device 40, and a working device 60. The hydraulic excavator 1 also has a drone 100 that can take off and land on a takeoff and landing section provided on the upper surface of the main body device 40. Note that although two drones 100 are shown in FIG. 1 and FIG. 2, the number of drones 100 may be one or three or more. The drone 100 may be a type that flies using electricity or a type that flies using a fuel cell that uses hydrogen.

The drive system 10 has an engine 11, a fuel tank 12, and a generator 13. The engine 11 is an internal combustion engine, and in this embodiment, a diesel engine is used. The engine 11 burns fuel supplied from the fuel tank 12 to drive the generator 13.

In this embodiment, the fuel tank 12 stores liquid ammonia (NH ₃ ), and is provided with a fuel level gauge (not shown) inside. The liquid ammonia is vaporized by a vaporizer (not shown), and the vaporized ammonia is burned by the engine 11 together with air. Note that a plurality of fuel tanks 12 may be provided to serve as ammonia storage tanks and diesel storage tanks. In this case, the engine 11 may be a dual-fuel engine that burns ammonia and diesel.

The generator 13 is connected to the output shaft of the engine 11 and generates electricity using the rotational driving force of the output shaft of the engine 11. The electricity generated by the generator 13 is supplied to various cylinders and motors, as shown in the block diagram of Figure 3.

The traveling device 20 has a pair of tracks 23 wound around an idler wheel 21 and a drive wheel 22, and a traveling motor (not shown) that drives the drive wheel 22, and the pair of tracks 23 are driven by the drive wheel 22 to travel the hydraulic excavator 1. The traveling motor 24 is driven by power supplied from the generator 13, and in this embodiment, an in-wheel motor is used that is coaxially connected to the drive wheel 22 or the hub of the drive wheel 22. Note that a hydraulic motor may be used as the traveling motor 24.

The slewing device 30 is disposed between the traveling device 20 and the main device 40. The slewing device 30 is equipped with a bearing (not shown) and a slewing motor 31 supplied with power from a generator 13, and rotates the main device 40 and the working device 60. In FIG. 1, the main device 40 and the working device 60 are in a position to perform excavation, but in FIG. 2, the main device 40 and the working device 60 are in a position to load the dump truck 70 due to the rotation of the slewing device 30. Note that the rotation of the main device 40 and the working device 60 by the slewing device 30 may be performed by a hydraulic motor using hydraulic pressure instead of the slewing motor 31.

The main unit 40 has a cylindrical shape with a flat upper surface, and has a power transmission device 14 on the upper surface that supplies power to the drone 100. The power transmission device 14 on the upper surface of the main unit 40 serves as the takeoff and landing part of the drone 100. Note that, although the main unit 40 has a cylindrical shape in this embodiment, it is not limited to this and can have any shape.

The power transmitting device 14 supplies power to a power receiving device 103 (described later) of the drone 100, and in this embodiment, wireless power feeding is adopted. Wireless power feeding supplies power to the power receiving device 103 in a non-contact manner, and a magnetic resonance method, an electromagnetic induction method, etc. are known. The power transmitting device 14 in this embodiment includes a power source, a control circuit, and a power transmitting coil.
The power transmitting device 14 may be of a spatial transmission type instead of the above-mentioned proximity junction type. Spatial transmission type power supply uses electromagnetic waves such as microwaves to supply power to a target object (the power receiving device 103 of the drone 100 in this embodiment) located several meters to several tens of meters away.

In addition, a contact-type power supply method may be used instead of wireless power supply. In this case, metal contacts may be provided on each of the power transmitting device 14 and the power receiving device 103, and the contacts may be mechanically connected to supply power. For example, a concave-shaped contact may be provided on the takeoff and landing section, and a convex-shaped contact may be provided on the drone 100 side. There may be one each of the concave-shaped contact and the convex-shaped contact, or multiple may be provided.

The main unit 40 is connected to the work device 60 via a swing section 41 and a swing cylinder 42 on the side. In addition to the engine 11, fuel tank 12, and generator 13 described above, the main unit 40 is provided with a first detection device 15 for detecting the properties of the excavated material excavated by the work device 60, a liquid tank 18 for storing liquid such as water, and a counter mass (not shown). As shown in the block diagram of FIG. 3, the main unit 40 is provided with a first GNSS 47 (Global Navigation Satellite System), which is a global positioning system, a first communication device 48, a first memory 49, and a heavy equipment control device 50 for controlling the entire hydraulic excavator 1.

In this embodiment, the first detection device 15 detects moisture contained in the excavated material as a property of the excavated material. The first detection device 15 is equipped with a drying device and a weighing scale. The weighing scale measures the weight of the excavated material before and after drying by the drying device. In this way, the first detection device 15 detects the moisture contained in the excavated material. The excavated material supplied to the first detection device 15 may be approximately several tens of grams. The excavated material may be supplied to the first detection device 15 by an operator through an opening (not shown) provided in the main unit 40, or at least a part of the first detection device 15 may move outside the main unit 40 through this opening (not shown) to receive the excavated material from the drone 100.

As the drying device for the first detection device 15, a microwave oven that dries using electromagnetic waves can be used. For example, if the microwave oven has an output of 500 W to 600 W, drying can be performed for about 7 to 20 minutes. Note that instead of drying using electromagnetic waves, drying using hot air or infrared rays may be performed.

The swing section 41 is supported such that a portion connected to one end of the main unit 40 and a portion connected to the boom 53 can rotate around the Z-axis indicating the vertical direction. The swing cylinder 42 is a cylinder having one end connected to the main unit 40 and the other end connected to the swing section 41, and is extended and retracted by power supplied from a generator 43.
The extension and contraction of the swing cylinder 42 causes the working device 60 to rotate around the Z-axis in Fig. 1. Note that a counter mass (not shown) is a mass body provided inside the other end side of the main device 40, and serves to correct the unbalanced load acting on the main device 40 due to the excavation operation of the working device 60.

