Automatic construction system and automatic construction method

Abstract

To achieve labor-saving and efficient construction.SOLUTION: An automatic construction system 1 for a building BL which is constructed by assembling a plurality of parts PA includes an unmanned aerial vehicle 10, and a construction management apparatus 20. The construction management apparatus 20 includes: a three-dimensional model storage unit 100 which stores a three-dimensional model including shape / dimension and position information of a plurality of objects constituting the building BL; an allocation processing unit 110 which collates the shape / dimension and position information of the objects with shape / dimension of the parts PA to determine the number or necessary parts PA and positions in which the parts PA are installed; a process plan preparation unit 120 which prepares a process plan on the basis of the determined number of parts and the installation position; a target flight route setting unit 150 which sets a target flight route of the unmanned aerial vehicle 10 on the basis of the installation position and the process plan; and an automatic construction control unit 170 which controls automatic construction that causes the unmanned aerial vehicle 10 to autonomously fly along the target flight route.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to an automated construction system and an automated construction method, and in particular to a technology suitable for reducing labor and improving efficiency in construction work and civil engineering work. [Background technology]

[0002] In architectural and civil engineering works, a lot of temporary equipment is used, such as lifting equipment such as cranes that transport or lift steel frames and precast concrete (PCa) members, scaffolding for workers to work at heights, and formwork for pouring cast-in-place concrete (see, for example, Patent Documents 1 and 2). Work such as assembling steel frames and PCa members, setting up scaffolding and formwork, and pouring concrete is generally performed manually by workers on-site. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-116528 [Patent Document 2] JP 2020-056165 A Summary of the Invention [Problem to be solved by the invention]

[0004] Temporary equipment used on-site, such as lifting equipment, scaffolding, and formwork, requires a lot of additional work in addition to the construction of the structure, such as installation before construction begins, re-piling and removal as construction progresses, etc. For this reason, conventional construction methods using temporary equipment have issues such as increased construction time and costs.

[0005] In recent years, the declining birthrate and aging population has led to an aging of skilled workers, and securing skilled workers has become a problem on construction sites. The shortage of skilled workers poses challenges such as making it difficult to ensure safety when working at heights and to ensure the quality of construction. For this reason, there is a strong demand for labor-saving and efficient construction on construction sites.

[0006] In addition, many components such as steel frames and PCa members are unique and individually designed for each structure, and are processed and manufactured in factories as non-versatile components that cannot be used in the construction of other structures. For this reason, traditional construction methods have issues such as high manufacturing costs, susceptibility to factory delivery times, and long construction periods. In addition, when constructing reinforced concrete or steel-reinforced concrete by casting in place, there are issues such as high construction times and costs, and it is not easy to ensure quality.

[0007] The present disclosure has been made in consideration of the above circumstances, and aims to provide technology that can reduce labor and improve efficiency in construction work and civil engineering works. [Means for solving the problem]

[0008] The automated construction system (1) disclosed herein is An automated construction system (1) for a structure (BL) constructed by assembling a plurality of members (PA) formed into a predetermined shape, An unmanned aerial vehicle (10) capable of transporting the member (PA); a construction management device (20) that manages the construction of the structure (BL) using the unmanned aerial vehicle (10); The construction management device (20) a three-dimensional model storage unit (100) for storing a three-dimensional model including shape and size information and position information of a plurality of objects (OJ) constituting the structure (BL); an allocation processing unit (110) that performs an allocation process to determine the number of the parts (PA) required to construct the plurality of objects (OJ) and the installation positions of each part (PA) by comparing the shape dimensions and the position information of the plurality of objects (OJ) with the shape dimensions of the parts (PA); a process plan creation unit (120) that creates a process plan that defines an assembly sequence of each of the members (PA) based on the number and the installation positions determined by the allocation process; a target flight path setting unit (150) that sets a target flight path along which the unmanned airplane (10) will fly to transport and assemble each of the components (PA) based on the installation position and the process plan; The system also has an automatic construction control unit (170) that controls automatic construction to assemble each of the components (PA) at the installation position in accordance with the process plan by autonomously flying the unmanned aerial vehicle (10) along the target flight path.

[0009] In another aspect of the automatic construction system (1) of the present disclosure, It is preferable that the member (PA1) is equipped with a fastening mechanism (50, 60) that automatically fastens the member (PA1) to other members (PA2, PA3) by the propulsion force of the unmanned aerial vehicle (10).

[0010] In another aspect of the automatic construction system (1) of the present disclosure, The fastening mechanisms (50, 60) may be horizontal cotter type joints and / or push grip type joints.

[0011] In another aspect of the automatic construction system (1) of the present disclosure, It is preferable that the unmanned aerial vehicle (10) is equipped with a holding mechanism (14) that automatically holds the component (PA) in a storage yard (SY) at the site where the component (PA) is stored and / or on the loading platform of a transportation means that has loaded the component onto a loading platform and transported it to a designated location at the site, and automatically releases the component (PA) at the installation location.

