Work management method for construction machine

Abstract

To improve construction efficiency when a plurality of construction machines including a construction machine capable of automatic operation perform work in a predetermined work region.SOLUTION: A work management method for a construction machine 2 includes: a work area setting step of sequentially setting a preceding work area where preceding constitution work is performed, a succeeding work area where a succeeding constitution work to be performed after the preceding constitution work is performed, in a work region; and a work completion determination step of determining completion of the preceding constitution work to be performed in the preceding work area. Any one of the preceding constitution work and the succeeding constitution work is performed by the construction machine 2 of automatic operation. In the work area setting step, the succeeding work area is set to the range of the preceding work area having been determined for which the preceding constitution work has been completed in the work completion determination step, and a new preceding work area is set so as not to overlap the preceding work area having been determined for which the preceding constitution work has been completed in the work completion determination step.SELECTED DRAWING: Figure 5C

Description

[Technical field]

[0001] The present invention relates to a work management method for a construction machine. [Background technology]

[0002] Patent Document 1 discloses a construction machine capable of automatic operation without the need for operation by an operator. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2008-8183 A Summary of the Invention [Problem to be solved by the invention]

[0004] In recent years, in order to improve construction efficiency, the introduction of automatically operable construction machines such as those described in Patent Document 1 has been promoted. However, an automatically operable construction machine does not work alone to complete all construction work, but rather, construction work is generally completed by multiple construction machines, including an automatically operable construction machine, each performing pre-specified work in sequence.

[0005] In this way, when multiple construction machines, including construction machines capable of automatic operation, are working within a specified work area, if each construction machine carries out the instructed work individually, there is a risk that, for example, the work performed by a construction machine performing a preceding process will be hindered by a construction machine performing a following process, resulting in a decrease in construction efficiency.

[0006] The present invention aims to improve construction efficiency when multiple construction machines, including automatically operable construction machines, work within a specified work area. [Means for solving the problem]

[0007] According to one aspect of the present invention, a work management method using a work management system that manages multiple construction work performed in sequence by multiple construction machines, including automatically operable construction machines, within a specified work area includes a work area setting process that sequentially sets within the work area a leading work area where the leading construction work is performed and a following work area where the following construction work is performed after the leading construction work is performed, and a work completion determination process that determines the completion of the leading construction work performed within the leading work area, wherein either the leading construction work or the following construction work is performed by automatically operated construction machines, and in the work area setting process, the following work area is set within the range of the area of ​​the leading work area where the leading construction work is determined to have been completed in the work completion determination process, and the new leading work area is set so as not to overlap with the area of ​​the leading work area where the leading construction work is determined to have been completed in the work completion determination process.

[0008] According to another aspect of the present invention, a work management method by a work management system that manages N configuration tasks in a predetermined work area, in which an (N-1)th (N is a natural number of 2 or more) configuration task is performed by a plurality of construction machines, including an automatically operable construction machine, and an Nth configuration task is performed in sequence, includes a work area setting process for sequentially setting N work areas in the work area, from a first work area in which the first configuration task is performed to an Nth work area in which the Nth configuration task is performed, and a process for sequentially setting N work areas in the work area, from the first work area in which the first configuration task is performed to the Nth work area in which the Nth configuration task is performed, and and a work completion determination process for determining completion of the (N-1) constituent work up to the (N-1)th constituent work to be performed, wherein either the (N-1)th constituent work or the Nth constituent work is performed by an autonomous construction machine, and in a work area setting process, the Nth work area is set within the range of the (N-1)th work area in which it is determined in the work completion determination process that the (N-1)th constituent work has been completed, and the new (N-1)th work area is set so as not to overlap with the range of the (N-1)th work area in which it is determined in the work completion determination process that the (N-1)th constituent work has been completed. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a conceptual diagram showing the overall configuration of a work management system suitable for executing a work management method according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a configuration diagram showing a schematic configuration of a site management unit and construction machines in the work management system. [Diagram 3] FIG. 3 is a block diagram for explaining the function of the work management unit of the work management system. [Figure 4A] FIG. 4A is a diagram for explaining an example of work performed in a work area. [Figure 4B] FIG. 4B is a diagram for explaining an example of work performed in the work area. [Figure 4C] FIG. 4C is a diagram for explaining an example of work performed in the work area. [Figure 4D] FIG. 4D is a diagram for explaining an example of work performed in the work area. [Figure 5A] FIG. 5A is a diagram for explaining the work areas of the work shown in FIGS. 4A, 4B, 4C, and 4D. [Figure 5B] FIG. 5B is a diagram for explaining a work area that is set subsequent to the work area shown in FIG. 5A. [Figure 5C] FIG. 5C is a diagram for explaining a work area that is set subsequent to the work area shown in FIG. 5B. [Figure 5D] FIG. 5D is a diagram for explaining a work area that is set subsequent to the work area shown in FIG. 5C. [Figure 5E] FIG. 5E is a diagram for explaining a work area that is set subsequent to the work area shown in FIG. 5D. [Figure 5F] FIG. 5F is a diagram for explaining another example of a work area that is set subsequent to the work area shown in FIG. 5A. [Figure 6] FIG. 6 is a diagram showing a process flow of the work management method according to the embodiment of the present invention. [Figure 7A] FIG. 7A is a diagram for explaining another example of work performed in the work area. [Figure 7B] FIG. 7B is a diagram for explaining another example of work performed in the work area. [Figure 7C] FIG. 7C is a diagram for explaining another example of work performed in the work area. [Figure 8A] FIG. 8A is a diagram for explaining the work area of ​​the work shown in FIGS. 7A, 7B, and 7C. [Figure 8B] FIG. 8B is a diagram for explaining a work area that is set subsequent to the work area shown in FIG. 8A. [Figure 8C] FIG. 8C is a diagram for explaining a work area that is set subsequent to the work area shown in FIG. 8B. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, a work management method according to an embodiment of the present invention will be described with reference to the drawings.

