Construction management system

Abstract

To provide a construction management system that can create a construction plan that is in line with actual conditions of a construction site.SOLUTION: A construction management system comprises a construction plan server 20 for creating a construction plan, and a construction machine control system 30 for controlling a construction machine 40 that operates autonomously at a construction site according to the construction plan. The construction plan server 20 comprises: a construction block creation unit 21A for dividing a three-dimensional model of a construction object into construction blocks; a construction order setting unit 21B for setting a construction order for each construction block; and a construction area setting unit 21C for assigning a plurality of construction areas in which the construction blocks are organized in the construction order to the three-dimensional model. The construction machine control system 30 comprises a management device 31 that functions as a control unit for instructing the autonomous operation of the construction machine 40 for each construction area.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a construction management system that performs construction by autonomous operation of a plurality of construction machines.

Background Art

[0002] In automobiles, autonomous driving that recognizes objects around the host vehicle using in-vehicle cameras, radars, etc. and drives the host vehicle based on the recognition is being put into practical use. For example, Patent Document 1 discloses a technique for applying autonomous driving to construction machines operating at a construction site.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When autonomous driving a construction machine at a construction site, the work schedule of each construction machine is determined according to a preset construction plan. When performing construction with a construction machine that operates by autonomous driving, it is required to create a construction plan that better conforms to the actual situation of the construction site.

Means for Solving the Problems

[0005] The construction management system for solving the above problems is a construction management system that creates a construction plan and controls construction machinery operating by autonomous driving at a construction site according to the construction plan. The construction management system includes: a construction block creation unit that divides a three-dimensional model of a construction object into construction blocks having a shape determined according to the working ability of the construction machinery and the construction materials constituting the construction object; a construction order setting unit that sets a construction order for each construction block according to the arrangement of the construction blocks; a construction area setting unit that assigns a plurality of construction areas obtained by grouping the construction blocks in the construction order to the three-dimensional model according to the number of the construction machinery available per unit period and the working ability; and a control unit that instructs the autonomous driving of the construction machinery for each construction area.

Effect of the Invention

[0006] According to the present invention, a construction plan conforming to the actual situation of a construction site can be created.

Brief Description of the Drawings

[0007]

Figure 1

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Figure 10

Embodiments for Carrying Out the Invention

[0008] Referring to FIGS. 1 to 10, an embodiment of the construction management system will be described. The construction management system is a computer system responsible for creating construction plans and controlling the autonomous operation of construction machinery (also referred to as construction equipment). In the construction management system, civil engineering works such as earthwork and dam construction are targeted. In this embodiment, the configuration and operation of the construction management system when the embankment filling in dam construction is the construction object will be described.

[0009] [Overall Configuration] The construction management system 1 includes a user terminal 10, a construction plan server 20, a construction machinery control system 30, and a plurality of construction machines 40.

[0010] The user terminal 10 is a computer terminal used by users such as management responsible persons. The construction plan server 20 is a computer system responsible for creating construction plans. The construction machinery control system 30 is a computer system responsible for controlling the autonomous operation of the construction machines 40 by a plurality of devices described later. The construction machinery control system 30 controls the construction machines 40 operating by autonomous operation according to the construction plan.

[0011] The user terminal 10 and the construction plan server 20 are communicably connected via a network line. The user terminal 10, for example, receives input of various information by the user and transmits the input information to the construction plan server 20. Also, the user terminal 10, for example, displays various information output from the construction plan server 20 to the user.

[0012] The construction plan server 20 and the construction machinery control system 30 are communicably connected via a network line. The construction plan server 20 transmits the created construction plan to the construction machinery control system 30. The construction machinery control system 30 transmits the progress data of the work by autonomous operation and the quality data after the work to the construction plan server 20.

[0013] The construction machine control system 30 and the plurality of construction machines 40 are communicably connected via a network line. The construction machine control system 30 controls the autonomous operation of the construction machines 40. The construction machines 40 perform specific operations according to their types by operating through autonomous operation. The construction machines 40 transmit various information such as operation logs during autonomous operation to the construction machine control system 30.

[0014] [Hardware Configuration] Referring to FIG. 2, the hardware configuration of the information processing device H10 that constitutes each device of the user terminal 10, the construction plan server 20, and the construction machine control system 30 will be described. The information processing device H10 includes a communication device H11, an input device H12, a display device H13, a storage device H14, and a processor H15. Note that this hardware configuration is an example, and it is also possible to be realized by other hardware.

[0015] The communication device H11 is an interface that executes data transmission and reception by establishing a communication path with other devices. The communication device H11 is, for example, a network interface or a wireless interface.

[0016] The input device H12 is a device such as a mouse or a keyboard that accepts input of various information. The display device H13 is a display or the like that displays various information. The storage device H14 is a storage device that stores data and various programs for executing various functions in each device of the user terminal 10, the construction plan server 20, and the construction machine control system 30. Examples of the storage device H14 include ROM, RAM, and hard disks.

[0017] By using the programs and data stored in the storage device H14, the processor H15 controls the processing in each of the user terminal 10, the construction plan server 20, and the construction machine control system 30. Examples of the processor H15 include, for example, a CPU or an MPU. This processor H15 executes various processes for each process by expanding the program stored in a ROM or the like into a RAM.

[0018] The processor H15 is not limited to performing software processing for all the processes it executes. For example, the processor H15 may include a dedicated hardware circuit (e.g., an application-specific integrated circuit: ASIC) that performs hardware processing for at least a part of the processes it executes. That is, the processor H15 may be configured as follows.

