Contact avoidance system

Abstract

To more efficiently progress construction than a conventional system.SOLUTION: A contact avoidance system for avoiding contact between construction machines in construction using a plurality of construction machines 2, includes position acquisition means for acquiring position information of each of the construction machines 2, and a control device for performing group control by the plurality of construction machine 2, on the basis of the position information of each of the construction machines 2 acquired by the position acquisition means, wherein the control device performs restriction start control of restricting entry of a second construction machine 2B into an owned area M1 and an entry prohibited area M2 associated with the owned area M1, when a first construction machine 2A enters into the predetermined owned area M1 in a part of a construction area, and performs restriction release control of releasing the restriction of the entry of the second construction machine 2B into the owned area M2 and the entry prohibition area M2, when the first construction machine 2A exits from the owned area M1.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a collision avoidance system. [Background technology]

[0002] A construction system using construction machinery with an automatic driving function has been proposed (see, for example, Patent Document 1). The technology described in Patent Document 1 involves automatically driving multiple construction machines to perform different tasks, and by sending a work start command and construction position information from a construction management unit to each of the multiple construction machines, each construction machine performs its own work based on the construction position information. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2016-132912 Summary of the Invention [Problem to be solved by the invention]

[0004] Here, construction work using construction machinery is diverse, and it is expected that multiple construction machines will be congested in the same area. Conventionally, sensors such as cameras and radars are installed on construction machinery to monitor collisions between machines, and if there is a possibility of collision, the construction machinery is brought to an emergency stop. As a result, stopping to avoid collisions is an unintended control for the construction machinery, and there is a problem that work is delayed because, for example, work must be resumed only after safety has been thoroughly confirmed. In addition, in some cases, it is necessary to reconfigure the machine to start work, which is a significant hassle. From this perspective, the present invention provides a collision avoidance system that allows construction work to be carried out more efficiently than before. [Means for solving the problem]

[0005] The collision avoidance system according to the present invention is a system for preventing collisions between multiple construction machines in construction work using multiple construction machines. This collision avoidance system includes a position acquisition means for acquiring position information of each construction machine, and a control device for performing group control of the multiple construction machines based on the position information of each construction machine acquired by the position acquisition means. When a first construction machine enters a preset owned area that is part of a construction area, the control device performs restriction start control to restrict a second construction machine from entering the owned area and a no-entry area associated with the owned area, and when the first construction machine leaves the owned area, the control device performs restriction release control to release the restriction on the second construction machine from entering the owned area and the no-entry area. The collision avoidance system according to the present invention can prevent a second construction machine from entering an area occupied by a first construction machine. This allows the first construction machine working in the area to continue working without interruption. As a result, construction work can be carried out more efficiently than before. Furthermore, the no-entry area acts as a buffer zone or barricade, making it possible to reliably prevent contact between construction machines.

[0006] The second construction machine may be an automatic driving machine. In this case, the second construction machine is equipped with an on-board control device that controls the automatic driving, and the control device sends a temporary stop command to the on-board control device as the restriction start control and a resume command to the on-board control device as the restriction release control. The first construction machine may be an automatic driving machine or a manned driving machine that performs work. The second construction machine may be a manned machine that performs work. In this case, the second construction machine further includes a display device that is visible to an operator of the second construction machine, and the control device displays a pause command on the screen of the display device as the restriction start control, and a resume command on the screen of the display device as the restriction release control. The no-entry area may include the owned area and may be wider than the owned area. The no-entry area may be the same area as the owned area. The no-entry area may be a separate area within the construction area that does not overlap with the owned area. The construction area can be set to a first owned area and a second owned area. In this case, the control device performs the restriction start control and the restriction release control for each owned area. It is also possible to set three or more owned areas as construction areas. Furthermore, the construction area can be set so that part of the first owned area and part of the second owned area overlap. The owned area and the no-entry area may be set either manually or automatically. [Effects of the Invention]

