Construction management system, construction management method, and program

Abstract

To enable the appropriate determination of a location on which placed soil is arranged in a construction site.SOLUTION: A construction management system comprises: an area-determination part which, in a construction object field where leveling of placed soil is carried out, determines a complete area where the leveling has been completed and an incomplete area where the leveling has not been completed; and a location-designation part which selects, as referential placement candidate locations, among multiple placement-possible locations on which the placed soil can be arranged in the construction object field, placement-possible locations located within a predetermined distance from an outer edge of the complete area, configures placement candidate location groups, including the placement-possible locations each having a predetermined location relation with respect to, as a reference, each of the selected referential placement candidate locations, identifies, among the placement candidate location groups and based on a rate of conformity to a construction sequence that is established on construction object sections with regard to the soil distribution upon leveling, a placement candidate location group to be placed with the placed soil by soil transportation vehicles, and determines, as a designated soil placement location, a placement-possible location included in the identified placement candidate location group.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to a construction management system, a construction management method, and a program. [Background technology]

[0002] BACKGROUND ART There is known a technique for acquiring image data of a construction site using a stereo camera mounted on a construction machine, and generating three-dimensional data of the topography of the construction site using the acquired image data (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-44480 A Summary of the Invention [Problem to be solved by the invention]

[0004] When carrying out earthworks at a construction site, in which soil transport vehicles transport and place the soil, which is then spread and leveled by a bulldozer, it is necessary to appropriately determine the location at the construction site where the soil will be placed.

[0005] The present invention has been made in consideration of the above circumstances, and aims to enable the position where the soil is placed at the construction site to be appropriately determined. [Means for solving the problem]

[0006] One aspect of the present invention that solves the above-mentioned problems is a construction management system that includes an area determination unit that determines completed areas where leveling has been completed and incomplete areas where leveling has not been completed in a construction area where construction work is carried out, in which an earthmoving vehicle places the soil and a bulldozer is placed to level the soil, and a position designation unit that selects, from among a plurality of possible placement positions that can be designated as positions where soil is to be placed in the construction area, possible placement positions that are within a predetermined distance from the outer edge of the completed area determined by the area determination unit as reference candidate placement positions, forms a group of candidate placement positions that includes possible placement positions that have a predetermined positional relationship based on each of the selected reference candidate placement positions, identifies a group of candidate placement positions where the earthmoving vehicle should place the soil based on the degree of match between the soil distribution that would result if leveling were carried out and the construction order set for the construction section into which the construction area is divided, and determines a possible placement position included in the identified group of candidate placement positions as a designated position for soil.

[0007] One aspect of the present invention is a construction management method including an area determination step of determining completed areas where leveling has been completed and incomplete areas where leveling has not been completed in a construction area where construction is to be carried out, in which an earthmoving vehicle places the soil and a bulldozer is placed to level the soil; and a position designation step of selecting, from among a plurality of possible placement positions that can be designated as positions for placing soil in the construction area, possible placement positions that are within a predetermined distance from the outer edge of the completed area determined in the area determination step as reference candidate placement positions, forming a group of possible placement positions that are in a predetermined positional relationship with each of the selected reference candidate placement positions, and identifying, from the group of candidate placement positions, a group of candidate placement positions where the earthmoving vehicle should place the soil based on the degree of match between the soil distribution that would result if leveling were carried out and the construction order set for the construction area divided into sections, and determining, as designated positions for the soil, possible placement positions included in the identified group of candidate placement positions.

[0008] One aspect of the present invention is a program that causes a computer provided in a construction management system to function as an area determination unit that determines completed areas where leveling has been completed and incomplete areas where leveling has not been completed in a construction area where construction work is carried out, in which an earthmoving vehicle places the soil and a bulldozer is placed to level the soil; and a position designation unit that selects, from among a plurality of possible placement positions that can be designated as positions where soil is to be placed in the construction area, possible placement positions that are within a predetermined distance from the outer edge of the completed area determined by the area determination unit as reference candidate placement positions, forms a group of candidate placement positions including possible placement positions that have a predetermined positional relationship based on each of the selected reference candidate placement positions, identifies a group of candidate placement positions where the earthmoving vehicle should place the soil based on the degree of match between the soil distribution that would occur if leveling were carried out and the construction order set for the construction section into which the construction area is divided, and determines a possible placement position included in the identified group of candidate placement positions as a designated position for soil. [Effects of the Invention]

