JP7709650B2 - Utility pole construction system, control method, control device and program - Google Patents
Utility pole construction system, control method, control device and programInfo
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D13/00—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers
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Description
本開示は、グラップル式重機を使って電柱工事を自動的に行う技術に関する。 This disclosure relates to technology for automatically carrying out utility pole construction work using grapple-type heavy machinery.
従来、電柱を建設、移設、撤去するなどの電柱工事は、クレーン式重機を手動で操作し、目的の作業を行っていた（例えば、非特許文献１参照。）。従来の電柱工事の様子を図１に示す。図１において、２０は電柱、５１はクレーン式重機、５５は監督者、５６は操作者、５７は作業者である。Conventionally, utility pole construction work, such as constructing, relocating, and removing utility poles, has been carried out by manually operating a crane-type heavy machine to perform the desired work (see, for example, Non-Patent Document 1). Figure 1 shows a conventional utility pole construction work. In Figure 1, 20 is a utility pole, 51 is a crane-type heavy machine, 55 is a supervisor, 56 is an operator, and 57 is a worker.
電柱の建設作業を例にとる。クレーン式重機５１を操作する際には、監督者５５の監督の下、操作者５６がレバー操作を行って、クレーンで電柱２０を紐で吊るし、作業者５７が振れ止めを行いながら、建設する場所まで電柱２０を移動して建設作業を行っていた。Let's take the example of constructing a utility pole. When operating a crane-type heavy machine 51, under the supervision of a supervisor 55, an operator 56 operates the lever to hang a utility pole 20 from the crane with a rope, and a worker 57 performs the vibration prevention while moving the utility pole 20 to the construction site to carry out the construction work.
しかし、電柱工事では、危険予防と安全対策が必須である。そのため、従来、電柱工事を熟知した監督者５５の下で、操作者５６のクレーン操作や作業者５７の振れ止め作業には熟練が必要であった。However, in utility pole construction, risk prevention and safety measures are essential. For this reason, in the past, operator 56 had to be highly skilled in crane operation and worker 57 in anti-sway work under the supervision of supervisor 55, who was well versed in utility pole construction.
そこで、前述の課題を解決するために、本開示は、熟練を不要とする電柱工事システム、制御方法、制御装置及びプログラムを提供することを目的とする。 Therefore, in order to solve the above-mentioned problems, the present disclosure aims to provide a utility pole construction system, control method, control device, and program that do not require expertise.
前記課題を解決するために、本開示では、センサの取得した地形及び障害物の情報とグラップル式重機及び電柱に関する情報とに基づいて、グラップル式重機の動作を自動化することとした。 In order to solve the above problems, the present disclosure provides for automating the operation of a grapple-type heavy equipment based on information on terrain and obstacles acquired by sensors and information on the grapple-type heavy equipment and utility poles.
具体的には、本開示の電柱工事システムは、
電柱を掴んで運搬及び作業するグラップル式重機と、
地形及び障害物の情報を取得する第１のセンサと、
予め取得した地形及び障害物の情報と前記第１のセンサが取得した地形及び障害物の情報と前記グラップル式重機及び前記電柱に関する情報とに基づいて所望の電柱工事を行うための前記グラップル式重機の作業経路を算出し、前記グラップル式重機の作業経路の運行を制御する制御装置と、
を備える。
Specifically, the utility pole construction system of the present disclosure includes:
A grapple-type heavy machine that grabs, transports and works on utility poles;
A first sensor for acquiring information on a terrain and an obstacle;
A control device that calculates a work route for the grapple type heavy machine for performing a desired utility pole construction work based on information on terrain and obstacles acquired in advance, information on terrain and obstacles acquired by the first sensor, and information on the grapple type heavy machine and the utility pole, and controls the operation of the work route for the grapple type heavy machine;
Equipped with.
