Autonomous driving system

Abstract

To provide an automatic operation system capable of avoiding collision between excavators in cooperative work of a plurality of excavators by automatic operation in a pneumatic caisson construction method.SOLUTION: The control unit 21 of the management device 20 included in the automatic operation system includes the area setting unit 21A that creates the area division in which the work area corresponding to the work room is divided into a plurality of areas, the excavator control unit 4A that controls the operations of the first excavator 4B and the second excavator 21B, and the bucket conveyance control unit 21C that controls the operation of the bucket conveyance unit 9 that moves the earth removal bucket. The work area is divided into a first area in which the first excavator 4A works, a second area in which the second excavator 4B works, and a third area in which the bucket transport unit 9 installs an earth removal bucket. The area setting unit 21A switches the occupation state of the third area by either the first excavator 4A or the second excavator 4B in response to an occupation application issued based on the work status of each excavator.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an automatic operation system for pneumatic caisson construction. [Background technology]

[0002] The pneumatic caisson method is a technology in which excavation work is performed with compressed air pumped into a work chamber located under the caisson body. In the pneumatic caisson method, construction is performed by remote control from the ground, but automatic operation is being considered for the purpose of reducing labor and further improving work efficiency. For example, Patent Document 1 discloses an information sharing system for multiple cooperative work using automatic operation of caisson excavators. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6858917 Summary of the Invention [Problem to be solved by the invention]

[0004] During excavation work in a workroom, multiple excavators may load soil into a specific soil discharge bucket. If such work is to be carried out using automated driving, it is necessary to prevent collisions between excavators near the soil discharge bucket. [Means for solving the problem]

[0005] An automatic driving system that solves the above problem is an automatic driving system for the pneumatic caisson construction method, and includes an area setting unit that creates area divisions by dividing a work area corresponding to a work chamber where a first excavator and a second excavator perform excavation into a plurality of areas, an excavator control unit that controls the operation of the first excavator and the second excavator, and a bucket transport control unit that controls the operation of a bucket transport unit that moves an earth discharge bucket inside and outside the work chamber, wherein the work area is divided into a first area where the first excavator works, a second area where the second excavator works, and a third area where the bucket transport unit installs the earth discharge bucket, and when excavated earth can be loaded into the earth discharge bucket installed in the third area, the area setting unit switches the occupancy state of the third area by either the first excavator or the second excavator in accordance with an occupancy application issued by the excavator control unit based on the work status of each excavator. [Effects of the Invention]

[0006] According to the present invention, in the pneumatic caisson construction method, collisions between excavators can be avoided when multiple excavators are working together under automatic operation. [Brief explanation of the drawings]

[0007] [Figure 1] Figure 1 is a schematic diagram showing the equipment for the pneumatic caisson construction method. [Figure 2] FIG. 2 is a block diagram showing the configuration of the device according to this embodiment. [Figure 3] FIG. 3 is a schematic diagram showing a work area obtained by dividing a work room into a plurality of areas. [Figure 4] FIG. 4 is a flowchart of the process performed by the management device during automatic driving. [Figure 5] FIG. 5 is a schematic diagram showing excavators excavating and temporarily placing natural ground on a work area. [Figure 6] FIG. 6 is a schematic diagram showing a first excavator whose first occupancy application has been approved and a second excavator whose second occupancy application has not been approved, displayed on a work area. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, one embodiment of an automatic operation system for the pneumatic caisson construction method will be described with reference to FIGS. (Overall composition) As shown in Figure 1, the pneumatic caisson method is a construction method for constructing underground structures by gradually lowering a caisson 1, which is a rectangular, cylindrical, or oval tubular box, into the ground. A work chamber 2 is formed below the base slab 1A of the caisson 1. Compressed air is pumped into the work chamber 2.

[0009] An excavator 4 for excavating the natural ground 3 is placed in the work chamber 2. The excavator 4 moves along rails 5 fixed to the underside of the bottom slab 1A, which is the ceiling surface of the work chamber 2. In this embodiment, a plurality of excavators 4 are placed in the work chamber 2.

[0010] A man shaft 6 and a material shaft 7 are provided above the bottom slab 1A. The man shaft 6 is used as a passageway for workers. The material shaft 7 is a path for moving a soil removal bucket 8, which is used to transport excavated soil, in and out of the work chamber 2.