[0011] First, a work management system 100 suitable for carrying out a work management method according to an embodiment of the present invention will be described with reference to FIGS.

[0012] As shown in Fig. 1, the work management system 100 is a system constructed to collectively manage work performed by multiple construction machines 2 that are capable of automatic and manual operation and are deployed at multiple work sites 1A, 1B, 1C. The multiple work sites 1A, 1B, 1C managed by the work management system 100 are, for example, civil engineering work areas set at locations more than several hundred kilometers apart from each other. Note that the multiple work sites 1A, 1B, 1C may also be multiple work areas set within a single civil engineering construction site.

[0013] In addition, the work sites 1A, 1B, and 1C are not limited to domestic civil engineering work sites, but may be overseas civil engineering work sites, or may be extraterrestrial civil engineering work sites such as the surface of the moon. In addition, the number of work sites 1A, 1B, and 1C to be managed may be any number as long as it is two or more.

[0014] The work management system 100 includes a site management unit 30 installed at each of the work sites 1A, 1B, 1C (working areas), and a work management unit 10 that manages the work status of a plurality of construction machines 2 deployed at each of the work sites 1A, 1B, 1C via the site management unit 30. The work management unit 10 and each site management unit 30 are connected to each other via a communication network 50 such as a public line. In the following, a case will be described in which the work management system 100 manages the work of construction machines 2 engaged in civil engineering work of piling up embankment material such as CSG (Cemented Sand and Gravel) to build a bank body such as a trapezoidal dam.

[0015] The work management unit 10 is mainly composed of a microcomputer equipped with a CPU (Central Processing Unit) as the control unit 11, a ROM (Read Only Memory) and a RAM (Random Access Memory) as the storage unit 15, and an input / output interface (I / O interface), a communication unit 12 that exchanges data with each site management unit 30 via a communication network 50, a display unit 13 that can display the results of calculations performed by the control unit 11 and the work status of each work site 1A, 1B, 1C in real time, and an input unit 14 that accepts input operations by an operator who manages the work. The storage unit 15 stores in advance the programs executed by the control unit 11 and data required for executing the programs, and sequentially stores the results of calculations performed by the control unit 11. The specific control performed by the control unit 11 will be described later.

[0016] The work management unit 10 is installed at a location away from each of the work sites 1A, 1B, 1C in order to collectively manage the work of the multiple construction machines 2 deployed at each of the work sites 1A, 1B, 1C. Note that the work management unit 10 may be installed at any of the work sites 1A, 1B, 1C.

[0017] Next, the site management unit 30 installed at each of the work sites 1A, 1B, and 1C and the construction machines 2 deployed at each of the work sites 1A, 1B, and 1C will be described with reference to Fig. 2. Fig. 2 shows a schematic configuration of one work site 1A among the multiple work sites 1A, 1B, and 1C.

[0018] Similar to the work management unit 10, the site management unit 30 is mainly composed of a microcomputer equipped with a CPU (Central Processing Unit) as a control unit 31, a ROM (Read Only Memory) and RAM (Random Access Memory) as a memory unit 35, and an input / output interface (I / O interface), a communication unit 32 that exchanges data with the work management unit 10 via a communication network 50, a display unit 33 that can display the results calculated by the control unit 11 of the work management unit 10, the situation within the work site 1A, and the status of each construction machine 2 in real time, and an input unit 34 that accepts input operations from the operator managing the work.

[0019] The site management unit 30 further includes a transmission / reception unit 36 ​​that exchanges data with each construction machine 2, and an imaging unit 37 that captures images of the work site 1A. The transmission / reception unit 36 ​​is a wireless communication means such as LTE (Long Term Evolution), 5G, or Wi-Fi (registered trademark), and the imaging unit 37 is a camera installed at multiple locations within the work site 1A. The site management units 30 installed at the other work sites 1B and 1C have the same configuration.

[0020] The construction machine 2 deployed at the work site 1A is configured to be capable of automatic (autonomous) operation by equipping a general-purpose construction machine with a position acquisition unit 42 capable of receiving signals from GPS satellites and the like that make up the Global Navigation Satellite System (GNSS), a status detection unit 43 capable of detecting acceleration, angular velocity, and geomagnetism, a surrounding detection unit 44 capable of detecting surrounding obstacles, etc., a transmission / reception unit 45 that exchanges data with the site management unit 30, and a control unit 41 that controls the operation of the construction machine 2 based on the information acquired by each of these units.

[0021] The position acquisition unit 42 is a positioning sensor capable of detecting the position (latitude, longitude, altitude) of the construction machine 2 based on signals from a plurality of positioning satellites, the state detection unit 43 is a so-called inertial measurement unit (IMU) in which an acceleration sensor, a gyro sensor, an air pressure sensor, and a geomagnetic sensor capable of detecting the state of the construction machine 2 are unitized, and the state detection unit 43 is an engine operation detection sensor that detects the operating state, which is the state of the construction machine 2, and a voltmeter and an ammeter that detect the voltage and current of the battery and electrical equipment of the construction machine 2, etc. The surroundings detection unit 44 is a three-dimensional range sensor such as a laser scanner that can recognize the surrounding space by irradiating light and measuring the reflected light reflected by an object, a so-called 3D-LiDAR (light detection and ranging) sensor, or a radar sensor (RADAR: Radio Detection and Ranging) that can measure the distance to a measurement target using radio waves, and the transmission / reception unit 45 is a wireless communication means similar to the transmission / reception unit 36 ​​of the site management unit 30.

[0022] The control unit 41 is mainly composed of a CPU (Central Processing Unit) and is connected to an existing control unit 48 that is pre-installed in the construction machine 2, thereby detecting the state and shape of the workpiece, such as embankment material, from the results detected by the surrounding detection unit 44 and confirming the safety of the surroundings, while controlling the steering, etc. of the construction machine 2 so as to autonomously perform the instructed work by confirming its own position and attitude from the results detected by the position acquisition unit 42 and the state detection unit 43. Note that the automatic (autonomous) operation of the construction machine 2 may be performed by sequence control that controls based on a predetermined order or judgment, or by feedback control that controls based on the shape and amount of the workpiece, such as embankment material, measured by the surrounding detection unit 44, or by a combination of these controls.