[0009] As described above, according to the present invention, it is possible to obtain the effect that the position where the soil is placed at the construction site can be appropriately determined. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a diagram illustrating a configuration example of a construction management system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a diagram illustrating an example of a functional configuration of a bulldozer according to the present embodiment. [Figure 3] FIG. 2 is a diagram illustrating an example of the functional configuration of an earth and sand transport vehicle according to the present embodiment. [Figure 4] FIG. 2 is a diagram illustrating an example of a functional configuration of a construction management server according to the present embodiment. [Figure 5] 10 is a diagram illustrating an example of a procedure for determining a designated location for placing soil by the construction management server in this embodiment. FIG. [Figure 6]10 is a diagram illustrating an example of a procedure for determining a designated location for placing soil by the construction management server in this embodiment. FIG. [Figure 7] 10 is a diagram illustrating an example of a procedure for determining a designated location for placing soil by the construction management server in this embodiment. FIG. [Figure 8] 10 is a diagram illustrating an example of a procedure for determining a designated location for placing soil by the construction management server in this embodiment. FIG. [Figure 9] 10 is a diagram illustrating an example of a procedure for determining a designated location for placing soil by the construction management server in this embodiment. FIG. [Figure 10] 10 is a flowchart showing an example of a processing procedure executed by a bulldozer and a construction management server in this embodiment in relation to determining a designated location for placing soil. DETAILED DESCRIPTION OF THE INVENTION

[0011] 1 shows an example of the configuration of a construction management system according to this embodiment. As shown in the figure, the construction management system according to this embodiment includes a bulldozer 100, an earth-hauling vehicle 200, and a construction management server 300.

[0012] The bulldozer 100 is a heavy machine that operates to perform spreading and leveling (hereinafter, "leveling" will be described as a process that includes spreading) in construction work as an embankment at the construction site FL. The bulldozer 100 is capable of moving around the construction site FL and performing leveling by autonomous operation. Embankment work is a process of building up soil to raise the construction site FL to a predetermined height. In embankment work, the earth transport vehicle 200 transports soil to the construction site FL and places the loaded load of soil in the appropriate position at the construction site FL. The bulldozer 100 levels and spreads the placed load of soil so that the ground level at the construction site FL is flat and at the target height. This process of the bulldozer 100 leveling the soil is called leveling. By repeating this process, the entire area corresponding to the construction site FL is raised to the target height. Note that embankment work may also include a process of compacting the area that has been leveled by the bulldozer 100 with a roller (compactor).

[0013] There is no particular limitation on the technology for realizing autonomous operation of the bulldozer 100, but for example, LiDAR (Light Detection and Ranging) may be adopted as a technology for grasping the surrounding shape for autonomous operation. LiDAR is a technology that generates surrounding environment data indicating the shape of the surrounding environment by measuring the distance based on the time from when a pulsed laser beam is irradiated onto the surroundings until the reflected light is received, and estimates the self-position.

[0014] The earth and sand transport vehicle 200 enters the construction site FL loaded with earth and sand to be used for the embankment work, and unloads and places the earth and sand EB at a designated position (designated soil deposit position) at the construction site FL. In the following explanation, the lump of earth and sand EB unloaded and placed by the earth and sand transport vehicle 200 at the construction site FL will also be referred to as "soil deposit." The earth transport vehicle 200 may be operated by a person or may be operated autonomously. In the following description, an example will be given in which the earth transport vehicle 200 is operated autonomously.

[0015] The bulldozer 100 and the earth transport vehicle 200 are communicably connected to the construction management server 300. The bulldozer 100 and the earth transport vehicle 200 may also be capable of communicating with each other.

[0016] The bulldozer 100 measures the height of the ground at the construction site FL while carrying out leveling at the construction site FL, thereby making it possible to determine whether leveling of a predetermined area has been completed. Every time the bulldozer 100 determines that leveling of a predetermined area has been completed, it transmits information (construction completion information) indicating that construction as leveling of the predetermined area has been completed to the construction management server 300.

