Construction planning system and construction planning method

Abstract

To enable appropriate allocation of work machines at a construction site.SOLUTION: A construction planning system is provided, comprising: a planning unit configured to acquire an excavation volume in a first work area and an embankment volume in a second work area at a construction site; and a dispatching unit configured to determine allocation of work machines to the work area or routes according to the excavation volume and embankment volume and construction condition data including the type, number, and construction capacity of work machines that can be operated at the construction site.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a construction planning system and a construction planning method. [Background technology]

[0002] In the technical field related to construction planning, a work management method such as that disclosed in Patent Document 1 is known. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] U.S. Patent Application Publication No. 2020 / 0190775 Summary of the Invention [Problem to be solved by the invention]

[0004] At a construction site, the site is divided into a cutting area and a filling area, and soil is transported from the cutting area to the filling area. Work machines are used for each of the cutting work, soil carrying work, and filling work. In order to improve productivity at a construction site, it is necessary to optimally allocate work machines at the construction site.

[0005] The present disclosure aims to allocate work machines at a construction site. [Means for solving the problem]

[0006] According to the present disclosure, there is provided a construction planning system comprising: a planning unit that acquires the amount of cut earth in a first work area of ​​a construction site and the amount of fill earth in a second work area of ​​the construction site; and a dispatching unit that determines the allocation of work machines to work areas or routes based on the amount of cut earth and the amount of fill earth and construction condition data including the type, number, and construction capacity of work machines that can operate at the construction site. [Effects of the Invention]

[0007] According to the present disclosure, work machines can be allocated at a construction site. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a block diagram showing a construction planning system according to an embodiment. [Figure 2] FIG. 2 is a flowchart showing a construction planning method according to the embodiment. [Figure 3] FIG. 3 is a flowchart showing the first process according to the embodiment. [Figure 4] FIG. 4 is a schematic diagram showing the current topography and the target topography according to the embodiment. [Figure 5] FIG. 5 is a diagram illustrating an example of the current topography according to the embodiment. [Figure 6] FIG. 6 is a schematic diagram for explaining a method for calculating route candidates according to the embodiment. [Figure 7] FIG. 7 is a diagram showing an example of route combinations and transported soil volumes calculated in the first processing according to the embodiment. [Figure 8] FIG. 8 is a flowchart showing the second process according to the embodiment. [Figure 9] FIG. 9 is a schematic diagram for explaining a work machine according to an embodiment. [Figure 10] FIG. 10 is a schematic diagram for explaining a method for searching for a dispatch pattern of work machines according to the embodiment. [Figure 11] FIG. 11 is a diagram for explaining candidates for vehicle allocation patterns generated in the first deployment process according to the embodiment. [Figure 12] FIG. 12 is a diagram showing a display device that displays display data indicating a vehicle allocation pattern according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings, but the present disclosure is not limited to the embodiments. The components of the embodiments described below can be combined as appropriate. In addition, some components may not be used.

[0010] [Construction planning system] 1 is a block diagram showing a construction planning system 1 according to an embodiment. The construction planning system 1 assigns a work machine 20 to a plurality of tasks at a construction site. The construction planning system 1 includes a computer 2, an input device 3, and a display device 4. The computer 2 includes a processor 5, a storage device 6, a communication interface 7, and an input / output interface 8.

[0011] The processor 5 includes a CPU (Central Processing Unit). The processor 5 may also include a GPU (Graphics Processing Unit). The storage device 6 includes a recording medium that stores computer programs and data in a manner that allows the processor 5 to read them. The storage device 6 includes a system memory such as a RAM (Random Access Memory) or a ROM (Read Only Memory), and an auxiliary storage device. Examples of the auxiliary storage device include a hard disk or a semiconductor memory.

[0012] The communication interface 7 communicates via a communication network. An example of the communication interface 7 is a local area network (LAN) module. The construction planning system 1 transmits data to an external computer via the communication network. The construction planning system 1 receives data from an external computer via the communication network. The construction planning system 1 is connected to each of the input device 3 and the display device 4 via the input / output interface 8.

[0013] The input device 3 generates input data by being operated by a user of the construction planning system 1. The user can input input data to the construction planning system 1 by operating the input device 3. Examples of the input device 3 include a touch panel, a computer keyboard, and a voice input device. The input data generated by the input device 3 is transmitted to the computer 2.

[0014] The display device 4 provides display data to the user. The display device 4 displays the display data transmitted from the computer 2. Examples of the display device 4 include a flat panel display such as a liquid crystal display or an organic EL display.

[0015] The processor 5 includes an acquisition unit 11, a planning unit 12, a vehicle dispatching unit 13, and an output unit 14. The acquisition unit 11, the planning unit 12, the vehicle dispatching unit 13, and the output unit 14 each include a computer program, an algorithm, and data executed by the processor 5.

