JP7784582B2 - Construction machinery work management method - Google Patents

Description

The present invention relates to a method for managing work on construction machinery.

Patent Document 1 discloses a construction machine that is capable of automatic operation without the need for operator control.

Japanese Patent Application Laid-Open No. 2008-8183

In recent years, in order to improve construction efficiency, the introduction of autonomous construction machinery, such as that described in Patent Document 1, has been progressing. However, it is not the case that an autonomous construction machine performs work alone to complete all construction work; rather, construction work is generally completed by multiple construction machines, including autonomous construction machines, each performing pre-specified tasks in sequence.

When multiple construction machines, including those capable of autonomous operation, are working within a designated work area, if each construction machine carries out the instructed work individually, there is a risk that, for example, the work of a construction machine performing a preceding process will be hindered by a construction machine performing a following process, resulting in a decrease in construction efficiency.

The present invention aims to improve construction efficiency when multiple construction machines, including automatically operable construction machines, work within a specified work area.

The present invention provides a work management method using a work management system that manages a plurality of construction work tasks that are each performed in sequence within a predetermined work area by a plurality of construction machines, including automatically operable construction machines. The work management system is equipped with a control unit configured to include a microcomputer, and the control unit has a work area setting unit that sets a work area within the work area and a determination unit that determines the completion of planned work. The work area setting unit includes a work area setting step in which the work area setting unit sequentially sets, as separate areas within the work area, a preceding work area that is a predetermined area where preceding construction work is performed and a following work area that is a predetermined area where following construction work is performed after the preceding construction work is performed, and a work completion determination step in which the determination unit determines the completion of the preceding construction work performed within the preceding work area. The construction work and the following construction work are work performed sequentially in the work area set in the work area setting process, and either the leading construction work or the following construction work is performed by automatically operated construction machinery, and the leading work area and the following work area are set simultaneously in the work area setting process, and the leading construction work is performed in the set leading work area, and the following construction work is performed in the set following work area, and when setting the leading work area and the following work area in the work area setting process, the work area setting unit sets the following work area to the range of the leading work area for which the leading construction work is determined to have been completed in the work completion determination process, and sets the new leading work area so that it does not overlap with the area of the leading work area for which the leading construction work is determined to have been completed in the work completion determination process.

The present invention also provides a work management method using a work management system that manages N construction tasks in a predetermined work area, in which an (N-1)th construction task (N is a natural number of 2 or more) is performed by a plurality of construction machines, including automatically operable construction machines, and an Nth construction task is performed in sequence within the predetermined work area. The work management system is equipped with a control unit that includes a microcomputer, and the control unit has a work area setting unit that sets a work area within the work area and a judgment unit that judges the completion of planned work, and includes a work area setting step in which the work area setting unit sequentially sets N work areas as separate areas within the work area, from a first work area that is a predetermined area in which the first construction task is performed to an Nth work area that is a predetermined area in which the Nth construction task is performed, and a work completion judgment step in which the judgment unit judges the completion of (N-1) construction tasks from the first construction task performed in the first work area to the (N-1)th construction task performed in the (N-1)th work area. The first, (N-1)th and Nth configuration work are work performed in sequence in the work area set in the work area setting process, and either the (N-1)th or the Nth configuration work is performed by an automatically operated construction machine. In the work area setting process, N work areas from the first work area to the Nth work area are set simultaneously, and the first configuration work is performed in the set first work area, and the Nth configuration work is performed in the set Nth work area. When setting the N work areas from the first work area to the Nth work area in the work area setting process, the work area setting unit sets the Nth work area to the range of the area of the (N -1)th work area for which it is determined that the (N-1)th configuration work has been completed in the work completion determination process, and sets the new (N-1)th work area so as not to overlap with the area of the (N-1)th work area for which it is determined that the (N-1)th configuration work has been completed in the work completion determination process.

FIG. 1 is a conceptual diagram showing the overall configuration of a work management system suitable for carrying out a work management method according to an embodiment of the present invention. FIG. 2 is a diagram showing the schematic configuration of the site management unit and construction machines in the work management system. FIG. 3 is a block diagram for explaining the function of the work management unit of the work management system. FIG. 4A is a diagram illustrating an example of work performed in a work area. FIG. 4B is a diagram illustrating an example of work performed in the work area. FIG. 4C is a diagram illustrating an example of work performed in the work area. FIG. 4D is a diagram for explaining an example of work performed in the work area. FIG. 5A is a diagram for explaining the work area of the work shown in FIGS. 4A, 4B, 4C, and 4D. FIG. 5B is a diagram for explaining a work area that is set subsequent to the work area shown in FIG. 5A. FIG. 5C is a diagram for explaining a work area that is set subsequent to the work area shown in FIG. 5B. FIG. 5D is a diagram for explaining a work area that is set subsequent to the work area shown in FIG. 5C. FIG. 5E is a diagram for explaining a work area that is set subsequent to the work area shown in FIG. 5D. FIG. 5F is a diagram for explaining another example of a work area that is set subsequent to the work area shown in FIG. 5A. FIG. 6 is a diagram showing the process flow of the work management method according to the embodiment of the present invention. FIG. 7A is a diagram for explaining another example of work performed in the work area. FIG. 7B is a diagram for explaining another example of work performed in the work area. FIG. 7C is a diagram for explaining another example of work performed in the work area. FIG. 8A is a diagram for explaining the work area of the work shown in FIGS. 7A, 7B, and 7C. FIG. 8B is a diagram for explaining a work area that is set subsequent to the work area shown in FIG. 8A. FIG. 8C is a diagram for explaining a work area that is set subsequent to the work area shown in FIG. 8B.

The work management method according to an embodiment of the present invention will be described below with reference to the drawings.

First, with reference to Figures 1 to 3, we will explain a work management system 100 suitable for implementing a work management method according to an embodiment of the present invention.

As shown in Figure 1, the work management system 100 is a system built to centrally manage work performed by multiple construction machines 2 that are capable of both automatic and manual operation and are deployed at multiple work sites 1A, 1B, and 1C. The multiple work sites 1A, 1B, and 1C managed by the work management system 100 are, for example, civil engineering work areas set up at locations more than several hundred kilometers apart from each other. Note that the multiple work sites 1A, 1B, and 1C may also be multiple work areas set up within a single civil engineering construction site.