[0007] According to the present invention, construction work can be carried out more efficiently than before. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a schematic configuration diagram of a construction system including a contact avoidance system according to an embodiment of the present invention. [Figure 2] FIG. 10 is a diagram for explaining the collision avoidance function, showing a state in which there is no construction machinery in the owned area. [Figure 3] FIG. 10 is a diagram for explaining the collision avoidance function, showing a state in which a construction machine has entered a owned area. [Figure 4] FIG. 10 is a diagram for explaining the collision avoidance function, showing a state in which a construction machine has entered a owned area. [Figure 5] FIG. 10 is a diagram for explaining the collision avoidance function, showing a state in which the construction machine has left the owned area. [Figure 6A] FIG. 10 is a diagram showing a first variation of an exclusive area. [Figure 6B] FIG. 10 is a diagram showing a second variation of the exclusive area. [Figure 6C] FIG. 10 is a diagram showing a third variation of the exclusive area. [Figure 6D] FIG. 10 is a diagram showing a fourth variation of the exclusive area. [Figure 6E] FIG. 10 is a diagram showing a fifth variation of the exclusive area. [Figure 7A] FIG. 10 is a diagram showing an example of how a second variation of the exclusive area is used. [Figure 7B] FIG. 10 is a diagram showing an example of how a second variation of the exclusive area is used. [Figure 7C] FIG. 10 is a diagram showing an example of a usage mode of a third variation of the exclusive area. [Figure 8] FIG. 10 is a sequence diagram showing processing when work by a plurality of construction machines competes in an exclusive area. [Figure 9] 10 is an example of an area setting screen (construction area setting screen). [Figure 10] 10 is a diagram illustrating an example of an area setting screen (exclusive area editing screen). DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Each drawing is merely a schematic illustration to allow a sufficient understanding of the present invention. Therefore, the present invention is not limited to the illustrated examples. In each drawing, common or similar components are designated by the same reference numerals, and redundant explanations thereof will be omitted. <Configuration of the Contact Avoidance System According to the Embodiment> The configuration of a contact avoidance system 1A according to the first embodiment will be described with reference to Fig. 1. Fig. 1 is a schematic configuration diagram of a construction system 1 including the contact avoidance system 1A. The contact avoidance system 1A constitutes part of another system, and in this embodiment it is assumed to form part of a construction system 1 that carries out construction work using a plurality of construction machines. The construction system 1 includes, for example, an automatic driving system that automatically drives construction machinery, an operation assistance system that assists manned operation of construction machinery, and a contact avoidance system 1A that prevents construction machinery from contacting each other. Hereinafter, the contact avoidance system 1A will be particularly explained, and explanations of other functions of the construction system 1 that are not related to the contact avoidance system 1A may be omitted. Note that these classifications of systems are for the convenience of explanation and do not limit the invention.

[0010] The contact avoidance system 1A is a system that is responsible for preventing contact between construction machines within the construction system 1, and operates in cooperation with other systems (for example, an automatic driving system, a driving assistance system, etc.). In other words, the contact avoidance system 1A acquires information from other systems as needed, and provides its own information in response to requests from other systems. The construction machines that the contact avoidance system 1A prevents from contact include automatically driven construction machines and manned construction machines, and the contact avoidance system 1A can avoid, for example, contact between automatically driven construction machines, contact between manned construction machines, and contact between automatically driven construction machines and manned construction machines. As shown in Fig. 1, the construction system 1 mainly comprises a plurality of construction machines 2, a group of on-board devices 3 mounted on each of the construction machines 2, an external fixed camera 4 that captures images of the construction area, a plurality of communication devices 5 that communicate information, a plurality of monitors 6, and a central control device 10 (control device) that controls the entire construction system 1. The contact avoidance system 1A uses some of this hardware to avoid contact between the construction machines 2. The construction machine 2 (including the on-board equipment group 3) and the external fixed camera 4 are installed, for example, in the construction area. The various monitors 6 and the central control unit 10 are installed, for example, in a monitoring room. The communication device 5 is installed, for example, in both the construction area and the monitoring room.