[0012] In another aspect of the automatic construction system (1) of the present disclosure, The retention mechanism (14) is preferably a twist lock device (14A) engageable with an engagement hole (40) provided in the member (PA).

[0013] In another aspect of the automatic construction system (1) of the present disclosure, Said member (PA) is preferably a standardized member that can be applied to the construction of structures other than said structure (BL).

[0014] In another aspect of the automatic construction system (1) of the present disclosure, The unmanned aerial vehicle (10) is equipped with a camera (11) capable of photographing the surroundings, When installing the member (PA1) on other members (PA2, PA3), it is preferable that the automatic construction control unit (170) determines whether the member (PA1) has been properly installed based on images of the member (PA1) and the other members (PA2, PA3) captured by the camera (11).

[0015] The automated construction method disclosed herein comprises: An automated construction method for a structure (BL) constructed by assembling a plurality of members (PA) formed into a predetermined shape, comprising: storing a three-dimensional model including shape and size information and position information of a plurality of objects (OJ) constituting the structure (BL); performing an allocation process for determining the number of the parts (PA) required to construct the plurality of objects (OJ) and the installation positions of each part (PA) by comparing the shape dimensions and the position information of the plurality of objects (OJ) with the shape dimensions of the parts (PA); creating a process plan that defines an assembly sequence of each of the members (PA) based on the number and the installation positions determined by the allocation process; Based on the installation position and the process plan, a target flight path is set along which an unmanned aerial vehicle (10) capable of transporting the component (PA) will fly to transport and assemble each component (PA); By autonomously flying the unmanned aerial vehicle (10) along the target flight path, automatic construction is performed in which each of the components (PA) is assembled in accordance with the process plan.

[0016] In the above description, in order to facilitate understanding of the present disclosure, the symbols used in the embodiments are added in parentheses to components corresponding to the embodiments, but each component is not limited to the embodiment defined by the symbol. Effect of the Invention

[0017] According to the automated construction system and automated construction method disclosed herein, it is possible to reduce labor and improve the efficiency of construction work and civil engineering work. [Brief description of the drawings]

[0018] [Figure 1] 1 is a schematic overall configuration diagram showing an automatic construction system according to an embodiment of the present invention. [Diagram 2] 1 is a schematic perspective view showing a wall member as an example of a standard member according to this embodiment, and a holding mechanism for a drone. FIG. [Diagram 3] 2 is a schematic diagram showing a twist lock device and an engagement hole according to the embodiment of the present invention. FIG. [Figure 4] FIG. 2 is a schematic diagram showing a horizontal cotter joint as an example of a fastening mechanism according to the present embodiment. [Diagram 5] FIG. 2 is a schematic diagram showing a push grip joint as an example of a fastening mechanism according to the present embodiment. [Figure 6] FIG. 2 is a schematic diagram showing an example of a hardware configuration of the construction management device according to the present embodiment. [Figure 7] FIG. 2 is a schematic diagram showing an example of a software configuration of the construction management device according to the present embodiment. [Figure 8] FIG. 11 is a schematic diagram illustrating an example of an allocation process according to the embodiment. [Figure 9] FIG. 4 is a schematic diagram showing an example of process plan data according to the embodiment; [Figure 10] 4 is a flow chart illustrating a processing routine executed by a CPU of the construction management device according to the present embodiment. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] Hereinafter, an automatic construction system and an automatic construction method according to the present embodiment will be described with reference to the accompanying drawings.

[0020] [Overall configuration] FIG. 1 is a schematic overall configuration diagram showing an automatic construction system 1 according to this embodiment.

[0021] As shown in Fig. 1, the automatic construction system 1 includes a drone 10 capable of autonomous flight and a construction management device 20 that manages construction. The reference symbol BL in Fig. 1 indicates a high-rise building constructed by the automatic construction system 1 of this embodiment. Note that the structure constructed by the automatic construction system 1 is not limited to the high-rise building BL, and may be other structures such as low-rise buildings, bridges, embankments, retaining walls, steel towers, artificial ground, warehouses, tanks, etc. In the following, the structure will be described using the high-rise building BL as an example.

[0022] The reference symbol FC in FIG. 1 indicates a factory that manufactures each component PA, such as column components, beam components, floor components, and wall components, that construct the high-rise building BL. Each component PA manufactured in the factory FC is transported to a storage yard SY on-site using a transport means such as a truck. In this embodiment, each component PA is manufactured as a standardized component (hereinafter referred to as a "standard component") that can be used for the construction of other structures. For this reason, although only one factory FC is shown in FIG. 1, the standard components PA may be manufactured in other factories in a distributed manner depending on the type, the required number, etc. Furthermore, the standard components PA do not need to be transported directly from the factory, but may be transported from a warehouse, etc.

[0023] The drone 10 is a multicopter-type unmanned aerial vehicle equipped with multiple rotors, and flies autonomously in response to commands from a construction management device 20. The drone 10 flies autonomously along a target flight path set by the construction management device 20, transports standard components PA held in a storage yard SY, and assembles them at a predetermined installation position, thereby automatically constructing a high-rise building BL. Due to recent technological innovations, the maximum load capacity of drones has increased, and development of large drones capable of transporting loads of 800 kg to 1000 kg is underway. In the automatic construction system 1 of this embodiment, such a large drone with a large maximum load capacity is used.