[0016] [Construction planning method] FIG. 2 is a flowchart showing a construction planning method according to an embodiment. A plurality of work machines 20 operate at a construction site. In the embodiment, the work machines 20 include a shovel 22 that performs cut work to excavate an excavation target in a cut area, a dump truck 21 that performs transport work to transport soil from the cut area to a fill area, and a bulldozer 23 that performs banking work to pile up and spread the soil transported to the fill area in a predetermined location. The cut area and the fill area are examples of work areas at a construction site. The cut area is an example of a first work area at a construction site. The fill area is an example of a second work area at a construction site. The shovel 22 is an example of a loading machine that operates in a cut area. The bulldozer 23 is an example of a soil leveling machine that operates in a fill area. The dump truck 21 is an example of a transport machine that travels on a route connecting the cut area and the fill area.

[0017] The construction planning method includes a first process S1 for acquiring a plurality of routes and the earthwork volume corresponding to each of the plurality of routes, a second process S2 for determining a vehicle allocation pattern indicating a combination of work machines 20 to be assigned to each of the plurality of routes, and a third process S3 for outputting the vehicle allocation pattern. The route is the travel path of the dump truck 21 traveling from the cut area to the fill area. The earthwork volume includes at least one of a cut volume indicating the volume of earth to be excavated in the cut area, a transported earth volume indicating the volume of earth to be transported from the cut area to the fill area via the route, and a fill volume indicating the volume of earth transported to the fill area.

[0018] <Calculating route and soil volume> 3 is a flowchart showing a first process according to the embodiment. The acquisition unit 11 acquires current topography data indicating the current topography of the construction site and target topography data indicating the target topography (step S11).

[0019] FIG. 4 is a schematic diagram showing the current terrain and target terrain according to the embodiment. The current terrain data is three-dimensional survey data showing the current terrain of the construction site. The current terrain data includes the plane coordinates and height of each point on the current terrain. The current terrain data may be detected by a three-dimensional sensor mounted on a mobile object such as the work machine 20 or a drone. The target terrain data is three-dimensional design data showing the target terrain of the construction site. The target terrain data includes the plane coordinates and height of each point on the target terrain. The acquisition unit 11 can acquire the current terrain data and the target terrain data via at least one of the communication interface 7 and the input / output interface 8.

[0020] The planning unit 12 divides the current topography of the construction site into a cut area and a fill area. The planning unit 12 determines the cut area and the fill area based on the current topography data and the target topography data (step S12).

[0021] As shown in Fig. 4, the planning unit 12 determines areas where the height of the current terrain is higher than the height of the target terrain as cut areas, and determines areas where the height of the current terrain is lower than the height of the target terrain as banking areas. The excavator 22 performs cutting work in the cut areas. The bulldozer 23 performs banking work in the banking areas.

[0022] Fig. 5 is a diagram showing an example of the current topography according to the embodiment. As shown in Fig. 5, the construction site is divided into a plurality of cut areas (A1, A2, A3, A4, A5, A6) and a plurality of fill areas (B1, B2, B3, B4, B5, B6). The planning unit 12 can calculate the cut volume in each of the plurality of cut areas and the fill volume in each of the plurality of fill areas based on the difference in volume between the current topography and the target topography.

[0023] The planning unit 12 calculates a plurality of routes connecting the cut area and the fill area and a transport volume indicating the volume of soil to be transported from the cut area to the fill area via the routes. The planning unit 12 calculates a plurality of routes along which the dump truck 21 travels and a volume of soil to be transported via the routes, based on the positions of each of the plurality of cut areas, the positions of each of the plurality of fill areas, the volume of cut soil in each of the plurality of cut areas, and the volume of fill soil in each of the plurality of fill areas (step S13).

[0024] Calculating the route of the dump truck 21 includes calculating a combination of multiple routes connecting the cut area and the fill area, and calculating the construction sequence of the cut area and the fill area. The route connects a representative point of the cut area with a representative point of the fill area. The representative points may be, for example, the center positions of the cut area and the fill area, respectively, or may be positions input from the input device 3. The planning unit 12 determines the route with the lowest cost from multiple route candidates. The cost is determined based on the horizontal travel distance and vertical travel distance of the dump truck 21 and the amount of soil to be transported.

[0025] FIG. 6 is a schematic diagram for explaining a method for calculating route candidates according to an embodiment. FIG. 6 shows an example in which the current topography includes cut areas A11, A12, and A13 and bank areas B11, B12, and B13. The planning unit 12 determines a portion of the current topography where the gradient of the topography is equal to or greater than a threshold as a no-passage area for dump trucks. In the example shown in FIG. 6, the cut areas A11, A12, and A13 and the bank areas B11, B12, and B13 each have a gradient equal to or greater than a threshold, and are therefore no-passage areas. The planning unit 12 excludes from the candidate routes any route that passes over the cut areas A11, A12, and A13 and the bank areas B11, B12, and B13.