[0019] [1] One or more processors that operate according to a computer program (software) [2] One or more dedicated hardware circuits that execute at least a part of various processes [3] A circuit (circuitry) including a combination thereof The processor includes a CPU and memories such as a RAM and a ROM. The memory stores program codes or instructions configured to cause the CPU to execute a process. The memory, that is, the computer-readable medium, includes any available medium accessible by a general-purpose or dedicated computer.

[0020] [Construction plan server 20] As shown in FIG. 3, the construction plan server 20 includes a control unit 21 and a storage unit 22. The control unit 21 executes various processes for creating a construction plan. The storage unit 22 stores various data for creating a construction plan.

[0021] In the construction management system 1, the control unit 21 functions as a construction block creation unit 21A, a construction order setting unit 21B, and a construction area setting unit 21C by executing a construction plan program. The construction plan program is stored in the storage unit 22.

[0022] The construction block creation unit 21A divides the three-dimensional model of the construction object into construction blocks according to the working ability of the construction machine 40 and the construction materials that make up the construction object. The construction block is used as the minimum unit when considering the construction location and its construction order in the creation of the construction plan of the present embodiment. The construction order setting unit 21B determines the construction order for each construction block according to the arrangement of the construction blocks divided by the construction block creation unit 21A.

[0023] The construction area setting unit 21C assigns a plurality of construction areas obtained by grouping the construction blocks divided by the construction block creation unit 21A in the construction order to the three-dimensional model of the construction object according to the number of construction machines 40 available per unit period and their working ability. The construction area is a set of construction blocks obtained by dividing the three-dimensional model of the construction object into sizes that can be constructed per unit period. That is, in the construction by autonomous operation, the construction blocks included in one construction area are constructed per unit period. The unit period is, for example, one day, but it may also be half a day, several days, or one week.

[0024] The storage unit 22 includes a BIM information storage unit 22A, a construction machine information storage unit 22B, and a quality data storage unit 22C. The BIM information storage unit 22A stores the BIM information of the construction object. The BIM information is data with attribute information added to the three-dimensional model. The construction machine information storage unit 22B stores the types, numbers, working abilities, etc. of the available construction machines 40. The quality data storage unit 22C stores the quality data obtained from the locations where the construction machines 40 have constructed.

[0025] [Construction Machine Control System 30] The construction machine control system 30 includes a management device 31, a remote operation device 32, a platform 33, a monitoring camera 34, a quality data acquisition unit 35, and a logging monitoring device 36.

[0026] In the construction management system 1, the management device 31 functions as a control unit that instructs the autonomous operation of the construction machine 40 for each construction area set by the construction area setting unit 21C. The management device 31 is communicably connected to the construction plan server 20 via a network line. The management device 31 controls the autonomous operation of each construction machine 40 based on the construction plan acquired from the construction plan server 20. The management device 31 transmits autonomous operation information for instructing the autonomous operation to each construction machine 40 to the platform 33 based on the construction plan.

[0027] The management device 31 has an input unit for inputting various information necessary when each construction machine 40 performs work by autonomous operation to the platform 33, a display unit on which a system operation screen provided from the platform 33 is displayed, and the like. Further, the management device 31 is configured to be able to control the operations of the monitoring camera 34, the quality data acquisition unit 35, and the logging monitoring device 36 via the platform 33.

[0028] The remote operation device 32 is a device for a remote operator to remotely operate the construction machine 40. The remote operation device 32 may be provided for each construction machine 40, or may be able to switch the construction machine 40 to be operated. The remote operation device 32 is used, for example, when remotely operating a construction machine 40 that has been emergently stopped due to some trouble. Further, the remote operation device 32 is configured to be able to manually emergently stop the construction machine 40 to be operated. The remote operation device 32 transmits remote operation information based on the operation of the remote operator to the platform 33.

[0029] Platform 33 is a standard infrastructure that acquires or provides the functions and information necessary for IoT (Internet of Things) with other devices through network lines. Platform 33 is communicably connected to a management device 31, a remote operation device 32, a surveillance camera 34, a quality data acquisition unit 35, a logging monitoring device 36, and each construction machine 40.

[0030] For example, Platform 33 transmits the autonomous driving information from the management device 31 and the remote operation information from the remote operation device 32 to the construction machine 40 to be operated. Also, Platform 33 transmits various information from each construction machine 40 to the management device 31, the remote operation device 32, and the logging monitoring device 36. Platform 33 transmits various information from the surveillance camera 34 and the quality data acquisition unit 35 to the management device 31, the remote operation device 32, and the logging monitoring device 36.

[0031] The surveillance camera 34 monitors the operation of the construction machine 40. The surveillance camera 34 is installed at various locations on the construction site. The surveillance camera 34 transmits surveillance image information indicating the captured surveillance images to Platform 33. The surveillance images of the surveillance camera 34 are displayed on the display unit of the management device 31.

[0032] The quality data acquisition unit 35 acquires quality data of the work performed by the construction machine 40 on the constructed part of the object to be constructed. The quality data acquisition unit 35 may be provided at a predetermined position on the construction site, may be mounted on the construction machine 40, may be mounted on another autonomous driving machine other than the construction machine 40, or may be mounted on an unmanned aerial vehicle. The quality data acquisition unit 35 transmits the acquired quality data to Platform 33.

[0033] An example of the quality data acquisition unit 35 is a function of self-driving to the measurement target point, and the water content ratio (%) and wet density (g / cm 3It is a device having a function of automatically measuring 2 ). The deformation coefficient (MN / m

[0034] An example of the quality data acquisition unit 35 is a profiling instrument that measures the shape after spreading or compaction of the embankment fill. The profiling instrument is an imaging device such as a 3D scanner that images the embankment fill after spreading or compaction.