[0024] For convenience, only one drone 10 is shown in FIG. 1, but the number of drones 10 is not particularly limited. The number of drones 10 may be appropriately determined depending on the type of structure, the target construction period and construction cost, the surrounding topography, the environmental conditions, and the like. In addition, the drone 10 is not limited to holding the standard parts PA in the storage yard SY, and can also hold the standard parts PA placed on the loading platform of a truck or the like parked at a predetermined position on the site. In the following, for convenience, a case where the drone 10 holds the standard parts PA in the storage yard SY will be described, and a description of the case where the drone 10 receives the standard parts PA from the loading platform of a truck will be omitted.

[0025] The drone 10 includes a camera 11 as an image capturing device, a GNSS (Global Navigation Satellite System) receiver 12, a behavior sensor 13, a holding mechanism 14, and the like. The camera 11 captures images of objects around the drone 10, such as structures under construction. The GNSS receiver 12 acquires the current position information (three-dimensional position coordinates in a world coordinate system) of the drone 10. The behavior sensor 13 is a sensor that detects the behavior of the drone 10, and is composed of, for example, a three-axis acceleration sensor, a three-axis gyro sensor, a three-axis geomagnetic sensor, and the like. The holding mechanism 14 is a mechanism that automatically holds the standard member PA to be transported in the storage yard SY and automatically releases the held standard member PA at a predetermined installation position. The holding mechanism 14 will be described in detail later.

[0026] The drone 10 is equipped with a transceiver 15 for wireless communication with the construction management device 20. When the transceiver 15 receives a start command from the construction management device 20 via wireless communication, the drone 10 takes off from a base 30 installed at the site and begins autonomous flight toward the storage yard SY (see RT1 in the figure).

[0027] When the drone 10 arrives at the storage yard SY, it holds the specified standard component PA and transports the standard component PA by flying autonomously toward a specified installation position set by the construction management device 20 (see RT2 in the figure). When the drone 10 arrives at the specified installation position, it releases the standard component PA, thereby assembling the standard component PA at the specified installation position. The details of the assembly of the standard component PA will be described later.

[0028] After placing the standard component PA, the drone 10 returns to the storage yard SY again and holds the standard component PA to be assembled next (see RT3 in the figure). After that, the drone 10 repeatedly holds the standard component PA in the storage yard SY and releases and assembles the standard component PA at a predetermined installation position until the remaining charge of the battery (not shown) mounted on the drone 10 falls to a predetermined lower limit or until one construction process set by the construction management device 20 is completed. In this way, the high-rise building BL to be constructed is automatically constructed. The battery of the drone 10 is charged while the drone 10 is landing on the base 30 (for example, between each process). The battery may be charged by either a contact type or a non-contact type.

[0029] The construction management device 20 is configured with information processing devices such as a computer or a server installed in a management office of the construction site, and is equipped with various programs and storage devices. The location where the construction management device 20 is installed is not limited to the management office of the construction site, and it can also be installed in a remote headquarters office away from the construction site. The construction management device 20 can also be configured with a mobile terminal such as a tablet terminal or a smartphone. The various programs included in the construction management device 20 mainly execute cooperation with the drone 10 and process management. The storage device of the construction management device 20 stores data used by the various programs for processing. The construction management device 20 transmits various commands to the drone 10 via wireless communication.

[0030] [Standard parts] Next, the standard member PA according to this embodiment will be described in detail with reference to Figs. 2 to 5. The standard member PA according to this embodiment is a standardized and versatile member that can be used at other sites. In other words, all structures constructed by the automated construction system 1 according to this embodiment are constructed by assembling the standard members PA.

[0031] 2 is a schematic perspective view showing a wall member PA1 as an example of the standard member PA according to this embodiment, and the holding mechanism 14 of the drone 10. The wall member PA1 is, for example, a rectangular plate-shaped secondary concrete product that is manufactured in advance in a factory and transported to the site. At the site, the wall member PA1 is transported by the drone 10. For this reason, engagement holes 40 for engaging with the twist lock devices 14A provided in the holding mechanism 14 of the drone 10 are provided at both ends of the upper portion of the wall member PA1.

[0032] 3 is a schematic diagram showing the twist lock device 14A according to this embodiment and the engagement hole 40. The twist lock devices 14A are provided on both ends of an extendable spreader 14D included in the holding mechanism 14. The holding mechanism 14 can hold standard members PA of various dimensions or shapes by appropriately extending and retracting the spreader 14D.

[0033] The twist lock device 14A includes a substantially rectangular parallelepiped body 14B fixed to the underside of the spreader 14D, and a rectangular cone-shaped head 14C tapering downward. The head 14C is attached to the body 14B so as to be rotatable about a vertical axis. The head 14C is rotated by an actuator (not shown).