Furthermore, the work sites 1A, 1B, and 1C are not limited to civil engineering work sites within Japan, but may also be overseas civil engineering work sites, or civil engineering work sites outside of Earth, such as on the surface of the moon. Furthermore, the number of work sites 1A, 1B, and 1C to be managed may be any number, as long as it is two or more.

The work management system 100 comprises a site management unit 30 installed at each work site 1A, 1B, 1C (work area), and a work management unit 10 that manages the work status of multiple construction machines 2 deployed at each work site 1A, 1B, 1C via the site management unit 30. The work management unit 10 and each site management unit 30 are connected to each other via a communications network 50 such as a public line. The following describes a case in which the work management system 100 manages the work of construction machines 2 involved in civil engineering work to build embankments such as trapezoidal dams by piling up embankment materials such as CSG (cemented sand and gravel).

The work management unit 10 is primarily composed of a microcomputer equipped with a CPU (Central Processing Unit) as the control unit 11, ROM (Read Only Memory) and RAM (Random Access Memory) as the memory unit 15, and an input/output interface (I/O interface), a communication unit 12 that exchanges data with each site management unit 30 via a communication network 50, a display unit 13 that can display the results of calculations performed by the control unit 11 and the work status of each work site 1A, 1B, 1C in real time, and an input unit 14 that accepts input operations from the operator managing the work. The memory unit 15 pre-stores programs executed by the control unit 11 and data required to execute the programs, and sequentially stores the results of calculations performed by the control unit 11. The specific control performed by the control unit 11 will be described later.

The work management unit 10 is installed in a location separate from each of the work sites 1A, 1B, and 1C in order to centrally manage the work of multiple construction machines 2 deployed at each of the work sites 1A, 1B, and 1C. Note that the work management unit 10 may be installed at any of the work sites 1A, 1B, and 1C.

Next, with reference to Figure 2, we will explain the site management unit 30 installed at each work site 1A, 1B, 1C and the construction machines 2 deployed at each work site 1A, 1B, 1C. Note that Figure 2 shows the general configuration of one work site 1A out of the multiple work sites 1A, 1B, 1C.

Like the work management unit 10, the site management unit 30 is primarily composed of a microcomputer equipped with a CPU (Central Processing Unit) as the control unit 31, ROM (Read Only Memory) and RAM (Random Access Memory) as the memory unit 35, and an input/output interface (I/O interface), a communication unit 32 that exchanges data with the work management unit 10 via the communication network 50, a display unit 33 that can display the results calculated by the control unit 11 of the work management unit 10, the situation within the work site 1A, and the status of each construction machine 2 in real time, and an input unit 34 that accepts input operations from the operator managing the work.

The site management unit 30 also includes a transmitter/receiver 36 that exchanges data with each construction machine 2, and an imaging unit 37 that captures images of the work site 1A. The transmitter/receiver 36 is a wireless communication method such as LTE (Long Term Evolution), 5G, or Wi-Fi (registered trademark), and the imaging unit 37 is a camera installed at multiple locations within the work site 1A. The site management units 30 installed at the other work sites 1B and 1C have a similar configuration.

The construction machine 2 deployed at the work site 1A is configured to be capable of automatic (autonomous) operation by equipping it with a general-purpose construction machine: a position acquisition unit 42 capable of receiving signals from GPS satellites and other components of the Global Navigation Satellite System (GNSS); a status detection unit 43 capable of detecting acceleration, angular velocity, and geomagnetism; a surroundings detection unit 44 capable of detecting surrounding obstacles; a transmitter/receiver unit 45 that exchanges data with the site management unit 30; and a control unit 41 that controls the operation of the construction machine 2 based on the information acquired by each of these units.

The position acquisition unit 42 is a positioning sensor capable of detecting the position (latitude, longitude, altitude) of the construction machine 2 based on signals from multiple positioning satellites. The status detection unit 43 is an inertial measurement unit (IMU) that combines an acceleration sensor, gyro sensor, barometric pressure sensor, and geomagnetic sensor capable of detecting the status of the construction machine 2. The status detection unit 43 also includes an engine operation detection sensor that detects the operating status of the construction machine 2, and a voltmeter and ammeter that detect the voltage and current of the construction machine 2's battery and electrical equipment. The surroundings detection unit 44 is a three-dimensional range sensor such as a laser scanner that can recognize the surrounding space by emitting light and measuring the light reflected by an object, a so-called 3D-LiDAR (light detection and ranging) sensor, or a radar sensor (RADAR: Radio Detection and Ranging) that can measure the distance to a measurement target using radio waves. The transceiver unit 45 is a wireless communication means similar to the transceiver unit 36 of the site management unit 30.

The control unit 41 is primarily composed of a CPU (Central Processing Unit) and is connected to an existing control unit 48 pre-installed in the construction machine 2. By connecting to the control unit 48, the control unit 41 detects the condition and shape of the workpiece, such as embankment material, from the results detected by the perimeter detection unit 44 and confirms the safety of the surrounding area, while also confirming its own position and attitude from the results detected by the position acquisition unit 42 and the status detection unit 43, thereby controlling the steering of the construction machine 2 so that it autonomously performs the instructed work. Note that the automatic (autonomous) operation of the construction machine 2 may be performed by sequence control, which controls based on a predetermined order or judgment, or by feedback control, which controls based on the shape and quantity of the workpiece, such as embankment material, measured by the perimeter detection unit 44, or by a combination of these types of control.

Here, the existing control unit 48 controls the steering and engine output of the construction machine 2 in response to the operator operating existing operation units 49, such as handles and levers that are pre-installed on the construction machine 2 for manual steering, etc. In other words, by generating a signal in the control unit 41 equivalent to the signal generated when the existing operation unit 49 is operated and sending the generated pseudo signal to the existing control unit 48, it is possible to move the construction machine 2 as if it were being operated by an operator, or to operate it by remote control.

In addition, the existing operation unit 49 remains installed on the construction machine 2, so an operator can manually operate the construction machine 2 by boarding it.