[0035] The logging monitoring device 36 stores operation logs such as the operation status of each construction machine 40. Further, the logging monitoring device 36 may store the quality data acquired by the quality data acquisition unit 35 in association with the operation status of each construction machine 40.

[0036] [Construction machine 40] The construction machine 40 includes a traveling device for traveling the machine itself and a working device for performing a specific operation. The construction machine 40 is configured to be operable by an on-board operator. The construction machine 40 is configured to be remotely operable by a remote operator via the remote operation device 32.

[0037] The construction machine 40 has an autonomous driving device 41. The autonomous driving device 41 automatically and autonomously drives the machine itself by driving and controlling the traveling device and the working device of the machine itself based on the autonomous driving information transmitted by the platform 33 and the surrounding environment of the machine itself at the construction site.

[0038] The construction machine 40 is, for example, a transport device for transporting construction materials. The transport device is, for example, a carrier dump. The construction machine 40 is, for example, a backhoe for loading construction materials into the carrier dump. The construction machine 40 is, for example, a bulldozer or a vibratory roller for leveling and compacting construction materials.

[0039] Each construction machine 40 is equipped with various sensors for detecting and acquiring information related to the driving status of the machine itself, such as a peripheral environment sensor for detecting the peripheral environment of the machine itself and a driving status sensor for detecting the driving status of the machine itself (the driving status of the traveling device and the driving status of the working device). The detection results of the various sensors are transmitted to the platform 33 via the autonomous driving device 41.

[0040] An example of the sensor provided in the construction machine 40 is a peripheral environment sensor that measures the distance from the irradiation position to the surface of an object existing in the measurement range with the periphery of the machine itself as the measurement range. An example of the sensor provided in the construction machine 40 is a camera that images the surroundings of the machine itself. This camera images the front of the machine itself, for example, from the viewpoint of an operator on board the machine itself.

[0041] The autonomous driving device 41 stores autonomous driving information including the driving route and the work content at the work site. The autonomous driving information is transmitted from the management device 31 through the platform 33. The autonomous driving device 41 transmits the self-position estimated using the global navigation satellite system (GNSS) to the platform 33 as position information. The autonomous driving device 41 detects obstacles based on the measurement results of the peripheral environment sensors.

[0042] In autonomous driving, the autonomous driving device 41 drives the construction machine 40 while avoiding obstacles based on the autonomous driving information and the self-position, and drives the construction machine 40 so that the work according to the work information is performed. In remote operation driving, the autonomous driving device 41 drives the construction machine 40 according to the remote operation information from the remote operation device 32.

[0043] [Construction Plan Making Procedure] Referring to FIGS. 4 to 8, an example of a method for creating a construction plan by the construction management system 1 will be described. The creation of the construction plan is performed by the control unit 21 of the construction plan server 20.

[0044] As shown in FIG. 4, the method for creating a construction plan includes the processes of steps S11 to S14. Note that in steps S11 to S14, a construction plan for the entire construction object may be created, or a construction plan for a part of the construction object may be created. That is, a construction plan for the entire construction object may be created at once, or a construction plan for the entire construction object may be created in multiple times.

[0045] [Step S11] As shown in FIG. 4, as the process of step S11, first, the control unit 21 acquires the BIM information of the construction object from the BIM information storage unit 22A.

[0046] FIG. 5 shows a dike model 50 which is an example of a three-dimensional model generated from the BIM information of the construction object. The dike model 50 is configured to have a bottom surface corresponding to the shape of the rock landing surface 50S, for example. The rock landing surface 50S is composed of a surface model based on the terrain data (for example, point cloud) of the construction site.

[0047] The dike model 50 includes a plurality of material-specific regions divided by the type of construction material constituting the construction object. For example, the dike model 50 is a three-dimensional model of a filter dam having a plurality of material-specific regions arranged in the flow direction from the upstream side to the downstream side. The dike model 50 includes, as material-specific regions, a core 51, a filter 52, a transition 53, an inner lock 54, and an outer lock 55.

[0048] The core 51 is located at the central part of the embankment model 50. In the embankment model 50, with the core 51 as the center, in the upstream and downstream directions respectively, the filter 52, the transition 53, the inner lock 54, and the outer lock 55 are arranged in order from the side closer to the core 51. The core 51 and the filter 52 are composed of water-blocking materials. The inner lock 54 and the outer lock 55 are composed of water-permeable materials. The transition 53 is composed of semi-water-permeable materials.

[0049] Attribute information is assigned to the embankment model 50 for each material area. An example of the attribute information is material information including information about the type and physical properties of the construction materials that make up each material area. An example of the material information is the density of the construction materials. The density of the construction materials is preferably the density after compaction. Note that the construction object does not necessarily need to be composed of multiple types of construction materials and may be composed of a single construction material.

[0050] [Step S12] Returning to FIG. 4, as the process of step S12, the construction block creation unit 21A divides the three-dimensional model of the construction object into construction blocks. For example, the construction block creation unit 21A divides the embankment model 50 into a plurality of construction blocks for each material area. The shape of the construction block is determined for each material area according to the working ability of the construction machine 40 and the construction materials that make up the construction object.

[0051] As shown in FIG. 6, the construction block 60 is configured in a rectangular parallelepiped shape having a height H1, a width W1, and a length L1. The construction block creation unit 21A sets the volume of the construction block 60 according to the transportation capacity per unit of the transportation device that transports the construction materials among the construction machines 40 and the density of the construction materials. The transportation capacity is the maximum loading weight per unit of the transportation device. The transportation capacity is an example of the working ability of the construction machine 40. The transportation capacity is stored in the construction machine information storage unit 22B.