具体的には、本開示の電柱工事システムは、
前記グラップル式重機の状態を取得する第２のセンサをさらに、備え、
前記制御装置は、前記第２のセンサが取得した前記グラップル式重機の状態の情報に基づいて前記グラップル式重機の電柱工事を制御することを特徴とする。
Specifically, the utility pole construction system of the present disclosure includes:
A second sensor is further provided for acquiring a state of the grapple type heavy machine,
The control device is characterized in that it controls the pole work of the grapple type heavy equipment based on information on the state of the grapple type heavy equipment acquired by the second sensor.
具体的には、本開示の電柱工事システムは、
移動体を検出する第３のセンサをさらに、備え、
前記制御装置は、第３のセンサが取得した前記移動体の情報と前記グラップル式重機及び前記電柱に関する情報とに基づいて前記グラップル式重機の動作を中止させることを特徴とする。
Specifically, the utility pole construction system of the present disclosure includes:
A third sensor for detecting a moving object is further provided,
The control device is characterized in that it stops the operation of the grapple type heavy machine based on information about the moving body acquired by a third sensor and information about the grapple type heavy machine and the utility pole.
具体的には、本開示の制御方法は、
制御装置が、電柱を掴んで運搬及び作業するグラップル式重機の制御方法であって、
予め取得した地形及び障害物の情報と第２のセンサが取得した地形及び障害物の情報と前記グラップル式重機及び前記電柱に関する情報とに基づいて所望の電柱工事を行うための前記グラップル式重機の作業経路を算出し、前記グラップル式重機の作業経路の運行を制御する。
Specifically, the control method of the present disclosure includes:
A control method for a grapple-type heavy machinery that grips, transports, and works on utility poles, comprising:
A work route for the grapple-type heavy equipment to perform the desired utility pole construction work is calculated based on previously acquired information on terrain and obstacles, information on terrain and obstacles acquired by a second sensor, and information on the grapple-type heavy equipment and the utility pole, and operation of the grapple-type heavy equipment along the work route is controlled.
具体的には、本開示の制御方法は、
制御装置が、さらに、第２のセンサが取得した前記グラップル式重機の状態の情報に基づいて前記グラップル式重機の作業を制御することを特徴とする。
Specifically, the control method of the present disclosure includes:
The control device is further characterized in that it controls the work of the grapple type heavy equipment based on information on the state of the grapple type heavy equipment acquired by a second sensor.
具体的には、本開示の制御装置は、
電柱を掴んで運搬及び作業するグラップル式重機の制御装置であって、
予め取得した地形及び障害物と第１のセンサが取得した前記地形及び障害物の情報と前記グラップル式重機及び前記電柱に関する情報とに基づいて所望の電柱工事を行うための前記グラップル式重機の作業経路を算出し、前記グラップル式重機の作業経路の運行を制御する。
Specifically, the control device of the present disclosure includes:
A control device for a grapple-type heavy equipment that grabs, transports, and works on utility poles,
A work route for the grapple-type heavy equipment to perform the desired utility pole construction work is calculated based on the terrain and obstacles acquired in advance, information on the terrain and obstacles acquired by the first sensor, and information on the grapple-type heavy equipment and the utility pole, and operation of the grapple-type heavy equipment along the work route is controlled.
具体的には、本開示の制御装置は、
さらに、第２のセンサが取得した前記グラップル式重機の状態の情報に基づいて前記グラップル式重機の作業を制御することを特徴とする。
Specifically, the control device of the present disclosure includes:
Furthermore, the present invention is characterized in that the work of the grapple type heavy machine is controlled based on information on the state of the grapple type heavy machine acquired by a second sensor.
具体的には、本開示には、
上記いずれかに記載の制御装置としてコンピュータを機能させるためのプログラム
を含む。
Specifically, the present disclosure includes:
The present invention includes a program for causing a computer to function as any one of the control devices described above.
なお、上記各開示の発明は、可能な限り組み合わせることができる。 The inventions disclosed above can be combined as far as possible.
本開示によれば、電柱工事に熟練を不要とすることができる。 According to the present disclosure, it is possible to eliminate the need for expertise in utility pole construction.