[0026] The planning unit 12 calculates a route based on a predetermined optimization algorithm. The starting point of the route may be determined inside the cut area A11, A12, or A13, or may be determined at a point adjacent to the cut area A11, A12, or A13. The end point of the route may be determined inside the fill area B11, B12, or B13, or may be determined at a point adjacent to the fill area B11, B12, or B13. The starting point of the route may be considered a cut area, or the end point of the route may be considered a fill area. The planning unit 12 determines the route combination and construction order that minimizes cost, for example, using an A* search algorithm. The planning unit 12 determines, for example, routes R1, R2, and R3 as the first route candidates. Route R1 is a route for transporting soil from the cut area A11 to the fill area B11. Route R2 is a route for transporting soil from the cut area A12 to the fill area B12. Route R3 is the route along which soil is transported from the cutting area A13 to the filling area B13.

[0027] For example, if route R1 is selected as the first candidate, cut work will be performed in cut area A11 and fill work will be performed in fill area B11, resulting in a smaller gradient in each of cut area A11 and fill area B11. Therefore, each of cut area A11 and fill area B11 will be changed from a no-passage area to a passable area. Therefore, the planning unit 12 can select a new route that passes over cut area A11 and fill area B11, in addition to route R2 shown in FIG. 6, as a route from cut area A12 to fill area B12. The new route does not detour around cut area A11 and fill area B11 and is shorter than route R2. Therefore, selecting the new route as the second candidate reduces costs.

[0028] For example, if route R2 is selected as the first candidate, cut work will be performed in cut area A12 and fill work will be performed in fill area B12, resulting in a smaller gradient in each of cut area A12 and fill area B12. Therefore, each of cut area A12 and fill area B12 will be changed from a no-passage area to a passable area. Even if each of cut area A12 and fill area B12 is changed to a passable area, a new route shorter than route R1 will not be generated as a route from cut area A11 to fill area B11. Similarly, a new route shorter than route R3 will not be generated as a route from cut area A13 to fill area B13. Therefore, if route R2 is selected as the first candidate, the cost is less likely to be lower than if route R1 were selected as the first candidate.

[0029] In this way, at a construction site where the current topography changes as construction progresses, the selectable routes change depending on the construction order of the cut and fill areas. The planning unit 12 calculates the route combination and construction order to minimize costs.

[0030] In addition, a technology is disclosed in U.S. Patent Application Publication No. 2022 / 0403627 (Patent Publication No. 2021-101316) that determines the combination and construction order of multiple routes connecting cut and fill areas, taking into account changes in the current topography of the construction site, in order to minimize costs.

[0031] The planning unit 12 does not have to calculate the amount of cut earth in the cut area of ​​the construction site, the amount of fill earth in the fill area of ​​the construction site, and multiple routes connecting the cut area and the fill area. A user of the construction planning system 1 may operate the input device 3 to input the amount of cut earth, the amount of fill earth, and the route to the computer 2. The planning unit 12 may acquire the amount of cut earth, the amount of fill earth, and the route from the input device 3. The planning unit 12 may acquire the amount of transported soil from the input device 3.

[0032] The cut earth area may be a concept that includes a soil storage area where soil brought in from outside the construction site is placed. The fill earth area may be a concept that includes a soil dumping area where soil from the cut earth area is dumped. The soil dumping area may be located outside the construction site.

[0033] FIG. 7 is a diagram showing an example of route combinations and soil transport volumes determined in the first process S1 according to the embodiment. FIG. 7 shows an example in which eight route combinations have been determined. As shown in FIG. 7, soil may be transported from one cut area to each of multiple fill areas. Soil may be transported from each of multiple cut areas to one fill area. In the following description, the route with the largest soil transport volume will be referred to as the first route, as appropriate. The route with the second largest soil transport volume after the first route will be referred to as the second route, as appropriate. The route with the second largest soil transport volume after the second route will be referred to as the third route, as appropriate. The route with the second largest soil transport volume after the third route will be referred to as the fourth route, as appropriate. The route with the second largest soil transport volume after the fourth route will be referred to as the fifth route, as appropriate. The route with the second largest soil transport volume after the fifth route will be referred to as the sixth route, as appropriate. The route with the second largest soil transport volume after the sixth route will be referred to as the seventh route, as appropriate. The route with the next largest volume of soil transport after Route 7 will be referred to as Route 8.