[0052] That is, the construction block creation unit 21A sets the volume of the construction block 60 according to the maximum loading weight per transport device stored in the construction machine information storage unit 22B and the density of the construction material given as attribute information in the material-specific area of the embankment model 50. For example, the construction block creation unit 21A sets the volume of the construction block 60 based on the maximum loading weight per transport device and the density of the construction material so as not to exceed the upper limit value of the volume of the construction material that can be loaded onto one transport device.

[0053] The construction block creation unit 21A sets the height H1 of the construction block 60 according to the type of the construction material. For example, in the material-specific area of the embankment model 50, a recommended thickness at which sufficient quality can be obtained when compacting is given as attribute information for each type of the construction material according to physical property values such as the particle size, water content ratio, and load-bearing capacity of the construction material. The construction block creation unit 21A sets the recommended thickness given as attribute information in the material-specific area of the embankment model 50 as the height H1 of the construction block 60.

[0054] Note that the construction block creation unit 21A may correct the height H1 of the construction block 60 according to the compaction ability of the construction machine 40 that performs leveling and compaction. For example, the construction block creation unit 21A may correct the height H1 so that the higher the compaction ability of the construction machine 40, the larger the height H1 of the construction block 60. The compaction ability is an example of the working ability of the construction machine 40. The compaction ability is stored in the construction machine information storage unit 22B.

[0055] The construction block creation unit 21A sets the width W1 of the construction block 60 according to the working width of the construction machine 40 that performs leveling and compaction. In other words, the construction block creation unit 21A sets the width W1 of the construction block 60 according to the working width of the construction machine 40 that performs at least one of leveling and compaction. The working width is, for example, the blade width of a bulldozer. The working width is, for example, the roller width of a vibrating roller. The working width is an example of the working ability of the construction machine 40. The working width is stored in the construction machine information storage unit 22B.

[0056] The width W1 of the construction block 60 is set within a range not exceeding the working width of the construction machine 40. For example, the width W1 of the construction block 60 is set so that one row or multiple rows of construction blocks 60 can be leveled in one leveling operation. Therefore, the construction block creation unit 21A sets the width W1 of the construction block 60 such that the value obtained by multiplying the number of rows of the construction blocks 60 to be leveled at one time by the width W1 of the construction block 60 does not exceed the working width of the construction machine 40. Similarly, it is preferable that the width W1 of the construction block 60 is set so that one row or multiple rows of construction blocks 60 can be compacted in one compaction operation.

[0057] Further, the requirements specification of each construction block 60 may be stored in the construction block 60 as attribute information. An example of the requirements specification of the construction block 60 is the allowable range of the finished shape (for example, dimensional specifications) when the portion corresponding to the construction block 60 in the construction object is leveled. An example of the requirements specification of the construction block 60 is the allowable range of the finished shape (for example, dimensional specifications) when the portion corresponding to the construction block 60 in the construction object is compacted. An example of the requirements specification of the construction block 60 is the numerical specification of physical quantities such as the water content ratio, wet density, and deformation coefficient that the quality data acquisition unit 35 acquires as quality data.

[0058] [Step S13] Returning to FIG. 4, as the process of step S13, the construction order setting unit 21B sets the construction order for each construction block 60 according to the arrangement of the divided construction blocks 60. The construction order setting unit 21B sets the construction order for the construction block 60 according to, for example, a predetermined condition stored in the storage unit 22. As an example, the construction order setting unit 21B sets the construction order for each construction block 60 for each material-based area of the embankment model 50.

[0059] Here, with reference to FIGS. 7 and 8, an example of a method for setting the construction order for the construction block 60 will be described. Table 50T shown in FIG. 7 schematically represents a part of the layer structure of the embankment model 50 composed of construction blocks 60 in the flow direction from upstream to downstream. Each cell constituting the table 50T represents one layer 50L composed of one or a plurality of construction blocks 60 arranged horizontally. The layer 50L may include a plurality of construction blocks 60 in the flow direction. Also, the thickness of the layer 50L (height of the cell) corresponds to the height H1 of the construction block 60 constituting the layer 50L.

[0060] First, the construction order setting unit 21B sets the construction order for each layer 50L constituting the table 50T. The numbers assigned to each layer 50L in the table 50T represent the construction order of each layer 50L. For example, the construction order setting unit 21B sets the construction order in order from the layer 50L located at the lower position in the height direction. Also, the construction order setting unit 21B sets the construction order in order from the layer 50L located inside the embankment model 50 and in order from the upstream side in the flow direction. For example, the construction order setting unit 21B sets the construction order in the order of the layer 50L of the core 51 located at the bottom layer, the layer 50L of the upstream filter 52, and the layer 50L of the downstream filter 52.

[0061] Also, at the boundary between adjacent layers 50L, there may be a case where construction blocks 60 having different heights H1 are adjacent to each other. In this case, the construction order setting unit 21B sets the construction order of the layer 50L so that the step generated between the adjacent construction blocks 60 does not become excessively large.

[0062] For example, the construction order setting unit 21B sets the construction order of the layer 50L so that the step generated between the adjacent construction blocks 60 does not exceed the threshold value at the boundary between the adjacent layers 50L. The threshold value of the step is, for example, not more than twice the height H1 of the construction block 60 having the larger height H1 among the adjacent construction blocks 60.

[0063] FIG. 8 schematically shows the plan layout of the construction blocks 60 constituting one layer 50L in the table 50T shown in FIG. 7 in the embankment model 50. The layer 50L is composed of a plurality of construction blocks 60.