[0011] The soil discharge bucket 8 is a cylindrical container with a bottom. The empty soil discharge bucket 8 is lowered from the ground to the work chamber 2 via the material shaft 7 by the bucket transport unit 9. The soil discharge bucket 8 lowered into the work chamber 2 is loaded with excavated soil by the excavator 4. The soil discharge bucket 8 loaded with excavated soil is then raised to the ground via the material shaft 7 by the bucket transport unit 9.

[0012] A distance measurement sensor 10 is placed in the workroom 2. The distance measurement sensor 10 is attached, for example, to the ceiling surface of the workroom 2. The distance measurement sensor 10 measures the distance from a predetermined position on the ceiling surface of the workroom 2 to each object located within the workroom 2 as point cloud data. One example of the distance measurement sensor 10 is a LiDAR (Light Detection And Ranging).

[0013] The point cloud data acquired by the distance measurement sensor 10 can be used to acquire the surface shape of the natural ground 3, determine whether or not the soil discharge bucket 8 is present in the work chamber 2, and measure the content volume of the soil discharge bucket 8 in the work chamber 2.

[0014] A central control room 11 is also located on the ground. A management device 20 is also located in the central control room 11. The management device 20 controls various devices used in the pneumatic caisson construction method. The management device 20 also includes a display unit 24 such as a display that allows workers to monitor the status inside the work room 2.

[0015] (Device configuration) 2, a first excavator 4A and a second excavator 4B are arranged in the work chamber 2 as a plurality of excavators 4. Each excavator 4 is equipped with an encoder 4E for measuring its position and orientation in the work chamber 2.

[0016] The automatic driving system includes the above-mentioned management device 20. The management device 20 is configured to be able to communicate with the bucket transport unit 9 on the ground, the first excavator 4A and the second excavator 4B in the work chamber 2, and the distance measurement sensor 10. The management device 20 includes a control unit 21, a memory unit 22, an input unit 23, and a display unit 24.

[0017] The control unit 21 functions as a control means constituted by a CPU, RAM, ROM, etc. The control unit 21 executes an automatic driving program to function as an area setting unit 21A, an excavator control unit 21B, a bucket conveyance control unit 21C, etc.

[0018] The area setting unit 21A executes a process of creating area divisions by virtually dividing the work room 2 into a plurality of areas. As shown in FIG. 3, in detail, the area setting unit 21A creates a work area WA1 corresponding to the overall size of the work room 2 based on the point cloud data acquired by the distance measurement sensor 10.

[0019] The area setting unit 21A divides the work area WA1 into a first area A1 where the first excavator 4A works, a second area A2 where the second excavator 4B works, and a third area A3 where the bucket transport unit 9 sets the earth removal bucket 8. The third area A3 is located at the boundary between the first area A1 and the second area A2.

[0020] The area division created by the area setting unit 21A includes information on the size of the work area WA1 and information on the arrangement of the first area A1, the second area A2, and the third area A3 within the work area WA1.

[0021] The second excavator 4B is prohibited from entering the first area A1. The first excavator 4A is prohibited from entering the second area A2. In the third area A3, if the earth discharge bucket 8 is not installed, work by an excavator 4 is prohibited. Furthermore, if the earth discharge bucket 8 installed in the third area A3 can be loaded with excavated earth, only one of the first excavator 4A and the second excavator 4B is permitted to work in the third area A3. In other words, if the earth discharge bucket 8 can be loaded with excavated earth, the third area A3 will be occupied by either the first excavator 4A or the second excavator 4B.

[0022] The state in which excavated earth and sand can be loaded into the soil discharge bucket 8 refers to a state in which the soil discharge bucket 8 has landed on the bottom of the third area A3 and the soil discharge bucket 8 has free space for loading excavated earth and sand. The content volume of the soil discharge bucket 8 can be estimated based on point cloud data acquired by the distance measurement sensor 10, for example.

[0023] The area setting unit 21A switches the occupation state of the third area A3 by either the first excavator 4A or the second excavator 4B in accordance with an occupancy application issued by the excavator control unit 21B described below based on the work status of each excavator 4.