[0034] The engagement hole 40 provided in the wall member PA1 is formed in a recessed shape that opens upward, and receives the head portion 14C. A pair of edge plates 41, 42 that engage with the head portion 14C are provided at the upper end of the engagement hole 40.

[0035] As shown in FIG. 3(A), when the head portion 14C is rotated so that the longitudinal direction of the head portion 14C is approximately perpendicular to the longitudinal direction of the main body portion 14B, the head portion 14C is brought into an engaged state in which it engages with the edge plates 41, 42. This allows the drone 10 to hold and transport the wall member PA1. On the other hand, as shown in FIG. 3(B), when the head portion 14C is rotated approximately 90 degrees from the engaged state, the head portion 14C is brought into a released state in which the engagement between the head portion 14C and the edge plates 41, 42 is released. This allows the drone 10 to release the wall member PA1 at a predetermined installation position.

[0036] 2 again, the fastening mechanisms 50, 60 provided in the wall member PA1 will be described in detail. The wall member PA1 of this embodiment is fastened and fixed to another standard member PA by the propulsive force of the drone 10 while being held by the drone 10. The fastening mechanisms 50, 60 are mechanisms for fastening the wall member PA1 and the other standard member PA without manual intervention.

[0037] 2, the upper and lower parts of the wall member PA1 are provided with so-called horizontal cotter joints as the fastening mechanisms 50. Also, the two sides of the wall member PA1 are provided with so-called push grip joints as the fastening mechanisms 60.

[0038] Fig. 4 is a schematic diagram showing a horizontal cotter joint as an example of the fastening mechanism 50 according to the present embodiment. In the description based on Fig. 4, the lower wall member PA1 will be referred to as the lower wall member PA1, and the upper wall member PA2 will be referred to as the upper wall member PA2.

[0039] The fastening mechanism 50 has a male engaging body 51 provided on the lower wall member PA1 and a female engaging body 55 provided on the upper wall member PA2. The male engaging body 51 and the female engaging body 55 may be arranged with their vertical positions interchanged.

[0040] The male engagement body 51 includes a C-shaped metal fitting 52 provided on the lower wall member PA1 and an H-shaped metal fitting 53 attached to the C-shaped metal fitting 52. The H-shaped metal fitting 53 has a web 53C protruding upward from the lower wall member PA1 and a solid tapered body 53B provided at the upper end of the web 53C. A backup material 54 is attached to the H-shaped metal fitting 53. The female engagement body 55 is a C-shaped metal fitting 57 having a tapered hole 56 of approximately the same shape as the solid tapered body 53B. A slit 58 communicating with the tapered hole 56 of the C-shaped metal fitting 57 opens downward.

[0041] When the upper wall member PA2 is fixed to the lower wall member PA1 by the fastening mechanism 50, first, as shown in FIG. 4(A), the axis of the solid tapered body 53B is aligned with the axis of the tapered hole 56. Once these axes are aligned, as shown in FIG. 4(B), the upper wall member PA2 is moved horizontally by the drone 10 (not shown) and, if necessary, vertically to insert the solid tapered body 53B into the tapered hole 56, thereby engaging the male engaging body 51 with the female engaging body 55. When the male engaging body 51 is engaged with the female engaging body 55, a fastening force due to the reaction force of the backup 54 acts on them, completing the installation of the upper wall member PA2 to the lower wall member PA1.

[0042] Fig. 5 is a schematic diagram showing a push grip type joint as an example of the fastening mechanism 60 according to the present embodiment. In the description based on Fig. 5, the left wall member PA1 will be referred to as the left side wall member PA1, and the right wall member PA3 will be referred to as the right side wall member PA3.

[0043] The fastening mechanism 60 has a male structure 61 provided on the left side wall member PA1 and a female structure 65 provided on the right side wall member PA3. The male structure 61 and the female structure 65 may be reversed in their left and right positions. The male structure 61 has a pin bolt 62 that protrudes laterally from the left side wall member PA1. The pin bolt 62 has a sawtooth-like irregularity on its outer peripheral surface.

[0044] The female structure 65 has a holder 66 that opens on the side surface of the right side wall member PA3, a wedge 67 provided in the holder 66, and a urethane spring 68 arranged on the inside opposite to the opening of the holder 66. The holder 66 is formed in a truncated cone-shaped cylinder whose diameter decreases inward. The wedge 67 is formed in a tapered cylinder whose diameter increases inward. An insertion hole is provided in the center of the wedge 67.

[0045] When the left side wall member PA1 is fixed to the right side wall member PA3 by the fastening mechanism 60, first, as shown in FIG. 5(A), the axis of the pin bolt 62 and the axis of the holder 66 are aligned. Once these axes are aligned, as shown in FIG. 5(B), the left side wall member PA1 is moved horizontally by the drone 10 (not shown) and, if necessary, moved vertically to insert the pin bolt 62 into the insertion hole of the wedge 67, thereby engaging the pin bolt 62 with the urethane spring 68. When the pin bolt 62 engages with the urethane spring 68, an elastic pressing force acts on the wedge 67 from the urethane spring 68, and the wedge 67 grips the pin bolt 62. This completes the installation of the left side wall member PA1 to the right side wall member PA3.