[0023] Here, the existing control unit 48 controls the steering, engine output, and the like of the construction machine 2 in response to an operator operating an existing operation unit 49 such as a handle or lever that is pre-installed on the construction machine 2 for manual steering, etc. In other words, by generating a signal equivalent to a signal generated when the existing operation unit 49 is operated in the control unit 41 and transmitting the generated pseudo signal to the existing control unit 48, it is possible to move the construction machine 2 as if it were being operated by an operator, and to operate it by remote control.

[0024] In addition, since the existing operation unit 49 remains installed on the construction machine 2, it is possible for an operator to manually operate the construction machine 2 by getting on board.

[0025] Furthermore, in order to enable an operator to control the construction machine 2 from a remote location, the construction machine 2 is further provided with an imaging unit 46 capable of capturing images of the situation at the work site 1A visible from the driver's cab, and a sound collecting device (not shown) for picking up working sounds of the construction machine 2. The imaging unit 46 is, for example, a stereo camera capable of capturing images of the situation all around the construction machine 2, and it is preferable that the imaging direction changes according to the direction and movement of the head of the operator who operates the remote control unit 20 described below.

[0026] In this way, the construction machine 2 is configured to be capable of automatic (autonomous) operation, as well as manual operation with an operator on board, or manual operation by an operator operating in a remote location. In other words, the manual operation of the construction machine 2 described below includes a case where an operator boards the construction machine 2 and operates the construction machine 2, and a case where an operator does not board the construction machine 2 but operates the construction machine 2 by remote control from a remote control unit 20 described below.

[0027] Examples of the construction machines 2 that are configured to be capable of automatic and manual operation include bulldozers, dump trucks, vibratory rollers, and backhoes, and work by these different types of construction machines 2 deployed at the work site 1A is managed by the site management unit 30, and is also managed by the work management unit 10 via the site management unit 30. Note that although the configuration of the existing operation unit 49 differs depending on the type of construction machine 2, the configuration required to enable automatic operation and remote operation is approximately the same.

[0028] The work management system 100 further includes a remote control unit 20 for remotely controlling the construction machines 2 arranged at each of the work sites 1A, 1B, 1C from a location away from each of the work sites 1A, 1B, 1C.

[0029] 1, the remote control unit 20 is mainly composed of a microcomputer equipped with a CPU (Central Processing Unit) as a remote control unit 21, a plurality of remote control devices 24 connected to the remote control unit 21, and a display unit 22 capable of displaying a schedule for remote control and a work status of the remotely controlled construction machine 2 in real time. The remote control unit 20 may be directly connected to the control unit 11 of the work management unit 10, or may be connected to the work management unit 10 via a communication network 50. The remote control unit 20 may be installed in the same place as the work management unit 10, or may be installed in a place away from the work management unit 10 or in any of the work sites 1A, 1B, and 1C.

[0030] The remote control device 24 is provided with an operation section 27 such as a handle or lever for operating the construction machine 2, a display section 26 for displaying images captured by an imaging section 46 provided on the construction machine 2 and details of the work, and a speaker (not shown) for outputting sounds around the construction machine 2, and the operation of these is controlled by a control section 25 mainly constituted by a CPU (Central Processing Unit). The display section 26 may be, for example, a head mounted display worn by the operator.

[0031] Next, the control executed by the control unit 11 of the work management unit 10 in the work management system 100 configured as above will be described with reference to FIG.

[0032] As shown in FIG. 3, the control unit 11 has a work area setting unit 11A that sets work areas within each work site 1A, 1B, 1C where multiple construction machines 2, including automatically operable construction machines, will each take turns performing construction work based on three-dimensional data such as CIM (Construction Information Modeling) data for each work site 1A, 1B, 1C; a work planning unit 11B that plans the content of work to be performed by each construction machine 2 in each work area set by the work area setting unit 11A based on the specifications of each construction machine 2; a notification unit 11C that displays each work area set by the work area setting unit 11A on the display unit 13, the display unit 33 of each site management unit 30, and the display unit 22 of the remote control unit 20; and a judgment unit 11D that judges the completion of the work planned by the work planning unit 11B based on the position information of each construction machine 2 and signals transmitted from each construction machine 2.

[0033] Three-dimensional data such as CIM data used in the work area setting unit 11A is stored in advance in the storage unit 15 or the storage unit 35 of each site management unit 30. The data used in the work area setting unit 11A may be input by an operator via the input unit 14.

[0034] The work area setting unit 11A sequentially sets a preceding work area where a preceding construction work is performed and a following work area where a following construction work is performed after the preceding construction work is performed within each work site 1A, 1B, 1C (work area). Specific examples of the preceding construction work and the following construction work will be described later.

[0035] In the work area setting unit 11A, the following work area is set within the range of the preceding work area for which the determination unit 11D has determined that the preceding construction work has been completed, but within a range that does not exceed the range of the preceding work area, and the preceding work area is set adjacent to the preceding work area for which the determination unit 11D has determined that the preceding construction work has been completed, but does not overlap with this area. In this way, the work area setting unit 11A sequentially sets work areas (preceding work area, following work area) within each of the work sites 1A, 1B, 1C in which multiple construction machines 2, including automatically operable construction machines, take turns to perform construction work, in response to the completion of the construction work.

[0036] The specifications of each construction machine 2 used in the work planning unit 11B are input in advance by an operator via the input unit 34 of the site management unit 30. For example, if the construction machine 2 is a bulldozer, the blade width etc. are input as specifications; if it is a dump truck, the maximum load capacity and traveling speed; if it is a vibratory roller, the roller width etc. are input as specifications.