[0024] The area setting unit 21A also divides each of the first area A1 and the second area A2 into an excavation target area A4 and a temporary storage area A5. For example, in each of the first area A1 and the second area A2, the area setting unit 21A sets a location shallower than a predetermined depth as the excavation target area A4 based on the point cloud data acquired by the distance measuring sensor 10. In each of the first area A1 and the second area A2, the area setting unit 21A sets the temporary storage area A5 at a position closer to the excavation target area A4 than to the third area A3. The excavation target area A4 and the temporary storage area A5 may be updated according to the excavation status of the natural ground 3.

[0025] For example, the area setting unit 21A may set a third area A3 in the work area WA1 by measuring the position of the earth unloading bucket 8 from point cloud data acquired by the distance measurement sensor 10. Then, the area setting unit 21A may divide the work area WA1 into a first area A1 and a second area A2 so that the third area A3 is located at the boundary between the first area A1 and the second area A2. Furthermore, for example, the area setting unit 21A may divide the work area WA1 into the first area A1, the second area A2, and the third area A3 in response to input from the worker.

[0026] 3 and Figures 5 and 6 described below, areas of the working area WA1 in which the first excavator 4A can work and areas in which the second excavator 4B can work are shown with different hatching. Also, areas of the working area WA1 in which neither the first excavator 4A nor the second excavator 4B can work are shown in white.

[0027] Returning to Fig. 2, the excavator control unit 21B controls the operation of the first excavator 4A and the second excavator 4B separately. In detail, the excavator control unit 21B calculates the position and attitude of each excavator 4 within the work area WA1 according to the measurement results of the encoder 4E provided in each excavator 4. Then, the excavator control unit 21B instructs each excavator 4 to perform various operations such as movement on the rails 5, rotation, vertical movement and extension / retraction of the boom, vertical movement and rotation of the shovel, etc.

[0028] For example, the excavator control unit 21B instructs each excavator 4 to perform a first excavation operation to excavate the natural ground 3 in an excavation target area A4 within the workable area of ​​the excavator. The excavator control unit 21B instructs each excavator 4 to perform a temporary storage operation to temporarily store the excavated earth produced by the first excavation operation in a temporary storage area A5 within the workable area of ​​the excavator. The excavator control unit 21B instructs each excavator 4 to perform a second excavation operation to excavate the temporarily stored excavated earth in the temporary storage area A5 within the workable area of ​​the excavator. The excavator control unit 21B instructs each excavator 4 to perform a loading operation to load the excavated earth excavated by either the first excavation operation or the second excavation operation into the earth removal bucket 8.

[0029] The excavator control unit 21B determines the movement route of each excavator 4, for example, based on the Laplace potential method. As an example, a case will be described in which the movement route when the first excavator 4A moves from its current position in the first area A1 to an arbitrary target position is calculated. It is assumed that the first excavator 4A is not permitted to work in the third area A3.

[0030] First, the excavator control unit 21B defines a first potential function that diverges negatively with respect to the target position of the first excavator 4A in the work area WA1. Furthermore, the excavator control unit 21B defines a second potential function that diverges positively with respect to the second area A2 and the third area A3, which are areas where the first excavator 4A cannot work. Then, the excavator control unit 21B calculates a movement path from the current position of the first excavator 4A to the target position that avoids the first excavator 4A from stopping at the target position, based on the gradient of the potential field obtained by superimposing the first potential function and the second potential function. According to this potential method, an optimal movement path is calculated while preventing each excavator 4 from entering an area where it cannot work.

[0031] Furthermore, when the excavator control unit 21B is in a state where excavated earth can be loaded into the earth removal bucket 8 installed in the third area A3, it issues an occupancy application to the area setting unit 21A based on the work status of each excavator 4.

[0032] For example, the excavator control unit 21B sends a first occupancy application to the area setting unit 21A when the first excavator 4A completes its excavation operation, and sends a second occupancy application to the area setting unit 21A when the second excavator 4B completes its excavation operation. Note that the excavation operation here may be either a first excavation operation to excavate the natural ground 3, or a second excavation operation to excavate the temporarily stored excavated earth and sand.

[0033] The area setting unit 21A permits the excavator 4 that submitted an occupancy application first, between the first excavator 4A and the second excavator 4B, to work in the third area A3. In this case, the other excavators 4 that are not permitted cannot work in the third area A3.

