Utility Pole Construction System, Control Method, Control Device, and Program

Abstract

The purpose of the present disclosure is to provide a utility pole construction system that does not require skill.　The present disclosure is a utility pole construction system comprising: a grapple-type heavy machine that grasps, and transports, and works on a utility pole; a first sensor that acquires terrain and obstacles information; and a control device that calculates a grapple-type heavy machine work route for performing desired utility pole construction, on the basis of pre-acquired terrain and obstacle information, the terrain and obstacle information acquired by the first sensor, and information relating to the grapple-type heavy machine and the utility pole, and that controls the travel of the grapple-type heavy machine on the work route.

Description

Technical Field

[0001] The present disclosure relates to a technique for automatically performing utility pole work using a grapple-type heavy machine.

Background Art

[0002] Conventionally, for utility pole work such as construction, relocation, and removal of utility poles, a crane-type heavy machine was manually operated to perform the intended work (see, for example, Non-Patent Document 1). The state of conventional utility pole work is shown in FIG. 1. In FIG. 1, 20 is a utility pole, 51 is a crane-type heavy machine, 55 is a supervisor, 56 is an operator, and 57 is a worker.

[0003] Taking the construction work of a utility pole as an example. When operating the crane-type heavy machine 51, under the supervision of the supervisor 55, the operator 56 performs lever operations to suspend the utility pole 20 with a string using the crane, and the worker 57 moves the utility pole 20 to the construction location while performing anti-sway operations to carry out the construction work.

Prior Art Documents

Non-Patent Documents

[0004]

Non-Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, for utility pole work, prevention of danger and safety measures are essential. Therefore, conventionally, under the supervision of a supervisor 55 familiar with utility pole work, proficiency was required for the crane operation of the operator 56 and the anti-sway work of the worker 57.

[0006] Therefore, in order to solve the above-described problems, an object of the present disclosure is to provide a utility pole work system, a control method, a control device, and a program that do not require proficiency.

Means for Solving the Problems

[0007] In order to solve the above problems, in the present disclosure, based on the information on the terrain and obstacles acquired by the sensor and the information on the grapple-type heavy machine and the utility pole, the operation of the grapple-type heavy machine is automated.

[0008] Specifically, the utility pole construction system of the present disclosure includes a grapple-type heavy machine for gripping, transporting, and working on a utility pole, a first sensor for acquiring information on the terrain and obstacles, and a control device that calculates a working path of the grapple-type heavy machine for performing a desired utility pole construction based on the information on the terrain and obstacles acquired in advance, the information on the terrain and obstacles acquired by the first sensor, and the information on the grapple-type heavy machine and the utility pole, and controls the operation of the working path of the grapple-type heavy machine. It is provided with.

[0009] Specifically, the utility pole construction system of the present disclosure further includes a second sensor for acquiring the state of the grapple-type heavy machine, and the control device is characterized by controlling the utility pole construction of the grapple-type heavy machine based on the information on the state of the grapple-type heavy machine acquired by the second sensor.

[0010] Specifically, the utility pole construction system of the present disclosure further includes a third sensor for detecting a moving object, and the control device is characterized by aborting the operation of the grapple-type heavy machine based on the information on the moving object acquired by the third sensor and the information on the grapple-type heavy machine and the utility pole.

[0011] Specifically, the control method of the present disclosure is a control method of a grapple-type heavy machine for gripping, transporting, and working on a utility pole by a control device, Calculate the working path of the grapple-type heavy machine for performing a desired utility pole construction based on the previously acquired terrain and obstacle information, the terrain and obstacle information acquired by the second sensor, and the information regarding the grapple-type heavy machine and the utility pole, and control the operation of the working path of the grapple-type heavy machine.

[0012] Specifically, the control method of the present disclosure is characterized in that the control device further controls the operation of the grapple-type heavy machine based on the information on the state of the grapple-type heavy machine acquired by the second sensor.

[0013] Specifically, the control device of the present disclosure is a control device for a grapple-type heavy machine that grabs, transports, and works on utility poles, calculates the working path of the grapple-type heavy machine for performing a desired utility pole construction based on the previously acquired terrain and obstacles, the terrain and obstacle information acquired by the first sensor, and the information regarding the grapple-type heavy machine and the utility pole, and controls the operation of the working path of the grapple-type heavy machine.

[0014] Specifically, the control device of the present disclosure is further characterized in that it controls the operation of the grapple-type heavy machine based on the information on the state of the grapple-type heavy machine acquired by the second sensor.

[0015] Specifically, the present disclosure includes a program for causing a computer to function as the control device according to any one of the above. including.

[0016] Note that the inventions of the above disclosures can be combined as much as possible.

Effect of the Invention

[0017] According to the present disclosure, proficiency in utility pole construction can be made unnecessary.

Brief Description of the Drawings

[0018]

Figure 1

Figure 2

Figure 3

Mode for Carrying Out the Invention

[0019] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. Note that the present disclosure is not limited to the embodiments shown below. These examples are merely illustrative, and the present disclosure can be implemented in various modified forms based on the knowledge of those skilled in the art. In this specification and the drawings, components having the same reference numerals indicate the same components as each other.