以下、本開示の実施形態について、図面を参照しながら詳細に説明する。なお、本開示は、以下に示す実施形態に限定されるものではない。これらの実施の例は例示に過ぎず、本開示は当業者の知識に基づいて種々の変更、改良を施した形態で実施することができる。なお、本明細書及び図面において符号が同じ構成要素は、相互に同一のものを示すものとする。 Below, the embodiments of the present disclosure will be described in detail with reference to the drawings. Note that the present disclosure is not limited to the embodiments shown below. These implementation examples are merely illustrative, and the present disclosure can be implemented in various forms with various modifications and improvements based on the knowledge of those skilled in the art. Note that components with the same reference numerals in this specification and drawings are considered to be identical to each other.
（実施形態１）
本開示の電柱工事の様子を図２に、本開示の電柱工事システムの構成を図３に示す。図２、図３において、１０はグラップル式重機、１１は第１のセンサ、１２は第２のセンサ、１３は第３のセンサ、１５は制御装置、２０は電柱である。
(Embodiment 1)
The state of utility pole construction according to the present disclosure is shown in Fig. 2, and the configuration of the utility pole construction system according to the present disclosure is shown in Fig. 3. In Fig. 2 and Fig. 3, 10 is a grapple-type heavy machine, 11 is a first sensor, 12 is a second sensor, 13 is a third sensor, 15 is a control device, and 20 is a utility pole.
本開示の電柱工事システムは、電柱２０を掴んで運搬及び作業するグラップル式重機１０と、地形及び障害物の情報を取得する第１のセンサ１１と、予め取得した地形及び障害物の情報と第１のセンサ１１が取得した地形及び障害物の情報とグラップル式重機１０及び電柱２０に関する情報とに基づいて所望の電柱工事を行うためのグラップル式重機１０の作業経路を算出し、グラップル式重機１０の作業経路の運行を制御する制御装置と、を備える。The utility pole construction system disclosed herein comprises a grapple-type heavy equipment 10 that grasps, transports and works on a utility pole 20, a first sensor 11 that acquires information on the terrain and obstacles, and a control device that calculates a work path for the grapple-type heavy equipment 10 to perform the desired utility pole construction based on previously acquired information on the terrain and obstacles, information on the terrain and obstacles acquired by the first sensor 11, and information on the grapple-type heavy equipment 10 and the utility pole 20, and controls the operation of the work path of the grapple-type heavy equipment 10.
グラップル式重機１０は、グラップルで電柱２０を掴んで運搬及び作業をする。制御装置１５は、予め地形及び障害物の情報を取得している。また、第１のセンサ１１は、カメラ、ミリ波レーダや赤外線センサなどで、リアルタイムで地形及び障害物を検知し、検知した地形及び障害物の情報を制御装置１５に出力する。制御装置１５は、第１のセンサ１１が取得した地形及び障害物の情報からノイズを除去する。本来、障害物のない場所に障害物が存在すると判定することを防止するためである。また、グラップル式重機１０の作業経路を大きく超える範囲の地形及び障害物の情報は不要なため、不要な地形及び障害物の情報を削除してもよい。The grapple-type heavy equipment 10 grasps the utility pole 20 with a grapple to transport and work on it. The control device 15 acquires information on the terrain and obstacles in advance. The first sensor 11 detects the terrain and obstacles in real time using a camera, millimeter wave radar, infrared sensor, etc., and outputs the detected terrain and obstacle information to the control device 15. The control device 15 removes noise from the terrain and obstacle information acquired by the first sensor 11. This is to prevent the control device 15 from determining that an obstacle exists in a place where there is no obstacle. Furthermore, since information on the terrain and obstacles in an area that significantly exceeds the work route of the grapple-type heavy equipment 10 is unnecessary, the unnecessary terrain and obstacle information may be deleted.