[0017] In response to receiving a leveling completion notification from the bulldozer 100, the construction management server 300 determines a position (designated soil placement position) where the soil transport vehicle 200 should place the soil to be leveled for subsequent leveling. The construction management server 300 transmits information about the determined designated soil placement positions to the earth and sand transport vehicle 200. The earth and sand transport vehicle 200 operates to place soil at the received designated soil placement positions.

[0018] For the bulldozer 100 to efficiently perform leveling work, it is necessary that the location where the soil is to be placed by the earth and sand transport vehicle 200 be appropriately determined. Therefore, the construction management system of this embodiment is configured to be able to specify the location where the soil is to be placed as described below, thereby maximizing the efficiency of leveling work by the bulldozer 100.

[0019] 2 shows an example of the functional configuration of the bulldozer 100. The bulldozer 100 includes a communication unit 101, a sensor unit 102, a positioning unit 103, a vehicle mechanism unit 104, a blade mechanism unit 105, a control unit 106, and a memory unit 107.

[0020] The communication unit 101 communicates with the construction management server 300 via wireless communication. The sensor unit 102 is a part that collectively refers to various sensors equipped in the bulldozer 100. In the case of autonomous driving using LiDAR, for example, the sensor unit 102 of this embodiment includes a sensor that emits laser light and receives reflected laser light in order to generate surrounding environment data and estimate the bulldozer's own position. The sensor unit 102 of this embodiment also includes a sensor that measures the height of the construction site FL. Note that the surrounding environment data generated by LiDAR may be used to measure the height of the construction site FL. The positioning unit 103 includes a device compatible with, for example, a GPS (Global Positioning System) and measures its own position.

[0021] The vehicle mechanism unit 104 is a mechanism unit that corresponds to the vehicle in the bulldozer 100. The vehicle mechanism unit 104 is driven under the control of the autonomous driving control unit 161, so that the bulldozer 100 can move under autonomous driving. The blade mechanism 105 is a mechanism that can move the blade. The blade mechanism 105 is driven under the control of the autonomous operation control unit 161, so that the bulldozer 100 can appropriately move the blade under autonomous operation.

[0022] The control unit 106 controls the bulldozer 100. The function of the control unit 106 is realized by a CPU (Central Processing Unit) provided in the bulldozer 100 executing a program. The control unit 106 includes an autonomous driving control unit 161 and a construction completion determination unit 162. The autonomous driving control unit 161 executes control related to the autonomous driving of the bulldozer 100. The autonomous driving control unit 161 estimates its own position at the construction site FL based on the output of sensors such as a camera and a laser scanner in the sensor unit 102, and also controls the vehicle mechanism unit 104 so that the bulldozer 100 moves based on the result of estimating its own position. The autonomous driving control unit 161 also controls the vehicle mechanism unit 104 and the blade mechanism unit 105 so that the bulldozer 100 properly performs leveling within the target area range. The construction completion determination unit 162 determines whether the leveling work that it has performed at the construction site FL has been completed using the output of a predetermined sensor provided in the sensor unit 102. The construction completion determination unit 162 may be configured to determine whether the leveling work has been completed for each of the placed soil groups, for example, in response to one or more placed soil groups arranged over a set area range. The memory unit 107 stores predetermined information related to the bulldozer 100.

[0023] 3 shows an example of the functional configuration of the earth transporting vehicle 200. The earth transporting vehicle 200 includes a communication unit 201, a sensor unit 202, a positioning unit 203, a vehicle mechanism unit 204, a carrier mechanism unit 205, a control unit 206, and a memory unit 207.

[0024] The communication unit 201 communicates with the construction management server 300 via wireless communication. The sensor unit 202 is a component that collectively refers to various sensors provided in the earth transport vehicle 200. The sensor unit 202 includes sensors for generating surrounding environment data and estimating the vehicle's own position in response to autonomous driving. The positioning unit 203 includes a device compatible with, for example, GPS, and measures its own position.

[0025] The vehicle mechanism unit 204 is a mechanism unit that corresponds to the vehicle in the earth transport vehicle 200. The vehicle mechanism unit 204 is driven under the control of the autonomous driving control unit 261, thereby enabling the earth transport vehicle 200 to move under autonomous driving. The loading platform mechanism unit 205 is a mechanism unit that can move the loading platform. By driving the loading platform mechanism unit 205 under the control of the autonomous driving control unit 261, the earth transport vehicle 200 can unload the earth loaded on the loading platform under autonomous driving so as to place it as soil to be used as backfill.