The boom cylinder 54 is a cylinder that extends and retracts using power supplied from the generator 43 to drive the boom 53 .
The arm cylinder 56 is a cylinder that extends and retracts using power supplied from the generator 43 to drive the arm 55 .
The bucket cylinder 58 is a cylinder that extends and retracts using power supplied from the generator 43 to drive the bucket 57 .
In this embodiment, the swing cylinder 42, the boom cylinder 54, the arm cylinder 56, and the bucket cylinder 58 are driven by electric power from the generator 43, but these cylinders may also be driven using hydraulic pressure.

In this embodiment, the arm 55 is provided with a second detection device 16 that detects the properties of the excavated material excavated by the working device 60, and a first change device 17 that changes the properties of the excavated material. The second detection device 16 detects the moisture contained in the excavated material as a property of the excavated material. A near-infrared moisture meter using near-infrared rays can be used as the second detection device 16. The near-infrared moisture meter detects the moisture contained in the excavated material by measuring the intensity of near-infrared rays reflected by the measurement object (the excavated material in this embodiment) with a light receiving element.

When detecting moisture contained in excavated material using a near-infrared moisture meter, the near-infrared moisture meter needs to be brought within about 10 cm to 50 cm of the excavated material, so in this embodiment, the near-infrared moisture meter is provided on the arm 55, but it may also be provided on the boom 53. In addition, an extension mechanism for bringing the near-infrared moisture meter closer to the excavated material may be provided on the boom 53 or the arm 55.

In this embodiment, the first change device 17 changes the water content (moisture content) of the excavated material, and uses a liquid supply device that supplies liquid such as water to the excavated material. The liquid supply device has a liquid tank 18 that stores water, and a pump, nozzle, and piping for supplying the water stored in the liquid tank 18 to the excavated material. In this embodiment, the second detection device 16 and the first change device 17 are positioned so that the second detection device 16 is located between the bucket 57 and the first change device 17. In this case, when the working device 60 is in the position shown in FIG. 1, the liquid supplied by the first change device 17 may splash on the second detection device 16, which may affect the detection accuracy of the second detection device 16.

Therefore, in this embodiment, when the position of the first change device 17 is higher (on the +Z side) than the position of the second detection device 16 due to the attitude of the work device 60, the heavy equipment control device 50 prevents the first change device 17 from supplying liquid while detection is being performed by the second detection device 16. Alternatively, or in combination with this, the heavy equipment control device 50 retracts the second detection device 16 by an extension/contraction mechanism (not shown) to a position where it will not be exposed to liquid from the first change device 17 while liquid is being supplied by the first change device 17.

As shown in FIG. 1, the second detection device 16 detects the moisture contained in the excavated material while the excavated material is held in the bucket 57, but it may also be configured to detect the moisture in the excavated material or the object being excavated while the bucket 57 is excavating.
The first changing device 17 supplies liquid to the excavated material held in the bucket 57 so that the excavated material has a predetermined water content (moisture content) based on the detection result of the second detection device 16. Note that the water content (moisture content) of the excavated material may be adjusted, for example, by the time the embankment using the excavated material is completed, and therefore, may be adjusted so as to approach the predetermined water content (moisture content) during operation by the hydraulic excavator 1.

As shown in Figure 2, the second detection device 16 detects the moisture contained in the excavated material released from the bucket 57. When detecting the moisture contained in the excavated material during excavation, the moisture contained in the surface of the excavated material is detected. In contrast, since the excavated material released from the bucket 57 is scattered, it is possible to detect the moisture in the excavated material excavated at various depths. For this reason, the moisture content (moisture content) of the excavated material may be calculated from the average value of the moisture in the excavated material detected multiple times by the second detection device 16.

Depending on the attitude of the working device 60, the second detection device 16 may be located above (on the +Z side of) the first change device 17, as shown in Fig. 2. In such a case, the heavy equipment control device 50 may supply liquid by the first change device 17 while detection is being performed by the second detection device 16. The heavy equipment control device 50 may recognize the positional relationship between the second detection device 16 and the first change device 17 based on a command to drive the working device 60, or may recognize the positional relationship between the second detection device 16 and the first change device 17 based on an imaging result of an imaging device 102 (described later) provided on the drone 100.
As mentioned above, the first change device 17 supplies liquid to the excavated material held in the bucket 57 so that the excavated material has a predetermined water content (moisture content) or approaches a predetermined water content (moisture content) based on the detection results of the second detection device 16.

The detection of the properties of the excavated material by the second detection device 16 may be performed both when excavating and when discharging, or may be performed at either one of them. The first change device 17 may be driven based on the detection results of the second detection device 16, but does not necessarily have to be driven. Note that the excavated material may contain a lot of moisture, and may need to be dried to achieve a specified moisture content (moisture content). In such a case, a drying device may be used as the first change device 17.

The first GNSS 47 (see FIG. 3 ) uses an artificial satellite to measure the position of the hydraulic excavator 1. The first GNSS 47 may be provided in the takeoff and landing section of the main body device 40.
The first communication device 48 has a transmitter, a receiver, various circuits, an antenna (not shown), and is a wireless communication unit that accesses a second communication device 106 (described later) or a wide area network such as the Internet. In this embodiment, the first communication device 48 communicates the flight path of the drone 100 to the second communication device 106 based on the position of the hydraulic excavator 1 detected by the first GNSS 47.

The first memory 49 is a non-volatile memory (e.g., a flash memory) that stores various data and programs for driving the hydraulic excavator 1 and various data and programs for automatically operating the hydraulic excavator 1. The first memory 49 also stores data related to the flight path of the drone 100 and a water content ratio (moisture content) calculated based on the detection results of the first detection device 15 and the second detection device 16. The first memory 49 may also be configured to store the amount of liquid supplied by the first change device 17.

The heavy equipment control device 50 is equipped with a CPU and is a control device that controls the entire hydraulic excavator 1. For example, it controls the excavation operation and turning operation of the work device 60, the detection operation of the first detection device 15 and the second detection device 16, calculation of the water content ratio (moisture content rate), operation of the first change device 17, and the flight operation of the drone 100.

The main unit 40 is connected to the work device 60 via a swing section 41 and a swing cylinder 42. The work device 60 has a boom 53, a boom cylinder 54, an arm 55, an arm cylinder 56, a bucket 57, and a bucket cylinder 58.