[0064] After setting the construction order for each layer 50L in the table 50T, the construction order setting unit 21B sets the construction order for each construction block 60 that constitutes the layer 50L. The numbers assigned to each construction block 60 that constitutes the layer 50L represent the construction order of the construction block 60.

[0065] In the dam axis direction intersecting the flow direction, starting from the construction block 60 located at one end of the layer 50L, the construction order setting unit 21B sets the construction order for each construction block 60 toward the other end side. Note that the construction order setting unit 21B may set the construction order starting from an arbitrary construction block 60 designated by the user.

[0066] Also, the method of setting the construction order of the construction block 60 by the construction order setting unit 21B is not limited to the form of setting the construction order from one end to the other end in the dam axis direction. For example, a turning position 50R may be set in the dam body model 50. In this case, starting from the construction block 60 located at one end of the layer 50L, the construction order setting unit 21B sets the construction order toward the turning position 50R. Then, after setting the construction order for all the construction blocks 60 from the starting point to the turning position 50R, starting from the construction block 60 located at the other end of the layer 50L as the next starting point, the construction order setting unit 21B sets the construction order for each construction block 60 toward the turning position 50R again. By setting the construction order in this way, for example, when the access road changes, the construction order of the construction block 60 can be optimized by setting the turning position 50R.

[0067] [Step S14] Returning to FIG. 4, as the process of step S14, the construction area setting unit 21C assigns a construction area obtained by grouping a plurality of construction blocks 60 to the dam body model 50 according to the number of construction machines 40 available per unit period and the working ability (proportion).

[0068] As shown in FIG. 8, the construction area setting unit 21C assigns a construction area 61, which is formed by grouping a plurality of construction blocks 60 that make up the layer 50L into a size that can be constructed per unit period, to the embankment model 50. The construction area 61 is composed of a plurality of construction blocks 60 with consecutive construction sequences. The construction area 61 is set to include as many construction blocks 60 as possible according to the number of construction machines 40 available per unit period and their working capabilities.

[0069] Furthermore, as the process of step S14, the construction area setting unit 21C sets a construction schedule for constructing the construction blocks 60 included in the construction area 61 for each construction area 61. The construction blocks 60 included in one construction area 61 are constructed within the same construction schedule. The construction area setting unit 21C sets the construction schedule for each unit period in order from the construction area 61 that includes the construction block 60 with the earlier construction sequence. For example, when the unit period is one day, the construction schedule is the scheduled construction date set daily. Also, the construction area setting unit 21C sets the construction schedule while avoiding holidays when no work is performed. Through the above procedures, the creation of a construction plan that defines the construction locations and construction sequences for each unit period is completed.

[0070] [Construction Procedures] With reference to FIGS. 9 and 10, an example of the construction procedure by the construction management system 1 will be described. First, with reference to the plan view shown in FIG. 9, a construction site 70 where construction is performed by the construction management system 1 and an example of the construction content performed at the construction site 70 will be described.

[0071] As shown in FIG. 9, at the construction site 70, a loading area 71, an embankment installation area 72, a passable area 73, etc. are set. The loading area 71 is an area where the construction material M1 that constitutes the embankment fill 74, which is the object of construction, is loaded. The embankment installation area 72 is an area where the embankment fill 74 is formed. The passable area 73 is a road connecting the gate G1 that serves as the entrance and exit of the loading area 71 and the gate G2 that serves as the entrance and exit of the embankment installation area 72.

[0072] For example, at a construction site 70, a plurality of construction machines 40, namely, a backhoe BH1, a carrier dump CD1, a bulldozer BD1, and a vibratory roller VR1, are arranged. The backhoe BH1 loads the construction material M1 onto the carrier dump CD1 in the loading area 71. The carrier dump CD1 transports the construction material M1 loaded in the loading area 71 to the embankment installation area 72. The bulldozer BD1 levels the construction material M1 transported to the embankment installation area 72. The vibratory roller VR1 compacts the leveled construction material M1.

[0073] In addition, in FIG. 9, the area in the embankment installation area 72 where the embankment fill 74 is formed is pseudo-indicated by a plurality of meshes corresponding to the size of the construction block 60. Also, in FIG. 9, the completed construction area 74A where the construction has been completed is shown with dots, and the unconstructed area 74B where the construction has not been performed is shown in white.

[0074] Next, with reference to FIG. 10, an example of the construction method by the construction management system 1 will be described. In the construction of the embankment fill 74 by the construction management system 1, the portion corresponding to the construction block 60 included in one construction area 61 is constructed for each unit period.

[0075] As shown in FIG. 10, an example of the construction method includes the steps of S21 to S30. First, in step S21 which is the preliminary preparation, the management device 31 of the construction machine control system 30 creates an operation plan that defines the work content by the autonomous operation of the construction machine 40 for each construction area 61 based on the construction plan acquired from the construction plan server 20. The operation plan is the work schedule within the construction schedule of each construction machine 40 when constructing each construction area 61.

[0076] That is, the management device 31 sets the work schedule for each construction machine 40 so that all the construction blocks 60 included in the construction area 61 can be constructed within the unit period assigned as the construction schedule. Note that the following processes of S22 to S30 are performed within the construction schedule set for the construction area 61.

[0077] Next, in the loading process of step S22, the management device 31 gives a command to the carrier dump CD1 and the backhoe BH1 to execute a loading operation of loading the construction material M1 into the carrier dump CD1 by autonomous driving.