[0026] The control unit 206 controls the earth transport vehicle 200. The functions of the control unit 206 are realized by a CPU provided in the earth transport vehicle 200 executing a program. The control unit 206 includes an autonomous driving control unit 261. The autonomous driving control unit 261 executes control related to the autonomous driving of the earth and sand transport vehicle 200. The autonomous driving control unit 261 estimates its own position on the road or construction site FL based on the output of sensors such as cameras and radars in the sensor unit 202, for example, and moves accordingly. The storage unit 207 stores predetermined information related to the earth transport vehicle 200 .

[0027] 4 shows an example of the functional configuration of the construction management server 300. The construction management server 300 includes a communication unit 301, a control unit 302, and a storage unit 303. The functions of the construction management server 300 shown in the figure are realized by the CPU of the construction management server 300 executing a program. The communication unit 301 communicates with each of the bulldozer 100 and the earth transport vehicle 200 via wireless communication.

[0028] The control unit 302 executes various controls in the construction management server 300. The control unit 302 includes an information acquisition unit 321, an area determination unit 322, a position designation unit 323, and an information transmission unit 324.

[0029] The information acquisition unit 321 acquires information transmitted from the bulldozer 100 to the construction management server 300. The information acquired by the information acquisition unit 321 from the bulldozer 100 includes construction completion information. The information acquisition unit 321 may also be capable of acquiring information transmitted from the earth transport vehicle 200 to the construction management server 300.

[0030] Based on the construction completion information acquired by the information acquisition unit 321, the area determination unit 322 determines the completed areas in the construction target area corresponding to the construction site FL where leveling by the bulldozer 100 has been completed and the incomplete areas where leveling has not been completed.

[0031] The position designation unit 323 identifies a candidate position for placing soil next, from among candidate positions for placing soil previously set for the construction site FL, according to the progress of the current leveling work, and determines the identified candidate position for placing soil as a designated position for placing soil. The position designation unit 323 transmits information indicating the determined designated position for placing soil (designated position information for placing soil). The information transmitting unit 324 transmits predetermined information to the bulldozer 100 and the earth transporting vehicle 200. The information transmitted by the information transmitting unit 324 to the earth transporting vehicle 200 includes the designated soil deposit position information determined by the position designating unit 323.

[0032] The storage unit 303 stores various types of information supported by the construction management server 300. The storage unit 303 includes a construction status data storage unit 331. The construction status data storage unit 331 stores construction status data. The construction status data is data that indicates the distribution of completed areas and uncompleted areas determined by the area determination unit 322 on a map of the construction area corresponding to the construction site FL.

[0033] An example of a procedure for determining designated positions for placing soil by the construction management server 300 will be described with reference to FIGS. In FIG. 5, the construction area AR1 (an example of a construction target area) shows the area where leveling work is being carried out at the construction site FL, as viewed from a plan view. The construction area AR1 in the figure is divided into a completed area AR11 where leveling has been completed and an incomplete area AR12 where leveling has not been completed. Before leveling begins, the entire construction area AR1 is in a state where it is in an incomplete area AR12. From this state, using a certain position on the outer edge of the construction area AR1 as a base point, the earth transport vehicle 200 repeatedly places soil and the bulldozer 100 levels the placed soil, thereby expanding the area of ​​the completed area AR11 where leveling has been completed and shrinking the incomplete area AR12, and construction progresses. Furthermore, for the construction site FL, a plurality of construction target sections AR21 are set in correspondence with the construction order. The same figure shows an example in which seven construction target sections AR21-1 to AR21-7 have been set. The construction target sections AR21-1 to AR21-7 in the same figure are each indicated by numbers 1 to 7 surrounded by circles. The numbers indicated for the construction target sections AR21-1 to AR21-7 indicate the order (construction order) of the sections to be paved and leveled. As can be seen from the shape and size of the construction target sections AR21 in the figure, each of the construction target sections AR21 does not have to have the same shape and size, and may be set appropriately depending on conditions such as the topography of the construction site FL. The division setting of the construction target sections AR21 in the construction area and the setting of the construction order associated with each of the construction target sections AR21 may be determined in advance depending on the situation of the construction site FL, etc.