[0046] Although explanation based on the drawings is omitted, the above-mentioned engagement holes 40 and fastening mechanisms 50, 60 are also provided for standard members PA other than the wall member PA1, such as pillar members, beam members, and floor members. That is, like the wall member PA1, the pillar members, beam members, and floor members are configured so that they can be installed without human intervention by the propulsion force of the drone 10. In the above explanation, the horizontal cotter type joints are provided at the upper and lower parts of the wall member PA1, and the push grip type joints are provided on both sides of the wall member PA1, but their arrangement can be reversed. In addition, the fastening mechanisms 50, 60 can also use an engagement mechanism similar to the twist lock device 14 shown in FIG. 3.

[0047] [Hardware configuration of construction management device] 6 is a schematic diagram showing an example of the hardware configuration of the construction management device 20 according to this embodiment. The construction management device 20 includes a CPU (Central Processing Unit) 21, a ROM (Read Only Memory) 22, and a RAM (Random Access Memory) 23. The CPU 21, the ROM 22, and the RAM 23 form a so-called microcomputer. The construction management device 20 also includes an auxiliary storage device 24, a network IF 25, a wireless communication IF 26, an operation device 27, and a display device 28.

[0048] The CPU 21 executes various programs stored in the auxiliary storage device 24. The ROM 22 is a non-volatile memory and stores data and the like necessary for the CPU 21 to execute the various programs stored in the auxiliary storage device 24. The RAM 22 is a volatile memory and provides a working area into which the various programs stored in the auxiliary storage device 24 are expanded when the CPU 21 executes the various programs. The auxiliary storage device 24 is an auxiliary storage device that stores various programs and data and the like used when the various programs are executed.

[0049] The network IF 25 is a communication device for the construction management device 20 to communicate with other information processing devices etc. via a network. The wireless communication IF 26 is a communication device for the construction management device 20 to perform wireless communication with the drone 10. The operation device 27 is an input device for on-site workers etc. to give various instructions and settings to the construction management device 20. The display device 28 is a display device for displaying various display screens such as a three-dimensional model and process plan data described later.

[0050] [Software configuration of construction management device] FIG. 7 is a schematic diagram showing an example of the software configuration of the construction management device 20 according to the present embodiment.

[0051] As shown in FIG. 7, the construction management device 20 includes a three-dimensional model memory unit 100, a component allocation processing unit 110, a machine learning model 111, a process plan data creation unit 120, a construction management data memory unit 130, a component ordering processing unit 140, a target flight path creation unit 150, a target flight path memory unit 160, and an automatic construction control unit 170.

[0052] The three-dimensional model storage unit 100 stores the three-dimensional model supplied from the three-dimensional model creation unit 200 to the construction management device 20 via a network or a storage medium. Here, the three-dimensional model is design data that represents the shape of the structure (high-rise building BL in this embodiment) that is the object of construction and the surrounding topography of the site in three dimensions, and for example, a three-dimensional model such as BIM (Building Information Modeling) / CIM (Construction Information Modeling) can be used.

[0053] The three-dimensional model creation unit 200 is provided in hardware separate from the construction management device 20, in which a 3D-CAD program or the like is installed, and is used when creating a three-dimensional model at the design stage before construction begins, or when correcting the model at the construction stage after construction begins. The three-dimensional model creation unit 200 can also be provided in the construction management device 20, which is an integrated piece of hardware.

[0054] The member allocation processing unit 110 executes an allocation process in which an optimal standard member PA is allocated to each object of the three-dimensional model stored in the three-dimensional model storage unit 100 by the machine learning model 111. The three-dimensional model is composed of, for example, the dimensions and shapes of each object such as a wall, floor, beam, and column, and their position information (three-dimensional position coordinates). The machine learning model 111 is a model that has been trained in advance based on teacher data that associates various dimensions and shapes with the types and numbers of standard members PA corresponding to them. In the illustrated example, the machine learning model 111 is provided in the construction management device 20, but may be provided in an external server device or the like that can communicate via the network IF25.

[0055] The part allocation processing unit 110 inputs the dimensions and shape of each object of the three-dimensional model into the machine learning model 111, and acquires data output from the machine learning model 111 to determine the type and number of standard parts PA required to construct each object. The part allocation processing unit 110 also determines the installation position (three-dimensional position coordinates) for installing each standard part PA by associating each determined standard part PA with position information of each object of the three-dimensional model.

[0056] FIG. 8 is a schematic diagram for explaining an example of the allocation process. In FIG. 8, the dashed lines indicate the objects OJ (e.g., walls) of the three-dimensional model, and the solid lines indicate the allocated standard members PA (e.g., wall members). In the example shown in FIG. 8, the vertical dimension of the object OJ is about four times the vertical dimension of the standard members PA, and the horizontal dimension of the object OJ is about twice the horizontal dimension of the standard members PA. In this case, the member allocation processing unit 110 allocates a total of eight standard members PA as optimal members for constructing the object OJ. The type, number, and installation position of each standard member PA allocated by the member allocation processing unit 110 are stored in the construction management data storage unit 130.