In addition, to enable an operator to remotely control the construction machine 2, the construction machine 2 is further provided with an imaging unit 46 that can capture images of the situation at the work site 1A visible from the cab, and a sound collection device (not shown) that picks up work sounds from the construction machine 2. The imaging unit 46 is, for example, a stereo camera that can capture images of the situation all around the construction machine 2, and it is preferable that the imaging direction changes depending on the head orientation and movement of the operator who operates the construction machine 2 using the remote control unit 20 (described below).

In this way, the construction machine 2 is capable of automatic (autonomous) operation, and is also configured to be manually operated with an operator on board, or manually operated by an operator operating from a remote location. In other words, the manual operation of the construction machine 2 described below includes cases where an operator operates the construction machine 2 while on board the construction machine 2, and cases where an operator operates the construction machine 2 remotely from the remote control unit 20 described below without being on board the construction machine 2.

Examples of construction machines 2 that are configured to be capable of both automatic and manual operation include bulldozers, dump trucks, vibratory rollers, and backhoes. Work performed by these different types of construction machines 2 deployed at the work site 1A is managed by the site management unit 30, and is also managed by the work management unit 10 via the site management unit 30. Note that while the configuration of the existing operation unit 49 differs depending on the type of construction machine 2, the configuration required to enable automatic operation and remote control is generally the same.

The work management system 100 further includes a remote control unit 20 for remotely controlling the construction machines 2 deployed at each work site 1A, 1B, 1C from a location away from each work site 1A, 1B, 1C.

As shown in FIG. 1, the remote control unit 20 is primarily composed of a microcomputer equipped with a CPU (Central Processing Unit) as a remote control unit 21, multiple remote control devices 24 connected to the remote control unit 21, and a display unit 22 capable of displaying a remote control schedule and the work status of the remotely controlled construction machine 2 in real time. The remote control unit 20 may be directly connected to the control unit 11 of the work management unit 10, or may be connected to the work management unit 10 via a communications network 50. The remote control unit 20 may be installed in the same location as the work management unit 10, or may be installed in a location away from the work management unit 10 or at one of the work sites 1A, 1B, or 1C.

The remote control device 24 is equipped with an operating section 27 such as a handle or lever for operating the construction machine 2, a display section 26 that displays images captured by an imaging section 46 provided on the construction machine 2 and the details of the work being carried out, and a speaker (not shown) that outputs sounds around the construction machine 2, and the operation of these components is controlled by a control section 25 primarily composed of a CPU (Central Processing Unit). The display section 26 may be, for example, a head-mounted display worn by the operator.

Next, the control performed by the control unit 11 of the work management unit 10 in the work management system 100 configured as described above will be explained with reference to Figure 3.

As shown in FIG. 3, the control unit 11 has a work area setting unit 11A that sets work areas within each work site 1A, 1B, 1C where multiple construction machines 2, including automatically operable construction machines, will each perform construction work in sequence based on three-dimensional data such as CIM (Construction Information Modeling) data for each work site 1A, 1B, 1C; a work planning unit 11B that plans the work to be performed by each construction machine 2 in each work area set by the work area setting unit 11A based on the specifications of each construction machine 2; a notification unit 11C that displays each work area set by the work area setting unit 11A on the display unit 13, the display unit 33 of each site management unit 30, and the display unit 22 of the remote control unit 20; and a determination unit 11D that determines the completion of the work planned by the work planning unit 11B based on the position information of each construction machine 2 and signals transmitted from each construction machine 2.

The three-dimensional data, such as CIM data, used in the work area setting unit 11A is stored in advance in the memory unit 15 or the memory unit 35 of each site management unit 30. The data used in the work area setting unit 11A may also be input by the operator via the input unit 14.

The work area setting unit 11A sequentially sets, within each work site 1A, 1B, 1C (work area), a leading work area where leading construction work will be performed and a trailing work area where trailing construction work will be performed after the leading construction work has been performed. Specific examples of leading construction work and trailing construction work will be described later.

The work area setting unit 11A sets the following work area within the range of the preceding work area for which the determination unit 11D has determined that the preceding construction work has been completed, but within a range that does not exceed the range of the preceding work area, and the preceding work area is set adjacent to the preceding work area for which the determination unit 11D has determined that the preceding construction work has been completed, but does not overlap with this area. In this way, the work area setting unit 11A sequentially sets work areas (leading work area, following work area) within each work site 1A, 1B, 1C in which multiple construction machines 2, including automatically operable construction machines, will each take turns performing construction work as construction work is completed.

The specifications of each construction machine 2 used in the work planning unit 11B are input in advance by the operator via the input unit 34 of the site management unit 30. For example, if the construction machine 2 is a bulldozer, the blade width, etc. are input as specifications; if it is a dump truck, the maximum load capacity and traveling speed are input; and if it is a vibratory roller, the roller width, etc. are input as specifications.

In addition, when the work content is planned in the work planning unit 11B, of the construction machines 2 deployed at each work site 1A, 1B, 1C, construction machines 2 undergoing inspection or repair are excluded from the plan, and only construction machines 2 that are ready to perform work are included in the plan. Whether a construction machine 2 is ready to work is input at any time by the operator via the input unit 34 of the site management unit 30. In addition, since each construction machine 2 originally has an abnormality detection function that detects abnormalities in the actuators that operate the work machine based on hydraulic oil pressure sensors and hydraulic oil temperature sensors (not shown), it is also possible to determine at any time whether a construction machine 2 is ready to work based on the presence or absence of abnormalities transmitted from each construction machine 2.

The work content planned by the work planning unit 11B includes the automated driving work content in which the construction machine 2 will perform work by automated driving within the work area, specifically the start position where the automated driving work will begin, the end position where the automated driving work will end, and the route from the start position to the end position. These are converted into data and sent to the construction machine 2 in charge of the work via the site management unit 30. The automated driving work content is, for example, the content of work to be done on the work object, such as embankment material, and includes information about the work range in which the work will be performed and target values within the work range (target shape, target specifications), which are set individually according to the work to be performed by each construction machine 2, as described below. Once the work range and target values within the work range are set, the construction machine 2 will perform work by automated driving within the work range to achieve the target values.

