Remote Excavation Multi-Task System in Pneumatic Caisson Construction

Abstract

To provide a remote excavation multi-task system that can efficiently and accurately perform operations. 【Solution means】The remote excavation multi-task system S is a remote excavation multi-task system of a pneumatic caisson for arranging an operator w for a plurality of excavators e c (20), ···, and includes a control device 30 that creates a personnel allocation plan by setting an objective function for improving the quality of the pneumatic caisson 1 based on the workable date and time of the operator w of the excavator e c (20), the excavation work plan of each site c, and the workable date and time and the excavation work plan. As this objective function, the difference between the skill value of the operator w in charge of the excavator e c (20) and the required required skill value is totaled for all excavators e c (20) and all sites, and it is preferable to create a personnel allocation plan so that this total value becomes the minimum.

Description

Technical Field

[0001] The present invention relates to a remote excavation multitask system for arranging remote excavation operators at a plurality of sites in the excavation work of pneumatic caisson construction.

Background Art

[0002] Conventionally, in the excavation work of pneumatic caisson construction, each operator has carried out the excavation work only at the target site in charge, and the operator and the excavator are linked one-to-one. That is, each operator performs the excavation work according to the required working hours at the site and the excavator to be operated (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in order to freely link operators, sites, and further excavators and efficiently operate a plurality of caisson excavation works remotely, it is necessary to efficiently link the excavation working hours at each caisson, the number of operating excavators, and the workable hours of the operators.

[0005] Therefore, the present invention proposes a system for efficiently and surely performing such an operation.

Means for Solving the Problems

[0006] To achieve the above object, the remote excavation multi-task system of the pneumatic caisson of the present invention includes a control device that creates a personnel allocation plan by setting an objective function for improving the quality of the pneumatic caisson based on the workable date and time of the operator of the excavator, the excavation work plan for each site, the workable date and time, and the excavation work plan.

Advantages of the Invention

[0007] As described above, the remote excavation multi-task system of the pneumatic caisson of the present invention includes a control device that creates a personnel allocation plan by setting an objective function for improving the quality of the pneumatic caisson based on the workable date and time of the operator of the excavator, the excavation work plan for each site, the workable date and time, and the excavation work plan. With such a configuration, it becomes a system for efficiently and accurately implementing operations.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Best Mode for Carrying Out the Invention

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the components described in the following examples are illustrative, and are not intended to limit the technical scope of the present invention thereto.

Example

[0010] (Configuration of the pneumatic caisson) First, the overall configuration of the pneumatic caisson 1 will be described with reference to FIG. 1. As shown in FIG. 1, at the lower part of the pneumatic caisson 1, a blade edge 12 with a tapered tip is formed below the side wall 11, and a working chamber 13 is formed surrounded by the inner surface of this blade edge 12, the lower surface of the working chamber slab 14, and (furthermore, the ground). At least one or more excavators 20 are arranged in the working chamber 13, and the ground is excavated by the remotely operated excavator 20 to sink the pneumatic caisson 1. Then, the earth and sand excavated by the excavator 20 are carried out using the earth bucket 22.

[0011] At least one or more material shafts 16 extend from the working chamber 13 toward the ground, and a material lock 17 is installed at the upper part. Similarly, at least one or more man shafts 18 extend from the working chamber 13 toward the ground, and a man lock 19 is installed at the upper part. In addition, although not shown, pneumatic equipment for sending compressed air into and exhausting the working chamber 13, the material lock 17, and the man lock 19 is arranged.

[0012] The earth bucket 22 is suspended by a wire 26 and is hoisted / lowered by a skater crane 23 as a crane erected on the ground close to the pneumatic caisson 1. Further, the skater crane 23 moves the earth bucket 22 horizontally and hoists / lowers it to discharge the earth and sand into the dump truck 29 through the earth and sand hopper 28.