[0034] After the excavator control unit 21B detects that the excavator 4 that has been permitted to work in the third area A3 has completed its loading operation in the third area A3 and retreated from the third area A3, the area setting unit 21A accepts the next occupancy application.

[0035] In this way, by switching the occupancy state of the third area A3 depending on the work status of each excavator 4, the loading operation of excavated soil and sand is carried out in the third area A3 by only one of the first excavator 4A and the second excavator 4B.

[0036] The bucket transfer control unit 21C controls the operation of the bucket transfer unit 9. For example, the bucket transfer control unit 21C instructs the bucket transfer unit 9 to lower the soil discharge bucket 8 toward the work chamber 2. For example, the bucket transfer control unit 21C instructs the bucket transfer unit 9 to lift the soil discharge bucket 8 from the work chamber 2.

[0037] The storage unit 22 is, for example, a non-volatile memory such as an HDD or SSD, but may also be a cloud server capable of storing various data. The storage unit 22 stores various information handled by the management device 20. For example, the storage unit 22 stores an autonomous driving program.

[0038] The input unit 23 is a device that allows an operator to input various instructions and information to the management device 20, and includes, for example, a keyboard and a pointing device. The display unit 24 is a device that outputs various information handled by the management device 20, and is, for example, a display. The input unit 23 and the display unit 24 may be a touch panel display or the like.

[0039] As an example, the display unit 24 displays an area image in which the objects of the first excavator 4A and the second excavator 4B are superimposed on the work area WA1. Note that the schematic diagrams shown in Fig. 3 and Figs. 5 and 6 described below are examples of the display form of the area image.

[0040] The area image displays a working area WA1 divided into a first area A1 and a second area A2. The area image displays the positions of an excavation target area A4 and a temporary storage area A5 in each of the first area A1 and the second area A2. The area image displays the areas where the first excavator 4A can work and the areas where the second excavator 4B can work, distinguishable by color coding or the like. The area image displays the positions and orientations of the objects of the first excavator 4A and the second excavator 4B changing according to the operation of each excavator 4.

[0041] (Automated operation flow of excavation process) Hereinafter, the automatic operation of the excavator 4 using the automatic operation system of this embodiment will be described with reference to the flow shown in FIG.

[0042] As shown in FIG. 4, first, before starting the excavation process, the area setting unit 21A creates a work area WA1 corresponding to the work chamber 2 and divides the work area WA1 into a first area A1, a second area A2, and a third area A3 (step S1).

[0043] After the area setting in step S1 is completed, the excavation process is started. The procedures from step S2 to step S15 are repeated until the excavation process is completed. Note that, in this description, it is assumed that the excavation process starts with the soil discharge bucket 8 positioned outside the working chamber 2.

[0044] When the excavation process is started, the excavator control section 21B executes a process of determining whether the earth removal bucket 8 has started to move down toward the working chamber 2 (step S2). If the earth discharge bucket 8 has not reached the bottom of the working chamber 2 and the descent of the earth discharge bucket 8 has not started (step S2: NO), the excavator control unit 21B executes a process to instruct each excavator 4 to excavate the ground 3 and temporarily store it (step S3).

[0045] As shown in Fig. 5, in detail, in step S3, the excavator control unit 21B instructs each excavator 4 to perform a first excavation operation on the natural ground 3 in an excavation target area A4 within the workable area of ​​the excavator 4. Then, the excavator control unit 21B instructs each excavator 4 to perform a temporary storage operation to temporarily store the excavated earth and sand generated by the first excavation operation in a temporary storage area A5 within the workable area of ​​the excavator 4.

[0046] If the earth discharge bucket 8 has not yet reached the bottom of the working chamber 2 and the descent of the earth discharge bucket 8 has not yet begun, the excavation and temporary placement of the ground 3 by each excavator 4 in step S3 is repeated within the working chamber 2.

[0047] Returning to Figure 4, when the descent of the earth removal bucket 8 from the ground begins (step S2: YES), the excavator control unit 21B executes a process to instruct each excavator 4 to retreat to a retreat position away from the third area A3 within the workable area of ​​the excavator itself (step S4).

[0048] For example, the excavator control unit 21B can consider that the descent of the earth discharge bucket 8 has started when the bucket transport control unit 21C sends an instruction to the bucket transport unit 9 to lower the earth discharge bucket 8 into the working chamber 2.