The work content planned by the work planning unit 11B also includes manual operation work content in which the construction machine 2 is manually operated within the work area. When an operator is on board the construction machine 2, the work content planned by the work planning unit 11B is sent via the site management unit 30 to a terminal equipped on the construction machine 2 or a tablet terminal carried by the operator, and when the operator remotely operates the construction machine 2 using the remote control unit 20, it is sent to the remote control device 24.

The completion status of the work determined by the determination unit 11D is displayed via the notification unit 11C on the display unit 13, the display unit 33 of each site management unit 30, and the display unit 22 of the remote control unit 20, just like for each work area set by the work area setting unit 11A. In addition, each display unit displays the order and time in which the work planned by the work planning unit 11B will be performed as a schedule such as a Gantt chart. This makes it easy to understand the progress of the work.

The determination unit 11D also functions as a monitoring unit that monitors the work of each construction machine 2 within each work area set by the work area setting unit 11A. The determination unit 11D monitors whether a construction machine 2 performing construction work in a work area (leading work area, following work area) set by the work area setting unit 11A is working within the work area based on the position information of the construction machine 2 acquired by the position acquisition unit 42, and issues an alarm via the notification unit 11C when it determines that the construction machine 2 has moved outside the work area. The alarm is issued to the operator by, for example, flashing a warning message on the display unit 13, the display unit 33 of each site management unit 30, the display unit 22 of the remote control unit 20, or a display unit (not shown) of the construction machine 2, and by playing an alarm sound.

Note that these work area setting units 11A and the like represent the functions of the control unit 11 as virtual units, and do not represent physical existence. Furthermore, the above functions are only part of the control performed by the control unit 11, and the control unit 11 also executes control related to functions other than these as needed.

Next, with reference to Figures 4 to 6, we will explain in detail the work management method for construction machines 2 performed by the work management system 100 configured as described above. Below, we will explain using as an example civil engineering work in which multiple layers are formed by repeating multiple construction tasks as shown in Figures 4A, 4B, 4C, and 4D to build a levee.

The component work shown in Figure 4A is the first component work in which an automatically operated bulldozer 2A (leveling machine) spreads and levels the embankment material transported by an automatically operated dump truck 2B (transport machine). The component work shown in Figure 4B is the second component work in which a manually operated bulldozer 2C (leveling machine) further spreads and levels the embankment material, and is performed after the first component work. Furthermore, the component work shown in Figure 4C is the third component work in which an automatically operated vibrating roller 2D (rolling machine) compacts the surface of the embankment material by rolling, and is performed after the second component work. Furthermore, the component work shown in Figure 4D is the fourth component work in which a manually operated vibrating roller 2E (rolling machine) further compacts the surface of the embankment material by rolling, and is performed after the third component work.

That is, one layer in one working area is formed in the following manner.
- Embankment materials are transported by a dump truck 2B (transportation machine).
- The embankment material transported by bulldozers 2A and 2C (leveling machines) is spread to a specified thickness (leveling thickness of 25 cm).
The surface of the laid embankment material is compacted by a vibrating roller 2D (rolling machine). For example, the vibrating roller 2D is rolled back and forth a predetermined number of times (three times).
- The vibrating roller 2E (compaction machine) compacts the embankment material while smoothing out any unevenness or ruts that have occurred on the surface of the material.

In this way, multiple component tasks are carried out in sequence in a given work area to complete the overall task of embankment work, constructing one layer of the embankment body.

Furthermore, by performing the second and fourth configuration tasks manually after completing the first and third configuration tasks performed automatically, it is possible to manually correct areas that were not properly addressed by automatic operation (such as unevenness or ruts that occur in certain areas). Furthermore, the first and third configuration tasks performed automatically can be performed using large construction machinery or multiple construction machinery, while the second and fourth configuration tasks performed manually can be performed using small construction machinery that requires precision, or by using fewer construction machinery, thereby saving labor and improving construction quality.

Specifically, for example, in the first component work, work may be performed automatically using three large bulldozers 2A, while in the second component work, work may be performed manually using one small bulldozer 2C; furthermore, in the third component work, work may be performed automatically using five vibratory rollers 2D, while in the fourth component work, work may be performed manually using two vibratory rollers 2E.

In this embodiment, the workpiece is so-called embankment material, such as soil and cement mixture. The embankment material transported and unloaded by the dump truck 2B is spread and leveled by the bulldozer 2A to a predetermined target thickness (target shape), for example, 25 cm, i.e., to increase the height by 25 cm. The material is then compacted by the vibratory roller 2D a predetermined number of times (for example, six times) according to the target specifications.

Therefore, the work content planned by the work planning unit 11B is, in the case of the bulldozer 2A, to spread the embankment material to the target shape (leveling thickness of 25 cm) within a specified area, and in the case of the vibratory roller 2D, to compact the surface of the embankment material spread and leveled within a specified area to the target specifications (a specified number of times, for example, six times) by moving back and forth across the surface.

Next, with reference to Figures 5A to 5F, we will explain in detail the work area set by the work area setting unit 11A when the four configuration tasks described above are performed in sequence.

Figure 5A shows a state in which the first work area A1, where the first component work, which is the first component work, is performed by the autonomous bulldozer 2A, is set as an unconstructed area in the planned work area A of one of the work sites 1A, 1B, 1C (work area).

When the first construction work in the first work area A1 shown in Figure 5A is completed, as shown in Figure 5B, a new first work area A1 is set in the unfinished area of the planned work area A adjacent to the completed first work area DA1 but not overlapping with this area. At the same time, a second work area A2 where the second construction work, the manually operated bulldozer 2C, will be performed, is set within the area of the completed first work area DA1, preferably within a range not exceeding the area of the first work area DA1. In the example shown in Figure 5B, the size of the second work area A2 is the same as the size of the completed first work area DA1.

In this case, the first configuration work by the automatically operated bulldozer 2A is a preceding configuration work performed before the second configuration work by the manually operated bulldozer 2C, and the second configuration work by the manually operated bulldozer 2C is a following configuration work performed after the first configuration work by the automatically operated bulldozer 2A, with the first work area A1 being the preceding work area and the second work area A2 being the following work area.