[0078] Specifically, first, the management device 31 identifies the carrier dump CD1 and the backhoe BH1 that perform the loading operation based on the operation plan. Then, the management device 31 transmits autonomous driving information for giving a command of autonomous driving of the loading operation to the identified carrier dump CD1 and backhoe BH1 to the platform 33. The autonomous driving information of the loading operation includes, for example, information on the amount (weight or volume) of the construction material M1 to be loaded into the carrier dump CD1. As a result, the autonomous driving devices 41 provided in the carrier dump CD1 and the backhoe BH1 autonomously drive their own machines, and the construction material M1 is loaded into the carrier dump CD1 in the loading area 71. Note that more construction material M1 than the volume of the construction block 60 is loaded into the carrier dump CD1.

[0079] Next, in the transportation process of step S23, the management device 31 gives a command to the carrier dump CD1 to execute a transportation operation of transporting the construction material M1 loaded in the loading area 71 to the embankment installation area 72 by autonomous driving.

[0080] Specifically, the management device 31 identifies the carrier dump CD1 that performs the transportation operation based on the operation plan, and transmits autonomous driving information for giving a command of autonomous driving to the identified carrier dump CD1 to the platform 33. The autonomous driving information of the transportation operation includes, for example, information on the driving route and information on the location where unloading is to be performed. As a result, the autonomous driving device 41 provided in the carrier dump CD1 autonomously drives its own machine, and the construction material M1 is transported into the embankment installation area 72.

[0081] The construction material M1 is unloaded at a location corresponding to the construction block 60 included in the construction area 61 to be constructed within the embankment installation area 72. The construction block 60 corresponding to the unloading location is determined according to the construction sequence set in the construction plan. After unloading at locations corresponding to a plurality of construction blocks 60, the leveling step of step S24 is performed.

[0082] Next, in the leveling step of step S24, the management device 31 gives a command to the bulldozer BD1 to execute the leveling operation on the construction material M1 unloaded in the embankment installation area 72 by autonomous driving.

[0083] Specifically, the management device 31 identifies the bulldozer BD1 that performs the leveling operation based on the operation plan, and transmits autonomous driving information for giving an autonomous driving command to the identified bulldozer BD1 to the platform 33. The autonomous driving information for the leveling operation includes, for example, information on the location where the carrier dump CD1 unloaded in step S23 and information on construction conditions including the working direction of leveling. Thereby, the autonomous driving device 41 provided in the bulldozer BD1 autonomously drives the own machine, and the leveling of the construction material M1 unloaded in the embankment installation area 72 is performed.

[0084] Note that the working direction of leveling by the bulldozer BD1 is determined so that the direction of the working width (blade width) of the bulldozer BD1 coincides with the direction of the width W1 of the construction block 60. Also, in step S24, in one leveling operation, leveling is performed at locations corresponding to one row or multiple rows of construction blocks 60.

[0085] Next, in the leveling measurement step of step S25, the management device 31 controls the quality data acquisition unit 35 to acquire the formed shape after the leveling operation. Then, in step S26, the management device 31 determines whether the formed shape acquired in step S25 meets the required specifications assigned as attribute information to the construction block 60. Note that in step S26, the work operator may determine whether the formed shape acquired in step S25 meets the required specifications.

[0086] If the formed shape acquired in step S25 does not meet the required specifications (step S26: NO), the management device 31 performs the loading step (step S22), the transportation step (step S23), and the leveling step (step S24) again for the deficient part. If the formed shape acquired in step S25 meets the required specifications (step S26: YES), the management device 31 proceeds to step S27.

[0087] Next, in the compaction step of step S27, the management device 31 gives a command to the vibrating roller VR1 to execute the compaction operation on the leveled construction material M1 by autonomous driving.

[0088] Specifically, the management device 31 identifies the vibrating roller VR1 that performs the compaction operation based on the operation plan, and transmits autonomous driving information for giving a command of autonomous driving to the identified vibrating roller VR1 to the platform 33. The autonomous driving information for the compaction operation includes, for example, information on the location where the bulldozer BD1 performed leveling in step S24, and information on the rolling conditions including the compaction work direction by the vibrating roller VR1. Thereby, the autonomous driving device 41 provided in the vibrating roller VR1 autonomously drives the vehicle itself to compact the construction material M1 unloaded in the embankment installation area 72.

[0089] Note that the compaction working direction by the vibrating roller VR1 is determined such that the working width (roller width) direction of the vibrating roller VR1 coincides with the width W1 direction of the construction block 60. Also, in step S24, in one compaction operation, compaction is performed at points corresponding to one row or multiple rows of construction blocks 60.

[0090] Note that the loading process (step S22), the transportation process (step S23), the leveling process (step S24), and the compaction process (step S27) may be performed in parallel for a plurality of construction blocks 60 included in the construction area 61 by a plurality of construction machines 40.

[0091] Next, in the compaction measurement step S28, the management device 31 acquires the as-built shape after the compaction operation by controlling the quality data acquisition unit 35. Then, in step S29, the management device 31 determines whether or not the as-built shape acquired in step S28 satisfies the required specifications given as attribute information to the construction block 60. Note that in step S29, the work operator may determine whether or not the as-built shape acquired in step S28 satisfies the required specifications.

[0092] If the as-built shape acquired in step S28 does not satisfy the required specifications (step S29: NO), the management device 31 performs the compaction process (step S27) again for the insufficient part. If the as-built shape acquired in step S28 satisfies the required specifications (step S29: YES), the management device 31 proceeds to step S30.

[0093] Next, in step S30, the management device 31 controls the quality data acquisition unit 35 to acquire quality data at the points corresponding to the respective construction blocks 60 included in the constructed area 74A. The quality data is, for example, the water content ratio, wet density, and deformation coefficient in the constructed area 74A. Note that the quality data acquired by the management device 31 is not limited to the data acquired by the quality data acquisition unit 35 after construction completion, and may be data acquired by the quality data acquisition unit 35 during construction, such as the shape after the leveling work or the shape after the compaction work.