[0049] Then, the excavator control section 21B executes a process of instructing each excavator 4 to wait at the retreat position (step S5). Next, the excavator control unit 21B executes a process to determine whether the earth discharge bucket 8 has reached the bottom of the third area A3 of the working chamber 2 (step S6). For example, the excavator control unit 21B can determine whether the earth discharge bucket 8 has reached the bottom of the working chamber 2 from the point cloud data acquired by the distance measurement sensor 10.

[0050] When the earth discharge bucket 8 has not reached the bottom of the working chamber 2 (step S6: NO), the excavator control unit 21B repeats the standby process of step S5. That is, from the start of the descent of the earth discharge bucket 8 until it reaches the bottom of the working chamber 2, the excavator control unit 21B makes each excavator 4 wait at the retreat position.

[0051] When the earth removal bucket 8 reaches the bottom of the working chamber 2 (step S6: YES), the excavator control unit 21B executes a process to instruct each excavator 4 to perform a second excavation operation to excavate the excavated soil temporarily stored in the temporary storage area A5 (step S7).

[0052] In step S7, the excavator control unit 21B does not necessarily have to instruct the second excavation operation. For example, when there is little excavated earth and sand temporarily stored in the temporary storage area A5, the excavator control unit 21B may execute processing to instruct the first excavation operation to excavate the natural ground 3 in the excavation target area A4.

[0053] Then, the excavator control unit 21B sends a first occupancy application to the area setting unit 21A when the first excavator 4A completes its excavation operation, and sends a second occupancy application to the area setting unit 21A when the second excavator 4B completes its excavation operation (step S8).

[0054] The area setting unit 21A permits work in the third area A3 by the excavator 4 that submitted an occupancy application first, between the first excavator 4A and the second excavator 4B. For example, a case will be described where the first excavator 4A completes its excavation operation before the second excavator 4B. In this case, the excavator control unit 21B first sends a first occupancy application to the area setting unit 21A at the timing when the first excavator 4A completes its excavation operation. Thereafter, the excavator control unit 21B sends a second occupancy application to the area setting unit 21A at the timing when the second excavator 4B completes its excavation operation.

[0055] 6, in response to the first occupancy application, the area setting unit 21A permits the first excavator 4A to occupy the third area A3 (step S9: YES). That is, the area setting unit 21A permits the first excavator 4A to work in the third area A3. In this case, the second excavator 4B cannot work in the third area A3.

[0056] In this case, the excavator control section 21B executes a process to instruct the first excavator 4A, whose first occupancy application has been permitted, to perform a loading operation to load excavated earth into the earth removal bucket 8 in the third area A3 (step S10).

[0057] When the loading operation by the first excavator 4A in the third area A3 is completed, the excavator control unit 21B executes processing to instruct an operation to retreat the first excavator 4A from the third area A3 to the first area A1. When the area setting unit 21A receives information from the excavator control unit 21B that the first excavator 4A has retreated from the third area A3, it releases the first excavator 4A from occupancy of the third area A3 (step S11). This puts the area setting unit 21A in a state to accept the next occupancy application.

[0058] On the other hand, if the occupation of the third area A3 by the first excavator 4A has not been released at the time the second occupancy application is sent from the excavator control unit 21B, the area setting unit 21A maintains the occupation of the third area A3 by the first excavator 4A. In other words, the area setting unit 21A does not permit the second occupancy application (step S9: NO).

[0059] In this case, the excavator control unit 21B instructs the second excavator 4B, whose second occupancy application has not been permitted, to carry out a temporary storage operation (step S12). Then, the excavator control unit 21B instructs the second excavator 4B, whose second occupancy application has not been permitted, to carry out a first excavation operation on the ground 3 in the excavation target area A4 within the second area A2, which is the workable area of ​​the excavator itself (step S13). In other words, the excavator control unit 21B instructs the excavator 4, whose occupancy application has not been accepted and which is in a state where it is unable to load soil into the earth removal bucket 8, to continue excavating the ground 3.

[0060] Thereafter, the process returns to step S8, and the excavator control unit 21B again sends a second occupancy application to the area setting unit 21A at the timing when the first excavation operation of step S13 is completed. At this time, if the occupation of the third area A3 by the first excavator 4A has been released, the area setting unit 21A permits the second excavator 4B to occupy the third area A3 in response to the second occupancy application (step S9: YES). In other words, the area setting unit 21A permits the second excavator 4B to work in the third area A3. In this case, the first excavator 4A cannot work in the third area A3. Thereafter, the process proceeds to step S10 described above.