[0011] The construction machine 2 is a vehicle that performs work within a construction area. The construction machine 2 is equipped with a means of transportation and is capable of moving within the construction area. The type of construction machine 2 is not particularly limited, and may be, for example, a crawler dump truck, a vibrating roller, a bulldozer, or a backhoe (hydraulic excavator). To distinguish between an automatically operated construction machine 2 and a manned construction machine 2, the former may be denoted by the symbol "2J" and the latter by the symbol "2K." As shown in FIG. 1, for example, an automatically operated construction machine 2J is a crawler dump truck and a vibrating roller, and a manned construction machine 2K is a bulldozer and a backhoe. The on-vehicle device group 3 mounted on the automatically driven construction machine 2J mainly includes a positioning device 3B and an on-vehicle control device 3C.

[0012] The positioning device 3B is a device that acquires position information of the construction machine 2, and is an example of a position acquisition means. The positioning device 3B is, for example, a GPS (Global Positioning System) device. The positioning device 3B receives radio waves (positioning signals) transmitted from positioning satellites (not shown) via an antenna. The positioning device 3B receives, for example, orbital position information and time information from the positioning satellites. The positioning device 3B also has two built-in antennas, and can also obtain direction information. The positioning device 3B then calculates the position (for example, latitude, longitude, and altitude) of the construction machine 2 using the orbital position information and time information received from the positioning satellites. The calculated position and direction information of the construction machine 2 is sent to the central control device 10 via the communication device 5. The on-vehicle control device 3C controls the automatic operation of the construction machine 2J. The on-vehicle control device 3C transmits and receives information necessary for automatic operation to and from the central control device 10. The on-vehicle control device 3C is composed of a CPU (Central Processing Unit), various memories, etc. The on-vehicle control device 3C may be built into the construction machine 2 in advance, or may be installed later (for example, a PC (Personal Computer)). The on-vehicle control device 3C stores application programs for automatic operation, and various functions are realized by executing these application programs on the CPU. The on-vehicle control device 3C realizes, for example, an automatic operation function for automatically operating the construction machine 2. The on-vehicle control device 3C starts the automatic operation of the construction machine 2J, for example, in response to a work start command from the central control device 10.

[0013] 1, the on-board equipment group 3 mounted on a manned construction machine 2K mainly includes a positioning device 3B and an on-board operation device 3D. The positioning device 3B is the same as that mounted on an automatically driven construction machine 2J, and therefore a description thereof will be omitted. The on-vehicle operation device 3D is an auxiliary device for the operator to drive (operate) the construction machine 2K. The on-vehicle operation device 3D transmits and receives information necessary for manned operation to and from the central control device 10. The on-vehicle operation device 3D is composed of a CPU (Central Processing Unit), various memories, etc. The on-vehicle operation device 3D may be one that is pre-installed in the construction machine 2, or may be one that the operator carries (for example, a tablet terminal).

[0014] The external fixed camera 4 shown in FIG. 1 captures video to check the status of the construction area. The external fixed camera 4, for example, captures video of a bird's-eye view of the construction area. The video captured by the external fixed camera 4 shows, for example, the movement of the construction machine 2 and the progress of construction work. The video captured by the external fixed camera 4 is displayed on a monitor 6 installed in a monitoring room. Note that position information of the construction machine 2 may be obtained from the video captured by the external fixed camera 4. In this case, the video captured by the external fixed camera 4 is sent to the central control device 10 via the communication device 5. 1 is a device for realizing communication within the construction system 1. The communication device 5 is, for example, a relay device such as a router or a hub, and is placed in the construction area or a monitoring room. 1 displays various information related to the operation of the construction system 1. The content and amount of information displayed on the monitor 6 can be set as appropriate. For example, images captured by the construction machine 2 and images captured by the external fixed camera 4 are displayed on the monitor 6.