When the first construction work in the first work area A1 shown in FIG. 5B is completed, a new first work area A1 is set in the unfinished area of the planned work area A adjacent to the completed first work area DA1 but not overlapping with it, as shown in FIG. 5C. When the second construction work in the second work area A2 shown in FIG. 5B is completed, a new second work area A2 is set adjacent to the completed second work area DA2 but not overlapping with it, as shown in FIG. 5C, within the scope of the completed first work area DA1, preferably within a range not exceeding the scope of the first work area DA1. At the same time, a third work area A3, where the third construction work using the automatically operated vibrating roller 2D will be performed, is set within the scope of the completed second work area DA2, preferably within a range not exceeding the scope of the second work area DA2.

In this case, the second configuration work performed by the manually operated bulldozer 2C is a preceding configuration work performed before the third configuration work performed by the automatically operated vibratory roller 2D, and the third configuration work performed by the automatically operated vibratory roller 2D is a following configuration work performed after the second configuration work performed by the manually operated bulldozer 2C, with the second work area A2 being the preceding work area and the third work area A3 being the following work area. In other words, the second configuration work is a following configuration work relative to the first configuration work, but a preceding configuration work relative to the third configuration work.

When the first construction work in the first work area A1 shown in FIG. 5C is completed, a new first work area A1 is set in the unfinished area of the planned work area A, adjacent to the completed first work area DA1 but not overlapping with it, as shown in FIG. 5D. When the second construction work in the second work area A2 shown in FIG. 5C is completed, a new second work area A2 is set within the area of the completed first work area DA1, preferably within a range not exceeding the area of the first work area DA1, adjacent to the completed second work area DA2 but not overlapping with it, as shown in FIG. 5D. When the third construction work in the third work area A3 shown in FIG. 5C is completed, a new third work area A3 is set within the area of the completed second work area DA2, adjacent to the completed third work area DA3 but not overlapping with it, as shown in FIG. 5D. At the same time, a fourth work area A4, where the fourth component work, which is performed using a manually operated vibrating roller 2E, is performed, is set within the range of the completed third work area DA3, preferably within a range not exceeding the range of the third work area DA3.

In this case, the third configuration work performed by the automatically operated vibrating roller 2D is a preceding configuration work performed before the fourth configuration work performed by the manually operated vibrating roller 2E, and the fourth configuration work performed by the manually operated vibrating roller 2E is a following configuration work performed after the third configuration work performed by the automatically operated vibrating roller 2D, with the third work area A3 being the preceding work area and the fourth work area A4 being the following work area. In other words, the third configuration work is a following configuration work relative to the second configuration work, but a preceding configuration work relative to the fourth configuration work.

Then, when each configuration task in each work area A1, A2, A3, and A4 shown in Figure 5D is completed, new work areas A1, A2, A3, and A4 are set in the same manner as described above, as shown in Figure 5E. In this example, since the fourth configuration task is the final configuration task, the fourth work area DA4, where the task has already been completed, becomes the work completion area.

In this way, the height of the dam body in planned work area A will increase in order from the area where all construction work has been completed.

For example, even if the second configuration work, which is the responsibility of the manually operated bulldozer 2C, is completed, if the first configuration work, which is the preceding configuration work, has not yet been completed and a work area for the next second configuration work has not been set, the bulldozer 2C will be unable to move from the second work area DA2 where work has been completed. If the bulldozer 2C remains in the second work area DA2 where work has been completed, it will not be able to surrender the work area to the automatically operated vibratory roller 2D performing the following configuration work, which could cause delays in the progress of the third configuration work and the fourth configuration work, which is the subsequent configuration work.

For this reason, in such cases, it is preferable to set up a waiting area (not shown) in part of the second work area DA2 where work has been completed, where the bulldozer 2C can temporarily wait, in order to quickly vacate most of the work area for the construction machine 2 performing the following construction work.

In the example shown in Figure 5B, the new first work area A1 is set adjacent to the first work area DA1 for which work has been completed. However, if there is an obstacle or the like, the new first work area A1 may be set at a location away from the first work area DA1 for which work has been completed, as shown in Figure 5F. In other words, the location for the new first work area A1 may be anywhere that does not overlap with the area of the first work area DA1 for which work has been completed, and there may be a non-work area where no work is being performed between the new first work area A1 and the first work area DA1 for which work has been completed. However, in order to shorten the travel distance of the construction machine 2 and improve the construction efficiency of construction work, it is preferable to set the new first work area A1 near the first work area DA1 for which work has been completed.

In the example shown in Figure 5B, the size of the second work area A2 is the same as the size of the first work area DA1 where work has been completed, but the second work area A2, which is the following work area, can be any size as long as it is set within the range of the area where work has been completed in the first work area A1, which is the preceding work area, and preferably does not exceed the area where work has been completed.As shown in Figure 5F, the second work area A2 can also be smaller than the first work area DA1 where work has been completed.

Furthermore, the construction work is not limited to the work described above. For example, between the second and third construction work described above, construction work may be performed to shape the edge of the slope using an automatically or manually operated backhoe (edge shaping machine), or construction work to drive in joint cutting plates using a vibrating joint cutting machine. Furthermore, the number of construction work is not limited to four, and may be two or five or more work, as long as they are multiple work performed in sequence.

In other words, if there are N construction tasks (N is a natural number greater than or equal to 2) to be performed in sequence, and the Nth construction task is to be performed after the (N-1)th construction task, the N work areas from the first work area A1 where the first construction task is to be performed to the Nth work area where the Nth construction task is to be performed are sequentially set by the work area setting unit 11A in the manner described above as planned work areas A of the work sites 1A, 1B, 1C (work areas).

Next, we will explain in detail the control flow executed by the work management unit 10, with reference to the flow diagram shown in Figure 6.

First, in step S10, the work management unit 10, using the work area setting unit 11A of the control unit 11, sets, in the planned work area A within each work site 1A, 1B, 1C (work area), a preceding work area where preceding construction work will be performed and a following work area where following construction work will be performed after the preceding construction work has been performed, as described above with reference to Figures 5A to 5F (work planning process).