[0037] Furthermore, when the work content is planned in the work planning unit 11B, among the construction machines 2 deployed at each work site 1A, 1B, 1C, construction machines 2 undergoing inspection or repair are excluded from the plan, and only construction machines 2 that are ready to perform work are included in the plan. Whether or not the construction machine 2 is ready to work is input by the operator at any time via the input unit 34 of the site management unit 30. Furthermore, since each construction machine 2 originally has an abnormality detection function that detects abnormalities in actuators that operate the work machine based on hydraulic oil pressure sensors and hydraulic oil temperature sensors (not shown), it may be possible to determine at any time whether or not the construction machine 2 is ready to work based on the presence or absence of abnormalities transmitted from each construction machine 2.

[0038] The work content planned by the work planning unit 11B includes the automatic driving work content in which the construction machine 2 performs work by automatic driving within the work area, specifically, the start position where the automatic driving work starts, the end position where the automatic driving work ends, and the route from the start position to the end position, and these are converted into data and transmitted to the construction machine 2 in charge of the work via the site management unit 30. The automatic driving work content is, for example, the content of work on the work target such as embankment material, information on the work range in which the work is performed and target values ​​(target shape, target specifications) within the work range, and is set according to the work performed by each construction machine 2 as described later. By setting the work range and the target values ​​within the work range, the construction machine 2 performs work by automatic driving within the work range so as to achieve the target values.

[0039] The work content planned in the work planning unit 11B also includes manual operation work content in which the construction machine 2 performs work by manually operating the construction machine 2 within the work area. When an operator gets on the construction machine 2, the work content planned in the work planning unit 11B is transmitted via the site management unit 30 to a terminal equipped on the construction machine 2 or a tablet terminal carried by the operator, and when the operator remotely operates the construction machine 2 using the remote operation unit 20, the work content is transmitted to the remote operation device 24.

[0040] The completion status of the work determined by the determination unit 11D is displayed on the display unit 13, the display unit 33 of each site management unit 30, and the display unit 22 of the remote control unit 20 via the notification unit 11C, in the same manner as each work area set by the work area setting unit 11A. In addition, each display unit displays the order and time in which the work planned by the work planning unit 11B will be performed as a schedule such as a Gantt chart. This makes it easy to grasp the progress of the work.

[0041] The determination unit 11D also functions as a monitoring unit that monitors the work of each construction machine 2 in each work area set by the work area setting unit 11A. The determination unit 11D monitors whether or not the construction machine 2 performing the construction work in the work area (preceding work area, following work area) set by the work area setting unit 11A is working in the work area based on the position information of the construction machine 2 acquired by the position acquisition unit 42, and issues an alarm via the notification unit 11C when it is determined that the construction machine 2 has moved outside the work area. The alarm is notified to the operator, for example, by flashing a warning message or the like on the display unit 13, the display unit 33 of each site management unit 30, the display unit 22 of the remote control unit 20, and a display unit (not shown) of the construction machine 2, and by playing an alarm sound.

[0042] Note that these work area setting units 11A and the like are virtual units that represent the functions of the control unit 11, and do not mean that they exist physically. Also, the above functions are part of the control executed by the control unit 11, and the control unit 11 also executes control related to functions other than these as needed.

[0043] Next, a method for managing work of the construction machine 2 performed by the work management system 100 configured as above will be specifically described with reference to Figures 4 to 6. In the following, a civil engineering work for constructing a levee body by forming multiple layers by repeating multiple construction operations as shown in Figures 4A, 4B, 4C, and 4D will be described as an example.

[0044] The component work shown in FIG. 4A is a first component work in which the embankment material transported by the automatically operated dump truck 2B (transportation machine) is spread and leveled by the automatically operated bulldozer 2A (leveling machine), and the component work shown in FIG. 4B is a second component work in which the embankment material is further spread and leveled by the manually operated bulldozer 2C (leveling machine), which is a component work performed after the first component work is performed. Also, the component work shown in FIG. 4C is a third component work in which the surface of the embankment material is compacted by rolling with the automatically operated vibrating roller 2D (rolling machine), which is a component work performed after the second component work is performed. Also, the component work shown in FIG. 4D is a fourth component work in which the surface of the embankment material is further compacted by rolling with the manually operated vibrating roller 2E (rolling machine), which is a component work performed after the third component work is performed.

[0045] That is, one layer in one working area is formed in the following manner. · Embankment materials are transported by dump truck 2B (transportation machine). The embankment material transported by bulldozers 2A and 2C (leveling machines) is spread to the specified thickness (leveling thickness 25 cm). The embankment material is compacted through the surface of the embankment material that has been spread evenly by a vibrating roller 2D (rolling machine). For example, the material is compacted by going back and forth a specified number of times (three times). - The vibrating roller 2E (compaction machine) compacts the embankment material while smoothing out any unevenness or ruts that have occurred on the surface of the material.

[0046] In this way, a number of component tasks are carried out in sequence in a given work area to complete an overall task of embankment work, thereby constructing one layer of the embankment.

[0047] In addition, by performing the second and fourth configuration tasks manually after the first and third configuration tasks are completed by automatic driving, it is possible to manually correct work areas that were insufficient with automatic driving (partially occurring unevenness and ruts).In addition, the first and third configuration tasks performed by automatic driving can be performed by large construction machines or multiple construction machines, while the second and fourth configuration tasks performed by manual driving can be performed by small construction machines that require precision, or a smaller number of construction machines can be used, which can reduce labor and improve construction quality.

[0048] Specifically, for example, in the first component work, the work may be performed by automatic operation using three large bulldozers 2A, while in the second component work, the work may be performed by manual operation using one small bulldozer 2C, and in the third component work, the work may be performed by automatic operation using five vibrating rollers 2D, while in the fourth component work, the work may be performed by manual operation using two vibrating rollers 2E.

[0049] In this embodiment, the workpiece is so-called embankment material such as soil and cement mixture. The embankment material transported and unloaded by the dump truck 2B is spread and leveled by the bulldozer 2A to a preset target thickness (target shape), for example, 25 cm, that is, to increase the height by 25 cm. After that, the material is compacted by the vibrating roller 2D a predetermined number of times (for example, six times) that is the target specification.