[0057] The process plan data creation unit 120 creates process plan data for the construction work to build the high-rise building BL based on the result of the allocation process by the member allocation processing unit 110. Here, the process plan data is data that defines the process period from the start of work to the end of work for each work item (work content, type of standard member PA, etc.), and can be displayed on the display device 28 in the form of a bar chart as shown in FIG. 9. The process period may be set in days or weeks, or can be set in detail in hours. In this embodiment, the object of construction is the high-rise building BL. Therefore, the process plan data includes, for example, a first process of assembling column members and beam members, a second process of assembling floor members, and a third process of assembling wall members. The process plan data creation unit 120 associates the created process plan data with the type, number, installation position, etc. of each standard member PA assigned by the member allocation processing unit 110, and stores it in the construction management data storage unit 130.

[0058] The parts ordering processing unit 140 executes an order process to the factory based on the process plan data stored in the construction management data storage unit 130 and the type and number of standard parts PA. The order process is performed by transmitting the type and number of standard parts PA required to the information processing device of the factory through the network IF25. It is desirable for the factory that places the order to select the factory closest to the site from the viewpoint of reducing transportation costs. However, it is also possible that the factory closest to the site does not have sufficient stock. In such a case, waiting for the production of the standard parts PA will cause a delay in the construction period. In this embodiment, the standard parts PA have a simple structure that allows for distributed production in many factories. For this reason, when the factory closest to the site does not have stock, the parts ordering processing unit 140 prioritizes the construction period and performs an order process to other factories.

[0059] The target flight path creation unit 150 creates a target flight path for the drone 10 based on the type, number, installation position, process plan data, etc. of each standard member PA stored in the construction management data storage unit 130. The target flight path is a three-dimensional position coordinate in a world coordinate system that defines the route along which the drone 10 will fly autonomously.

[0060] As described based on Fig. 1, the target flight path is composed of a start path RT1 where the drone 10 takes off from the base 30 and heads toward the storage yard SY, an outward path RT2 where the drone 10 heads toward a predetermined installation position where the standard component PA is assembled from the storage yard SY, a return path RT3 where the drone 10 returns to the storage yard SY after installing the standard component PA, and an end path RT4 where the drone 10 returns to the base 30. The number of outward paths R2 and return paths R3 may be determined comprehensively based on the process period determined by the process plan data, the number and weight of the standard components PA, the capacity of the battery mounted on the drone 10, weather information, etc. The target flight path creation unit 150 stores the created target flight path in the target flight path storage unit 160.

[0061] The automatic construction control unit 170 controls automatic construction to automatically construct the high-rise building BL by autonomously flying the drone 10 based on the target flight path stored in the target flight path storage unit 160. When the automatic construction control unit 170 accepts a start request, it transmits the target flight path stored in the target flight path storage unit 160 to the drone 10. The target flight path transmitted from the automatic construction control unit 170 to the drone 10 is received by the transceiver 15 of the drone 10. The start request may be input, for example, by a worker operating the operation device 27. The controller (not shown) of the drone 10 controls the propeller drive source (e.g., a motor) so that the position information of the drone 10 acquired by the GNSS receiver 12 matches the three-dimensional position coordinates of the target flight path. This realizes autonomous flight of the drone 10 along the target flight path.

[0062] When the drone 10 arrives at the storage yard SY by autonomous flight, the automatic construction control unit 170 operates the holding mechanism 14 to make the drone 10 hold the standard component PA. Also, when the drone 10 arrives at an installation position where the standard component PA is to be assembled by autonomous flight, the automatic construction control unit 170 operates the holding mechanism 14 to release the standard component PA from the drone 10. As a result, the standard component PA is automatically installed at a predetermined installation position.

[0063] Here, if construction is continued in a state where the standard member PA is not properly assembled in the desired installation position, the part will be defective in construction. The automatic construction control unit 170 monitors whether the standard member PA has been properly assembled based on an image captured by the camera 11 of the drone 10. Whether the standard member PA has been properly assembled can be determined, for example, by capturing an image of the vicinity of the boundary between the standard member PA to be installed and another standard member PA to which the standard member PA is fixed by the camera 11, and calculating a feature amount from a feature point of the captured image. Here, a feature point is a part in an image where the contrast is clearly different from the surroundings, such as an edge part of the standard member PA. The feature point may be extracted by applying an edge detection filter to each pixel. The feature amount may be calculated by using a known feature amount extraction algorithm such as SIFT or SURF.

[0064] When the automatic construction control unit 170 determines that the standard member PA is not properly assembled, it controls the driving source of the drone 10 based on the image of the camera 11 and the detection result of the behavior sensor 13 to fine-tune the attitude of the drone 10. The automatic construction control unit 170 continuously fine-tunes the attitude of the drone 10 until it determines that the standard member PA is properly assembled. This makes it possible to reliably assemble the standard member PA at the specified installation position.