[0013] Furthermore, a central monitoring room 15 is installed on the ground close to the pneumatic caisson 1. A control device (30) is arranged in the central monitoring room 15, and the overall monitoring and management are carried out, including the loading of materials and the unloading of the excavated earth and sand through the excavator 20, the material shaft 16 and the material lock 17, the entry and exit of workers through the man shaft 18 and the man lock 19, the pressure management such as pressurization and decompression in the man lock 19, and the posture display such as the sinking amount and inclination of the caisson.

[0014] In order to realize the multi - task of remote excavation work at multiple sites, multiple caissons, and multiple operators, it is necessary to consider the following elements 1) and 2). 1) The excavation work time and the number of operating excavators at each site and each caisson 2) The workable time of each operator

[0015] For this purpose, as shown in Figure 2, it is necessary for the general manager, the site manager, and the operator to operate the remote - operation multi - task system (S) while cooperating with each other. · General manager: Arrange operators for each excavator for multiple caissons at multiple sites, and check and manage the overall operation and operating status. · Site manager: Formulate the operation plan (number of units, time) of each excavator at the site and notify the general manager. Give excavation instructions to each excavator operator. Check and manage the excavation work status. Notify the general manager of the end of the excavation work. · Operator: Notify the general manager of the date and time when their own excavation work can be carried out. Carry out the excavation work according to the work assignment of the general manager. The excavation work is carried out based on the instructions of the site manager.

[0016] (Configuration of Remote Excavation Multitasking System) Figure 3 shows the configuration of the remote excavation multitasking system S. As shown in the figure, the remote excavation multitasking system S of this embodiment is configured with a control device 30 installed with an automatic personnel allocation program as the center, and is star-connected with an integrated management office IMO, a first operation room CR1, a second operation room CR2, a first site C1, and a second site C2.

[0017] An automatic personnel allocation program is installed in the control device 30, and various data are input. This control device 30 can be configured as a server installed in an external (for example, on the cloud) server center.

[0018] An integrated manager IM and a supervisor SV are arranged in the integrated management office IMO, and they access the system through their respective PCs for integrated management. The integrated management office IMO can be configured as a room installed in a branch office or a head office, for example.

[0019] Two operators W1 and W2 are arranged in the first operation room CR1. They access the system through their respective PCs and operate either the excavators 211 to 213 or the excavator 221 with their respective operating devices 41 and 42. Similarly, one operator W3 is arranged in the second operation room CR2. He accesses the system through a PC and operates either the excavators 211 to 213 or the excavator 221 with the operating device 43.

[0020] One site manager M1 is arranged at the first site C1. He accesses the system through a PC and manages the three excavators 211 to 213. Similarly, one site manager M2 is arranged at the second site C2. He accesses the system through a PC and manages the one excavator 221.

[0021] (Control Flow of Remote Excavation Multi-Task System) Figure 4 shows the control flow of the remote excavation multi-task system S. The flow chart in Figure 4 explains for each of the operator w, the site manager M, the integrated manager IM, and the supervisor SV. As will be described below, the control flow is roughly divided into two processes: personnel allocation and on-site work.

[0022] First, in the first half of personnel allocation, the operator w operates their respective PC to input the available working date and time (step S1), and the site manager M of each site c operates their respective PC to create and input the excavation work plan (step S2). Then, based on these inputs, the integrated manager IM creates a personnel allocation plan (step S3). The creation process of this personnel allocation plan will be described in detail.

[0023] Next, in the second half of on-site work, first, the operator w and the site manager M attend and conduct a work coordination (step S4). That is, based on the created personnel allocation plan, the coordination is carried out between the site manager and the operator w.

[0024] In the actual excavation work, the operator w conducts the excavation work (step S5). During the excavation work, the site manager M gives excavation instructions to the operator w while performing construction management (step S6). At the same time, the supervisor SV who has been monitoring remotely gives excavation instructions to the operator w while performing construction management through the site manager M.

[0025] When the excavation work is completed, the site manager M conducts a work report (step S8). For example, records and inputs the excavation work carried out on that day.

[0026] Finally, when the integrated manager IM checks the work report (step S9) and the supervisor SV checks the work report (step S10), all the procedures of the control flow are completed.