[0034] <Work machine allocation> 8 is a flowchart showing a second process S2 according to the embodiment. The acquisition unit 11 acquires a required construction period for the construction site as input data (step S21). The acquisition unit 11 also acquires construction condition data as input data (step S22). The construction condition data includes the type, number, and construction capacity of work machines that can be operated at the construction site. The construction condition data also includes the operating hours per day. The operating hours per day may be calculated based on the operation start time, operation end time, break start time, and break end time. The construction condition data also includes the construction earth volume. As described above, the construction earth volume includes at least one of the cut earth volume, fill earth volume, and transport earth volume. The construction condition data also includes the travel distance of the dump truck 21. The travel distance of the dump truck 21 may be calculated based on the length of the route. The construction data may also include the inter-vehicle distance between multiple dump trucks 21. The construction data may also include the operation rate of the construction site. For example, if an event that requires the suspension of construction is predicted to occur before the required construction period is reached, the availability rate may be calculated based on the predicted suspension period. An example of an event that requires the suspension of construction is a deterioration in weather. The construction data may also include construction costs.

[0035] FIG. 9 is a schematic diagram for explaining a work machine 20 according to an embodiment. In the embodiment, the work machine 20 includes a shovel 22 assigned to a cut area, a bulldozer 23 assigned to a banking area, and a dump truck 21 assigned to a route. Types of work machines 20 that can operate at a construction site include shovels 22, bulldozers 23, and dump trucks 21. The number of work machines 20 that can operate at a construction site is, for example, the number of work machines 20 owned by a construction company that can be deployed to the construction site. The shovel 22 performs cutting work in the cut area. The dump truck 21 travels along the route to transport soil from the cut area to the banking area. The dump truck 21 travels along the route from the cut area to the banking area when loaded. The dump truck 21 travels along the route from the banking area to the cut area when unloaded. The bulldozer 23 performs banking work in the banking area.

[0036] The construction capacity of the work machine 20 includes the amount of earth that the work machine 20 can handle per unit time. The construction capacity of the dump truck 21 includes the amount of earth that the dump truck 21 can transport (maximum load capacity) and the traveling speed of the dump truck 21. The traveling speed of the dump truck 21 differs between a loaded state and an unloaded state. The construction capacity of the shovel 22 includes the capacity of the bucket that the shovel 22 has, the amount of earth that can be excavated per unit time, and the amount of earth that can be loaded onto the dump truck 21 per unit time. The construction capacity of the bulldozer 23 includes the capacity of the blade that the bulldozer 23 has, and the amount of earth that can be excavated per unit time.

[0037] The construction capabilities of the work machines 20 may differ among a plurality of work machines 20 of the same type. For example, the construction capability of a first dump truck 21 may differ from the construction capability of a second dump truck 21. The construction capability of a first shovel 22 may differ from the construction capability of a second shovel 22. The construction capability of a first bulldozer 23 may differ from the construction capability of a second bulldozer 23.

[0038] The acquisition unit 11 can acquire the requested construction period and construction condition data via at least one of the communication interface 7 and the input / output interface 8.

[0039] The vehicle allocation unit 13 determines the allocation of work machines 20 to cut areas and fill areas based on the amount of earth to be cut in cut areas and the amount of earth to be filled in fill areas acquired by the planning unit 12, and construction condition data including the type, number, and construction capacity of work machines 20 that can operate at the construction site. The vehicle allocation unit 13 also determines the allocation of work machines 20 to routes connecting cut areas and fill areas based on the amount of earth to be cut in cut areas and the amount of earth to be filled in fill areas acquired by the planning unit 12, and construction condition data including the type, number, and construction capacity of work machines 20 that can operate at the construction site.

[0040] In the embodiment, determining the allocation of work machines 20 includes determining a combination of work machines 20 to be allocated to each of a plurality of routes connecting cutting areas and filling areas.

[0041] In an embodiment, the allocation unit 13 determines a allocation pattern indicating a combination of work machines 20 to be allocated to each of a plurality of routes based on the plurality of routes determined by the planning unit 12, the amount of soil to be transported via the routes, the required construction period, and construction condition data including the type, number, and construction capacity of work machines 20 that can operate at the construction site. Allocating work machines 20 to routes includes allocating excavators 22 to cutting areas connected to the routes, and allocating bulldozers 23 to filling areas connected to the routes. The allocation unit 13 determines a allocation pattern so that construction at the construction site is completed by the required construction period. The allocation pattern includes a combination of the number of work machines 20 of each type.

[0042] In the embodiment, the dispatch unit 13 uses a predetermined optimization algorithm to determine a dispatch pattern so that construction is completed within the required construction period and costs are minimized. In the embodiment, the dispatch unit 13 searches for a dispatch pattern using an A* search algorithm (step S23).

[0043] The dispatch unit 13 calculates an evaluation function f(n) relating to the workload, availability, and total operating time of the work machine 20 for each of a plurality of candidate dispatch patterns, and determines the candidate with the best value of evaluation function f(n) as the dispatch pattern. In the embodiment, the best value of evaluation function f(n) means that the value of evaluation function f(n) is the smallest. Note that changing the sign of evaluation function f(n) can sometimes mean that the value of evaluation function f(n) is the best, for example. The A* search algorithm is an algorithm that searches for a candidate with the smallest value of evaluation function f(n) shown in equation (1) from a plurality of candidate dispatch patterns. In equation (1), g(n) represents an estimated value of the cost from the start node to a certain node n. h(n) represents an estimated value of the cost from node n to the goal node.