The boom 53 is a rotating L-shaped part that is connected to the main body device 40 via the swing portion 41 and is rotated by a boom cylinder 54 .
The arm 55 is connected to the tip of the boom 53 and is rotated by an arm cylinder 56 .
The bucket 57 is connected to the tip of the arm 55, and is rotated by a bucket cylinder 58. Note that instead of the bucket 57, a breaker or the like can be attached to the tip of the arm 55.

The drone 100 of this embodiment includes a flying device 101, an imaging device 102, a power receiving device 103, a sensor group 104, a battery 105, a second communication device 106, a second memory 107, and a UAV control device 108. These components are provided in the main body of the drone 100. As shown in FIG. 3, the drone 100 may be configured to include at least one of a second detection device 16 and a first change device 17.
The flight device 101 has a motor (not shown) and multiple propellers, and generates thrust for lifting the drone 100 in the air and moving it in the air. As described above, the number of drones 100 that land on the takeoff and landing section can be set arbitrarily. The configuration of each drone 100 may be the same or may be partially changed. Furthermore, the size of each drone 100 may be the same or may be different.

The imaging device 102 is a digital camera that has a lens, an imaging element, an image processing engine, etc., and captures moving images and still images. In this embodiment, the imaging device 102 is used for surveying and capturing images of excavation sites.

In the enlarged view surrounded by the dashed line in FIG. 1, the lens of the imaging device 102 is attached to the side (front) of the drone 100, but the lens of the imaging device 102 may be attached to the underside of the drone 100, or multiple lenses may be provided on the drone 100. A moving mechanism may be provided to move the lens attached to the side toward the underside. A mechanism may be provided to rotate the imaging device 102 around the Z axis to position the lens of the imaging device 102 at any position around the Z axis. An omnidirectional camera (360-degree camera) may be used as the imaging device 102, and a three-dimensional scanner may be used instead of the imaging device 102.

The power receiving device 103 has a power receiving coil and a charging circuit provided on the leg 109 of the drone 100, and charges the battery 105 with power from the power transmitting device 14.
The battery 105 is a secondary battery connected to the power receiving device 103, and may be, but is not limited to, a lithium ion secondary battery, a lithium polymer secondary battery, etc. The battery 105 is capable of supplying power to the flight device 101, the imaging device 102, the second communication device 106, the second memory 107, and the UAV control device 108.

The sensor group 104 includes a GNSS, an infrared sensor for avoiding collisions between the drone 100 and other devices (e.g., the work device 60), a barometric pressure sensor for measuring altitude, a magnetic sensor for detecting direction, a gyro sensor for detecting the attitude of the drone 100, and an acceleration sensor for detecting the acceleration acting on the drone 100.

The second communication device 106 has a wireless communication unit and accesses a wide area network such as the Internet and communicates with the first communication device 48. In this embodiment, the second communication device 106 transmits image data captured by the imaging device 102 and detection results detected by the sensor group 104 to the first communication device 48, and transmits flight commands from the first communication device 48 to the UAV control device 108.

The second memory 107 is a non-volatile memory (e.g., a flash memory) that stores various data and programs for flying the drone 100, as well as image data captured by the imaging device 102 and detection results detected by the sensor group 104.

The UAV control device 108 includes a CPU, an attitude control circuit, a flight control circuit, and the like, and controls the entire drone 100. The UAV control device 108 also determines the timing of charging the takeoff and landing section based on the remaining charge of the battery 105, and controls the imaging position, angle of view, frame rate, and the like of the imaging device 102.

In the hydraulic excavator 1 of this embodiment configured as described above, the drone 100 surveys the excavation area prior to excavation by the working device 60, and during excavation by the working device 60, images can be taken from the sky and images of the bucket near the bucket 57, so excavation can be performed even if the operator is not in the excavation area. Furthermore, if the drone 100 takes images at the takeoff and landing section, images can be taken from approximately the same position as from the driver's seat of a conventional hydraulic excavator. Since the takeoff and landing section is provided on the top of the main unit 40 as is clear from FIG. 1, for example, the drone 100 can take images with the imaging device 102 at the takeoff and landing section without being blocked by the main unit 40.

As shown in FIG. 1, when the drone 100 is to transport an excavation object, a container such as a bag or bucket can be attached to the drone 100. The UAV control device 108 controls the flight device 101 to approach the bucket 57 while avoiding collision with the work device 60 using an infrared sensor.

The heavy equipment control device 50 recognizes the image captured by the imaging device 102 of the drone 100 located near the bucket 57, and controls the work device 60 to transfer a part of the excavated material stored in the bucket 57 to the container of the drone 100. The three-dimensional coordinates for transferring the excavated material may be determined in advance, the heavy equipment control device 50 may position the bucket 57 based on the three-dimensional coordinates, and the UAV control device 108 may control the flight of the drone 100 based on the three-dimensional coordinates. In this case, by changing the coordinate of one axis, it is possible to avoid a collision between the bucket 57 and the drone 100. For example, the Z-axis coordinate may be changed so that the drone 100 is positioned below or above the bucket 57 to transfer the excavated material, or the X-axis coordinate may be changed so that the excavated material is transferred from the bucket 57 to the drone 100. The excavated material may be transferred by an operator, or an auxiliary arm may be provided on the drone 100. In addition, the drone 100 holding the excavated material may be configured to transport the excavated material to a temporary office or the like.

Furthermore, by using multiple drones 100, while the first drone 100 is flying, the second drone 100 can be charged at the takeoff and landing area, so that the first drone 100 and the second drone 100 can be flown alternately. Furthermore, the number of drones 100 may be three or more.
The control of the excavation operation by the heavy equipment control device 50 of this embodiment configured as described above will be described below. Fig. 4 is a flow chart showing the process executed by the heavy equipment control device 50 of this embodiment.

(flowchart)
When the hydraulic excavator 1 arrives at the location where excavation is to be performed and preparations for excavation are complete, the heavy equipment control device 50 performs excavation using the work implement 60 (step S1).

The heavy equipment control device 50 determines whether or not it is necessary to detect the properties of the excavated material using the first detection device 15 while excavating (step S2). Here, it is assumed that it is necessary to detect the properties of the excavated material using the first detection device 15, and the process proceeds to step S3. If it is not necessary to detect the properties of the excavated material using the first detection device 15, the heavy equipment control device 50 proceeds to step S4.