[0015] The central control device 10 controls the entire construction system 1. The central control device 10 transmits and receives information necessary for automatic operation or manned operation between multiple construction machines 2 working in the construction area. Controlling multiple construction machines 2 working in the construction area is sometimes called "group control." The central control device 10 is composed of a CPU (Central Processing Unit) and various memories, and is, for example, a PC or server. The central control device 10 stores application programs for group control, and various functions are realized by executing these application programs on the CPU. The central control device 10 realizes, for example, a task management function that manages tasks, a group control function that causes multiple construction machines 2 to work in the construction area, and a contact avoidance function that prevents contact between the construction machines 2. Note that the contact avoidance function may be configured to be part of the group control function.

[0016] (Contact Avoidance Function According to the Present Embodiment) For example, a local coordinate system xyz is set for the construction area where the construction machine 2 performs work. The construction area is the range in which the construction machine 2 can move. In the local coordinate system, for example, the xy plane is parallel to the horizontal plane and the z axis points in the vertical direction. The local coordinate system is used to control the construction machine 2. Note that a two-dimensional local coordinate system xy can also be set for the construction area. Furthermore, it is possible to set at least one or more exclusive areas M (see Figure 2) in advance in the construction area. As shown in Figure 2, the exclusive area M is made up of an owned area M1 and a no-entry area M2. The exclusive areas M (owned area M1 and no-entry area M2) are set by specifying coordinates using, for example, a local coordinate system xyz. Information regarding the exclusive areas M is stored, for example, in the central control device 10. Note that if a three-dimensional local coordinate system xyz is set in the construction area, the exclusive areas M can be set hierarchically. It is also possible to automatically operate the construction machine 2 without setting an exclusive area M in the construction area. The owned area M1 is set as part of the construction area, and if a construction machine 2 is present within the area defined as the owned area M1, that construction machine 2 becomes the owner of that area. Ownership of the owned area M1 is determined on a first-come, first-served basis, so a construction machine 2 that enters the owned area M1 later does not become the owner of that area. Here, whether or not a construction machine 2 has entered the owned area M1 is determined, for example, by whether or not the coordinates of the positioning device 3B have crossed the boundary of the owned area M1. It is also possible to calculate a reference point (e.g., center position, front end position, rear end position, etc.) of the construction machine 2 from the coordinates of the positioning device 3B, and determine whether or not the construction machine has entered based on that reference point. The no-entry area M2 is set as part of the construction area and is an area attached to the owned area M1. When the owned area M1 has an owner, other construction machines 2 are restricted from entering the area defined as the no-entry area M2 (for example, if other construction machines 2 attempt to enter, they are forced to stop). At least one no-entry area M2 exists for one owned area M1. By adjusting the installation location and range, the no-entry area M2 can be given various roles (for example, it can be made to function as a buffer zone or barricade).

[0017] The contact avoidance function realized by the central control device 10 will be described with reference to Figs. 2 to 5 (and Fig. 1 as appropriate). Figs. 2 to 5 are diagrams for explaining the contact avoidance function. Fig. 2 shows a state where there is no construction machine 2 in the owned area M1, Figs. 3 and 4 show a state where a construction machine 2 has entered the owned area M1, and Fig. 5 shows a state where the construction machine 2 has left the owned area M1. Note that, here, the description will be given assuming that the no-entry area M2 includes the owned area M1 and is wider than the owned area M1, but the relationship between the owned area M1 and the no-entry area M2 is not limited to this. Variations of the exclusive area M will be described later. As shown in Figure 2, when there is no construction machine 2 (referred to as "first construction machine 2A") in the owned area M1, the owned area M1 has no owner, so the central control device 10 disables the function of the no-entry area M2 that restricts the entry of other construction machines 2 (referred to as "second construction machine 2B"). As a result, the second construction machine 2B can enter the range where the no-entry area M2 is set and perform work.