[0094] Then, the management device 31 transmits the acquired quality data to the construction plan server 20. The control unit 21 of the construction plan server 20 stores the quality data transmitted from the management device 31 in the quality data storage unit 22C. Note that the quality data stored in the quality data storage unit 22C can be output as a document. By the above procedure, the construction of the construction blocks 60 included in the construction area 61 scheduled within the construction schedule is completed.

[0095] [Method for Adjusting the Shape of Construction Blocks] The construction block creation unit 21A can adjust the shape of the construction block 60 arranged at the position corresponding to the unconstructed area 74B in the embankment fill 74 according to the quality data stored in the quality data storage unit 22C. In other words, the construction block creation unit 21A can optimize the shape of the construction block 60 arranged at the position corresponding to the unconstructed area 74B according to the quality data acquired from the constructed area 74A.

[0096] For example, the construction block creation unit 21A adjusts the shape of the construction block 60 corresponding to the unconstructed area 74B according to the quality data stored in the quality data storage unit 22C, with reference to the shape of the construction block 60 corresponding to the constructed area 74A.

[0097] For example, if the volume set for the construction block 60 is too large compared to the actual carrying capacity of the carrier dump CD1, the construction material M1 will be insufficient, and in step S26, it is likely to be determined that the shape after the leveling operation is insufficient (out of specification). In such a case, the quality data storage unit 22C stores, as quality data, the out-of-specification shape after the leveling operation determined to be insufficient in step S26 and the in-specification shape after the leveling operation performed again after adding the construction material M1. In this case, the construction block creation unit 21A sets, according to the degree of the out-of-specification shape determined after the leveling operation, a value smaller than the volume of the construction block 60 corresponding to the constructed area 74A as the volume of the construction block 60 corresponding to the unconstructed area 74B. Thereby, the number of times of redoing the loading process in step S22, the transporting process in step S23, and the leveling process in step S24 can be reduced.

[0098] For example, if the height H1 set for the construction block 60 is too large, the degree of compaction will be insufficient, and in step S29, it is likely to be determined that the shape after the compaction operation is insufficient (out of specification). In such a case, the quality data storage unit 22C stores, as quality data, the out-of-specification shape after the compaction operation determined to be insufficient in step S29 and the in-specification shape after the compaction operation performed again. In this case, the construction block creation unit 21A sets, according to the degree of the out-of-specification shape determined after the compaction operation, a value smaller than the height H1 of the construction block 60 corresponding to the constructed area 74A as the height H1 of the construction block 60 corresponding to the unconstructed area 74B. Thereby, the number of times of redoing the compaction process in step S27 can be reduced.

[0099] [Effects of the Embodiment] (1) The construction plan server 20 divides the embankment model 50, which is a three-dimensional model of the construction object, into construction blocks 60 with a shape determined according to the working ability of the construction machinery 40 and the construction material M1 that constitutes the construction object. Furthermore, a construction sequence is set for each construction block 60. Then, the construction plan server 20 allocates a plurality of construction areas 61 obtained by grouping the construction blocks 60 in the construction sequence to the embankment model 50 according to the number of construction machinery 40 available per unit period and their working ability. As a result, a construction plan that defines the construction locations and construction sequence for each unit period is created. And the construction machinery control system 30 instructs the autonomous operation of the construction machinery 40 for each construction area 61 based on the construction plan. According to the construction plan creation procedure of the present embodiment, the shape of the construction block 60, which is the minimum unit when considering the construction location and its construction sequence, can be optimized according to the working ability of the construction machinery 40 and the physical properties of the construction material M1 that constitutes the construction object. Therefore, a construction plan that conforms to the actual situation of the construction site 70 can be created.

[0100] (2) The construction block creation unit 21A sets the volume of the construction block 60 so as not to exceed the upper limit value of the volume of the construction material M1 that can be loaded onto one transport device according to the transport capacity per transport device and the density of the construction material M1. As a result, the construction material M1 required to construct the point corresponding to one construction block 60 can be transported by one transport device. That is, by making the volume of the construction block 60 correspond to the transport capacity of the transport device, the transport operation of transporting the construction material M1 to the point corresponding to each construction block 60 can be performed efficiently.

[0101] (3) The construction block creation unit 21A sets the height H1 of the construction block 60 according to the construction material M1. As a result, the thickness of the layer 50L composed of a plurality of horizontally arranged construction blocks 60 can be optimized according to the construction material M1 so that sufficient quality can be obtained by compaction. Therefore, it is possible to improve the quality after compaction and increase the efficiency of the compaction work.

[0102] (4) The construction block creation unit 21A sets the width W1 of the construction block 60 according to the working width of the construction machine 40 that performs at least one of the spreading work and the compaction work among the construction machines 40. By making the width W1 of the construction block 60 correspond to the working width of the construction machine 40, it is possible to improve the efficiency of the spreading work, the compaction work, or both.

[0103] (5) The construction block creation unit 21A determines the shape of the construction block 60 at the point corresponding to the unconstructed area 74B in the embankment fill 74 according to the quality data of the constructed area 74A in the embankment fill 74. Thereby, the shape of the construction block 60 at the point corresponding to the unconstructed area 74B can be optimized to suit the actual situation of the construction site 70.

[0104] [Modified Example] This embodiment can be implemented with the following modifications. This embodiment and the following modified examples can be implemented in combination with each other as long as there is no technical contradiction.