[0065] The method of determining whether the standard member PA has been properly assembled is not limited to the method using the image from the camera 11, and other methods can also be used. For example, it is possible to embed electric wires that become conductive when each standard member PA is properly assembled in the standard member PA in advance, and determine that each standard member PA has been properly assembled when each electric wire becomes conductive.

[0066] Next, a processing routine executed by the CPU 21 of the construction management device 20 according to this embodiment will be described with reference to the flow chart shown in Fig. 10. Note that it is assumed that a three-dimensional model of the high-rise building BL has been created before starting this routine.

[0067] In step S100 , the CPU 21 of the construction management device 20 stores the three-dimensional model of the high-rise building BL created by the three-dimensional model creation unit 200 in the three-dimensional model storage unit 100 .

[0068] In step S110, the CPU 21 of the construction management device 20 executes an allocation process to allocate an optimal standard member PA to each object OJ of the three-dimensional model stored in the three-dimensional model storage unit 100 using the machine learning model 111. Specifically, the type and number of standard members PA required to construct each object OJ and the installation positions (three-dimensional position coordinates) at which each standard member PA is installed are determined. In step S115, the CPU 21 of the construction management device 20 stores the processing result of the allocation process in the construction management data storage unit 130.

[0069] In step S120, the CPU 21 of the construction management device 20 creates construction plan data for constructing the high-rise building BL based on the processing result of the allocation process. In step S125, the CPU 21 of the construction management device 20 stores the construction plan data created in step S120 in the construction management data storage unit 130 by linking it to the type, number, installation position, etc. of each standard member PA assigned by the allocation process in step S110.

[0070] In step S130, the CPU 21 of the construction management device 20 executes an order process to the factory based on the process plan data stored in the construction management data storage unit 130 and the type and number of standard parts PA. In addition, in step S140, the CPU 21 of the construction management device 20 creates a target flight path for the drone 10 based on the type, number, installation position, process plan data, etc. of each standard part PA stored in the construction management data storage unit 130. Note that the processes of steps S130 and S140 may be performed in any order and simultaneously.

[0071] In step S150, the CPU 21 of the construction management device 20 stores the target flight path created in step S140 in the target flight path storage unit 160. The processing from step S160 onwards is started when the construction management device 20 accepts a start request. Note that the timing for starting the processing from step S160 onwards does not require all standard components PA used in the construction of the high-rise building BL to be gathered in the storage yard SY, and can be started when at least the standard components PA for the initial process are gathered.

[0072] In step S160, the CPU 21 of the construction management device 20 performs automatic construction to automatically construct the high-rise building BL by autonomously flying the drone 10 based on the target flight path stored in the target flight path memory unit 160 in step S150.

[0073] In step S170, the CPU 21 of the construction management device 20 determines whether the high-rise building BL is completed. Whether the high-rise building BL is completed may be determined based on whether the last standard component PA has been assembled in a predetermined installation position. If the high-rise building BL is not completed (No), the CPU 21 of the construction management device 20 returns to the processing of step S160 and continues the automatic construction. On the other hand, if the high-rise building BL is completed (Yes), the CPU 21 of the construction management device 20 returns the drone 10 to the base 60 and ends the construction (this routine).

[0074] According to the automatic construction system 1 and the automatic construction method of the present embodiment described above in detail, the standard parts PA processed and manufactured in advance in a factory into a predetermined shape are transported to the storage yard SY at the site, and each standard part PA stored in the storage yard SY is transported by a drone 10 capable of autonomous flight and assembled at a predetermined installation position, so that a structure can be automatically constructed. That is, the structure, which is the object of construction, can be easily constructed without using temporary equipment such as lifting equipment, scaffolding, and formwork, which are necessary in the conventional construction method. This makes it possible to eliminate incidental work such as the installation, re-piling, and removal of temporary equipment, and to achieve labor-saving and efficiency in construction. In addition, by achieving labor-saving and efficiency in construction, it is also possible to achieve a shortened construction period and a reduction in construction costs.

[0075] Moreover, according to the automatic construction system 1 and the automatic construction method of the present embodiment, the assembly of each standard member PA is performed by a drone 10 capable of autonomous flight. In other words, a structure can be automatically constructed without the manual intervention of workers. This can reliably solve the problem of a shortage of skilled workers, and furthermore, it is possible to ensure safety in high-altitude work and the quality of construction.

[0076] In addition, according to the automatic construction system 1 and the automatic construction method of the present embodiment, the standard member PA used in constructing the structure is manufactured in a factory as a standardized member that can be used for other structures as well. That is, the standard member PA can be used in the construction of many structures without being individually designed. This makes it possible to significantly reduce the cost and time required for design, and to reliably shorten the construction period. In addition, since the standard member PA is manufactured in advance in a factory, it is possible to easily ensure quality compared to cast-in-place reinforced concrete construction or steel-reinforced concrete construction. In addition, by supplying the standard member PA to the required location, in the required number, and at the required timing, a large structure can be constructed like an industrial product, and construction costs can be significantly reduced.