[0018] Next, as shown in Figure 3, when there is no construction machine 2 in the owned area M1 (when there is no owner of the owned area M1), and a first construction machine 2A enters the owned area M1, the central control device 10 activates a function to restrict entry into the exclusive area M. Enabling the restriction on entry into the exclusive area M is called "restriction start control." Then, the first construction machine 2A that entered becomes the owner of the exclusive area M. As shown in Figure 4, when there is an owner in the exclusive area M, the central control device 10 restricts the entry of the second construction machine 2B into the exclusive area M (i.e., the owned area M1 and the no-entry area M2), and performs, for example, the following processing on the second construction machine 2B. If the second construction machine 2B attempting to enter the exclusive area M is an automatically operated construction machine 2J, the central control device 10 issues, for example, a temporary stop command to the construction machine 2J. This causes the construction machine 2J to stop and prevent it from entering the exclusive area M. Here, whether the second construction machine 2B is attempting to enter the exclusive area M is determined, for example, by determining whether the coordinates of the positioning device 3B of the second construction machine 2B have exceeded the boundary of the exclusive area M. A reference point (e.g., center position, front end position, rear end position, etc.) of the second construction machine 2B may be calculated from the coordinates of the positioning device 3B, and whether or not the second construction machine 2B is attempting to enter may be determined based on that reference point. Furthermore, whether or not the second construction machine 2B is attempting to enter the exclusive area M may be determined taking into account the movement speed and movement direction of the second construction machine 2B in addition to the coordinates of the positioning device 3B. Note that even if a part of the second construction machine 2B has entered the exclusive area M, it may be determined from the control perspective that the second construction machine 2B is attempting to enter the exclusive area M (i.e., has not yet entered the exclusive area M). In this case, it is advisable to set the extent of the no-entry area M2 taking this control into consideration. If the second construction machine 2B attempting to enter the exclusive area M is a manned construction machine 2K, the central control device 10 displays a temporary stop command together with a warning sound on a screen visible to the operator of the construction machine 2K (for example, the screen of the on-vehicle operation device 3D). This causes the operator to stop the construction machine 2K, preventing it from entering the exclusive area M. The central control device 10 does not send any particular instructions to the first construction machine 2A working in the owned area M1, and the first construction machine 2A continues working without interruption, so there is no delay in the work of the first construction machine 2A.

[0019] Next, as shown in Fig. 5, when the first construction machine 2A in the owned area M1 leaves the owned area M1, the central control device 10 disables the function restricting entry into the exclusive area M (releases the restriction). Release of the restriction on entry into the exclusive area M is called "restriction release control." Then, for example, the following process is executed on the second construction machine 2B that has been temporarily stopped. If the second construction machine 2B that is temporarily stopped is an automatically operated construction machine 2J, the central control device 10 sends, for example, a resume command to the construction machine 2J. As a result, the construction machine 2J resumes work and, for example, enters the no-entry area M2. If the temporarily stopped second construction machine 2B is a manned construction machine 2K, the central control device 10 displays, for example, on a screen visible to the operator of the construction machine 2K (for example, the screen of the on-vehicle operation device 3D), a message indicating that work can be resumed, along with a sound effect. This prompts the operator to resume the work that was stopped, and for example, to enter the construction machine 2K into the no-entry area M2.

[0020] Next, variations of the exclusive area M (examples of the relationship between the owned area M1 and the no-entry area M2) will be described with reference to FIGS. 6A to 6E. Fig. 6A is a diagram showing a first variation of exclusive area M. Fig. 6B is a diagram showing a second variation of exclusive area M. Fig. 6C is a diagram showing a third variation of exclusive area M. Fig. 6D is a diagram showing a fourth variation of exclusive area M. Fig. 6E is a diagram showing a fifth variation of exclusive area M. In the first variation shown in Figure 6A, the owned area M1 and the no-entry area M2 are the same range, and the two areas coincide (overlap) (owned area M1 = no-entry area M2). In other words, in the first variation, control is performed to prevent other construction machines (second construction machine 2B) from entering the work area of ​​the first construction machine 2A. In the second variation shown in Figure 6B, the no-entry area M2 includes the owned area M1 and is wider than the owned area M1 (owned area M1 < no-entry area M2). In other words, in the second variation, control is performed to prevent other construction machines (second construction machine 2B) from entering the work area of ​​the first construction machine 2A and its surrounding area. In the second variation, the no-entry area M2 can be used like a buffer zone.