制御装置１５は、地形及び障害物の情報を処理可能なデータに変換する。制御装置１５は、予め取得した地形及び障害物の情報と第１のセンサ１１が取得した地形及び障害物の情報とを比較することにより、グラップル式重機１０の現在位置を検出する。グラップル式重機１０の位置はＧＰＳを利用して検出してもよい。The control device 15 converts the information on the terrain and obstacles into processable data. The control device 15 detects the current position of the grapple-type heavy equipment 10 by comparing the terrain and obstacle information acquired in advance with the terrain and obstacle information acquired by the first sensor 11. The position of the grapple-type heavy equipment 10 may be detected using a GPS.
制御装置１５は、グラップル式重機１０及び電柱２０に関する情報は予め取得している。制御装置１５は、予め取得した地形及び障害物の情報と第１のセンサ１１の取得した地形及び障害物の情報と予め取得したグラップル式重機１０及び電柱２０に関する情報とに基づいて、グラップル式重機１０が所望の電柱工事を行うための作業経路を算出する。グラップル式重機１０に関する情報としては、グラップル式重機１０の位置、大きさ、グラップルの可動半径などである。電柱２０に関する情報としては、電柱２０の寸法などである。制御装置１５は、グラップル式重機１０が電柱２０を掴んで運搬するに必要な安全範囲を保ちつつ、障害物を避けて、現在位置から所望の電柱工事を行う目的の場所まで移動できる作業経路を算出する。作業経路の算出にはパスランニングアルゴリズムや逆運動学アルゴリズム等が適用できる。The control device 15 acquires information on the grapple-type heavy equipment 10 and the utility pole 20 in advance. The control device 15 calculates a work route for the grapple-type heavy equipment 10 to perform the desired utility pole construction based on the previously acquired information on the terrain and obstacles, the information on the terrain and obstacles acquired by the first sensor 11, and the previously acquired information on the grapple-type heavy equipment 10 and the utility pole 20. The information on the grapple-type heavy equipment 10 includes the position, size, and grapple movable radius of the grapple of the grapple. The information on the utility pole 20 includes the dimensions of the utility pole 20. The control device 15 calculates a work route that allows the grapple-type heavy equipment 10 to move from its current position to the target location where the desired utility pole construction will be performed while avoiding obstacles and maintaining a safety range required for the grapple-type heavy equipment 10 to grasp and transport the utility pole 20. A path running algorithm, an inverse kinematics algorithm, or the like can be applied to calculate the work route.
グラップル式重機１０が電柱２０を運搬する際に、制御装置１５は、予め取得した地形及び障害物の情報と第１のセンサ１１が取得した地形及び障害物の情報との間に変化があった場合に、予め取得した地形及び障害物の情報の補正に、第１のセンサ１１の取得した地形及び障害物の情報を利用してもよい。When the grapple-type heavy equipment 10 transports the utility pole 20, if there is a change between the previously acquired terrain and obstacle information and the terrain and obstacle information acquired by the first sensor 11, the control device 15 may use the terrain and obstacle information acquired by the first sensor 11 to correct the previously acquired terrain and obstacle information.
制御装置１５は、グラップル式重機１０及び電柱２０に関する情報を参照し、地形上で障害物を避けて電柱２０を安全に運搬するのに必要な作業経路を角度データとして算出した後、算出した角度データに基づいてグラップル式重機１０の運行を制御する。制御装置１５は、第１のセンサ１１の検出する地形及び障害物の情報と算出した作業経路を比較しながら、目的の場所まで算出した作業経路から外れないよう、グラップル式重機１０の運行を制御する。グラップル式重機１０が目的の場所まで移動すると、制御装置１５はグラップル式重機１０を停止させる。The control device 15 refers to information related to the grapple-type heavy equipment 10 and the utility pole 20, calculates the work route required to safely transport the utility pole 20 while avoiding obstacles on the terrain as angle data, and then controls the operation of the grapple-type heavy equipment 10 based on the calculated angle data. The control device 15 compares the calculated work route with the terrain and obstacle information detected by the first sensor 11, and controls the operation of the grapple-type heavy equipment 10 so that it does not deviate from the calculated work route to the target location. When the grapple-type heavy equipment 10 moves to the target location, the control device 15 stops the grapple-type heavy equipment 10.