[0020] (Embodiment 1) The state of the utility pole construction work of the present disclosure is shown in FIG. 2, and the configuration of the utility pole construction system of the present disclosure is shown in FIG. 3. In FIGS. 2 and 3, 10 is a grapple crane, 11 is a first sensor, 12 is a second sensor, 13 is a third sensor, 15 is a control device, and 20 is a utility pole.

[0021] The utility pole construction system of the present disclosure includes a grapple crane 10 that grabs, transports, and works on a utility pole 20, a first sensor 11 that acquires information on terrain and obstacles, and calculates a working path of the grapple crane 10 for performing a desired utility pole construction work based on the terrain and obstacle information acquired in advance, the terrain and obstacle information acquired by the first sensor 11, and information regarding the grapple crane 10 and the utility pole 20, and a control device that controls the operation of the working path of the grapple crane 10.

[0022] The grapple-type heavy machine 10 grabs the utility pole 20 with the grapple and performs transportation and work. The control device 15 has acquired in advance information on the terrain and obstacles. Also, the first sensor 11 uses a camera, millimeter-wave radar, infrared sensor, etc. to detect the terrain and obstacles in real time, and outputs the detected information on the terrain and obstacles to the control device 15. The control device 15 removes noise from the information on the terrain and obstacles acquired by the first sensor 11. This is originally to prevent determining that there are obstacles in a place where there are no obstacles. Also, since information on the terrain and obstacles in a range greatly exceeding the working path of the grapple-type heavy machine 10 is unnecessary, unnecessary information on the terrain and obstacles may be deleted.

[0023] The control device 15 converts the information on the terrain and obstacles into data that can be processed. The control device 15 detects the current position of the grapple-type heavy machine 10 by comparing the information on the terrain and obstacles acquired in advance with the information on the terrain and obstacles acquired by the first sensor 11. The position of the grapple-type heavy machine 10 may be detected using GPS.

[0024] The control device 15 has acquired in advance information regarding the grapple-type heavy machine 10 and the utility pole 20. The control device 15 calculates a working path for the grapple-type heavy machine 10 to perform a desired utility pole construction based on the information on the terrain and obstacles acquired in advance, the information on the terrain and obstacles acquired by the first sensor 11, and the information regarding the grapple-type heavy machine 10 and the utility pole 20 acquired in advance. Information regarding the grapple-type heavy machine 10 includes the position, size, movable radius of the grapple, etc. Information regarding the utility pole 20 includes the dimensions of the utility pole 20, etc. The control device 15 calculates a working path that can move from the current position to the destination for the purpose of performing the desired utility pole construction while avoiding obstacles while maintaining a safe range necessary for the grapple-type heavy machine 10 to grab and transport the utility pole 20. Path running algorithms, inverse kinematics algorithms, etc. can be applied to the calculation of the working path.

[0025] When the grapple crane 10 transports the utility pole 20, if there is a change between the terrain and obstacle information acquired in advance and the terrain and obstacle information acquired by the first sensor 11, the terrain and obstacle information acquired by the first sensor 11 may be used to correct the terrain and obstacle information acquired in advance.

[0026] The control device 15 refers to the information regarding the grapple crane 10 and the utility pole 20, calculates the working path necessary to safely transport the utility pole 20 while avoiding obstacles on the terrain as angle data, and then controls the operation of the grapple crane 10 based on the calculated angle data. While comparing the terrain and obstacle information detected by the first sensor 11 with the calculated working path, the control device 15 controls the operation of the grapple crane 10 so as not to deviate from the calculated working path to the destination. When the grapple crane 10 moves to the destination, the control device 15 stops the grapple crane 10.

[0027] In the utility pole construction system of the present disclosure, it is possible to eliminate the need for skill when the grapple crane 10 transports the utility pole.

[0028] In the previous description, an example where the grapple crane 10 transports the utility pole has been described. However, when the grapple crane 10 is in the case after constructing the utility pole or when heading for the removal of the utility pole, the grapple crane 10 will move without gripping the utility pole. In these cases, information regarding the utility pole is not required for the control device 15.

[0029] (Embodiment 2) The utility pole construction system of the present disclosure will be described with reference to FIGS. 2 and 3. The utility pole construction system of the present disclosure further includes a second sensor 12 that acquires the state of the grapple crane 10, and the control device 15 controls the utility pole construction of the grapple crane based on the state information of the grapple crane 10 acquired by the second sensor 12.

[0030] The second sensor 12 acquires information necessary for the grapple-type heavy equipment 10 to perform work, such as the direction in which the grapple-type heavy equipment 10 is facing, the angle of the grapple, the gripping force, etc. The second sensor may be composed of a plurality of types.