[0044]

number

[0045] In the following description, the estimated value g(n) will be referred to as the actual cost function, and the estimated value h(n) will be referred to as the heuristic function. The actual cost function g(n) is expressed by equation (2). The heuristic function h(n) is expressed by equation (3). The actual cost function g(n) and the heuristic function h(n) are normalized because they contain parameters with different units.

[0046]

number

[0047]

number

[0048] The actual cost function g(n) is a function related to the workload and availability of the work machine 20. The heuristic function h(n) is a function related to the total operating time of the work machine 20. The first term [(La × Va) / (Ln × Vn)] on the right-hand side of equation (2) is a value indicating the workload of the work machine 20. The smaller the value of [(La × Va) / (Ln × Vn)], the smaller the workload of the work machine 20. The second term [Ta / Tn] on the right-hand side is a value indicating the availability of the work machine 20. The smaller the value of [Ta / Tn], the higher the availability of the work machine 20. The right-hand side of equation (3) [(Tg - Tp) / Tg] is a value indicating the total operating time of the work machine 20. The smaller the value of [(Tg - Tp) / Tg], the shorter the total operating time of the work machine 20. Therefore, the smaller the value of the evaluation function f(n), the higher the work efficiency at the construction site and the lower the costs.

[0049] In equation (2), the value La refers to the total traveling distance of the dump trucks 21 in a predetermined specified time. In the embodiment, the specified time is one hour. For example, when one dump truck 21 travels at a traveling speed of 20 km / h, the value La is 20 (= 20 km / h × 1 truck). When two dump trucks 21 each travel at a traveling speed of 20 km / h, the value La is 40 (= 20 km / h × 2 trucks). When one dump truck 21 travels at a traveling speed of 20 km / h and one dump truck 21 travels at a traveling speed of 30 km / h, the value La is 50 (= 20 km / h × 1 truck + 30 km / h × 1 truck).

[0050] In equation (2), the value Va refers to the amount of soil transported from the cut area to the fill area in a specified time. For example, if a dump truck 21 with a maximum load capacity of 36.5 tons travels from the cut area to the fill area once, the value Va is 36.5. If a dump truck 21 with a maximum load capacity of 36.5 tons travels from the cut area to the fill area twice, the value Va is 73.0. If a dump truck 21 with a maximum load capacity of 36.5 tons travels from the cut area to the fill area once, and a dump truck 21 with a maximum load capacity of 20 tons travels from the cut area to the fill area once, the value Va is 56.5 tons.

[0051] In equation (2), the value Ta is the total waiting time of the work machines 20 in a specified time. For example, if there are no dump trucks 21 in the cutting area, the shovel 22 will have to wait. If there is one shovel 22 and multiple dump trucks 21 in the cutting area, at least one of the multiple dump trucks 21 will have to wait. If no dump truck 21 arrives in the banking area, the bulldozer 23 will have to wait. For example, if there is one shovel 22 with a waiting time of 5 minutes, two dump trucks 21 with a waiting time of 3 minutes, and one bulldozer 23 with a waiting time of 4 minutes, the value Ta is 15 minutes (= 5 minutes × 1 unit + 3 minutes × 2 units + 4 minutes × 1 unit).

[0052] The values ​​La, Va, and Ta are values ​​that change depending on the construction condition data. For example, if a dump truck 21 with low construction capacity is assigned, the value La will be small. For example, if a dump truck 21 with a small maximum load capacity is assigned or if the number of assigned dump trucks 21 is small, the value Va will be small. If the number of assigned dump trucks 21 is large or the inter-vehicle distance between the dump trucks 21 is short, the standby time of the dump trucks 21 will be long. If the number of assigned dump trucks 21 is small, the standby time of the excavator 22 or the standby time of the bulldozer 23 will be long.

[0053] In equation (2), the value Ln is an estimate of the total distance traveled by the dump truck 21 from the start node to the goal node, and is a constant value that can be set arbitrarily by the user. The value Vn is an estimate of the total volume of soil transported from the cut area to the fill area from the start node to the goal node, and is a constant value that can be set arbitrarily by the user. The value [Ln x Vn] may be considered an estimate of the total volume of work until construction at the construction site is completed.

[0054] In equation (2), the value Ln is an estimate of the total distance traveled by the dump truck 21 from the start node to the goal node, and is a constant value that can be set arbitrarily by the user. The value Vn is an estimate of the total volume of soil transported from the cut area to the fill area from the start node to the goal node, and is a constant value that can be set arbitrarily by the user. The value [Ln × Vn] is a value for normalizing the actual cost function g(n). The value [Ln × Vn] may be considered an estimate of the total volume of work until construction at the construction site is completed.