[0105] .[Processing for optimizing the shape of the construction block 60 at the point corresponding to the unconstructed area 74B in the embankment fill 74 using the quality data of the constructed area 74A in the embankment fill 74 may be omitted.

[0106] .[The construction block creation unit 21A may set an arbitrary value as the width W1 regardless of the working width of the construction machine 40 that performs the spreading work or the compaction work. In this case, the number of times of the spreading work or the compaction work, etc. may be adjusted as appropriate.

[0107] .[The construction block creation unit 21A may set an arbitrary value as the height H1 regardless of the recommended thickness determined according to the construction material M1. For example, when the object to be constructed is an embankment constituting a roadbed or a roadbed, etc., the height H1 of the construction block 60 may be set according to the specifications determined by the administration, etc. (for example, the finished thickness per layer).

[0108] ·The construction block creation unit 21A may set an arbitrary value as the volume of the construction block 60 regardless of the carrying capacity of the carrier dump CD1 and the density of the construction material M1. In this case, the loading amount of the construction material M1 in the carrier dump CD1, the number of transportation times, etc. may be adjusted as appropriate.

[0109] ·The construction block creation unit 21A may be configured to set one or more of the parameters among the volume, height H1, and width W1 as the shape of the construction block 60 according to the working ability of the construction machine 40 and the construction material M1 that constitutes the construction object. For example, when the construction block creation unit 21A sets the volume of the construction block 60 according to the carrying capacity of the transportation device and the density of the construction material M1, arbitrary values may be set for the height H1 and the width W1. For example, when the construction block creation unit 21A sets the height H1 according to the compaction ability of the construction machine 40 and the construction material M1, arbitrary values may be set for the volume and width W1 of the construction block 60. For example, when the construction block creation unit 21A sets the height H1 according to the construction material M1 and sets the width W1 according to the working width of the construction machine 40, an arbitrary value may be set for the volume of the construction block 60.

[0110] ·The construction object is not limited to the embankment fill 74, and may be a fill other than the embankment. Further, the construction object is not limited to the fill composed of earth and sand, and may be a concrete structure composed of superplasticized concrete with a reduced unit water amount and unit cement amount. The concrete structure composed of superplasticized concrete is constituted by the RCD (Roller Compacted Dam - concrete) method in which after spreading the superplasticized concrete evenly, compaction is performed. In the RCD method, the superplasticized concrete configured in a block shape can also be transported using a cable crane or the like. The cable crane for transporting the superplasticized concrete block as the construction material M1 is an example of the transportation device.

[0111] · The construction management system 1 is not limited to a configuration including the user terminal 10, the construction plan server 20, and the construction machine control system 30. For example, the user terminal 10 and the construction plan server 20 may be an integrated device. Also, without providing the user terminal 10, the management device 31 of the construction machine control system 30 may be used as an alternative to the user terminal 10.

Explanation of Signs

[0112] BD1... Bulldozer, BH1... Backhoe, CD1... Carrier Dump, G1, G2... Gate, H1... Height, H10... Information Processing Device, H11... Communication Device, H12... Input Device, H13... Display Device, H14... Storage Device, H15... Processor, L1... Length, M1... Construction Material, S11~S14, S21~S30... Step, VR1... Vibratory Roller, W1... Width, 1... Construction Management System, 10... User Terminal, 20... Construction Plan Server, 21... Control Unit, 21A... Construction Block Creation Unit, 21B... Construction Sequence Setting Unit, 21C... Construction Area Setting Unit, 22... Storage Unit, 22A... BIM Information Storage Unit, 22B... Construction Machine Information Storage Unit, 22C... Quality Data Storage Unit, 30... Construction Machine Control System, 31... Management Device, 32... Remote Operation Device, 33... Platform, 34... Surveillance Camera, 35... Quality Data Acquisition Unit, 36... Logging Monitoring Device, 40... Construction Machinery, 41... Autonomous Driving Device, 50... Embankment Model, 50L... Layer, 50R... Turning Position, 50S... Rock Landing Surface, 50T... Table, 51... Core, 52... Filter, 53... Transition, 54... Inner Lock, 55... Outer Lock, 60... Construction Block, 61... Construction Area, 70... Construction Site, 71... Loading Area, 72... Embankment Placement Area, 73... Passable Area, 74... Embankment Fill, 74A... Completed Construction Area, 74B... Unconstructed Area.

Claims

1. A construction management system that creates a construction plan and controls construction machinery operating by autonomous operation at a construction site according to the construction plan, a construction block creation unit that divides a three-dimensional model of a construction object into construction blocks having a shape determined according to the working ability of the construction machinery and the construction materials constituting the construction object, a construction order setting unit that sets a construction order for each construction block according to the arrangement of the construction blocks, a construction area setting unit that assigns a plurality of construction areas obtained by grouping the construction blocks in the construction order to the three-dimensional model according to the number of construction machinery available per unit period and the working ability, and a control unit that instructs autonomous operation of the construction machinery for each construction area. The construction management system.

2. The construction block creation unit sets the volume of the construction block according to the transportation capacity per unit of the transportation device that transports the construction materials among the construction machinery and the density of the construction materials. The construction management system according to Claim 1.

3. The construction block creation unit sets the height of the construction block according to the construction materials. The construction management system according to Claim 1 or 2.

4. The construction block creation unit sets the width of the construction block according to the working width of the construction machinery that performs at least one of leveling and compacting of the construction materials among the construction machinery. The construction management system according to Claim 3.

5. further comprising a quality data acquisition unit that acquires quality data of a constructed area in the construction object, wherein the construction block creation unit adjusts the shape of the construction block arranged at a position corresponding to an unconstructed area in the construction object according to the quality data. The construction management system according to Claim 1.

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