[0034] The construction status data stored in the construction status data storage unit 331 may indicate the distribution of completed areas AR11 and uncompleted areas AR12 in the construction area AR1. The construction status data may also indicate the construction target sections AR21 set for the construction area AR1.

[0035] The construction completion determination unit 162 of the bulldozer 100 performing leveling at the construction site FL determines whether leveling in a certain area has been completed. Specifically, the construction completion determination unit 162 may determine whether leveling of the soil placed last in a single area has been completed. For this purpose, the construction completion determination unit 162 constantly measures the height of the area in which the soil placed last in a single area has been spread by leveling, using the detection output of the sensor 120 capable of measuring height. The construction completion determination unit 162 compares the difference between the measured height of the area and the target height, and may determine that leveling is not complete as long as there is an area where the difference is equal to or greater than a certain level, and may determine that leveling is complete when the difference is less than a certain level for the entire area.

[0036] When the construction completion determination unit 162 determines that the leveling has been completed, it transmits construction completion information to the construction management server 300. The construction completion information includes information on the coordinate range corresponding to the area range for which the leveling has been determined to have been completed this time.

[0037] The memory unit 107 of the bulldozer 100 may store the same map of the construction area AR1 as that stored as construction status data by the construction status data memory unit 331. Then, the construction completion determination unit 162 of the bulldozer 100 may acquire the coordinate range of the area range where paving and leveling are determined to be completed from the map of the construction area AR1 stored in the memory unit 107.

[0038] In the construction management server 300 , the information acquisition unit 321 acquires the construction completion information transmitted from the bulldozer 100 . In the construction management server 300, the area determination unit 322 obtains a coordinate range corresponding to the area where construction (leveling) has been completed from the construction completion information obtained by the information acquisition unit 321. The area determination unit 322 updates the map of the construction area AR1 in the construction status data stored in the construction status data storage unit 331 by enlarging the completed area AR11 according to the coordinate range obtained from the construction completion information and shrinking the uncompleted area AR12 according to the enlargement of the completed area AR11. In this way, the map of the construction area AR1 in the construction status data changes so that the completed area AR11 expands and the uncompleted area AR12 shrinks each time construction completion information is received from the bulldozer 100. Figure 5 shows the progress when the completed area AR11 is enlarged in response to the reception of construction completion information as described above at a certain stage after construction (leveling) of the construction area AR1 has begun.

[0039] When the map of the construction area AR1 is updated in response to the receipt of construction completion information as described above, the position designation unit 323 in the construction management server 300 determines the position where the soil should be placed (designated soil placement position) to further progress the leveling work using the following procedure. First, the position designation unit 323 sets a mesh of horizontal virtual lines Lh and vertical virtual lines Lv for the construction area AR1 on the map of the construction status data. Fig. 6 shows an example in which the mesh is set in accordance with the arrangement of the construction target sections AR21. That is, Fig. 6 shows an example in which the horizontal virtual lines Lh and vertical virtual lines Lv are each arranged as lines passing through the boundaries between the construction target sections AR21 and the middle of the sides of the construction target sections AR21. The arrangement of the horizontal virtual line Lh and the vertical virtual line Lv is not particularly limited. For example, the horizontal virtual line Lh and the vertical virtual line Lv may be arranged at a fixed interval according to an arrangement interval determined to be appropriate for the arrangement of soil, regardless of the construction target section AR21.

[0040] The position designation unit 323 defines the intersection point of the horizontal virtual line Lh and the vertical virtual line Lv in the mesh that exists within the construction area AR1 as the possible placement position P. The possible soil placement position is a position in the construction area AR1 that can be a designated soil placement position (a position that can be designated as a position where soil is placed). 7, when placing soil S1 within a predetermined range among possible placement positions P, the position designation unit 323 selects, as the reference candidate placement position Pr, a possible placement position P where the distance between the range of the placed soil S1 and the completion area AR11 is within a certain range. Specifically, FIG. 8 shows an example in which a possible placement position P where the range of the placed soil S1 contacts or overlaps with the completion area AR11 is selected as the reference candidate placement position Pr.