[0061] Furthermore, after loading excavated soil into the soil discharge bucket 8 in step S10 and retracting the excavator 4 from the third area A3 in step S11, the excavator control unit 21B executes a process to determine whether the soil discharge bucket 8 is full or not (step S14).

[0062] If the earth removal bucket 8 has free space for loading the excavated earth (step S14: NO), the process returns to step S7. That is, the excavator control unit 21B executes a process to instruct each excavator 4 to perform a second excavation operation to excavate the excavated earth temporarily stored in the temporary storage area A5.

[0063] If there is no free space in the soil discharge bucket 8 (step S14: YES), the excavator control unit 21B requests the bucket transport control unit 21C to lift the soil discharge bucket 8 to the ground (step S15). The bucket transport control unit 21C executes processing to control the operation of the bucket transport unit 9 so as to raise the soil discharge bucket 8. After the soil discharge bucket 8 has been lifted to the ground in step S15, the procedure from step S2 is repeated again until the excavation process is completed.

[0064] (Effects of the embodiment) (1) The area setting unit 21A switches the occupancy state of the third area A3 by either the first excavator 4A or the second excavator 4B in response to an occupancy application issued by the excavator control unit 21B based on the work status of each excavator 4. As a result, only the excavator 4 whose occupancy application has been permitted loads excavated earth into the third area A3. Therefore, the first excavator 4A and the second excavator 4B can share one earth discharge bucket 8, while collisions between the first excavator 4A and the second excavator 4B in the third area A3 can be avoided.

[0065] (2) The excavator control unit 21B sends a first occupancy application when the first excavator 4A completes its excavation operation, and sends a second occupancy application when the second excavator 4B completes its excavation operation. The area setting unit 21A permits work in the third area A3 by the excavator 4 that submitted the occupancy application first, out of the first excavator 4A and the second excavator 4B. This allows the excavator 4 that completed its excavation operation to load soil into the discharge bucket 8 in the third area A3 first.

[0066] (3) The excavator control unit 21B instructs either the first excavator 4A or the second excavator 4B, for which the application for occupancy has not been accepted, to temporarily store the excavated earth and perform an operation to excavate the ground 3. As a result, the excavator 4, for which the application for occupancy has not been accepted and which is unable to load the earth into the earth discharge bucket 8, can use the waiting time for loading the earth discharge bucket 8 to continue excavating the ground 3.

[0067] (4) The excavator control unit 21B defines a first potential function that diverges negatively with respect to the target position of the first excavator 4A, and defines a second potential function that diverges positively with respect to areas where the first excavator 4A cannot work. The excavator control unit 21B then calculates the movement path of the first excavator 4A based on the gradient of the potential field obtained by superimposing the first potential function and the second potential function. With this configuration, the Laplace potential method can be used to calculate the optimal movement path from the current position of the excavator 4 to the target position, while preventing the excavator 4 from entering areas where work cannot be performed.

[0068] (5) The display unit 24 displays an area image in which the objects of the excavators 4 are superimposed on the work area WA1. The worker can check the work status in the work room 2 by looking at the area image.

[0069] (Example of change) The above embodiment can be modified as follows: The following modifications can be implemented in combination with each other within the scope of technical compatibility.

[0070] The display of the area image on the display unit 24 may be omitted. Alternatively, a camera may be placed in the work room 2, and an image of the inside of the work room 2 captured by the camera may be displayed on the display unit 24. The method of calculating the movement path of each excavator 4 by the excavator control unit 21B may be any method other than the Laplace potential method.

[0071] Instead of issuing an instruction for temporary storage in step S12 and an instruction to excavate the natural ground 3 in step S13, the excavator control unit 21B may execute processing to make an excavator 4 for which an occupancy application has not been accepted wait until the occupation of the third area A3 by another excavator 4 is released. In this case, the excavator control unit 21B continues to send occupancy applications for the waiting excavator 4 until the occupation of the third area A3 by the other excavator 4 is released. As a result, loading of the earth removal bucket 8 can be carried out in the third area A3 immediately after the occupation of the third area A3 by the other excavator 4 is released. Furthermore, loading of excavated earth by the first excavator 4A and loading of excavated earth by the second excavator 4B can be carried out in a balanced order.