[0077] [others] The present disclosure is not limited to the above-described embodiments, and can be modified as appropriate without departing from the spirit of the present disclosure.

[0078] For example, in the above embodiment, the standard member PA has been described as a secondary concrete product, but it is also possible to manufacture the standard member PA using materials other than concrete, such as metal materials, resin materials, wood materials, etc. Furthermore, the drone 10 is not limited to a multicopter type, and an unmanned aerial vehicle other than a multicopter type can also be used as long as the unmanned aerial vehicle can transport the standard member PA and install it at a predetermined installation position.

[0079] Furthermore, the holding mechanism 14 of the drone 10 is not limited to the twist lock device 14A of the above embodiment, and any mechanism other than a twist lock can be applied as long as it is capable of automatically holding and releasing the standard member PA. [Explanation of symbols]

[0080] 1...automatic construction system, PA...standard component, SY...storage yard, BL...high-rise building (structure), 10...drone (unmanned aerial vehicle), 11...camera, 12...GNSS receiver, 13...motion sensor, 14...holding mechanism, 14A...twist lock device, 14B...main body, 14C...head, 14D...spreader, 15...transmitter / receiver, 20...construction management device, 21...CPU, 22...ROM, 23...RAM, 24...auxiliary storage device, 25...network IF, 26...wireless communication IF, 27...operation device, 28...display device, 30...base, 40...engagement hole, 41, 42...edge plate, 50...fastening mechanism (horizontal cotter joint), 51...male engagement body , 52...C-type metal fitting, 53...H-type metal fitting, 53C...web, 53B...solid tapered body, 54...backup material, 55...female engagement body, 56...tapered hole, 57...C-type metal fitting, 58...slit, 60...fastening mechanism (push grip type joint), 61...male structure, 62...pin bolt, 65...female structure, 66...holder, 67...wedge, 68...urethane spring, 100...3D model memory unit, 110...component allocation processing unit, 111...machine learning model, 120...process plan data creation unit, 130...construction management data memory unit, 140...component ordering processing unit, 150...target flight path creation unit, 160...target flight path memory unit, 170...automatic construction control unit

Claims

1. An automated construction system for a structure constructed by assembling a plurality of members formed into a predetermined shape, An unmanned aerial vehicle capable of transporting the member; A construction management device that manages the construction of the structure using the unmanned aerial vehicle, The construction management device includes: a three-dimensional model storage unit that stores a three-dimensional model including shape and size information and position information of a plurality of objects that constitute the structure; an allocation processing unit that performs an allocation process to determine the number of the components required to construct the plurality of objects and the installation positions of each of the components by comparing the shape and dimensions of the plurality of objects and the position information of the plurality of objects with the shape and dimensions of the components; a process plan creation unit that creates a process plan that defines an assembly sequence of each of the members based on the number and the installation positions determined by the allocation process; a target flight path setting unit that sets a target flight path along which the unmanned airplane will fly to transport and assemble each of the components based on the installation position and the process plan; and an automatic construction control unit that controls automatic construction in which the unmanned aerial vehicle autonomously flies along the target flight path to assemble each of the components at the installation position according to the process plan. Automated construction system.

2. The automated construction system according to claim 1, The member is provided with a fastening mechanism that automatically fastens the member to another member by the propulsion force of the unmanned aerial vehicle. Automated construction system.

3. The automatic construction system according to claim 2, The fastening mechanism is a horizontal cotter joint and / or a push grip joint. Automated construction system.

4. The automatic construction system according to claim 1 or 2, The unmanned aerial vehicle is equipped with a holding mechanism that automatically holds the member on a storage yard at the site where the member is stored and / or on the platform of a transport means that has transported the member to a predetermined position at the site by placing the member on the platform, and automatically releases the member at the installation position. Automated construction system.

5. The automatic construction system according to claim 4, The holding mechanism is a twist lock device that can be engaged with an engagement hole provided in the member. Automated construction system.

6. The automatic construction system according to claim 1 or 2, The components are standardized components that can be used to construct structures other than the structure described above. Automated construction system.

7. The automatic construction system according to claim 1 or 2, The unmanned aerial vehicle is equipped with a camera capable of photographing the surroundings, The automatic construction control unit determines whether the member has been properly installed based on images of the member and the other members captured by the camera when the member is installed on the other members. Automated construction system.

8. An automated construction method for a structure constructed by assembling a plurality of members formed into a predetermined shape, comprising: storing a three-dimensional model including shape and size information and position information of a plurality of objects constituting the structure; performing an allocation process for determining the number of the components required to construct the plurality of objects and the installation positions of each of the components by comparing the shape and dimensions of the plurality of objects and the position information of the plurality of objects with the shape and dimensions of the components; creating a process plan that defines an assembly sequence of each of the components based on the number and the installation positions determined by the allocation process; Based on the installation position and the process plan, a target flight path is set along which the unmanned aerial vehicle capable of transporting the components flies to transport and assemble the components; By autonomously flying the unmanned aerial vehicle along the target flight path, an automatic construction is performed in which each of the components is assembled according to the process plan. Automatic construction method.

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