[0031] When the grapple-type heavy equipment 10 moves to a target location where a utility pole is to be constructed, relocated, or removed, the control device 15 causes the grapple-type heavy equipment 10 to use the grapple to perform utility pole construction work, such as constructing, relocating, or removing a utility pole, based on the information acquired by the second sensor. The control device 15 controls the operation of the grapple of the grapple-type heavy equipment 10 while referring to the topography around the target location. An inverse kinematics algorithm can be applied to the operation of the grapple. The control device 15 controls the rotation and bending / stretching of the grapple based on information from an angle sensor, a force sensor, and a torque sensor as second sensors attached to the grapple. After the utility pole construction work is completed, the control device 15 may move the grapple-type heavy equipment 10 to a parking location.

[0032] In the utility pole construction system of the present disclosure, the grapple-type heavy equipment 10 does not require expertise to perform utility pole construction.

[0033] (Embodiment 3) The utility pole construction system of the present disclosure will be described with reference to Figures 2 and 3. The utility pole construction system of the present disclosure further includes a third sensor 13 that detects a moving object, and the control device 15 stops the operation of the grapple heavy equipment 10 based on information on the moving object acquired by the third sensor 13 and information on the grapple heavy equipment 10 and the utility pole 20.

[0034] The moving object may be a person, an animal, a vehicle, etc. The third sensor 13 detects the size, position, speed, etc. of the moving object. The third sensor 13 may be a camera, a millimeter wave radar, an infrared sensor, etc. The first sensor may also be used. The information on the grapple-type heavy machine 10 may include the size of the grapple-type heavy machine 10 and the movable radius of the grapple. The information on the utility pole 20 may include the dimensions of the utility pole 20.

[0035] When the third sensor detects the presence of a moving object within the movable range of the grapple of the grapple crane 10, the control device 15 stops the transportation and working operations of the grapple crane 10. Even when the control device 15 predicts the movement of the moving object and determines that the moving object will move within the movable range of the grapple of the grapple crane 10 within a predetermined time, the control device 15 may also stop the transportation and working operations of the grapple crane 10.

[0036] In the utility pole construction system of the present disclosure, the grapple crane 10 can be safely used for utility pole construction.

[0037] As described above, according to the present disclosure, proficiency in utility pole construction can be made unnecessary.

[0038] The control device of the present disclosure can also be realized by a computer and a program, and it is also possible to record the program on a recording medium or provide it through a network.

Industrial Applicability

[0039] The present disclosure can be applied to the communication industry.

Explanation of Signs

[0040] 10 Grapple crane 11 First sensor 12 Second sensor 13 Third sensor 15 Control device 20 Utility pole 55 Supervisor 56 Operator 57 Worker

Claims

1. A grapple-type heavy machine for gripping and transporting and working on utility poles, a first sensor for acquiring information on terrain and obstacles, while maintaining a safety range necessary for the grapple-type heavy machine to grip and transport the utility pole based on the information on terrain and obstacles acquired in advance, the information on terrain and obstacles acquired by the first sensor, and the information on the grapple-type heavy machine and the utility pole, calculates a work route that can move while avoiding obstacles from the current position to a target location for performing a desired utility pole work, and a control device for controlling the operation of the work route of the grapple-type heavy machine, A utility pole work system comprising the above.

2. further comprising a second sensor for acquiring the state of the grapple-type heavy machine, The control device controls the utility pole work of the grapple-type heavy machine based on the information on the state of the grapple-type heavy machine acquired by the second sensor. The utility pole work system according to Claim 1.

3. further comprising a third sensor for detecting a moving body, The control device stops the operation of the grapple-type heavy machine based on the information on the moving body acquired by the third sensor and the information on the grapple-type heavy machine and the utility pole. The utility pole work system according to Claim 1 or 2.

4. A control method for a grapple-type heavy machine for gripping and transporting and working on utility poles, A control method in which a control device calculates a work route that can move while avoiding obstacles from the current position to a target location for performing a desired utility pole work while maintaining a safety range necessary for the grapple-type heavy machine to grip and transport the utility pole based on the information on terrain and obstacles acquired in advance, the information on terrain and obstacles acquired by the first sensor, and the information on the grapple-type heavy machine and the utility pole, and controls the operation of the work route of the grapple-type heavy machine.

5. The control method according to Claim 4, wherein the control device further controls the work of the grapple-type heavy machine based on the information on the state of the grapple-type heavy machine acquired by the second sensor.

6. A control device for a grapple-type heavy machine for gripping and transporting and working on utility poles, While maintaining a safety range necessary for the grapple type heavy machine to grasp and transport the utility pole based on the terrain and obstacles acquired in advance, the information on the terrain and obstacles acquired by the first sensor, and the information on the grapple type heavy machine and the utility pole, calculate a work route that can move from the current position to the destination for performing a desired utility pole work while avoiding obstacles, and a control device that controls the operation of the work route of the grapple type heavy machine.

7. The control device according to claim 6, further characterized in that the operation of the grapple type heavy machine is controlled based on the information on the state of the grapple type heavy machine acquired by the second sensor.

8. A program for causing a computer to function as the control device according to claim 6 or 7.

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