本開示の電柱工事システムでは、グラップル式重機１０が電柱を運搬するのに、熟練を不要とすることができる。 In the utility pole construction system disclosed herein, the grapple-type heavy equipment 10 does not require expertise to transport utility poles.
これまでの説明では、グラップル式重機１０が電柱を運搬する例を説明したが、グラップル式重機１０が電柱を建設した後の場合や電柱の撤去に向かう場合は、グラップル式重機１０は電柱を掴むことなく移動することになる。これらの場合には、制御装置１５には電柱に関する情報は不要である。In the above explanation, an example has been described in which the grapple-type heavy equipment 10 transports a utility pole, but when the grapple-type heavy equipment 10 has already erected a utility pole or is heading to remove a utility pole, the grapple-type heavy equipment 10 moves without gripping the utility pole. In these cases, the control device 15 does not need information about the utility pole.
（実施形態２）
本開示の電柱工事システムを図２及び図３を用いて説明する。本開示の電柱工事システムは、グラップル式重機１０の状態を取得する第２のセンサ１２をさらに、備え、制御装置１５は、第２のセンサ１２が取得したグラップル式重機１０の状態の情報に基づいて前記グラップル式重機の電柱工事を制御する。
(Embodiment 2)
The utility pole construction system of the present disclosure will be described with reference to Figures 2 and 3. The utility pole construction system of the present disclosure further includes a second sensor 12 that acquires the state of the grapple-type heavy machine 10, and the control device 15 controls the utility pole construction of the grapple-type heavy machine based on the information on the state of the grapple-type heavy machine 10 acquired by the second sensor 12.
第２のセンサ１２は、グラップル式重機１０の向いている方向、グラップルの角度や把持力などグラップル式重機１０が作業するのに必要な情報を取得する。第２のセンサは複数の種類から構成されていてもよい。The second sensor 12 acquires information necessary for the grapple-type heavy equipment 10 to perform its work, such as the direction in which the grapple-type heavy equipment 10 is facing, the angle of the grapple, the gripping force, etc. The second sensor may be composed of multiple types.
グラップル式重機１０が電柱を建設、移設、撤去する目的の場所に移動すると、制御装置１５は、第２のセンサが取得した情報を基に、グラップル式重機１０にグラップルを使用させて、電柱を建設、移設、撤去する電柱工事を行わせる。制御装置１５は、目的の場所周辺の地形を参照しながら、グラップル式重機１０のグラップルの操作を制御する。グラップルの操作には逆運動学アルゴリズムが適用できる。グラップルに取り付けた第２のセンサとしての角度センサ、力覚センサ、トルクセンサからの情報を基に、制御装置１５は、グラップルの回転や曲げ伸ばしを制御する。電柱工事が完了した後は、制御装置１５は、グラップル式重機１０を駐車場所まで移動させてもよい。When the grapple-type heavy equipment 10 moves to the target location for constructing, relocating, or removing a utility pole, the control device 15 causes the grapple-type heavy equipment 10 to use the grapple to perform utility pole construction work, such as constructing, relocating, or removing a utility pole, based on the information acquired by the second sensor. The control device 15 controls the operation of the grapple of the grapple-type heavy equipment 10 while referring to the terrain around the target location. An inverse kinematics algorithm can be applied to the operation of the grapple. The control device 15 controls the rotation and bending/stretching of the grapple based on information from the angle sensor, force sensor, and torque sensor as the second sensor attached to the grapple. After the utility pole construction work is completed, the control device 15 may move the grapple-type heavy equipment 10 to a parking location.
本開示の電柱工事システムでは、グラップル式重機１０が電柱工事をするのに、熟練を不要とすることができる。 In the utility pole construction system disclosed herein, the grapple-type heavy equipment 10 does not require expertise to perform utility pole construction.