[0055] In equation (2), the value Tn is an estimate of the waiting time of the work machine 20 from the start node to the goal node, and is a constant value that can be set arbitrarily by the user. The value Tn is a value for normalizing the actual cost function g(n). The value Tn may be considered as an estimate of the total waiting time of the work machine 20 until construction at the construction site is completed.

[0056] In equation (3), the value Tg is an estimate of the total operating time of the work machine 20 from the start node to the goal node, and is a constant value that can be set arbitrarily by the user. The value Tg in the denominator of equation (3) is a value for normalizing the heuristic function h(n). The value Tg may be considered an estimate of the total operating time of the work machine 20 until construction at the construction site is completed.

[0057] In equation (3), the value Tp is the total operating time of the work machines 20 during a specified time. For example, if there is one excavator 22 with an operating time of 40 minutes, two dump trucks 21 with an operating time of 35 minutes, and one bulldozer 23 with an operating time of 30 minutes, the value Tp is 140 minutes (= 40 minutes × 1 machine + 35 minutes × 2 machines + 30 minutes × 1 machine).

[0058] In an embodiment, the dispatch unit 13 calculates the evaluation function f(n) each time a specified time has elapsed from the initial state, and searches for a dispatch pattern in which the value of the evaluation function f(n) is the smallest and the elapsed time from the initial state, which indicates the sum (accumulated value) of the specified time, does not exceed the required construction period.

[0059] 10 is a schematic diagram for explaining a method for searching for a dispatch pattern of work machines 20 according to an embodiment. As described above, the construction capabilities of work machines 20 may differ from one another among a plurality of work machines 20 of one type. In the following explanation, it is assumed that the work machines 20 that can operate at the construction site are two first dump trucks having a first construction capacity, two second dump trucks having a second construction capacity different from the first construction capacity, one first excavator having a third construction capacity, three second excavators having a fourth construction capacity different from the third construction capacity, and two bulldozers having a fifth construction capacity.

[0060] The vehicle allocation unit 13 performs an expansion process to generate multiple vehicle allocation pattern candidates and a selection process to select a candidate that minimizes the value of the evaluation function f(n) from the multiple candidates generated by the expansion process. In generating the vehicle allocation pattern candidates, the vehicle allocation unit 13 allocates dump trucks 21 to routes that connect a cutting area to which shovels 22 are assigned and an embankment area to which bulldozers 23 are assigned. That is, the vehicle allocation unit 13 creates vehicle allocation pattern candidates such that at least one shovel 22 and at least one bulldozer 23 are assigned to a route to which dump trucks 21 are assigned. In addition, the vehicle allocation unit 13 creates vehicle allocation pattern candidates such that no shovel 22 is assigned to a cutting area connected to a route to which no dump trucks 21 are assigned, and no bulldozer 23 is assigned to an embankment area connected to a route to which no dump trucks 21 are assigned.

[0061] The dispatch unit 13 performs a first expansion process to generate multiple candidates from a start node related to the dispatch pattern of the work machine 20. The dispatch unit 13 performs a first expansion process to generate multiple candidates, and a first selection process to select the candidate [min f(n)] that minimizes the value of the evaluation function f(n) from the multiple candidates generated by the first expansion process.

[0062] FIG. 11 is a diagram for explaining candidate vehicle allocation patterns generated in the first development processing according to the embodiment. As shown in FIG. 11, the work machines 20 that can operate at the construction site include two first dump trucks, two second dump trucks, one first shovel, three second shovels, and two bulldozers. In FIG. 11, "Yes" indicates that the work machines 20 are assigned, and "No" indicates that the work machines 20 are not assigned. The allocation unit 13 calculates the evaluation function f(n) for candidate vehicle allocation patterns in which all work machines 20 are assigned to the first route. Next, the allocation unit 13 calculates the evaluation function f(n) for candidate vehicle allocation patterns in which at least one work machine 20 is assigned to the second route. The allocation unit 13 assigns work machines 20 to the second route in order, for example, starting with the work machine 20 with the smallest vehicle rank. The allocation unit 13 calculates the evaluation function f(n) for each of the candidate vehicle allocation patterns.

[0063] The dispatch unit 13 calculates the evaluation function f(n) each time a specified time (1 hour) has elapsed since the deployment process and selection process were in the initial state. The initial state is the state before the deployment process and selection process are started. In this embodiment, the initial state is a state in which all work machines 20 are assigned to the first route.