In addition, in step S10, the range of each work area (preceding work area, following work area) set by the work area setting unit 11A is displayed by the notification unit 11C of the control unit 11 on the display unit 13, the display unit 33 of each site management unit 30, and the display unit 22 of the remote control unit 20 (display process).

Next, in step S11, the work management unit 10 uses the work planning unit 11B of the control unit 11 to plan the work content to be performed in each work area (leading work area, following work area) based on the specifications of each construction machine 2 performing each component work (leading component work, following component work) (work planning process).

In addition, in step S11, the work content planned by the work planning unit 11B is transmitted from the control unit 11 to each construction machine 2 together with a start command commanding the start of work (work content transmission process). If the construction machine 2 is manually operated and an operator is on board the construction machine 2, the work content and start command are transmitted via the site management unit 30 to a terminal equipped on the construction machine 2 or a tablet terminal carried by the operator. If the construction machine 2 is manually operated and an operator remotely controls the construction machine 2 using the remote control unit 20, the work content and start command are transmitted to the remote control device 24.

Upon receiving the work content and start command, each construction machine 2 begins construction work based on the work content in its assigned work area.

When each construction machine 2 begins construction work, in the following step S12, the work management unit 10 monitors the work of each construction machine 2 using the monitoring function of the judgment unit 11D of the control unit 11 (monitoring process).

When it is determined that the construction machine 2 has moved outside the assigned work area, an alarm is issued via the notification unit 11C as described above. Furthermore, if the construction machine 2 that has moved outside the work area is automatically operated, the operation of that construction machine 2 is stopped on the spot to ensure safety. If the construction machine 2 that has moved outside the work area is manually operated, a warning is issued to the operator operating the construction machine 2 to return to the designated work area; for example, if the construction machine 2 does not return to the work area within a designated time, the operation of that construction machine 2 is stopped on the spot to ensure safety.

Next, in step S13, the work management unit 10 determines, via the determination unit 11D of the control unit 11, whether the configuration work in any of the work areas has been completed (work completion determination process).

Whether or not the construction work by the construction machine 2 has been completed is determined, for example, by whether or not a work completion signal has been received from the construction machine 2, or whether or not it has been confirmed that the construction machine 2 has reached a position within the work area designated as the work completion position.

In addition to or instead of the above determination, whether construction work by the autonomously operated construction machine 2 has been completed may be determined by checking whether the work performed by each construction machine 2 on the embankment material (work object) has reached a target value. In the case of a bulldozer 2A, this may be determined by checking whether the leveling thickness of the embankment material has reached a set target value (e.g., 25 cm), for example, by checking whether the height (altitude) of the bulldozer 2A obtained from the detection values of the position acquisition unit 42 and the status detection unit 43 has increased by the target leveling thickness within the work area. In the case of a vibratory roller 2D, this may be determined by checking whether the trajectory of the vibratory roller 2D moving on the surface of the embankment material, obtained based on the detection values of the position acquisition unit 42, matches the target trajectory (e.g., six compactions). In the case of a backhoe (not shown) that performs slope edge shaping, this may be determined by checking whether the angle of the compaction attachment is at a target angle (e.g., 45 degrees).

If it is determined in step S13 that the configuration work in any of the work areas has been completed, the process proceeds to step S14, where the determination unit 11D of the control unit 11 determines whether all of the configuration work planned in the planned work area A has been completed.

On the other hand, if it is determined in step S13 that construction work has not been completed in any of the work areas, the process returns to step S12, and monitoring of the work of each construction machine 2 continues.

If it is determined in step S14 that all planned configuration work in planned work area A has been completed, control is temporarily terminated since there are no more new work areas to be set by the work area setting unit 11A.

On the other hand, if all of the configuration work scheduled for planned work area A has not yet been completed, the process returns to step S10, and the work area setting unit 11A sets the work area where the next configuration work will be performed.

Through the above process, each work area (leading work area, following work area) is set in sequence in the planned work area A within each work site 1A, 1B, 1C (work area), and the embankment is gradually constructed as each construction machine 2 performs its respective prescribed construction work in each work area.

The above embodiment provides the following advantages:

As described above, the work management method of this embodiment is a work management method using a work management system 100 that manages N construction tasks in a predetermined work site 1A, 1B, 1C (work area) in which an (N-1)th (N is a natural number of 2 or more) construction task is performed by a plurality of construction machines 2, including automatically operable construction machines 2, followed by an Nth construction task, in sequence. The method includes a work area setting process that sequentially sets N work areas within the work area, from a first work area A1 in which the first construction task is performed to an Nth work area in which the Nth construction task is performed, and a work completion determination process that determines the completion of the (N-1) construction tasks from the first construction task performed in the first work area A1 to the (N-1)th construction task performed in the (N-1)th work area. Then, either the (N-1)th configuration work or the Nth configuration work is performed by an autonomous construction machine 2, and in the work area setting process, the Nth work area is set within the range of the (N-1)th work area in which it is determined in the work completion determination process that the (N-1)th configuration work has been completed, preferably within a range not exceeding the range of the (N-1)th work area, and the new (N-1)th work area is set adjacent to the (N-1)th work area in which it is determined in the work completion determination process that the (N-1)th configuration work has been completed, but so as not to overlap with this area.

As such, according to the work management method of this embodiment, the leading work area where leading configuration work is performed and the trailing work area where trailing configuration work is performed after the leading configuration work are set completely separately, preventing construction machines 2 performing leading configuration work and construction machines 2 performing trailing configuration work from working in the same area. Therefore, even if either the leading configuration work or the trailing configuration work is performed by an autonomous construction machine 2, there is no risk of them interfering with the progress of the other's configuration work, making it possible to carry out the configuration work efficiently. This improves construction efficiency when multiple construction machines, including autonomously operated construction machines, work within a specified work area. Furthermore, because autonomously operated construction machines 2 and manually operated construction machines 2 do not coexist in the same work area, collisions between the construction machines 2 are avoided, ensuring safety.

The following modifications are also within the scope of the present invention, and it is possible to combine the configurations shown in the modifications with the configurations described in the above embodiments, or to combine the configurations described in the different modifications below.