（実施形態３）
本開示の電柱工事システムを図２及び図３を用いて説明する。本開示の電柱工事システムは、移動体を検出する第３のセンサ１３をさらに、備え、制御装置１５は、第３のセンサ１３が取得した移動体の情報とグラップル式重機１０及び電柱２０に関する情報とに基づいてグラップル式重機１０の動作を中止させる。
(Embodiment 3)
The utility pole construction system of the present disclosure will be described with reference to Figures 2 and 3. The utility pole construction system of the present disclosure further includes a third sensor 13 that detects a moving object, and the control device 15 stops the operation of the grapple type heavy equipment 10 based on information on the moving object acquired by the third sensor 13 and information on the grapple type heavy equipment 10 and the utility pole 20.
移動体としては、人、動物、車両などである。第３のセンサ１３は移動体の大きさ、位置、速度などを検出する。第３のセンサ１３はカメラ、ミリ波レーダや赤外線センサなどである。第１のセンサが兼用してもよい。グラップル式重機１０の情報としては、グラップル式重機１０の大きさやグラップルの可動半径などである。電柱２０に関する情報としては、電柱２０の寸法などである。 The moving body may be a person, an animal, a vehicle, etc. The third sensor 13 detects the size, position, speed, etc. of the moving body. The third sensor 13 may be a camera, a millimeter wave radar, an infrared sensor, etc. The first sensor may also be used. Information on the grapple-type heavy equipment 10 includes the size of the grapple-type heavy equipment 10 and the movable radius of the grapple. Information on the utility pole 20 includes the dimensions of the utility pole 20, etc.
第３のセンサがグラップル式重機１０のグラップルの可動範囲内に移動体が存在することを検知すると、制御装置１５はグラップル式重機１０の運搬や作業の動作を中止させる。制御装置１５は、移動体の動きを予測して、所定時間内にグラップル式重機１０のグラップルの可動範囲内に移動体が移動すると判断した場合も、グラップル式重機１０の運搬や作業の動作を中止させてもよい。When the third sensor detects the presence of a moving object within the movable range of the grapple of the grapple-type heavy machine 10, the control device 15 stops the transporting or working operation of the grapple-type heavy machine 10. The control device 15 may also stop the transporting or working operation of the grapple-type heavy machine 10 if it predicts the movement of the moving object and determines that a moving object will move within the movable range of the grapple of the grapple-type heavy machine 10 within a predetermined time.
本開示の電柱工事システムでは、グラップル式重機１０に安全に電柱工事をさせることができる。 The utility pole construction system disclosed herein allows the grapple-type heavy equipment 10 to safely carry out utility pole construction work.
以上説明したように、本開示によれば、電柱工事に熟練を不要とすることができる。As described above, the present disclosure makes it possible to eliminate the need for expertise in utility pole construction.
本開示の制御装置はコンピュータとプログラムによっても実現でき、プログラムを記録媒体に記録することも、ネットワークを通して提供することも可能である。 The control device disclosed herein can also be realized by a computer and a program, and the program can be recorded on a recording medium or provided over a network.
本開示は通信産業に適用することができる。 This disclosure can be applied to the communications industry.
１０ グラップル式重機
１１ 第１のセンサ
１２ 第２のセンサ
１３ 第３のセンサ
１５ 制御装置
２０ 電柱
５５ 監督者
５６ 操作者
５７ 作業者
10 Grapple-type heavy machine 11 First sensor 12 Second sensor 13 Third sensor 15 Control device 20 Utility pole 55 Supervisor 56 Operator 57 Worker
Claims (8)
地形及び障害物の情報を取得する第１のセンサと、
予め取得した地形及び障害物の情報と前記第１のセンサが取得した地形及び障害物の情報と前記グラップル式重機及び前記電柱に関する情報とに基づいて前記グラップル式重機が前記電柱を掴んで運搬するに必要な安全範囲を保ちつつ、障害物を避けて、現在位置から所望の電柱工事を行う目的の場所まで移動できる作業経路を算出し、前記グラップル式重機の作業経路の運行を制御する制御装置と、
を備える電柱工事システム。 A grapple-type heavy machine that grabs, transports and works on utility poles;
A first sensor for acquiring information on a terrain and an obstacle;
a control device that calculates a work route that allows the grapple type heavy machine to move from its current position to a target location for performing the desired utility pole construction work while avoiding obstacles and maintaining a safety range required for the grapple type heavy machine to grasp and transport the utility pole based on previously acquired information on terrain and obstacles, information on terrain and obstacles acquired by the first sensor, and information on the grapple type heavy machine and the utility pole, and controls the operation of the grapple type heavy machine along the work route;
A utility pole construction system equipped with:
前記制御装置は、前記第２のセンサが取得した前記グラップル式重機の状態の情報に基づいて前記グラップル式重機の電柱工事を制御することを特徴とする請求項１に記載の電柱工事システム。 A second sensor is further provided for acquiring a state of the grapple type heavy machine,
The utility pole construction system according to claim 1, characterized in that the control device controls the utility pole construction of the grapple-type heavy equipment based on information on the state of the grapple-type heavy equipment acquired by the second sensor.