[0072] The timing at which the excavator control unit 21B sends the occupancy application is not limited to the timing at which each excavator 4 completes the excavation operation. For example, it may be the timing at which each excavator 4 starts the excavation operation after arriving at the excavation target area A4 or the temporary storage area A5.

[0073] The area setting unit 21A is not limited to a configuration that permits work in the third area A3 by the excavator 4 that first submitted an occupancy request. For example, the area setting unit 21A may adjust the priority of the first occupancy request and the second occupancy request depending on the progress of excavation in each of the first area A1 and the second area A2. As an example, the area setting unit 21A may give priority to the occupancy request of the excavator 4 operating in either the first area A1 or the second area A2, whichever has a larger amount of soil in the temporary storage area A5.

[0074] In addition to the first excavator 4A and the second excavator 4B, a third or subsequent excavators 4 may be arranged in the work chamber 2. In this case, the area setting unit 21A assigns an area for excavation operation to each excavator 4. Also, for example, one earth removal bucket 8 may be assigned to two or three excavators 4.

[0075] Instead of issuing the evacuation and standby instructions in steps S4 and S5, the excavator control unit 21B may execute processing to instruct each excavator 4 to excavate the natural ground 3 in an excavation target area A4 that is a predetermined distance or more from the third area A3. In this case, excavation of the natural ground 3 can proceed even while the earth removal bucket 8 is lowering.

[0076] (Addendum) According to the above-described embodiment and modified examples, the following technical ideas can be derived. (Appendix 1) The excavator control unit defining a first potential function that negatively diverges with respect to a target position of the first excavator; defining a second potential function that positively diverges in an area where the first excavator cannot work; A movement path of the first excavator is calculated based on a gradient of a potential field obtained by superposing the first potential function and the second potential function. The automated driving system according to claim 1.

[0077] (Appendix 2) a display unit that displays an area image in which objects of the first excavator and the second excavator are superimposed on the work area; The automated driving system according to claim 1. [Explanation of symbols]

[0078] A1...first area, A2...second area, A3...third area, A4...excavation area, A5...temporary storage area, S1 to S15...steps, WA1...work area, 1...caisson, 1A...bottom slab, 2...workroom, 3...ground rock, 4...excavator, 4A...first excavator, 4B...second excavator, 4E...encoder, 5...rail, 6...man shaft, 7...material shaft, 8...soil removal bucket, 9...bucket transport unit, 10...distance measurement sensor, 11...central control room, 20...management device, 21...control unit, 21A...area setting unit, 21B...excavator control unit, 21C...bucket transport control unit, 22...memory unit, 23...input unit, 24...display unit.

Claims

1. An automatic operation system for pneumatic caisson construction, an area setting unit that creates area divisions by dividing a work area corresponding to a work chamber where the first excavator and the second excavator perform excavation into a plurality of areas; an excavator control unit that controls the operation of the first excavator and the second excavator; a bucket transport control unit that controls the operation of a bucket transport unit that moves the soil discharge bucket into and out of the work chamber, The working area is divided into a first area where the first excavator works, a second area where the second excavator works, and a third area where the bucket transport unit places the earth removal bucket, When the excavated earth and sand can be loaded into the earth removal bucket installed in the third area, the area setting unit switches the occupation state of the third area by either the first excavator or the second excavator in response to an occupation application issued by the excavator control unit based on the work status of each excavator. Autonomous driving system.

2. when the excavated earth can be loaded into the earth removal bucket installed in the third area, the excavator control unit sends a first occupancy application to the area setting unit at the timing when the first excavator completes its excavation operation, and sends a second occupancy application to the area setting unit at the timing when the second excavator completes its excavation operation; The area setting unit permits the excavator that has first submitted an occupancy application to work in the third area, out of the first excavator and the second excavator, and accepts a next occupancy application after the excavator that has been permitted to work in the third area has evacuated from the third area. The automated driving system according to claim 1 .

3. The excavator control unit instructs one of the first excavator and the second excavator, for which the occupancy application has not been accepted, to temporarily store the excavated earth and perform an operation of excavating the natural ground. The automated driving system according to claim 1 or 2.

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