[0041] Next, the position designation unit 323 forms a group of arrangement candidate positions corresponding to each selected reference arrangement candidate position Pr. When seven reference arrangement candidate positions Pr are selected as shown in Fig. 7, seven groups of arrangement candidate positions are formed corresponding to the seven reference arrangement candidate positions Pr. One arrangement candidate position group is formed by including arrangement candidate positions (subordinate arrangement candidate positions Ps) adjacent to one reference arrangement candidate position Pr, as shown in Fig. 8. Fig. 8 shows a state in which the soil S1 is placed at each of the reference arrangement candidate position Pr and the subordinate arrangement candidate positions Ps included in the arrangement candidate position group.

[0042] After forming a group of placement candidate positions corresponding to each of the reference placement candidate positions Pr as described above, the position designation unit 323 calculates the soil distribution after spreading and leveling when the topsoil is spread and leveled for each of the formed groups of placement candidate positions. Fig. 9 shows the results of calculating the soil distribution Ds after spreading and leveling for the group of placement candidate positions corresponding to the reference placement candidate positions Pr shown in Fig. 8.

[0043] The position designation unit 323 identifies the soil distribution Ds calculated for each group of candidate placement positions that has the highest degree of match with the construction order set for the construction target section AR21. The position designation unit 323 may identify the soil distribution Ds that most closely matches the construction order as, for example, the soil distribution Ds that most likely occupies the construction target area AR21 that is earliest in the construction order among the construction target areas AR21 in which the unfinished area AR12 exists. The position designation unit 323 determines each of the possible placement positions P included in the group of candidate placement positions corresponding to the soil distribution Ds identified as having the highest degree of match with the construction order as the designated soil placement positions where the soil transport vehicle 200 should next place the soil.

[0044] An example of a processing procedure executed by the bulldozer 100 and the construction management server 300 in relation to determining the designated position for placing soil will be described with reference to the flowchart of FIG. First, an example of a processing procedure executed by the bulldozer 100 will be described. Step S100: The construction completion determination unit 162 of the bulldozer 100 determines whether or not leveling of the area range that is the current construction target at the construction site FL has been completed. In making the determination in step S100, the construction completion determination unit 162 may determine whether or not the difference between the height of the area range that is the construction target measured using the sensor 120 and the target height is less than a certain value, as described above. If it is determined that the paving and leveling is not completed, the construction completion determination unit 162 executes the process of step S100 again at a predetermined timing.

[0045] Step S102: If it is determined in step S100 that the leveling has been completed, the construction completion determination unit 162 transmits construction completion information to the construction management server 300. The construction completion information includes a coordinate range corresponding to the area range for which the leveling has been completed as described above, and is information notifying that the leveling of the area range has been completed.

[0046] Next, an example of a processing procedure executed by the construction management server 300 will be described. Step S200: In the construction management server 300, the information acquisition unit 321 acquires the construction completion information transmitted from the bulldozer 100 in step S102.

[0047] Step S202: The area determination unit 322 obtains the coordinate range of the area where paving and leveling has been completed from the construction completion information obtained in step S200. The area determination unit 322 updates the map of construction status data stored in the construction status data storage unit 331 by changing the obtained coordinate range from the incomplete area AR12 to the completed area AR11. As a result, a division determination (area division determination) has been performed between the completed area AR11 and the incomplete area AR12 for the construction area AR1 after the completed area AR11 has been expanded in response to the reception of the construction completion information.

[0048] Step S204: As described with reference to FIG. 7, the position designation unit 323 selects a reference placement candidate position Pr from among the possible placement positions P on the updated map.

[0049] Step S206: The position designation unit 323 forms a group of arrangement candidate positions corresponding to each of the reference arrangement candidate positions Pr selected in step S204.

[0050] Step S208: The position designation unit 323 evaluates the degree of match with the construction order for each group of placement candidate positions formed in step S206. That is, as described above, the position designation unit 323 calculates the post-leveling soil distribution Ds for each group of placement candidate positions. The position designation unit 323 may be configured to identify the calculated post-leveling soil distribution Ds that has the highest degree of match with the construction order set for the construction target section AR21. More specifically, for example, the position designation unit 323 may calculate the occupancy rate of the soil distribution Ds calculated for each group of placement candidate positions in each construction target section AR21, and identify the soil distribution Ds with the highest occupancy rate in the construction target section AR21 that is earliest in the construction order.