[0027] (Personnel Allocation) Next, the method (algorithm) for creating the personnel allocation plan in step S3 of the above-described control flow will be described in detail.

[0028] As described above, from the workable date and time input by operator w and the excavation work plan created and input by the site manager M, the excavator e at each site c c (20) is assigned (personnel allocation plan) to operator w. The personnel allocation plan is mathematically modeled as a combinatorial optimization problem, and an exact solution method or an approximate solution method is applied to this to obtain an optimal solution for automation. A combinatorial optimization problem is a problem of finding a solution that minimizes or maximizes an objective function within constraints for a mathematical model in which the solution is represented as a combination.

[0029] In order to obtain an efficient operator allocation using combinatorial optimization, an objective function for improving the quality of the caisson at each site c is set. Improving the quality in the excavation work means controlling the sinking posture (tilt, eccentricity, rotation) of the caisson and making the tilt, eccentricity, and rotation of the caisson at the completion of construction all approach 0.

[0030] The difficulty of the caisson excavation work varies depending on the sinking posture of the caisson, the cumulative sinking amount, the soil quality of the ground, and the construction period. Furthermore, the excavation work includes undercutting excavation without caisson sinking and sinking excavation with caisson sinking, and the difficulty of these excavation works is different. Generally, within the same caisson, the difficulty of the sinking excavation work is higher than that of the undercutting excavation that is not related to the sinking posture of the caisson. Since the range of excavation in the caisson is generally determined by the arrangement of the traveling rails, the excavator e c (20) that is more involved in the sinking excavation and the excavator e c (20) that is not c (20) have different skill levels of operators required for the excavation work.

[0031] Here, two values, namely the "skill value" and the "required skill value", are introduced. The "skill value" is a value indicating the skill of an operator calculated based on factors such as the operator's years of experience, the track record of excavation work, and the evaluation from the on-site manager. The "required skill value" is the skill value of the operator required for the excavation work of each excavator e c (20) based on factors such as the sinking posture of the caisson, the cumulative sinking amount, the soil quality of the ground, the construction period, and the excavation scope of the excavator e c (20). These values can be expressed, for example, by linearly mapping them to continuous values with a minimum value of 0 and a maximum value of 10, or by expressing them as discrete values in 10 levels from 1 to 10.

[0032] And the remote excavation multi-task system S of this embodiment is configured to realize an efficient operator allocation by setting an objective function that minimizes the difference between the skill value of an operator w in charge of a certain excavator e c (20) and its required skill value.

[0033] - Operator registration and input of workable time - Here, the operator registration and input of workable time of operator w will be described with reference to FIG. 5. First, the information of operator w is registered in the remote excavation multi-task system S. Elements for calculating the skill value (such as years of experience, track record of excavation work, evaluation from the on-site manager, etc.) are input here, and the skill value of operator w is calculated.

[0034] Operator w logs in to the remote excavation multi-task system S and inputs his / her workable time. First, conditions such as the workable time on the working day (for example, day shift OK, night shift NG) and the workable days of the week (weekdays OK, weekends off) are input (item (1) in FIG. 5). Based on this, the remote excavation multi-task system S automatically inputs the workable time of operator w (item (2) in FIG. 5), and the operator manually adjusts it (item (3) in FIG. 5) when there is a change.

[0035] - Registration of the site and input of the excavation work plan - Here, the on-site registration and excavation work plan input will be described while referring to FIG. 6. First, information on the site C is registered in the remote excavation multi-task system S. Elements for calculating the required skill values (such as the excavation work days of the caisson, the soil quality of the ground with respect to the depth, the working range of the caisson excavator, etc.) are input. The site manager (or the integrated manager) logs in to the remote excavation multi-task system S and inputs the excavation work days for each lift, the working time zones during the excavation work days, and the number of caisson excavators.

[0036] (Plan A: Preparation of the personnel allocation plan by the general manager) The following shows the mathematical modeling of the personnel allocation plan. The objective function is to minimize the sum of the differences between the skill value a of the operator w in charge of a certain excavator e c (20) and its required skill value a w for all excavators e tce (20), ···. c (20), ···.