[0050] Therefore, the work content planned in the work planning section 11B is, in the case of the bulldozer 2A, to spread the embankment material to the target shape (leveling thickness of 25 cm) within a specified area, and, in the case of the vibratory roller 2D, to compact it to the target specifications (a specified number of times (for example, 6 times)) by moving back and forth over the surface of the embankment material spread and leveled within a specified area.

[0051] Next, the work area set by the work area setting section 11A when the above-mentioned four configuration operations are performed in sequence will be specifically described with reference to Figs. 5A to 5F.

[0052] Figure 5A shows a state in which the first work area A1 in which the first component work, which is the first component work, is performed by an autonomous bulldozer 2A, is set in an unconstructed area of ​​the planned work area A of any of the work sites 1A, 1B, 1C (working area).

[0053] When the first configuration work in the first working area A1 shown in Fig. 5A is completed, as shown in Fig. 5B, a new first working area A1 is set in the unfinished area of ​​the planned work area A so as to be adjacent to the first working area DA1 for which work has been completed and not overlap with this area. At the same time, a second working area A2 in which the second configuration work, which is the second configuration work, is performed by the manually operated bulldozer 2C, is set within the range of the first working area DA1 for which work has been completed, preferably within a range not exceeding the range of the first working area DA1. In the example shown in Fig. 5B, the size of the second working area A2 is the same as the size of the first working area DA1 for which work has been completed.

[0054] In this case, the first configuration work by the automatically operated bulldozer 2A is a preceding configuration work performed before the second configuration work by the manually operated bulldozer 2C, and the second configuration work by the manually operated bulldozer 2C is a following configuration work performed after the first configuration work by the automatically operated bulldozer 2A, the first working area A1 is the preceding working area, and the second working area A2 is the following working area.

[0055] Then, when the first configuration work in the first working area A1 shown in FIG. 5B is completed, as shown in FIG. 5C, a new first working area A1 is set in the unfinished area of ​​the planned work area A so as to be adjacent to the first working area DA1 where the work has been completed and not overlap with this area. Also, when the second configuration work in the second working area A2 shown in FIG. 5B is completed, as shown in FIG. 5C, a new second working area A2 is set in the range of the first working area DA1 where the work has been completed and not overlap with this area, preferably within a range not exceeding the range of the first working area DA1. Also, at the same time, a third working area A3 where the third configuration work by the automatically operated vibrating roller 2D, which is the third configuration work, is performed, is set in the range of the second working area DA2 where the work has been completed and preferably within a range not exceeding the range of the second working area DA2.

[0056] In this case, the second configuration work by the manually operated bulldozer 2C is a preceding configuration work performed before the third configuration work by the automatically operated vibratory roller 2D, and the third configuration work by the automatically operated vibratory roller 2D is a following configuration work performed after the second configuration work by the manually operated bulldozer 2C, the second working area A2 is a preceding working area, and the third working area A3 is a following working area. In other words, the second configuration work is a following configuration work for the first configuration work, but a preceding configuration work for the third configuration work.

[0057] Then, when the first configuration work in the first work area A1 shown in FIG. 5C is completed, as shown in FIG. 5D, a new first work area A1 is set in the unfinished area of ​​the planned work area A so as to be adjacent to the first work area DA1 where the work has been completed and not overlap with this area. Also, when the second configuration work in the second work area A2 shown in FIG. 5C is completed, as shown in FIG. 5D, a new second work area A2 is set within the range of the first work area DA1 where the work has been completed, preferably within a range not exceeding the range of the first work area DA1, so as to be adjacent to the second work area DA2 where the work has been completed and not overlap with this area. Also, when the third configuration work in the third work area A3 shown in FIG. 5C is completed, as shown in FIG. 5D, a new third work area A3 is set within the range of the second work area DA2 where the work has been completed, preferably within a range not exceeding the range of the second work area DA2, so as to be adjacent to the third work area DA3 where the work has been completed and not overlap with this area. At the same time, a fourth working area A4 in which the fourth component work, which is the fourth component work by the manually operated vibrating roller 2E, is performed is set within the range of the area of ​​the third working area DA3 in which the work has been completed, preferably within a range not exceeding the area of ​​the third working area DA3.

[0058] In this case, the third configuration work by the automatically operated vibrating roller 2D is a preceding configuration work performed before the fourth configuration work by the manually operated vibrating roller 2E, and the fourth configuration work by the manually operated vibrating roller 2E is a following configuration work performed after the third configuration work by the automatically operated vibrating roller 2D, the third configuration area A3 is a preceding configuration area, and the fourth configuration area A4 is a following configuration area. In other words, the third configuration work is a following configuration work with respect to the second configuration work, but a preceding configuration work with respect to the fourth configuration work.

[0059] Then, when each of the configuration tasks in the work areas A1, A2, A3, and A4 shown in Fig. 5D is completed, new work areas A1, A2, A3, and A4 are set in the same manner as described above, as shown in Fig. 5E. In this example, since the fourth configuration task is the final configuration task, the fourth work area DA4 in which the task has already been completed becomes the task completion area.

[0060] In this way, the height of the embankment in the planned work area A increases in order from the area where all construction work has been completed.

[0061] For example, even if the second configuration work assigned to the manually operated bulldozer 2C is completed, if the first configuration work, which is the preceding configuration work, has not yet been completed and the work area for performing the second configuration work has not been set, the bulldozer 2C will not be able to move from the second work area DA2 where the work has been completed. If the bulldozer 2C remains in the second work area DA2 where the work has been completed, it will not be able to surrender the work area to the automatically operated vibrating roller 2D performing the following configuration work, and there is a risk of delays in the progress of the third configuration work and the fourth configuration work which is the following configuration work.

[0062] Therefore, in such cases, in order to quickly vacate most of the work area to the construction machine 2 performing the trailing construction work, it is preferable to set up a waiting area (not shown) in part of the second work area DA2 where work has been completed, where the bulldozer 2C can temporarily wait.