As shown in FIG. 1, the heavy equipment control device 50 has the drone 100 hold a part of the excavated material, receives the excavated material from an opening (not shown) provided in the main unit 40, and detects the properties of the excavated material using the first detection device 15 (step S3). As described above, the first detection device 15 uses electromagnetic waves and takes longer to detect than the second detection device 16, so it can detect the moisture contained in the excavated material more accurately. For this reason, when reporting the moisture content (moisture content) of the excavated material to the construction owner, it is preferable to use the detection results by the first detection device 15. Note that when detecting the properties of the excavated material in a temporary office set up at the construction site, the first detection device 15 may be omitted.

The heavy equipment control device 50 determines whether or not it is necessary to detect the properties of the excavated material by the second detection device 16 during excavation (step S4). Here, it is assumed that it is necessary to detect the properties of the excavated material by the second detection device 16, and the process proceeds to step S5. If it is not necessary to detect the properties of the excavated material by the second detection device 16, the heavy equipment control device 50 proceeds to step S8.

When the excavated material is held by the bucket 57, the heavy equipment control device 50 moves the second detection device 16 closer to the excavated material by using an extension mechanism (not shown) and detects the moisture contained in the excavated material by the second detection device 16 (step S5). The heavy equipment control device 50 calculates the moisture content (moisture content) of the excavated material based on the moisture contained in the excavated material detected by the second detection device 16, and stores the calculation result in the first memory 49.

The heavy equipment control device 50 determines whether the properties of the excavated material need to be changed during excavation (step S6). In this case, it is assumed that the properties of the excavated material need to be changed by the first change device 17, and the process proceeds to step S7. If the properties of the excavated material need not be changed by the first change device 17, the heavy equipment control device 50 proceeds to step S8.

After retracting the second detection device 16 by a telescopic mechanism (not shown), the heavy equipment control device 50 supplies liquid to the excavated material held in the bucket 57 by the first change device 17 (step S7). The heavy equipment control device 50 preferably adjusts the flow rate of the liquid supplied to the excavated material by the first change device 17 based on the calculated water content (moisture content). A flow meter may be provided in the first change device 17, and the heavy equipment control device 50 may store the amount of liquid supplied to the excavated material by the first change device 17 in the first memory 49.

The heavy equipment control device 50 determines whether excavation using the working device 60 has ended (step S8). If excavation has not ended, the process returns to step S1, and if excavation has ended, the process proceeds to step S9. In this embodiment, the heavy equipment control device 50 determines that excavation has ended if a predetermined amount of excavated material is held in the bucket 57, rotates the main unit 40 and the working device 60 180 degrees using the slewing device 30, and proceeds to step S9. The heavy equipment control device 50 may continue or stop the supply of liquid to the excavated material using the first change device 17 while the slewing device 30 is rotating.

The heavy equipment control device 50 loads the excavated material onto the dump truck 70 (step S9). In this embodiment, the heavy equipment control device 50 recognizes the positional relationship between the bucket 57 and the dump truck 70 based on the image captured by the imaging device 102 of the drone 100.
In addition, while performing preparatory work for loading (e.g., adjusting the positions of the bucket 57 and the dump truck 70), the heavy equipment control device 50 determines whether or not it is necessary to detect the properties of the excavated material by the second detection device 16 during loading (step S10). This is because the second detection device 16 detects the properties of the excavated material at the same time as the excavated material is released from the bucket 57.

Here, it is assumed that the second detection device 16 needs to detect the properties of the excavated material, and the process proceeds to step S11. If the second detection device 16 does not need to detect the properties of the excavated material, the heavy equipment control device 50 proceeds to step S12. Note that the heavy equipment control device 50 makes the judgment of step S12 even when the second detection device 16 does not need to detect the properties of the excavated material, because there are cases in which the first change device 17 supplies liquid to the excavated material based on the water content (moisture content) detected during excavation.

When the excavated material is being released from the bucket 57, the heavy equipment control device 50 moves the second detection device 16 closer to the excavated material by means of a telescopic mechanism (not shown) and detects the moisture contained in the excavated material with the second detection device 16 (step S11). In step S5, the moisture contained in the excavated material on the excavation surface was detected, whereas in step S11, the excavated material is scattered, so that the moisture in the excavated material excavated at various depths can be detected. The heavy equipment control device 50 calculates the moisture content (moisture content) of the excavated material based on the moisture contained in the excavated material detected by the second detection device 16, and stores the calculation result in the first memory 49.

The heavy equipment control device 50 determines whether or not it is necessary to change the properties of the excavated material during loading (step S12). In this case, it is assumed that it is necessary to change the properties of the excavated material by the first change device 17, and the process proceeds to step S13. If it is not necessary to change the properties of the excavated material by the first change device 17, the heavy equipment control device 50 proceeds to step S14.

The heavy equipment control device 50 supplies liquid to the excavated material being discharged from the bucket 57 by the first change device 17 (step S13). The heavy equipment control device 50 preferably adjusts the flow rate of the liquid supplied to the excavated material by the first change device 17 based on the calculated water content (moisture content). If step S11 is performed, the heavy equipment control device 50 determines the supply amount of the first change device 17 based on the water content (moisture content) calculated in step S11. If step S11 is skipped, the heavy equipment control device 50 determines the supply amount of the first change device 17 taking into account the amount of liquid supplied by the first change device 17 for the water content (moisture content) calculated in step S5.

The heavy equipment control device 50 may supply liquid to the excavated material loaded onto the dump truck 70 instead of, or in addition to, supplying liquid to the excavated material being discharged from the bucket 57. In either case, the heavy equipment control device 50 stores in the first memory 49 the amount of liquid supplied by the first change device 17 in step S13.

In addition, if the amount of liquid supplied by the first change device 17 in step S13 is insufficient, the shortage of liquid can be supplied when filling or leveling the soil using excavated material transported by the mobile dump truck 70.

The heavy equipment control device 50 determines whether loading of the excavated material onto the dump truck 70 has been completed (step S14). If loading onto the dump truck 70 has been completed, the heavy equipment control device 50 proceeds to step S15, and if loading onto the dump truck 70 has not been completed, the heavy equipment control device 50 repeats the processing from step S9 onwards. Here, the heavy equipment control device 50 proceeds to step S15 assuming that loading onto the dump truck 70 has been completed.