[0037] W: Set of operators w C: Set of sites c E c : Set of excavators e c at the site T: Set of times t obtained by dividing the period (e.g., one month) targeted by the personnel allocation plan into unit times (e.g., four divisions: morning shift, afternoon shift, night shift morning, night shift afternoon) a w : Skill value of operator w a tce : Required skill value of excavator e at site c at a certain time t c x tcew : 1 when an operator is assigned to excavator e at site c at a certain time t c 0 otherwise

[0038]

Number

[0039] In addition to this, express the constraints that should be satisfied as much as possible as penalties. For example, we want the same operator w to be assigned to each site c as much as possible. This can be expressed by finding the number of operators different from the previous assignment for each site c and weighting it. When expressed as an equation, it becomes the second term of Equation 2.

[0040] Also, cost reduction is important at site c. Therefore, when the cost per unit time of an operator varies for each individual, we want to minimize the cost of the operator w to be assigned. This can be expressed by finding the total cost of the operator w and weighting it. When expressed as an equation, it becomes the third term of Equation 2.

[0041] y tc W : The number of operators different from the previous assignment at site c at a certain time t cost w : The cost per unit time of an operator α, β: The weights of each term

[0042]

Equation

[0043] The weights are determined by the integration manager. Regarding the determination method, for example, it is conceivable to use a hypothetical allocation plan to obtain the Pareto optimal solutions (solution candidates) of the multi-objective optimization problem shown in Equation 3, and from among them, the integration manager selects one solution and calculates the weights backward based on this selected solution.

[0044]

Equation

[0045] The constraint conditions are set as follows, for example. · Assign one or more operator(s) of the work supervisor class to each site at the same time. · Set the working hours per day to 8 hours or less. ·Reduce the working hours in 7 days to 40 hours or less ·When changing from night shift to day shift, provide a rest of one day or more, etc.

[0046] By obtaining the optimal solution or approximate solution for this formulated combinatorial optimization problem, an efficient personnel allocation is planned. For the solution method, the optimal solution is obtained using exact solution methods such as exhaustive search and general-purpose solvers. However, as the scale of the problem, that is, the number of sites c, the number of excavators e c (20) and the number of operators increase, the amount of calculation also increases, and the calculation time may become impractical. In this case, an approximate solution is obtained using approximate solution methods represented by the simulated annealing method and genetic algorithm.

[0047] (Plan B: Preparation of personnel allocation plan for general manager) As shown in Fig. 7, based on the available working hours of the operator and the excavation work plan at the site (Fig. 9 (1)), from among the operators, the operator in charge of each lift at each site c (the operator in charge) is calculated by combinatorial optimization based on Equation 4 (Fig. 9 (2)).

[0048] a max cle : The maximum value of the required skill level of the excavator e during the excavation work period of the lift l at the site c c x main clew : 1 when an operator is assigned as in charge to the excavator e during the excavation work period of the lift l at the site c, 0 otherwise c

[0049]

Number

[0050] ​​After that, based on the determined responsible operator, a temporary operator assignment is made ((3) in FIG. 9). In the temporary operator assignment, for the time when the responsible operator is unavailable for work, among the operators who can work during that time, the operator whose skill value is closest to that of the responsible operator (or the operator whose required skill value is closest) is assigned instead ((4) in FIG. 9).

[0051] When values such as the caisson sinking posture or depth of the existing site c are updated (after each work completion), the required skill value of that site c is recalculated. If there is a deviation between the skill value of the responsible operator and the required skill value (the difference is equal to or greater than the threshold value), among the operators who can work, the responsible operator is replaced with the operator whose required skill value is closest ((5) in FIG. 9). Whether to execute this replacement operation may be determined by each site manager or the integrated manager.

[0052] Also, when there is a change in the excavation work plan for site c, as shown in FIG. 8, after recalculating the personnel allocation plan for the lift that is not currently under construction according to Equation 4 and determining the responsible operator, a temporary operator assignment and an assignment of replacement personnel for unavailable working hours are made. Also, when there is a change in the available working hours of the operator, an assignment of replacement personnel for unavailable working hours is made.