[0063] In the example shown in FIG. 5B, the new first working area A1 is set adjacent to the first working area DA1 in which work has been completed, but if there is an obstacle or the like, the new first working area A1 may be set at a location away from the first working area DA1 in which work has been completed, as shown in FIG. 5F. In other words, the location where the new first working area A1 is set may be anywhere as long as it does not overlap with the area of ​​the first working area DA1 in which work has been completed, and there may be a non-working area in which no work is being performed between the new first working area A1 and the first working area DA1 in which work has been completed. However, in order to shorten the travel distance of the construction machine 2 and improve the construction efficiency of the construction work, it is preferable that the new first working area A1 is set near the first working area DA1 in which work has been completed.

[0064] In addition, in the example shown in Figure 5B, the size of the second work area A2 is the same as the size of the first work area DA1 in which work has been completed, but the second work area A2, which is the following work area, may be of any size as long as it is set within the range of the area in which work has been completed of the first work area A1, which is the preceding work area, and preferably does not exceed the area in which work has been completed, and may even be smaller than the first work area DA1 in which work has been completed, as shown in Figure 5F.

[0065] In addition, the construction work is not limited to the above-mentioned works, and for example, between the second and third construction work described above, a construction work of shaping the edge of the slope with an automatic or manually operated backhoe (edge ​​shaping machine) or a construction work of driving in a joint cutting plate with a vibration joint cutting machine may be performed. In addition, the number of construction works is not limited to four, and may be two works or five or more works as long as they are multiple works performed in sequence.

[0066] In other words, if there are N (N is a natural number greater than or equal to 2) configuration tasks that are performed in sequence, and the Nth configuration task is performed after the (N-1)th configuration task is performed, the N work areas from the first work area A1 where the first configuration task is performed to the Nth work area where the Nth configuration task is performed are sequentially set in the planned work area A of the work sites 1A, 1B, 1C (working area) by the work area setting unit 11A using the procedure described above.

[0067] Next, the flow of control executed in the work management unit 10 will be specifically described with reference to the flow diagram shown in FIG.

[0068] First, in step S10, the work management unit 10 sets, by the work area setting unit 11A of the control unit 11, a leading work area where leading configuration work is performed and a following work area where following configuration work is performed after the leading configuration work is performed in the planned work area A within each work site 1A, 1B, 1C (work area), as described above with reference to Figures 5A to 5F (work planning process).

[0069] In addition, in step S10, the range of each work area (preceding work area, following work area) set by the work area setting unit 11A is displayed on the display unit 13, the display unit 33 of each site management unit 30, and the display unit 22 of the remote control unit 20 by the notification unit 11C of the control unit 11 (display process).

[0070] Next, in step S11, the work management unit 10 plans the work content to be performed in each work area (preceding work area, following work area) using the work planning unit 11B of the control unit 11 based on the specifications of each construction machine 2 performing each component work (preceding component work, following component work) (work planning process).

[0071] In step S11, the work content planned by the work planning unit 11B is transmitted from the control unit 11 to each construction machine 2 together with a start command that commands the start of work (work content transmission process). When the construction machine 2 is manually operated and an operator is on board the construction machine 2, the work content and start command are transmitted via the site management unit 30 to a terminal equipped on the construction machine 2 or a tablet terminal carried by the operator, and when the construction machine 2 is manually operated and an operator remotely operates the construction machine 2 using the remote control unit 20, the work content and start command are transmitted to the remote control device 24.

[0072] Each construction machine 2 that has received the work content and the start command starts construction work based on the work content in each assigned work area.

[0073] When each construction machine 2 starts the construction work, the work management unit 10 monitors the work of each construction machine 2 using the monitoring function of the determination unit 11D of the control unit 11 in the following step S12 (monitoring step).

[0074] When it is determined that the construction machine 2 has moved outside the assigned work area, an alarm is issued via the notification unit 11C as described above. Furthermore, if the construction machine 2 that has moved outside the work area is an automatically operated machine, the operation of that construction machine 2 is stopped on the spot to ensure safety. If the construction machine 2 that has moved outside the work area is manually operated, a warning is issued to the operator of that construction machine 2 to return to the specified work area, and, for example, if the construction machine 2 does not return to the work area within a specified time, the operation of that construction machine 2 is stopped on the spot to ensure safety.

[0075] Next, in step S13, the work management unit 10 determines, by the determination unit 11D of the control unit 11, whether or not the configuration work in any of the work areas has been completed (work completion determination step).

[0076] Whether or not the construction work by the construction machine 2 has been completed is determined, for example, by whether or not a work completion signal has been received from the construction machine 2 or whether or not it has been confirmed that the construction machine 2 has reached a position designated as the work completion position within the work area.

[0077] In addition, instead of or in addition to the above judgment, whether or not the construction work by the automatically operated construction machine 2 has been completed may be judged by whether or not the work by each construction machine 2 on the embankment material (work object) has reached a target value. In the case of the bulldozer 2A, it may be judged by whether or not the spreading thickness of the embankment material has reached a set target value (e.g., 25 cm), for example, by whether or not the height (altitude) of the bulldozer 2A obtained from the detection values ​​of the position acquisition unit 42 and the status detection unit 43 has increased by the amount of the target spreading thickness within the work area. In the case of the vibrating roller 2D, it may be judged by, for example, whether or not the trajectory of the movement of the vibrating roller 2D on the surface of the embankment material obtained based on the detection value of the position acquisition unit 42 is a target trajectory (e.g., six compactions). In the case of a backhoe (not shown) that shapes the ends of the slope, it may be judged by, for example, whether or not the angle of the compaction attachment is a target angle (e.g., 45 degrees).

[0078] In step S13, if it is determined that the configuration work in any of the work areas has been completed, the process proceeds to step S14, and the judgment section 11D of the control section 11 judges whether or not all of the configuration work planned in the planned work area A has been completed.

[0079] On the other hand, if it is determined in step S13 that the construction work has not been completed in any of the work areas, the process returns to step S12, and monitoring of the work of each construction machine 2 continues.