[0021] In a third variation shown in FIG. 6C, the owned area M1 and the no-entry area M2 do not overlap, and the no-entry area M2 is a separate area within the construction area (owned area M1 ≠ no-entry area M2). In other words, in the third variation, the no-entry area M2 can be used like a barricade, and is controlled to prevent other construction machines (second construction machines 2B) from entering a location away from the work area of ​​the first construction machine 2A. The no-entry area M2 in the third variation may be set, for example, at a location (intersection) where the traffic lines of the construction machines 2 overlap. Note that the owned area M1 and the no-entry area M2 may partially overlap. In the fourth variation shown in Figure 6D, multiple exclusive areas M are set within the construction area (two exclusive areas MA and MB are set in Figure 6D), and the exclusive areas M do not overlap. Each exclusive area M may be any of the first to third variations already explained, and it is also possible to set a combination of exclusive areas M of the first to third variations within the construction area. In the fourth variation, each exclusive area M restricts and lifts restrictions on the entry of other construction machines (second construction machine 2B). In the fifth variation shown in FIG. 6E, multiple exclusive areas M are set within the construction area (two exclusive areas MA and MB are set in FIG. 6E), with a portion of one exclusive area M overlapping a portion of another exclusive area M. Each exclusive area M may be any of the first to third variations already described, and it is also possible to set a combination of exclusive areas M of the first to third variations within the construction area. In the fifth variation, each exclusive area M restricts and lifts the entry restriction on other construction machines (second construction machine 2B). Note that, as shown in FIG. 6E, if the ownership areas MA1 and MB1 overlap, the first construction machine 2A in the overlapping area becomes the owner of both exclusive areas MA and MB.

[0022] Next, with reference to FIGS. 7A to 7C, the manner in which the exclusive area M is used will be described using a specific example. Fig. 7A is a diagram showing an example of how a second variation of exclusive area M is used. Fig. 7B is a diagram showing an example of how a second variation of exclusive area M is used. Fig. 7C is a diagram showing an example of how a third variation of exclusive area M is used. As shown in Figure 7A, for example, the area where the backhoe moves or the area where it works while stationary without moving (when working only by turning and bending and extending the boom and arm) is set as the owned area M1, and the area where the backhoe works and contains soil and sand is set as the no-entry area M2. 7B, for example, an area where a backhoe moves or an area where a backhoe is located when working without moving is set as an owned area M1, and an area where the backhoe works and the belt conveyor 9 are located is set as a no-entry area M2. By installing the belt conveyor 9 so that it straddles the exclusive area M and the outside of the area, the crawler dump (second construction machine 2B) can supply earth to the backhoe (first construction machine 2A) without entering the exclusive area M. Also, as shown in Figure 7C, for example, an area where a backhoe moves or an area where it is located when working without moving is set as a owned area M1, and a no-entry area M2 is set on the route taken by a dump truck carrying earth and sand.

[0023] [process] As shown in Fig. 8, the construction system 1 (particularly the central control device 10) executes the following processing: Fig. 8 is a sequence diagram showing processing when work by a plurality of construction machines 2 competes in the exclusive area M. (Processing when multiple construction machines are competing in exclusive area M) 8 will be described taking as an example a situation in which a crawler dump truck and a bulldozer are competing in the exclusive area M. As explained so far, the priority of operations in the exclusive area M is determined by a "first-come, first-served" system in which the machine that enters the owned area M1 first has priority. Note that, as a prerequisite, the central control device 10 has issued an instruction to the crawler dump truck and the bulldozer to start work, and each of the construction machines 2 has started operating. First, the on-board control device 3C of the crawler dump truck operates in accordance with the settings defined in the task (step S11), and transmits its own position information to the central control device 10 (step S12). Here, it is assumed that the crawler dump truck has entered the owned area M1, and the central control device 10 detects the entry of the crawler dump truck into the owned area M1 (step S13). Meanwhile, the on-board control device 3C of the bulldozer operates in accordance with the settings defined in the task (step S14) and transmits its own position information to the central control device 10 (step S15). Here, it is assumed that the bulldozer entered the no-entry area M2 after the crawler dump entered the owned area M1, and the central control device 10 detects the bulldozer's entry into the no-entry area M2 (step S16).