[0053] (On-site work) FIG. 10 shows a flowchart of on-site work. After the personnel allocation plan is determined, the operator and the site manager log in to the system S at the work start time. In addition to the above-mentioned personnel allocation tool, the system S includes a remote operation tool for the operator w to remotely operate the excavator e c (20) and a communication tool for information transmission between the operator w and the site manager. Work coordination uses voice calls or web conferences provided in the communication tool.

[0054] The site manager confirms that the operator participating in the web conference is consistent with the personnel allocation plan, and grants the operator w the access right to the excavator e c (20). The operator w operates the excavator e cAccess (20) and perform an operation check.

[0055] The on-site manager gives excavation instructions to the operator and concludes the work coordination. The excavation instructions may be given not only by voice communication but also by displaying images or videos, such as 3D graphics of the excavation surface shape, on the operator's screen.

[0056] During the excavation work of operator w, to enable quick information transmission among operator w and between operator w and on-site manager M, keep the above-mentioned voice call connected.

[0057] (Function and Effect) Next, the functions and effects of the remote excavation multi-task system S of this embodiment will be listed and described.

[0058] (1) As described above, the remote excavation multi-task system S of this embodiment is a remote excavation multi-task system for pneumatic caissons for arranging operator w for a plurality of excavators 20, ···, and based on the workable date and time of the operator w of the excavator 20, the excavation work plan of each site c, and the workable date and time and the excavation work plan, a control device 30 for creating a personnel allocation plan by setting an objective function for improving the quality of the pneumatic caisson 1. With such a configuration, the system S can efficiently and correctly perform the operation.

[0059] (2) Also, as the objective function, the difference between the skill value of the operator w in charge of the excavator 20 and the required required skill value is totaled for all excavators 20 and all sites c, and by creating a personnel allocation plan so that this total value is minimized, the excavator 20 can be used efficiently without wasting the skill of the operator w.

[0060] (3) Specifically, it is preferable to use the remote excavation multi-task system S of the pneumatic caisson that creates the personnel allocation plan based on the following formula (1). [Number] However, in Equation (1), W: Set of operators C: Set of sites c E c : Excavator e at site c c Set of T: Set of time t obtained by dividing the period (e.g., one month) targeted by the personnel allocation plan into per unit time (e.g., four divisions of morning shift, afternoon shift, night shift morning, and night shift afternoon) a w : Skill value of operator w a tce : Required skill value of excavator e at site c at a certain time t c In x tcew : When an operator is assigned to excavator e at site c at a certain time t, it is 1; otherwise, it is 0 c If Equation (1) is concretized in this way, throughout the targeted period, for all sites and all excavators e Considering (20), work can be efficiently carried out without wasting the skills of operators. c (20)

[0061] (4) Also, by calculating the number of operators w who need to move from the previous allocation and weighting this number to impose a penalty, it can be adjusted so that the same operator w is assigned to each site c as much as possible.

[0062] (5) Further, by summing up the cost per unit time of operator w for all excavators e c (20) and weighting this total cost to impose a penalty, it can be adjusted to reduce the cost of site c.

[0063] (6) Specifically, it is preferable to use the remote excavation multitask system S of a pneumatic caisson that creates a personnel allocation plan based on the following Equation (2).

Number

[0064] (7) Also, as the objective function, the difference between the skill value of the operator w in charge of the excavator e c (20) and the maximum value of the required skill value is summed up for all excavators e c (20) and all sites c, and by creating a personnel allocation plan so that this total value is minimized, the excavation work of high-difficulty lifts can be preferentially carried out.

[0065] (8) Specifically, it is preferable to adopt a remote excavation multitask system S of a pneumatic caisson that creates a personnel allocation plan based on the following formula (4).

Equation

[0066] As described above, the embodiments of the present invention have been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and design changes that do not deviate from the gist of the present invention are included in the present invention.