[0051] Step S210: The position designation unit 323 determines the designated positions for placing soil. That is, the position designation unit 323 designates the possible placement positions P corresponding to the reference placement candidate position Pr and the subordinate placement candidate position Ps included in the group of placement candidate positions corresponding to the soil distribution that matches the construction order most closely in step S208 as the designated positions for placing soil.

[0052] Step S212: The information transmitting unit 324 transmits to the earth and sand transporting vehicle 200 soil depositing designated position information indicating the soil depositing designated position determined in step S210.

[0053] The earth transport vehicle 200 that has received the designated soil placement position information loads the earth and moves to the construction site FL, and operates to place the soil at each of the possible placement positions P indicated by the received designated soil placement position information. Here, the memory unit 207 of the earth transport vehicle 200 may store a map of the construction area AR1 that is the same as the construction status data stored in the construction status data memory unit 331. When placing the soil, the earth transport vehicle 200 can identify the possible placement positions P indicated by the designated soil placement position information at the actual construction site FL by referring to the map stored in the memory unit 207, and place the soil appropriately.

[0054] In addition, when the earth transport vehicle 200 places the soil in accordance with the received soil designated location information, it may be controlled, for example, by communicating with the bulldozer 100 at the construction site FL, so that the earth transport vehicle 200 does not approach within a certain distance from the possible placement location P where the soil is to be placed at the time the earth transport vehicle 200 places the soil.

[0055] A modification of this embodiment will now be described. In the above embodiment, when determining the designated positions for placing soil, the degree of agreement with the construction order of the soil distribution when placing soil and leveling is used for each of the groups of candidate placement positions formed by the position designation unit 323. In addition, as a modified example, when determining the designated positions for placing soil, weighting may be further performed for each group of candidate placement positions according to a predetermined situation at the construction site FL (weighting may also be performed for each reference candidate placement position Pr), and the designated positions for placing soil may be determined based on the results of a calculation using the degree of agreement with the construction order and the weighting value. The weighting value may be set for each group of placement candidate positions, for example, according to the distance between each of the group of placement candidate positions (or reference placement candidate positions Pr) at the construction site FL and the bulldozer 100. In addition, the weighting value may be set for each group of placement candidate positions based on environmental conditions such as the position of the work road at the construction site FL, the installation of equipment, and the topography of the construction site FL.

[0056] For example, if the construction area AR1 is large, multiple separated completed areas AR11 may be formed by starting leveling at each of the separated positions in the construction area AR1. Then, the designated soil placement position may be determined individually for each of the multiple completed areas AR11, and leveling may be carried out, so that a single completed area AR11 corresponding to the construction area AR1 is finally obtained.

[0057] In the above embodiment, the bulldozer 100 measures the height of the construction site FL and then determines whether or not leveling has been completed for a predetermined area. However, for example, the bulldozer 100 measures the height of the construction site FL while performing operations corresponding to leveling, and transmits height measurement information indicating the measured height and the coordinates of the position measured to the construction management server 300. Alternatively, the construction management server 300 may determine whether or not leveling has been completed based on the received height measurement information, and then determine whether or not the construction area AR1 is divided into a completed area AR11 and an incomplete area AR12. In other words, the construction management server 300 may have the function of the construction completion determination unit 162. Alternatively, the bulldozer 100 may be configured to execute processing up to a predetermined stage among the processing relating to determining the designated soil placing position according to steps S202 to S210 in FIG.

[0058] In the above embodiment, the construction site FL where earth and sand are spread and leveled is taken as an example. However, the construction management system of this embodiment can also be applied to a construction site where concrete is spread and leveled by a bulldozer, such as a dam.

[0059] In the above embodiment, an example was given in which the bulldozer 100 and the earth transport vehicle 200 were each configured to operate autonomously. However, at least one of the bulldozer 100 and the earth transport vehicle 200 may be operated (piloted) by a person. For example, when the earth transport vehicle 200 is operated by a person, the earth transport vehicle 200 may display on a map of the construction site FL the position indicated by the soil placement designated position information received from the construction management server 300. The operator of the earth transport vehicle 200 can confirm the displayed position and operate the earth transport vehicle 200 to place the soil.