[0024] Next, the central control device 10 executes restriction start control triggered by the bulldozer's entry into the no-entry area M2 (step S17). If the bulldozer that has entered is operating under automatic driving, the central control device 10 issues a temporary stop command to the bulldozer (step S17J). This causes the bulldozer to temporarily stop operating (step S17L). Furthermore, if the bulldozer that has entered is operating under manned driving, the central control device 10 displays a stop message on the bulldozer's on-board operating device 3D (for example, a tablet terminal) (step S17K). This causes the bulldozer operator to stop the vehicle (here, the bulldozer) in accordance with the message content (step S17M). The on-board control device 3C of the crawler dump continues to operate in accordance with the settings defined in the task (step S18), and transmits its own position information to the central control device 10 (step S19). Here, it is assumed that the crawler dump has left the ownership area M1, and the central control device 10 detects that the crawler dump has left the ownership area M1 (step S20). Next, the central control device 10 executes restriction release control triggered by the crawler dump truck's exit from the owned area M1 (step S21). If the bulldozer that has entered is operating under automatic driving, the central control device 10 issues a resume command to the bulldozer (step S21J). As a result, the bulldozer resumes its temporarily stopped operation (step S21L). If the bulldozer that has entered is operating under manned driving, the central control device 10 ends the display of a stop message on the on-board operation device 3D of the bulldozer (e.g., a tablet terminal) and returns the task display of the on-board operation device 3D to its original state (step S21K). Note that the process of returning the task display to its original state is an example of a resume command, and the resume command may be displayed on the on-board operation device 3D together with the process of returning the task display to its original state. As a result, the bulldozer operator resumes operation in accordance with the original task settings (step S21M). In steps S21L and S21M, operation in the no-entry area M2 is possible.

[0025] Next, the setting of the exclusive area M will be mainly described with reference to Figures 9 and 10. The exclusive area M (the owned area M1 and the no-entry area M2) can be set either manually or automatically. Fig. 9 is an example of an area setting screen (construction area setting screen 200). Fig. 10 is an example of an area setting screen (exclusive area editing screen 300). The construction area setting screen 200 and the exclusive area editing screen 300 may be displayed as a single screen or may be displayed as separate screens. Area setting is performed, for example, by operating the central control device 10, and these screens are displayed on the central control device 10. First, the worker presses the "Load Image" button 202 on the construction area setting screen 200 shown in Figure 9 to select any image, and the central control device 10 displays the selected image. The central control device 10 displays the selected image in the image display area 201 of the construction area setting screen 200, and displays the file path of the loaded image in the file path display field 203 located next to the "Load Image" button 202.

[0026] For example, the worker selects the number field 204a at the beginning (left end) of the area coordinate display region 204 and inputs the coordinates of the vertices of the exclusive area M (assumed to be a rectangle here) to be set, starting from the top left. This associates the image with the coordinates of the exclusive area M. Information about the set exclusive area M is stored in a database, and the central control device 10 draws the area of ​​the set exclusive area M on the image displayed in the image display region 201 (see FIG. 9). FIG. 9 shows a state in which two exclusive areas M have been set, with the owned area M1 drawn with a dashed line and the no-entry area M2 drawn with a dot-dash line. Note that the drawing method of the exclusive areas M is not limited to that shown in FIG. 9, and any method may be used as long as each area can be distinguished from the other areas. For example, the line color of the owned area M1 and the no-entry area M2 may be changed instead of or together with the line type. The exclusive area M that has been set can be edited on the exclusive area editing screen 300 (see FIG. 10 ). Clicking on an item in the leftmost serial number column 301a of the exclusive area information display region 301, which is displayed in tabular form on the exclusive area editing screen 300, changes the background color of the corresponding row so that it can be distinguished from the other rows, indicating that it has been selected. Pressing the "Edit Exclusive Area" button 302 or the "Delete Exclusive Area" button 303 in this state allows the corresponding row to be edited or deleted. For example, if a row is deleted, the deleted row is moved up by the space provided, and if the row is edited, the corresponding row can be edited again from the beginning. When the operator presses the "Edit Exclusive Area" button 302 again after editing, the central control unit 10 confirms the edited content and saves the edited content in the database.