The heavy equipment control device 50 judges whether further excavation is required (step S15). If further excavation is required, the heavy equipment control device 50 performs the process from step S1 onwards again, and if further excavation is not required, proceeds to step S16. Here, to avoid duplication of explanation, it is assumed that the process proceeds to step S16. In addition, when the bucket 57 loads the excavated material into the dump truck 70, for example, 10 times, the step S4 and step S10 may be set to Yes once every several times (for example, once every three times), and may be performed according to the imaging result of the excavated material by the imaging device 102. In this case, the change in the properties of the excavated material imaged by the imaging device 102 may be performed by pattern matching of color or shape, or may be performed by an operator in a temporary office. In addition, the imaging by the imaging device 102 may be performed at the excavation site or at the loading site.

The heavy equipment control device 50 transmits the moisture content (moisture content) data calculated from the moisture contained in the excavated material detected by the first detection device 15 and the second detection device 16, and the data on the amount of liquid supplied by the first change device 17, via the first communication device 48 to, for example, the drone 100, a host computer in the temporary office, or a construction machine (such as a bulldozer or motor grader) that uses the excavated material transported by the dump truck 70 to fill or level the soil, and then ends the flowchart of FIG. 4. Note that a part of the flowchart of FIG. 4 may be executed by an operator.

In the above embodiment, the second detection device 16 and the first change device 17 are provided in the hydraulic excavator 1, but instead, the second detection device 16 and the first change device 17 may be provided in the drone 100. In addition, one of the second detection device 16 and the first change device 17 may be provided in one of the hydraulic excavator 1 and the drone 100, and the other of the second detection device 16 and the first change device 17 may be provided in the other of the hydraulic excavator 1 and the drone 100. When the first change device 17 is provided in the drone 100, the amount of liquid supplied to the excavated material by the first change device 17 may be stored in the second memory 107.

When the first change device 17 is provided on the drone 100, the liquid tank 18 in the main unit 40 may be used as a tank that supplies liquid to a tank (not shown) in the drone 100. In this case, the liquid tank 18 may be provided on the top surface of the main unit 40, and a male joint may be provided on one side of the drone 100 and the liquid tank 18, and a female joint may be provided on the other side of the drone 100 and the liquid tank 18. When the drone 100 lands on the takeoff and landing section, it is preferable to connect the male joint and the female joint to supply water from the liquid tank 18 to a tank (not shown) in the drone 100.

In the above embodiment, a near-infrared moisture meter is used as the second detection device 16. Alternatively, the imaging results obtained by the imaging device 102 may be used, and teacher data for excavated materials with various moisture contents (moisture content rates) may be stored in the first memory 49. The heavy equipment control device 50 may infer the moisture and moisture content (moisture content rate) contained in the excavated material based on the image captured by the imaging device 102 and the teacher data. In addition, the moisture and moisture content (moisture content rate) may be inferred by a computer equipped with artificial intelligence, instead of the heavy equipment control device 50. The imaging device 102 may be provided in the hydraulic excavator 1. The imaging device 102 may detect the grain size of the excavated material as the property of the excavated material. The second detection device 16 may be an oil detection device that detects the oil content of the excavated material, or an odor detection device that detects the odor of the excavated material. Furthermore, when the hydraulic excavator 1 is used in a tunnel, the second detection device 16 may be a detection device that detects the oxygen concentration or the concentration of harmful gases in the tunnel.

A solar power generation device may be provided on the top or side of the main unit 40, and the electricity generated by this solar power generation device may be used to drive the hydraulic excavator 1. The solar power generation device may be, for example, a perovskite solar cell. Perovskite solar cells are solar cells that use perovskite crystals, and because they are flexible, they can be attached to structures with curved surfaces. In addition, because perovskite solar cells are lightweight, they can prevent an increase in the weight of the hydraulic excavator 1.

Second Embodiment
The second embodiment will be described below with reference to Fig. 5. The same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted or simplified. Fig. 5 is a schematic diagram of a hydraulic excavator 1 which is an example of a construction machine according to the second embodiment.

As shown in Fig. 5, the hydraulic excavator 1 of the second embodiment has two working devices 60. However, the number of working devices 60 may be three or more.
Here, since the configuration of the two operating devices 60 is the same as in the first embodiment, one is referred to as operating device 60a and the other is referred to as operating device 60b, and each element constituting operating devices 60a, 60b has an a or b added after its reference number.

In the hydraulic excavator 1 of the second embodiment, while the working device 60a is excavating, the working device 60b loads the excavated material onto the dump truck 70, thereby shortening the time required for the series of excavation and loading operations. In addition, since the properties of the excavated material can be detected during excavation and loading, and the properties of the excavated material can be changed, a user-friendly hydraulic excavator 1 can be realized.

Furthermore, when two drones 100 are provided, one drone 100 can capture images of the excavation status, and the other drone can capture images of the loading status. The images captured by the two drones 100 are transmitted to a host computer in a temporary office by the second communication device 106. This allows an operator in the temporary office or the like to visually confirm the operating status of the hydraulic excavator 1.

The hydraulic excavator 1 of the second embodiment has two working devices 60a, 60b, so that, for example, the unbalanced load acting on the hydraulic excavator 1 due to the driving of the working device 60a can be corrected by the load of the working device 60b. In particular, if the working device 60b is moved in the +X direction, the unbalanced load acting on the hydraulic excavator 1 due to the driving of the working device 60a can be further corrected. For this reason, the counter mass (not shown) described in the first embodiment can be made lighter or omitted.

In the second embodiment, as shown in FIG. 5, the second detection device 16a and the first change device 17a are provided on the working device 60a, and the second detection device 16b and the first change device 17b are provided on the working device 60b. However, the second detection device 16a and the first change device 17a of the working device 60a may be omitted, or the first change device 17a of the working device 60a may be omitted, and the second detection device 16b of the working device 60b may be omitted. In addition, the second detection device 16b may be provided on one of the two working devices 60, and the installation of the first change device 17 on the two working devices 60 may be omitted. In this case, the first change device 17 may be provided on the drone 100.