前記制御装置は、第３のセンサが取得した前記移動体の情報と前記グラップル式重機及び前記電柱に関する情報とに基づいて前記グラップル式重機の動作を中止させることを特徴とする請求項１又は２に記載の電柱工事システム。 A third sensor for detecting a moving object is further provided,
The utility pole construction system according to claim 1 or 2, characterized in that the control device stops operation of the grapple-type heavy equipment based on information about the moving body acquired by a third sensor and information about the grapple-type heavy equipment and the utility pole.
制御装置が、予め取得した地形及び障害物の情報と第１のセンサが取得した地形及び障害物の情報と前記グラップル式重機及び前記電柱に関する情報とに基づいて前記グラップル式重機が前記電柱を掴んで運搬するに必要な安全範囲を保ちつつ、障害物を避けて、現在位置から所望の電柱工事を行う目的の場所まで移動できる作業経路を算出し、前記グラップル式重機の作業経路の運行を制御する制御方法。 A method for controlling a grapple-type heavy machinery that grabs, transports, and works on utility poles, comprising:
A control method in which a control device calculates a work route that allows the grapple type heavy equipment to move from its current position to a target location where the desired utility pole construction work will be performed while avoiding obstacles and maintaining a safety range required for the grapple type heavy equipment to grasp and transport the utility pole, based on previously acquired information on terrain and obstacles, information on terrain and obstacles acquired by a first sensor, and information on the grapple type heavy equipment and the utility pole , and controls the operation of the grapple type heavy equipment along the work route.
予め取得した地形及び障害物と第１のセンサが取得した前記地形及び障害物の情報と前記グラップル式重機及び前記電柱に関する情報とに基づいて前記グラップル式重機が前記電柱を掴んで運搬するに必要な安全範囲を保ちつつ、障害物を避けて、現在位置から所望の電柱工事を行う目的の場所まで移動できる作業経路を算出し、前記グラップル式重機の作業経路の運行を制御する制御装置。 A control device for a grapple-type heavy equipment that grabs, transports, and works on utility poles,
A control device that calculates a work route that allows the grapple -type heavy equipment to move from its current position to a target location where the desired utility pole construction work will be performed while avoiding obstacles and maintaining a safety range required for the grapple-type heavy equipment to grasp and transport the utility pole, based on previously acquired terrain and obstacles, information about the terrain and obstacles acquired by a first sensor, and information about the grapple-type heavy equipment and the utility pole, and controls the operation of the grapple-type heavy equipment along the work route.
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| PCT/JP2022/001181 WO2023135761A1 (en) | 2022-01-14 | 2022-01-14 | Utility pole construction system, control method, control device, and program |
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| WO2015097909A1 (en) | 2013-12-27 | 2015-07-02 | 株式会社小松製作所 | Mining-machine management system, mining machine, and management method |
| JP2017155563A (en) | 2016-03-04 | 2017-09-07 | 大成建設株式会社 | Construction work support system for work vehicle, and protection target position data creation system |
| JP2017227955A (en) | 2016-06-20 | 2017-12-28 | トヨタ自動車株式会社 | Moving path planning method for mobile robot |
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| JPWO2023135761A1 (en) | 2023-07-20 |
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