The work management method according to the above embodiment manages the work of construction machinery 2 engaged in civil engineering work to build a bank body. Alternatively, the work management method for construction machinery 2 carried out by the work management system 100 may manage the work of construction machinery 2G, 2H, 2J engaged in excavation work, as shown in Figures 7A, 7B, and 7C. Furthermore, the civil engineering work carried out at each work site 1A, 1B, 1C managed by the work management system 100 may be different types of work, such as embankment work and excavation work.

In this modified example, a construction base surface of a predetermined width is formed in the natural ground by repeating multiple component operations as shown in Figures 7A, 7B, and 7C. The component operation shown in Figure 7A is the first component operation in which an automatically operated bulldozer 2G (excavation machine) excavates the natural ground and forms an excavation bed. The component operation shown in Figure 7B is the second component operation in which a manually operated bulldozer 2H (excavation machine) precisely excavates the area near the toe of the slope, and is the component operation performed after the first component operation. Furthermore, the component operation shown in Figure 7C is the third component operation in which an automatically or manually operated backhoe 2J (slope shaping machine) compacts the slope, and is the component operation performed after the second component operation.

In other words, the excavation bed at one work site is formed in the following procedure.
- The ground is excavated to a specified depth using a bulldozer 2G (excavation machine).
- Use a bulldozer 2H (excavation machine) to excavate areas where excavation is insufficient, for example, near the foot of a slope.
- The slope created by excavation is compacted using Backhoe 2J (slope shaping machine).

In this way, multiple component tasks are performed in sequence in a specified area, or work area, to complete the overall task of excavation work, and the height of the excavation floor is lowered.

Even in this variant, by performing the second configuration work manually after completing the first configuration work performed automatically, it is possible to manually correct excavation work areas that were insufficient with automatic operation (for example, near the toe of a slope or unevenness that occurs in certain areas). Furthermore, by performing the first configuration work performed automatically using large construction machinery or multiple construction machinery, and performing the second configuration work performed manually using small construction machinery that requires precision, or by performing the work using fewer construction machinery, it is possible to reduce labor and improve construction quality.

Specifically, for example, the first configuration work may be performed by three large bulldozers 2G operating automatically, while the second configuration work may be performed by one small bulldozer 2H operating manually.

In the examples shown in Figures 7A, 7B, and 7C, the workpiece is natural ground, which is gradually excavated by bulldozers 2G and 2H so that the height of the excavation bed reaches a predetermined height (target shape), and then the slope is compacted by a backhoe 2J into the predetermined target shape. The excavated soil and sand produced by the excavation are transported as needed by a dump truck (not shown).

In this example, the work content planned by the work planning unit 11B is, in the case of a bulldozer 2G, to excavate within a specified range so that the height of the excavation bed is lowered by a specified height, and in the case of a backhoe 2J, to compact the slope within a specified range to a target shape (a specified angle (e.g., 45 degrees)).

Next, with reference to Figures 8A to 8C, we will explain in detail the work area set by the work area setting unit 11A when the three configuration tasks described above are performed in sequence.

Figure 8A shows a state in which the first work area A1, where the first component work, which is the first component work, is performed by the autonomous bulldozer 2G, is set as an unconstructed area in the planned work area A of one of the work sites 1A, 1B, 1C (work area).

When the first component work in the first work area A1 shown in Figure 8A is completed, as shown in Figure 8B, a new first work area A1 is set in the unfinished area of the planned work area A adjacent to the completed first work area DA1 but not overlapping with this area. At the same time, a second work area A2, where the second component work, the manually operated bulldozer 2H, will be performed, is set within the area of the completed first work area DA1, preferably within an area not exceeding the area of the first work area DA1. As mentioned above, the second component work is excavation work near the toe of the slope, so the second work area A2 is set in a portion of the completed first work area DA1 on the toe side.

In this case, the first configuration work by the automatically operated bulldozer 2G is a preceding configuration work performed before the second configuration work by the manually operated bulldozer 2H, and the second configuration work by the manually operated bulldozer 2H is a following configuration work performed after the first configuration work by the automatically operated bulldozer 2G, with the first work area A1 being the preceding work area and the second work area A2 being the following work area.

When the first component work in the first work area A1 shown in FIG. 8B is completed, a new first work area A1 is set in the unfinished area of the planned work area A, adjacent to the completed first work area DA1 but not overlapping with it, as shown in FIG. 8C. When the second component work in the second work area A2 shown in FIG. 8B is completed, a new second work area A2 is set within the completed first work area DA1, preferably within a range not exceeding the first work area DA1, adjacent to the completed second work area DA2 but not overlapping with it, as shown in FIG. 8C. At the same time, a third work area A3, where the third component work, the third component work by the automatically or manually operated backhoe 2J, will be performed, is set within the completed second work area DA2, preferably within a range not exceeding the second work area DA2. As mentioned above, the third component work is the compaction of the slope, so the third work area A3 is set as a portion of the slope side (the foot side) of the second work area DA2 where work has already been completed.

In this case, the second configuration work performed by the manually operated bulldozer 2H is a preceding configuration work performed before the third configuration work performed by the automatically or manually operated backhoe 2J, and the third configuration work performed by the automatically or manually operated backhoe 2J is a following configuration work performed after the second configuration work performed by the manually operated bulldozer 2H, with the second work area A2 being the preceding work area and the third work area A3 being the following work area. In other words, the second configuration work is a following configuration work relative to the first configuration work, but a preceding configuration work relative to the third configuration work.

Then, when each configuration task in each work area A1, A2, A3 shown in Figure 8C is completed, new work areas A1, A2, A3 are set in the same manner as described above. In this example, since the third configuration task is the final configuration task, the third work area DA3, where the task has already been completed, becomes the work completion area.

In this way, the height of the excavation floor in planned work area A will gradually decrease starting from the area where all construction work has been completed, and these construction works will be repeated until the height of the excavation floor reaches the construction base level.

Even in excavation work carried out using multiple construction machines 2, including autonomous construction machines 2, in this way, in order to improve construction efficiency, it is necessary to avoid the work of the construction machine 2 performing leading construction work being hindered by the construction machine 2 performing trailing construction work.