The configuration and operation of providing the second detection device 16 on the working device 60a and the first change device 17 on the drone 100 will be described later with reference to Figure 6. The configuration and operation of providing the second detection device 16 and the first change device 17 on the drone 100 will be described later with reference to Figure 7. The flowchart of Figure 4 described in the first embodiment can also be applied to this second embodiment.

(Modification 1 of the second embodiment)
Fig. 6 shows a first modified example of the second embodiment, in which Fig. 6(a) shows the state of excavation, Fig. 6(b) shows the state of excavation and loading at the same time, and Fig. 6(c) shows the state of excavation and property change at the same time. Note that, in order to make the drawings easier to see, the reference numerals are omitted for some of the components in Fig. 6.

6, in the first modified example, the working device 60a is provided with the second detection device 16, but is not provided with the first change device 17. Moreover, the working device 60b is provided with neither the second detection device 16 nor the first change device 17. The first change device 17 is provided on the lower part of the drone 100. Note that it is not necessary to provide the first change device 17 on all of the multiple drones 100, and it is sufficient to provide the first change device 17 on at least one drone 100.

As shown in FIG. 6(a), the heavy equipment control device 50 performs the first excavation using the work device 60a. The heavy equipment control device 50 may also use the second detection device 16 to detect the properties of the excavated material when the work device 60a is excavating. Note that the work device 60b is not excavating, and therefore is not loading. Therefore, the UAV control device 108 is not driving the first change device 17.

When the first excavation by the working device 60a is completed, the heavy equipment control device 50 moves the working device 60a to a position where it can be rotated (e.g., above the ground). Then, as shown in FIG. 6(b), the heavy equipment control device 50 rotates the main unit 40 180 degrees to load the excavated material onto the dump truck 70 by the working device 60a and to excavate using the working device 60b.

When the work device 60a releases the excavated material, the heavy equipment control device 50 detects the properties of the excavated material using the second detection device 16. The heavy equipment control device 50 instructs the UAV control device 108 of the drone 100 in the vicinity of the work device 60a to move, for example, to the outside (+X side) of the work device 60a so as not to interfere with the work device 60a.

When the discharge of the excavated material by the work device 60a is completed, the heavy equipment control device 50 moves the work device 60a to a position (-X side) approaching the main unit 40 as shown in FIG. 6(c). The heavy equipment control device 50 also instructs the UAV control device 108 of the drone 100 in the vicinity of the work device 60a to move above the dump truck 70, and instructs the first change device 17 to supply liquid to the excavated material held in the bed of the dump truck 70. When performing unbalanced load correction by the work device 60a, the heavy equipment control device 50 does not move the work device 60a to a position (-X side) approaching the main unit 40, but rotates the work device 60a around the Z axis by the swing unit 41 to avoid contact with the drone 100.

The heavy equipment control device 50 causes the first change device 17 to supply liquid to the excavated material until excavation by the work device 60b is completed. Since the time required for loading is shorter than the time required for excavation, this time difference can be utilized to change the properties of the excavated material using the first change device 17, thereby realizing a user-friendly hydraulic excavator 1.

In addition, the heavy equipment control device 50 may be configured to change the properties of the excavated material using the first change device 17 when the properties of the excavated material are detected by the second detection device 16.

(Modification 2 of the second embodiment)
Fig. 7 shows a second modified example of the second embodiment, in which Fig. 7(a) shows the state of excavation, Fig. 7(b) shows the state of excavation and loading simultaneously, and Fig. 7(c) shows the state of excavation and property change simultaneously. Note that, in order to make the drawings easier to see, reference numerals are omitted for some of the components in Fig. 7.

7, in the second modified example, neither the working device 60a nor the working device 60b is provided with the second detection device 16 and the first change device 17. On the other hand, the second detection device 16 and the first change device 17 are provided on the drone 100.
As shown in the enlarged view of Figure 7 (a), the second detection device 16 is arranged above the first change device 17 and inclined from the main body of the drone 100.
It is not necessary to provide the second detection device 16 and the first change device 17 to all of the multiple drones 100, and it is sufficient to provide the second detection device 16 and the first change device 17 to at least one drone 100. It is also possible to provide one of the second detection device 16 and the first change device 17 to one drone 100, and provide the other of the second detection device 16 and the first change device 17 to the other drone 100.

As shown in FIG. 7(a), the heavy equipment control device 50 performs the first excavation using the work device 60a. The heavy equipment control device 50 may also use the second detection device 16 of the drone 100 to detect the properties of the excavated material when the work device 60a is excavating. Note that the work device 60b is not excavating, and therefore is not loading. For this reason, the UAV control device 108 does not drive the first change device 17.

When the first excavation by the working device 60a is completed, the heavy equipment control device 50 moves the working device 60a to a position where it can be rotated (e.g., above the ground). Then, as shown in FIG. 7(b), the heavy equipment control device 50 rotates the main unit 40 180 degrees to load the excavated material onto the dump truck 70 by the working device 60a and to excavate using the working device 60b.

When the work device 60a releases the excavated material, the heavy equipment control device 50 detects the properties of the excavated material using the second detection device 16. The heavy equipment control device 50 instructs the UAV control device 108 to perform detection using the second detection device 16 from the outside (+X side) of the work device 60a so as not to interfere with the work device 60a.

When the discharge of the excavated material by the work device 60a is completed, the heavy equipment control device 50 moves the work device 60a to a position (-X side) closer to the main unit 40, as shown in Figure 7 (c). The heavy equipment control device 50 also instructs the UAV control device 108 of the drone 100 in the vicinity of the work device 60a to move above the dump truck 70, and instructs the first change device 17 to supply liquid to the excavated material held in the bed of the dump truck 70.

The heavy equipment control device 50 causes the first change device 17 to supply liquid to the excavated material until excavation by the working device 60b is completed. Since the time required for loading is shorter than the time required for excavation, this time difference can be utilized to change the properties of the excavated material using the first change device 17, thereby realizing a user-friendly hydraulic excavator 1. The heavy equipment control device 50 may also be configured to change the properties of the excavated material using the first change device 17 when the properties of the excavated material are detected by the second detection device 16.