[0064] When a specified time has elapsed from the initial state, the vehicle allocation unit 13 performs a first expansion process and a first selection process to determine a vehicle allocation pattern for the first route. That is, the vehicle allocation unit 13 performs the first expansion process to calculate the evaluation function f(n) for each of the multiple candidates, performs a first selection process to select the candidate for which the value of the evaluation function f(n) is smallest, and determines the candidate [min f(n)] for which the value of the evaluation function f(n) is smallest as the vehicle allocation pattern.

[0065] After the first expansion process and the first selection process are completed, the vehicle allocation unit 13 performs a second expansion process to generate multiple candidates and a second selection process to select the candidate that minimizes the value of the evaluation function f(n) from the multiple candidates generated by the second expansion process, thereby determining a vehicle allocation pattern for the second route. The second expansion process and the second selection process are similar to the first expansion process and the first selection process.

[0066] As described above, the dispatch unit 13 calculates the evaluation function f(n) each time a specified time has elapsed since the initial state. As shown in Fig. 10, in the i-th expansion process, the candidate with the smallest value of the evaluation function f(n) is candidate Ca, and when the (i+1)-th expansion process is performed starting from candidate Ca, the time elapsed since the initial state for candidate Cx with the smallest value of the evaluation function f(n) may exceed the required construction period. In the embodiment, the dispatch unit 13 sequentially performs the expansion process and the selection process so that the elapsed time does not exceed the required construction period.

[0067] As shown in FIG. 10, if the elapsed time in the (i+1)th selection process exceeds the required construction period, the vehicle allocation unit 13 returns to the previous i-th selection process and selects a candidate Cb other than candidate Ca in the i-th selection process. Candidate Cb is the candidate with the next smallest value of the evaluation function f(n) after candidate Ca. The vehicle allocation unit 13 resumes the expansion process and selection process starting from candidate Cb. In the example shown in FIG. 10, the final expansion process and final selection process are performed starting from candidate Cb. The vehicle allocation unit 13 determines the candidate with the smallest value of the evaluation function f(n), selected in the final selection process, as the vehicle allocation pattern for the eighth route.

[0068] If the elapsed time exceeds the required construction period when the candidate with the smallest value of the evaluation function f(n) is selected in the (i+1)th selection process, the dispatch unit 13 returns to the previous (i)th expansion process and redoes the (i+1)th expansion process, starting from the candidate with the second smallest value of the evaluation function f(n) among the multiple candidates generated in the (i)th expansion process. Even when the (i+1)th expansion process is redoed starting from the candidate with the second smallest value of the evaluation function f(n) among the multiple candidates generated in the (i)th expansion process, if the elapsed time exceeds the required construction period in the (i+1)th expansion process, the dispatch unit 13 redoes the expansion, starting from the candidate with the third smallest value of the evaluation function f(n) among the multiple candidates generated in the (i)th expansion process. Note that the dispatch unit 13 may return to the (i-1)th expansion process and redo the (i)th expansion process, starting from the candidate with the second smallest value of the evaluation function f(n) among the multiple candidates generated in the (i-1)th expansion process. As a result, the dispatch unit 13 can determine a dispatch pattern in which the value of the evaluation function f(n) is small and the construction period does not exceed the required construction period (step S24).

[0069] <output> After the vehicle allocation pattern is determined, the output unit 14 performs a third process of causing the display device 4 to output display data indicating the vehicle allocation pattern.

[0070] FIG. 12 is a diagram showing the display device 4 displaying display data indicating a vehicle allocation pattern according to the embodiment. As shown in FIG. 12, the output unit 14 displays a vehicle allocation pattern that completes construction at a construction site by the requested construction period. The output unit 14 outputs the ratio between the requested construction period and the planned construction period when the construction site is constructed using the vehicle allocation pattern determined by the vehicle allocation unit 13. The output unit 14 outputs the total cost when the construction site is constructed using the vehicle allocation pattern determined by the vehicle allocation unit 13. As shown in FIG. 12, the display device 4 displays a list of routes to be constructed for each of a plurality of time periods and the types and numbers of work machines 20 assigned to the routes. The display device 4 also displays the construction order of the routes. The display device 4 also displays the planned construction start date and planned construction completion date for each route. The display device 4 also displays a message that reads "21% earlier than the requested construction period" as the ratio between the requested construction period and the planned construction period. The display device 4 also displays a message that reads "Total cost: 198 million yen" as the total cost.

[0071] [effect] As described above, the construction planning system 1 comprises a planning unit 12 that acquires the volume of cut earth in cut areas at a construction site and the volume of fill earth in fill areas at a construction site, and a dispatching unit 13 that determines the allocation of work machines 20 to cut areas, fill areas, or routes based on the volume of cut earth and the volume of fill earth and construction condition data including the type, number, and construction capacity of work machines that can operate at the construction site. According to the embodiment, work machines 20 are optimally allocated at the construction site.