Therefore, by managing the work of each construction machine 2 involved in excavation work such as those shown in Figures 7A, 7B, and 7C using the construction machine 2 work management method performed by the work management system 100 described above, as in the above embodiment, even if either the leading or trailing construction work is performed by an autonomous construction machine 2, there is no risk of impeding the progress of the other's construction work, so construction work can be performed efficiently and safety can be ensured by avoiding collisions between construction machines 2.

The above describes embodiments of the present invention, but these embodiments merely illustrate some of the application examples of the present invention, and are not intended to limit the technical scope of the present invention to the specific configurations of the above embodiments.

This application claims priority from Japanese Patent Application No. 2022-183648, filed with the Japan Patent Office on November 16, 2022, the entire contents of which are incorporated herein by reference.

Claims (12)

A work management method using a work management system that manages a plurality of construction works that are each performed in sequence by a plurality of construction machines, including automatically operable construction machines, within a predetermined work area, comprising:
The work management system includes a control unit including a microcomputer,
the control unit has a work area setting unit that sets a work area within the work region and a determination unit that determines completion of a planned work,
a work area setting step in which the work area setting unit sequentially sets, as separate areas within the work area, a preceding work area which is a predetermined area where a preceding construction work is performed and a following work area which is a predetermined area where a following construction work is performed after the preceding construction work is performed;
a work completion determination step in which the determination unit determines completion of the preceding configuration work performed in the preceding work area,
the preceding configuration work and the following configuration work are work performed in order in the work area set in the work area setting step,
Either the preceding construction work or the following construction work is performed by the automatically operated construction machine,
In the work area setting step, the preceding work area and the following work area are set simultaneously, the preceding construction work is performed in the set preceding work area, and the following construction work is performed in the set following work area,
In the work area setting step, when setting the preceding work area and the following work area, the work area setting unit sets the following work area to a range of the area of the preceding work area for which it is determined that the preceding configuration work has been completed in the work completion determination step, and sets a new preceding work area so as not to overlap with the area of the preceding work area for which it is determined that the preceding configuration work has been completed in the work completion determination step.
Work management methods. When the work management system receives a work completion signal from the construction machine performing the preceding construction work, the determination unit determines in the work completion determination step that the preceding construction work performed in the preceding work area has been completed,
The preceding work area is an area in which the following work area can be set in the work area setting step.
The work management method according to claim 1 . When the construction machine performing the preceding construction work reaches a work completion position set in the preceding work area, the determination unit determines in the work completion determination step that the preceding construction work performed in the preceding work area has been completed,
The preceding work area is an area in which the following work area can be set in the work area setting step.
The work management method according to claim 1 . The control unit further has a work planning unit that plans work content to be performed by the construction machine,
The method further includes a work content transmission step in which the work planning unit transmits to the construction machine the work content, which includes information about the area range of a work area in which the construction machine performs the construction work,
The construction machine that has received the work content performs the work based on the work content.
4. A work management method according to claim 1. The plurality of construction machines are bulldozers and vibratory rollers,
The preceding construction work is work performed by the bulldozer, and the following construction work is work performed by the vibratory roller.
4. A work management method according to claim 1. the plurality of construction machines are bulldozers and backhoes,
The preceding construction work is work performed by the bulldozer, and the following construction work is work performed by the backhoe.
4. A work management method according to claim 1. A work management method using a work management system that manages N construction tasks in a predetermined work area, in which an (N-1)th construction task (N is a natural number of 2 or more) is performed by a plurality of construction machines, including automatically operable construction machines, and then an Nth construction task is performed in sequence,
The work management system includes a control unit including a microcomputer,
the control unit has a work area setting unit that sets a work area within the work region and a determination unit that determines completion of a planned work,
a work area setting step in which the work area setting unit sequentially sets N work areas, from a first work area that is a predetermined area where a first configuration work is performed to an Nth work area that is a predetermined area where an Nth configuration work is performed, as separate areas within the work area;
a work completion determination step in which the determination unit determines completion of (N-1) configuration works from the first configuration work performed in the first work area to the (N-1)th configuration work performed in the (N-1)th work area,
the first configuration work, the (N-1)th configuration work, and the Nth configuration work are works that are performed in order in the work area set in the work area setting step,
Either the (N-1)th construction work or the Nth construction work is performed by the automatically operated construction machine,
In the work area setting step, N work areas from the first work area to the Nth work area are set simultaneously, the first construction work is performed in the set first work area, and the Nth construction work is performed in the set Nth work area,
In the work area setting step, when setting N work areas from the first work area to the Nth work area, the work area setting unit sets the Nth work area to a range of an area of the (N-1)th work area in which it is determined that the (N-1)th configuration work has been completed in the work completion determination step, and sets a new (N-1)th work area so as not to overlap with an area of the (N-1)th work area in which it is determined that the (N-1)th configuration work has been completed in the work completion determination step.
Work management methods. When the work management system receives a work completion signal from the construction machine performing the (N-1)th component work, the determination unit determines in the work completion determination step that the (N-1)th component work performed in the (N-1)th work area has been completed,
The (N-1) working area is an area in which the N working area can be set in the working area setting step.
The work management method according to claim 7 . When the construction machine performing the (N-1)th component work reaches a work completion position set in the (N-1) work area, the determination unit determines in the work completion determination step that the (N-1)th component work performed in the (N-1) work area has been completed,
The (N-1) working area is an area in which the N working area can be set in the working area setting step.
The work management method according to claim 7 . The control unit further has a work planning unit that plans work content to be performed by the construction machine,
The method further includes a work content transmission step in which the work planning unit transmits to the construction machine the work content, which includes information about the area range of a work area in which the construction machine performs the construction work,
The construction machine that has received the work content performs the work based on the work content.
10. The work management method according to claim 7 . The plurality of construction machines are bulldozers and vibratory rollers,
The (N-1)th component work is work performed by the bulldozer, and the Nth component work is work performed by the vibratory roller.
10. The work management method according to claim 7. the plurality of construction machines are bulldozers and backhoes,
The (N-1)th component work is work performed by the bulldozer, and the Nth component work is work performed by the backhoe.
10. The work management method according to claim 7.