As described above, according to the second embodiment, excavation by the working device 60a and excavation by the working device 60b are alternately repeated, so that the construction period of the excavation work can be shortened. Note that the imaging device 102 of the drone 100 may capture images not only during flight, but also when the drone 100 lands on the takeoff and landing section of the main body device 40. Images captured by the imaging device 102 from the takeoff and landing section of the main body device 40 can be used as images that the worker can view from the conventional driver's seat.

In addition, when flying the drone 100 near the bucket 57, the UAV control device 108 can avoid a collision between the bucket 57 and the drone 100 by recognizing the bucket 57 using the infrared sensor of the sensor group 104.
In addition, the heavy equipment control device 50 may be configured to capture images using the imaging device 102 of the drone 100 when a malfunction occurs in the hydraulic excavator 1 or to determine whether maintenance is required.

As the drive system 10 of the first and second embodiments described above, hydrogen and a fuel cell may be used instead of an internal combustion engine to drive the hydraulic excavator 1. In this case, high-pressure hydrogen gas may be stored in the fuel tank 12 and supplied to the fuel cell. If a drive system that emits low amounts of greenhouse gases is used as the drive system 10, an environmentally friendly hydraulic excavator 1 can be realized. Note that a container may be provided in the drone 100 of the second embodiment to transport excavated materials.

Third Embodiment
Hereinafter, the third embodiment will be described with reference to FIG. 8 and FIG. 9. The same components as those in the first and second embodiments are denoted by the same reference numerals, and the description thereof will be omitted or simplified.
Fig. 8 is a schematic diagram showing a towing vehicle 201, which is a driving vehicle, and a scraper vehicle 220 according to the third embodiment. Fig. 9 is a block diagram of the main parts of the towing vehicle 201 and the scraper vehicle 220 according to the first embodiment.
As shown in Fig. 8, the towing vehicle 201 tows the scraper vehicle 220, and is connected (coupled) to the scraper vehicle 220 by a hitch 221, which is a coupling device. The hitch 221 is detachable from the towing vehicle 201, and has a flexible ball joint 222 provided at one end on the towing vehicle 201 side.

(Towing vehicle)
As is clear from Fig. 8, the towing vehicle 201 of this embodiment is an automatic driving type vehicle without a driver's seat. Also, in this embodiment, the towing vehicle 201 is driven (propelled) by a fuel cell 202 instead of an internal combustion engine, and in-wheel motors 203 (see Fig. 9) provided on each of the two front wheels and four rear wheels. Note that the in-wheel motors 203 may be provided so as to be coaxially connected to the hubs of the front and rear wheels.
The towing vehicle 201 may be of a remote-controlled type, may be of a type having a driver's seat, and may use an engine using an internal combustion engine.

In addition, the towing vehicle 201 of this embodiment has a hydrogen tank 204 that supplies hydrogen to the fuel cell 202, a storage battery 205, a GNSS 206 (Global Navigation Satellite System), a communication device 208, a memory 209, and a control device 210.

The fuel cell 202 is a power generating device that generates electricity by electrochemically reacting hydrogen and oxygen.
The hydrogen tank 204 stores hydrogen compressed to several tens of MPa, and supplies hydrogen to the fuel cell 202 via a hydrogen supply passage (not shown).
The storage battery 205 is a secondary battery that stores the power generated by the fuel cell 202. The storage battery 205 can supply the stored power to the motor 203, a storage battery 233 provided in the scraper vehicle 220, and the like. In order to supply the power of the storage battery 205 to the scraper vehicle 220, the towing vehicle 201 is provided with a first connector 211 (e.g., a female connector) connected to the storage battery 205, and the scraper vehicle 220 is provided with a second connector 235 (e.g., a male connector) that engages with the first connector 211.

As shown in FIG. 8, the fuel cell 202 and hydrogen tank 204 are disposed at the front of the towing vehicle 201. Conventionally, an internal combustion engine and a driver's seat have been disposed at the front of the towing vehicle 201. In this embodiment, the internal combustion engine and driver's seat are omitted, so a large space can be provided at the front of the towing vehicle 201, allowing many hydrogen tanks 204 to be disposed and ensuring freedom of arrangement of the fuel cell 202, etc. Note that although the storage battery 205 is illustrated near the center of the towing vehicle 201 in FIG. 8, it is also possible to dispose it at the front of the towing vehicle 201.

The GNSS 206 measures the position of the towing vehicle 201 by using artificial satellites.
The communication device 208 is a wireless communication unit that accesses a communication device 240 (described later) or a wide area network such as the Internet, and in this embodiment, transmits various drive and control information from the control device 210 to the communication device 240.

The memory 209 is a non-volatile memory (e.g., a flash memory) and stores map information of the construction site, a program for automatically driving the towing vehicle 201, a program for controlling the scraper 225 described below, and a hydraulic cylinder (not shown) described below.

The control device 210 is equipped with a CPU and controls the towing vehicle 201 and the scraper vehicle 220. In this embodiment, the control device 210 controls the automatic operation of the towing vehicle 201 at the construction site, and the drive of the scraper 225 described below and a hydraulic cylinder (not shown) provided on the scraper vehicle 220.

(Scraper vehicle)
The scraper vehicle 220 has a frame 223, a bowl 224, a scraper 225, and wheels 226, in addition to the hitch 221 and ball joint 222 described above.
The scraper vehicle 220 also has a solar panel 232 which is a power generation device, a storage battery 233 which is a secondary battery, a motor 234 (see FIG. 2 ), a second connector 235, and a blade 236. The scraper vehicle 220 also has a second detection device 16 provided in the vicinity of the scraper 225, and a first change device 17 provided on the frame 223.

As shown in FIG. 9, the scraper vehicle 220 has a memory 239 that stores various data and the amount of liquid supplied by the first change device 17, a communication device 240, and a control device 241 that controls the entire scraper vehicle 220.

The frame 223 is a tapered metal part, and the liquid tank 18 and the first change device 17 are provided on the inner surface facing the bowl 224, and a plurality of solar panels 232 are provided on the outer surface.
The bowl 224 has an open top and receives excavated material such as soil and sand excavated by the scraper 225 .