Explanation of Reference Numerals

[0067] 1: Pneumatic caisson 11: Side wall 12: Cutting edge 13: Work chamber 14: Work chamber slab 15: Central monitoring room 16: Material shaft 17: Material lock 18: Man shaft 19: Man lock e c (20): Excavator 22: Earth bucket 23: Scraper crane 26: Wire 28: Earth and sand hopper 29: Dump truck 30: Control device 41 - 43: Operating device 211 - 213: Excavator 221: Excavator CR1: First operation room CR2: Second operation room SV: Supervisor IM: Integrated manager IMO: Integrated management office C1: First site C2: Second site M: Site manager M1: Site manager M2: Site manager W: Operator W1 - W3: Operators S: Remote excavation multitasking system

Claims

1. A remote excavation multi-task system for a pneumatic caisson for arranging operators for a plurality of excavators, comprising: the workable date and time of the excavator operator, the excavation work plan for each site, a control device that creates a personnel allocation plan by setting an objective function for improving the quality of the pneumatic caisson based on the workable date and time and the excavation work plan. As the objective function, the difference between the skill value of the operator in charge of the excavator and the required required skill value is summed for all excavators and all sites, and the personnel allocation plan is created so that this total value is minimized. A remote excavation multi-task system for a pneumatic caisson.

2. The remote excavation multi-task system for a pneumatic caisson according to claim 1, wherein the personnel allocation plan is created based on the following formula (1). 【Number 1】 However, in formula (1), W: Set of operators C: Set of sites c E ｃ : Set of excavators e at the site ｃ of T: Set of times t obtained by dividing the period (for example, one month) targeted by the personnel allocation plan into units of time (for example, four divisions: morning shift, afternoon shift, night shift morning, night shift afternoon) per unit time a ｗ : Skill value of operator w a ｔｃｅ : Required skill level value of the excavator e at the construction site c at a certain time t ｃ ​ x ｔｃｅｗ : 1 when an operator is assigned to the excavator e at the site c at a certain time t, 0 otherwise ｃ ​

3. The remote excavation multi-task system for a pneumatic caisson according to claim 2, which is configured to calculate the number of operators who need to move from the previous allocation and impose a penalty by weighting the number.

4. The remote excavation multi-task system for a pneumatic caisson according to claim 3, which is configured to sum the cost per unit time of the operator for all excavators and impose a penalty by weighting the total cost.

5. The remote excavation multi-task system for a pneumatic caisson according to claim 4, wherein the personnel allocation plan is created based on the following formula (2). 【Number 2】 However, in formula (2), y ｔｃ Ｗ : The number of operators that is different from the arrangement during the previous operation at the site at a certain time cost ｗ : The cost per unit time of the operator α, β: Weights for each term

6. A remote excavation multi-task system for a pneumatic caisson for arranging operators for a plurality of excavators, comprising: the workable date and time of the excavator operator, the excavation work plan for each site, a control device that creates a personnel allocation plan by setting an objective function for improving the quality of the pneumatic caisson based on the workable date and time and the excavation work plan. As the objective function, the difference between the skill value of the operator in charge of the excavator and the maximum value of the required skill value is summed up for all excavators and all sites, and the personnel allocation plan is created so that this total value becomes the minimum, in the remote excavation multi-task system of the pneumatic caisson.

7. The remote excavation multi-task system of the pneumatic caisson according to claim 6, wherein the personnel allocation plan is created based on the following formula (4). 【Number 4】 However, in formula (4), W: Set of operators C: Set of sites c E ｃ : Set of excavators e at the site ｃ of L: Set of lifts l a ｗ : Skill value of operator w a ｍａｘ ｃｌｅ : The maximum value of the required skill level of the excavator e during the excavation work period of the lift l at the site c ｃ of the required skill level value x ｍａｉｎ ｃｌｅｗ : 1 when an operator is assigned as in charge during the excavation work of the lift l at the site c, 0 otherwise ｃ when an operator is assigned as in charge during the excavation work of the lift l at the site c, 1; 0 otherwise

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