[0027] As described above, the contact avoidance system 1A according to the first embodiment can prevent the second construction machine 2B from entering the owned area M1 where the first construction machine 2A is located. Therefore, the first construction machine 2A working in the owned area M1 can continue working without interruption. As a result, construction work can be carried out more efficiently than before. Furthermore, the no-entry area M2 acts as a buffer area or a barricade, so it is possible to reliably prevent the construction machines 2 from coming into contact with each other.

[0028] Although the embodiment of the present invention has been described above, the present invention is not limited to this and can be practiced within the scope of the claims. In the embodiment, the case where the exclusive area M is composed of an owned area M1 and a no-entry area M2 has been described. However, it is also possible to control the exclusive area M as a single area without dividing it into the owned area M1 and the no-entry area M2. In other words, when a first construction machine 2A enters a work area (exclusive area M) that is preset as part of the construction area, the central control device 10 performs restriction start control to restrict the second construction machine 2B from entering the work area (exclusive area M). Furthermore, when the first construction machine 2A exits the work area (exclusive area M), the central control device 10 performs restriction release control to release the restriction on the second construction machine 2B from entering the work area (exclusive area M). In this way, it is possible to prevent the second construction machine 2B from entering the work area where the first construction machine 2A is located. Therefore, the first construction machine 2A working in the work area can continue working without interruption. As a result, construction can be carried out more efficiently than before. [Explanation of symbols]

[0029] 1. Construction system 1A Contact Avoidance System 2,2J,2K construction machinery 3 In-vehicle equipment group 3B Positioning device (position acquisition means) 3C vehicle control device 3D in-vehicle operation device (display device) 4. External fixed cameras 5. Communications equipment 6 monitors 10 Central control unit (control unit) M, MA, MB exclusive area M1, MA1, MB1 owned area M2, MA2, MB2 No entry area

Claims

1. A contact avoidance system that prevents contact between construction machines in construction work using multiple construction machines, a position acquisition means for acquiring position information of each construction machine; a control device that performs group control of a plurality of construction machines based on the position information of each of the construction machines acquired by the position acquisition means, The control device When a first construction machine enters a pre-defined owned area that is a part of the construction area, restriction start control is performed to restrict a second construction machine from entering the owned area and a no-entry area associated with the owned area; when the first construction machine leaves the owned area, a restriction release control is performed to release the restriction on the second construction machine from entering the owned area and the no-entry area; A contact avoidance system characterized by:

2. The second construction machine performs work by automatic driving, The second construction machine is equipped with an on-board control device that controls automatic driving, the control device sends a temporary stop command to the on-board control device as the restriction start control, and sends a restart command to the on-board control device as the restriction release control; The contact avoidance system according to claim 1 .

3. The second construction machine is a manned construction machine, Further provided with a display device visible to an operator of the second construction machine, the control device displays a pause command on the screen of the display device as the restriction start control, and displays a resume command on the screen of the display device as the restriction release control; The contact avoidance system according to claim 1 .

4. 4. The collision avoidance system according to claim 1, wherein the no-entry area includes the owned area and is wider than the owned area.

5. 4. The collision avoidance system according to claim 1, wherein the no-entry area is the same area as the owned area.

6. 4. The collision avoidance system according to claim 1, wherein the no-entry area is a separate area within a construction area that does not overlap with the owned area.

7. A first owned area and a second owned area are set in the construction area, The control device performs the restriction start control and the restriction release control in each owned area.

4. The contact avoidance system according to claim 1, wherein the contact avoidance system comprises: a first contact point;

8. The construction area is set so that a part of the first owned area and a part of the second owned area overlap with each other. The contact avoidance system according to claim 7 .

9. The owned area and the no-entry area are set by either a manual or automatic method.

9. The contact avoidance system according to claim 1, wherein the contact avoidance system comprises: a first contact point;

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