In the third embodiment, two first change devices 17 are provided, but one or three or more may be provided. The scraper vehicle 220 has one cycle consisting of an excavation process, a transport process, a discharge process, and a return process. The control device 241 starts supplying liquid to the excavated material by the first change device 17 after the excavated material begins to be stored in the bowl 224 during the excavation process, and can also supply liquid to the excavated material by the first change device 17 during the transport process, so that more liquid can be supplied to the excavated material. Therefore, the control device 241 can bring the properties of the excavated material closer to the desired water content (moisture content) by the time of the discharge process.

The scraper 225 is a blade-like or spatula-like member for scraping off soil and sand from a travel surface such as the ground surface, and in the third embodiment, is provided integrally with the bowl 224 at the bottom of the bowl 224 .
Since the bowl 224 and the scraper 225 are provided integrally, the scraper 225 can dig into the ground and excavate earth and sand by tilting the bowl 224 toward the ground with a hydraulic cylinder (not shown). Also, the bowl 224 is provided with an opening (not shown), and when the bowl 224 is inclined toward the ground, the material excavated by the scraper 225 is received in the bowl 224 through the opening (not shown).

The second detection device 16 is provided in the vicinity of the scraper 225. In the third embodiment, since the second detection device 16 is provided on the traveling direction side (-X side) of the scraper 225, the second detection device 16 detects moisture contained in the soil before it is excavated by the scraper 225. Note that an extension mechanism for moving the second detection device 16 closer to or farther away from the scraper 225 may be provided.
When excavation by the scraper 225 is completed, the bowl 224 is tilted toward the ground by a hydraulic cylinder (not shown), so that the scraper 225 is lifted off the ground.

The second detection device 16 and the first change device 17 are powered by electricity from the storage battery 233 or electricity from a solar panel, and can therefore be operated without emitting greenhouse gases.

An imaging device may be provided on the inner surface of the frame 223 facing the bowl 224, and the control device 241 may determine whether the bowl 224 is fully loaded with excavated material based on the image captured by the imaging device. When the bowl 224 is fully loaded with excavated material, the control device 241 ends the excavation process and transitions to the transportation process.

In the third embodiment, the properties of the excavated material are changed by utilizing the excavation process and the transportation process, so that a user-friendly scraper vehicle 220 can be realized. The first detection device 15 may be provided inside the scraper vehicle 220. Also, a takeoff and landing section for the drone 100 to take off and land may be provided on the upper surface of the frame 223.

The above-described embodiment is merely an example for explaining the present invention, and various modifications can be made without departing from the scope of the present invention. For example, when the drone 100 is provided with the second detection device 16, the UAV control device 108 controls the flight device 101 so that the excavation material and the drone 100 are at a predetermined distance from each other, so that the drone 100 does not come into contact with the work device 60 or the dump truck 70.

For example, when the first change device 17 is provided on the drone 100, the UAV control device 108 simply controls the flight device 101 so that the excavated material and the drone 100 are at a predetermined distance from each other and so that the drone 100 does not come into contact with the work device 60 or the dump truck 70.
The first changing device 17 may supply lime to the excavated material in order to change the properties of the excavated material. The first to third embodiments may be combined as appropriate.

REFERENCE SIGNS LIST 1 Hydraulic excavator 15 First detection device 16 Second detection device 17 First change device 18 Liquid tank 30 Swing device 40 Main body device 50 Heavy equipment control device 60 Work device 100 Drone 108 UAV control device 220 Scraper vehicle 241 Control device

Claims (13)

A detection device for detecting the properties of the excavated material from before excavation to after release;
A change device for changing the properties of the excavated material;
A storage section that releasably stores the excavated object;
a control device that changes the properties of the excavated material using the change device when the excavated material is stored in the storage section based on the detection results of the detection device, and that changes the properties of the excavated material using the change device when the excavated material is released from the storage section . the container is a bucket;
The construction machine according to claim 1 , wherein the detection device detects moisture in the excavated material contained in the bucket. The construction machine according to claim 2, in which the detection device is provided on an arm connected to the bucket. The construction machine according to any one of claims 1 to 3, wherein the detection device is equipped with a near-infrared moisture meter that detects moisture contained in the excavated material using near-infrared rays. A construction machine according to any one of claims 1 to 4 , wherein the detection device detects the properties of the excavated material when the change device changes the properties of the excavated material while the excavated material is released from the storage section . The construction machine according to any one of claims 1 to 5, wherein the detection device is provided with an extension mechanism for approaching the excavated object. the detection device detects moisture in the excavation;
The modification device includes a liquid supply device for supplying liquid to the excavated material,
A construction machine as described in any one of claims 1 to 6, wherein the control device determines the amount of liquid to be supplied a second time by the liquid supply device when the excavated material is released from the storage section, based on the amount of liquid to be supplied to the excavated material determined from the detected moisture content of the excavated material and the amount of liquid supplied a first time by the liquid supply device when the excavated material is stored in the storage section. The construction machine according to any one of claims 1 to 7, in which the detection device is provided on an unmanned aerial vehicle capable of flight. The construction machine according to any one of claims 1 to 8, in which the change device is provided on an unmanned aerial vehicle capable of flight. There are multiple buckets,
10. The construction machine according to claim 1, wherein while one bucket is digging, another bucket discharges the excavated material, and the detection device detects the properties of the excavated material while the other bucket is discharging the excavated material. detecting a property of the excavated material;
A method for adjusting excavated material, comprising the steps of: changing the properties of the excavated material while the excavated material is contained in a storage section based on the detection results of the properties of the excavated material ; and changing the properties of the excavated material while the excavated material is released from the storage section . The detection of the property is moisture of the excavated material,
The change in the properties of the excavated material is performed by supplying a liquid;
The excavated material adjustment method according to claim 11, further comprising determining the amount of liquid to be supplied a second time when the excavated material is released from the storage section based on the amount of liquid to be supplied to the excavated material determined from the detected moisture content of the excavated material and the amount of liquid supplied the first time when the excavated material is contained in the storage section . 13. The method for adjusting excavated material according to claim 11 or 12, further comprising changing the properties of the excavated material when the excavated material is used for banking or leveling.

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