[0072] [Another embodiment] In the above-described embodiment, the evaluation function f(n) is the sum of the actual cost function g(n) and the heuristic function h(n). In other words, the evaluation function f(n) is an evaluation function relating to the workload, availability, and total operating time of the work machine 20. The evaluation function f(n) may also be an evaluation function relating to the workload of the work machine 20. The evaluation function f(n) may also be an evaluation function relating to the availability of the work machine 20. The evaluation function f(n) may also be an evaluation function relating to the total operating time of the work machine 20.

[0073] In the above-described embodiment, the allocation unit 13 determines the allocation of work machines 20 based on the volume of earth to be cut in cut areas, the volume of earth to be filled in fill areas, a plurality of routes connecting the cut areas and the fill areas, and construction condition data including the type, number, and construction capacity of work machines 20 that can operate at the construction site. Furthermore, determining the allocation of work machines 20 involves determining a combination of work machines 20 to be allocated to each of a plurality of routes. The allocation unit 13 may also determine the allocation of work machines 20 without considering the routes. The allocation unit 13 may also determine the allocation of work machines 20 to cut areas and fill areas based on the volume of earth to be cut in cut areas and the volume of earth to be filled in fill areas, and construction condition data including the type, number, and construction capacity of work machines 20 that can operate at the construction site.

[0074] In the above-described embodiment, the acquisition unit 11, the planning unit 12, the dispatch unit 13, and the output unit 14 may each be configured by separate hardware. [Explanation of symbols]

[0075] 1...construction planning system, 2...computer, 3...input device, 4...display device, 5...processor, 6...storage device, 7...communication interface, 8...input / output interface, 11...acquisition unit, 12...planning unit, 13...dispatch unit, 14...output unit, 20...work machine, 21...dump truck, 22...shovel, 23...bulldozer

Claims

1. A planning unit that acquires a cut volume in a first work area of ​​a construction site and a fill volume in a second work area of ​​the construction site; a vehicle allocation unit that determines the allocation of work machines to work areas or routes based on the cutting volume and the filling volume and construction condition data including the type, number, and construction capacity of work machines that can operate at the construction site, Construction planning system.

2. The vehicle allocation unit determines the allocation so that construction at the construction site is completed by the requested construction period. The construction planning system according to claim 1 .

3. the types of work machines include a loading machine that operates in the first work area, a soil leveling machine that operates in the second work area, and a transport machine that travels along the route; The construction planning system according to claim 1 .

4. The construction capabilities of the work machines differ from one another among the plurality of work machines of one type. The construction planning system according to claim 1 .

5. The start point of the route is determined inside the first work area; The end point of the route is defined within the second working area. The construction planning system according to claim 1 .

6. The first work area includes a soil placement area where soil brought in from outside the construction site is placed. The construction planning system according to claim 1 .

7. the second work area includes a soil dump area into which soil from the first work area is dumped; The construction planning system according to claim 1 .

8. The combination of work machines includes a combination of the number of work machines for each type of work machine. The construction planning system according to claim 1 .

9. an output unit that outputs the allocation; The construction planning system according to claim 1 .

10. The output unit outputs a ratio between the requested construction period and the planned construction period when the construction site is constructed according to the allocation. The construction planning system according to claim 9.

11. The output unit outputs a total cost when the construction site is constructed according to the allocation. The construction planning system according to claim 9.

12. the dispatching unit calculates an evaluation function relating to the workload of the work machines for each of the plurality of candidates for allocation, and determines the candidate with the best value of the evaluation function as the allocation. The construction planning system according to claim 1 .

13. the dispatching unit calculates an evaluation function relating to the availability rate of the work machine for each of the plurality of candidates for the allocation, and determines the candidate for which the value of the evaluation function is the best as the allocation. The construction planning system according to claim 12.

14. the dispatching unit calculates an evaluation function relating to the total operating time of the work machines for each of the plurality of candidates for the allocation, and determines the candidate with the best value of the evaluation function as the allocation. The construction planning system according to claim 12.

15. the dispatching unit performs an expansion process to generate a plurality of candidates and a selection process to select a candidate with the best value of the evaluation function from the plurality of candidates generated by the expansion process every time a specified time has elapsed from an initial state; The expansion process and the selection process are performed so that the elapsed time indicating the sum of the specified times does not exceed the required construction period. The construction planning system according to claim 14.

16. the work machines include a shovel assigned to the first work area, a bulldozer assigned to the second work area, and a dump truck assigned to the route; the vehicle dispatching unit, in generating the candidates, assigns the dump truck to a route connecting the first work area to which the shovel is assigned and the second work area to which the bulldozer is assigned. The construction planning system according to any one of claims 12 to 15.

17. Acquiring a cut volume in a first work area of ​​a construction site and a fill volume in a second work area of ​​the construction site; determining an allocation of work machines to work areas or routes based on the cutting volume and the filling volume and construction condition data including the type, number, and construction capacity of work machines that can operate at the construction site; Construction planning methods.

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