[0080] If it is determined in step S14 that all the configuration works scheduled in the planned work area A have been completed, there are no more work areas to be newly set by the work area setting unit 11A, and therefore the control is temporarily terminated.

[0081] On the other hand, if all the construction work scheduled in the planned work area A has not yet been completed, the process returns to step S10, and the work area setting unit 11A sets a work area in which the next construction work will be performed.

[0082] Through the above-mentioned process, each work area (preceding work area, following work area) is set in sequence in the planned work area A within each work site 1A, 1B, 1C (work region), and the embankment is gradually constructed as each construction machine 2 performs its respective prescribed construction work in each work area.

[0083] According to the above embodiment, the following effects are achieved.

[0084] As described above, the work management method of this embodiment is a work management method by a work management system 100 that manages N configuration tasks performed in sequence within a specified work site 1A, 1B, 1C (work area) by a plurality of construction machines 2, including a construction machine 2 capable of automatic operation, after which an Nth configuration task is performed in sequence, and includes a work area setting process that sequentially sets N work areas within the work area, from a first work area A1 where the first configuration task is performed to an Nth work area where the Nth configuration task is performed, and a work completion determination process that determines the completion of (N-1) configuration tasks from the first configuration task performed in the first work area A1 to the (N-1)th configuration task performed in the (N-1)th work area. Then, either the (N-1)th constituent work or the Nth constituent work is performed by an autonomous construction machine 2, and in the work area setting process, the Nth work area is set within the range of the (N-1)th work area in which it is determined in the work completion determination process that the (N-1)th constituent work has been completed, preferably within a range not exceeding the range of the (N-1)th work area, and the new (N-1)th work area is set adjacent to the (N-1)th work area in which it is determined in the work completion determination process that the (N-1)th constituent work has been completed, but so as not to overlap with this area.

[0085] In this way, according to the work management method of this embodiment, the leading work area where the leading construction work is performed and the trailing work area where the trailing construction work is performed after the leading construction work are performed are set completely separately, so that the construction machine 2 performing the leading construction work and the construction machine 2 performing the trailing construction work are prevented from working in the same area. Therefore, even if either the leading construction work or the trailing construction work is performed by an automatically operated construction machine 2, there is no risk of impeding the progress of each other's construction work, so that the construction work can be performed efficiently. Therefore, it is possible to improve the construction efficiency when multiple construction machines, including an automatically operated construction machine, work in a specified work area. In addition, since the automatically operated construction machine 2 and the manually operated construction machine 2 are not mixed in the same work area, collisions between the construction machines 2 are avoided, and safety can be ensured.

[0086] In addition, the following modified examples are also within the scope of the present invention, and it is possible to combine the configuration shown in the modified example with the configuration described in the above embodiment, or to combine the configurations described in the different modified examples below.

[0087] The work management method according to the above embodiment manages the work of the construction machine 2 engaged in civil engineering work to build a bank body. Alternatively, the work management method for the construction machine 2 carried out by the work management system 100 may be for managing the work of the construction machines 2G, 2H, 2J engaged in excavation work as shown in Figures 7A, 7B, and 7C, and the civil engineering work carried out at each work site 1A, 1B, 1C managed by the work management system 100 may be different types of work, such as embankment work and excavation work.

[0088] In this modified example, a construction base surface of a predetermined width is formed in the natural ground by repeating a plurality of constituent operations as shown in Fig. 7A, Fig. 7B, and Fig. 7C. The constituent operation shown in Fig. 7A is a first constituent operation of excavating the natural ground by an automatically operated bulldozer 2G (excavation machine) to form an excavation bed, and the constituent operation shown in Fig. 7B is a second constituent operation of precisely excavating the vicinity of the toe of the slope by a manually operated bulldozer 2H (excavation machine), which is a constituent operation performed after the first constituent operation is performed. Moreover, the constituent operation shown in Fig. 7C is a third constituent operation of compacting the slope by an automatically or manually operated backhoe 2J (slope shaping machine), which is a constituent operation performed after the second constituent operation is performed.

[0089] In other words, the excavation bed at one work site is formed in the following procedure. - The ground is excavated to a specified depth using a bulldozer 2G (excavation machine). - Use the Bulldozer 2H (excavation machine) to excavate areas where excavation is insufficient, such as near the toe of a slope. · Backhoe 2J (slope shaping machine) is used to compact the slope created by excavation.

[0090] In this way, a plurality of component tasks are performed in sequence in a given area, that is, a work area, to complete an overall task, that is, an excavation task, and the height of the excavation bed is lowered.

[0091] Even in this modified example, by performing the second component work by manual operation after the first component work performed by automatic operation is completed, excavation work locations where automatic operation was insufficient (for example, areas near the toe of a slope or partially occurring unevenness) can be corrected by manual operation. Furthermore, by performing the first component work by automatic operation using a large construction machine or multiple construction machines, and performing the second component work by manual operation using a small construction machine or a smaller number of construction machines that require precision, it becomes possible to save labor and improve construction quality.

[0092] Specifically, for example, in the first configuration work, work may be performed by automatic operation using three large bulldozers 2G, while in the second configuration work, work may be performed by manual operation using one small bulldozer 2H.

[0093] In the examples shown in Figures 7A, 7B and 7C, the workpiece is the natural ground, which is gradually excavated by bulldozers 2G and 2H so that the height of the excavation bed becomes a predetermined height (target shape), and then the slope is compacted by a backhoe 2J into a predetermined shape that is the target shape. Note that the excavated soil and sand produced by the excavation are transported as needed by a dump truck (not shown).

[0094] In this example, the work content planned in the work planning unit 11B is, in the case of the bulldozer 2G, to excavate within a specified range so that the height of the excavation bed is lowered by only a specified height, and, in the case of the backhoe 2J, to compact the slope within a specified range to a target shape (a specified angle (e.g., 45 degrees)).