[0060] Note that the programs for implementing the functions of the bulldozer 100, earthmoving vehicle 200, and construction management server 300 may be recorded on a computer-readable recording medium, and the programs may be loaded into a computer system and executed to perform the functions of the bulldozer 100, earthmoving vehicle 200, and construction management server 300. Here, "loading a program recorded on a recording medium into a computer system and executing it" includes installing the program into a computer system. The term "computer system" here includes hardware such as an OS and peripheral devices. The term "computer system" may also include multiple computer devices connected via a network, including communication lines. The term "recording medium" also includes internal or external recording media accessible from a distribution server for distributing the program. [Explanation of symbols]

[0061] 100 Bulldozer, 101 Communication unit, 102 Sensor unit, 103 Positioning unit, 104 Vehicle mechanism unit, 105 Blade mechanism unit, 106 Control unit, 107 Memory unit, 120 Sensor, 161 Autonomous driving control unit, 162 Construction completion determination unit, 200 Earth and sand transport vehicle, 201 Communication unit, 202 Sensor unit, 203 Positioning unit, 204 Vehicle mechanism unit, 205 Platform mechanism unit, 206 Control unit, 207 Memory unit, 261 Autonomous driving control unit, 300 Construction management server, 301 Communication unit, 302 Control unit, 303 Memory unit, 321 Information acquisition unit, 322 Area determination unit, 323 Position designation unit, 324 Information transmission unit, 331 Construction status data storage unit

Claims

1. an area determination unit that determines a completed area where the leveling has been completed and an incomplete area where the leveling has not been completed in a construction area where a soil transport vehicle places soil and a bulldozer is placed to level the soil; Among a plurality of possible placement positions that can be designated as positions for placing soil in the construction target area, a possible placement position that is within a predetermined distance from the outer edge of the completion area determined by the area determination unit is selected as a reference placement candidate position; forming a group of placement candidate positions including possible placement positions that have a predetermined positional relationship with each of the selected reference placement candidate positions as a reference; Among the group of candidate placement positions, a group of candidate placement positions where the soil transport vehicle should place the soil is identified based on the degree of match between the distribution of soil when leveling is performed and the construction order set for the construction target sections into which the construction target area is divided; a position designation unit that determines a possible placement position included in the identified group of placement candidate positions as a designated placement soil position; A construction management system equipped with the following:

2. One of the arrangement candidate position groups includes one of the reference arrangement candidate positions and an arrangement candidate position adjacent to the reference arrangement candidate position. The construction management system according to claim 1 .

3. The position designation unit determines a group of candidate placement positions where the soil transport vehicle should place the soil based on the degree of match with the construction order and a weighting value set for each group of candidate placement positions according to a predetermined situation in the construction target area. The construction management system according to claim 1 or 2.

4. an area determination step for determining a completed area where the leveling has been completed and an incomplete area where the leveling has not been completed in a construction area where the earth and sand transport vehicle places the soil and the bulldozer places the soil and levels the soil; Among a plurality of possible placement positions that can be designated as positions for placing soil in the construction target area, a possible placement position that is within a predetermined distance from the outer edge of the completed area determined in the area determination step is selected as a reference placement candidate position; forming a group of placement candidate positions including possible placement positions that have a predetermined positional relationship with each of the selected reference placement candidate positions as a reference; Among the group of candidate placement positions, a group of candidate placement positions where the soil transport vehicle should place the soil is identified based on the degree of match between the distribution of soil when leveling is performed and the construction order set for the construction target sections into which the construction target area is divided; a position designation step of determining a possible placement position included in the identified placement candidate position group as a designated placement soil position; Construction management methods including.

5. A computer provided in the construction management system, an area determination unit that determines a completed area where the leveling has been completed and an incomplete area where the leveling has not been completed in a construction area where the earth and sand transport vehicle places the soil and the bulldozer places the soil to level the soil; Among a plurality of possible placement positions that can be designated as positions for placing soil in the construction target area, a possible placement position that is within a predetermined distance from the outer edge of the completion area determined by the area determination unit is selected as a reference placement candidate position; forming a group of placement candidate positions including possible placement positions that have a predetermined positional relationship with each of the selected reference placement candidate positions as a reference; Among the group of candidate placement positions, a group of candidate placement positions where the soil transport vehicle should place the soil is identified based on the degree of match between the distribution of soil when leveling is performed and the construction order set for the construction target sections into which the construction target area is divided; a position designation unit that determines a possible placement position included in the identified group of placement candidate positions as a designated placement soil position; A program to function as a

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