[0095] Next, the work area set by the work area setting section 11A when the above-mentioned three configuration operations are performed in sequence will be specifically described with reference to Figs. 8A to 8C.

[0096] Figure 8A shows a state in which the first work area A1 in which the first component work, which is the first component work, is performed by an autonomous bulldozer 2G, is set in an unconstructed area of ​​the planned work area A of any of the work sites 1A, 1B, 1C (working region).

[0097] When the first component work in the first working area A1 shown in Fig. 8A is completed, a new first working area A1 is set in the unfinished area of ​​the planned work area A adjacent to the completed first working area DA1 so as not to overlap with this area, as shown in Fig. 8B. At the same time, a second working area A2 in which the second component work, which is the second component work, is performed by the manually operated bulldozer 2H, is set within the range of the completed first working area DA1, preferably within a range not exceeding the range of the first working area DA1. As described above, the second component work is an excavation work near the toe of the slope, so the second working area A2 is set in a part on the toe side of the completed first working area DA1.

[0098] In this case, the first configuration work by the automatically operated bulldozer 2G is a preceding configuration work performed before the second configuration work by the manually operated bulldozer 2H, and the second configuration work by the manually operated bulldozer 2H is a following configuration work performed after the first configuration work by the automatically operated bulldozer 2G, the first working area A1 is the preceding working area, and the second working area A2 is the following working area.

[0099] Then, when the first configuration work in the first working area A1 shown in FIG. 8B is completed, as shown in FIG. 8C, a new first working area A1 is set in the unfinished area of ​​the planned work area A so as to be adjacent to the first working area DA1 where the work has been completed and not overlap with this area. Also, when the second configuration work in the second working area A2 shown in FIG. 8B is completed, as shown in FIG. 8C, a new second working area A2 is set within the range of the first working area DA1 where the work has been completed, preferably within a range not exceeding the range of the first working area DA1, so as to be adjacent to the second working area DA2 where the work has been completed and not overlap with this area. Also, at the same time, a third working area A3 where the third configuration work by the automatic or manual backhoe 2J, which is the third configuration work, is performed is set within the range of the second working area DA2 where the work has been completed, preferably within a range not exceeding the range of the second working area DA2. As described above, the third component work is a work to compact the slope, so the third work area A3 is set in a part of the slope side (the toe side) of the second work area DA2 where the work has been completed.

[0100] In this case, the second construction work by the manually operated bulldozer 2H is a preceding construction work performed before the third construction work by the automatically or manually operated backhoe 2J, and the third construction work by the automatically or manually operated backhoe 2J is a following construction work performed after the second construction work by the manually operated bulldozer 2H, the second work area A2 is a preceding work area, and the third work area A3 is a following work area. In other words, the second construction work is a following construction work with respect to the first construction work, but a preceding construction work with respect to the third construction work.

[0101] 8C, new work areas A1, A2, A3 are set in the same manner as described above. In this example, the third work is the final work, so the third work area DA3 where the work has been completed becomes the work completion area.

[0102] In this way, the height of the excavation bed in the planned work area A will be gradually lowered starting from the area where all construction work has been completed, and these construction works will be repeated until the height of the excavation bed reaches the construction base level.

[0103] In order to improve construction efficiency even in excavation work carried out using multiple construction machines 2, including an autonomous construction machine 2, it is necessary to avoid the work of the construction machine 2 performing the leading construction work being hindered by the construction machine 2 performing the trailing construction work.

[0104] Therefore, as with the above embodiment, by managing the work of each construction machine 2 involved in excavation work as shown in Figures 7A, 7B, and 7C using the work management method for the construction machine 2 performed by the above-mentioned work management system 100, even if either the leading construction work or the trailing construction work is performed by an automatically operated construction machine 2, there is no risk of impeding the progress of each other's construction work, so the construction work can be performed efficiently and safety can be ensured because collisions between the construction machines 2 are avoided.

[0105] Although the embodiments of the present invention have been described above, the above-mentioned embodiments merely show some of the application examples of the present invention, and it is not intended that the technical scope of the present invention be limited to the specific configurations of the above-mentioned embodiments.

[0106] This application claims priority based on Patent Application No. 2022-183648 filed with the Japan Patent Office on November 16, 2022, the entire contents of which are incorporated herein by reference.

Claims

1. A work management method using a work management system that manages a plurality of construction works that are each performed in sequence by a plurality of construction machines, including an automatically operable construction machine, within a predetermined work area, comprising: a work area setting step of sequentially setting, within the work area, a preceding work area in which a preceding configuration work is performed and a following work area in which a following configuration work is performed after the preceding configuration work is performed; a work completion determination step of determining completion of the preceding configuration work performed in the preceding work area, Either the preceding construction work or the following construction work is performed by the automatically operated construction machine, In the work area setting step, The following work area is set within a range of the preceding work area in which it is determined that the preceding configuration work has been completed in the work completion determination step, The new preceding work area is set so as not to overlap with the area of ​​the preceding work area in which it has been determined that the preceding configuration work has been completed in the work completion determination step. Work management methods.

2. A work management method using a work management system that manages N construction tasks, in which an (N-1)th (N is a natural number of 2 or more) construction task is performed by a plurality of construction machines, including an automatically operable construction machine, in a predetermined work area, and then an Nth construction task is performed in sequence, the method comprising: a work area setting step of sequentially setting N work areas from a first work area in which a first configuration operation is performed to an Nth work area in which an Nth configuration operation is performed within the work region; A task completion determination step for determining completion of (N-1) configuration tasks from the first configuration task performed in the first task area to the (N-1)th configuration task performed in the (N-1)th task area, Either the (N-1)th construction work or the Nth construction work is performed by the construction machine in an automatically operated state, In the work area setting step, The Nth work area is set to a range of the (N-1)th work area in which it is determined that the (N-1)th configuration work has been completed in the work completion determination step, The new (N-1)th work area is set so as not to overlap with the (N-1)th work area in which it is determined that the (N-1)th configuration work has been completed in the work completion determination step. Work management methods.

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