Method for positioning construction equipment

Abstract

To improve convenience.SOLUTION: A positioning method of a construction device includes the steps of: moving a second device separated from a first device so as to approach the first device when positioning the first device and the second device; imaging a first mark provided in the first device and a second mark provided on the second device; and positioning the first device and the second device, on the basis of an imaging result of the imaging step.SELECTED DRAWING: Figure 19

Description

[Technical Field]

[0001] The present invention relates to a method for positioning a construction device. [Background technology]

[0002] Conventionally, in order to improve and effectively utilize construction generated soil and the like, the base material to be improved has been mixed with other base materials or additives having different properties from the base material. For example, Patent Document 1 discloses a soil improvement machine equipped with a hopper that can be divided into two by installing an opening / closing gate in a two-type mixing hopper. According to Patent Document 1, by adjusting the opening / closing dimensions of the opening / closing gate, it is possible to supply on-site generated soil (first base material) and recycled crushed stone (second base material) in any ratio. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-74321 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the soil improvement machine of Patent Document 1 has room for improvement in terms of usability.

[0005] SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a method for positioning construction equipment that is easy to use. [Means for solving the problem]

[0006] The method for positioning a construction device according to claim 1 includes: By imaging device taking an image; and positioning the first device and a second device separated from the first device, moving the second device closer to the first device; In the field of view of the imaging device a second mark provided on the second device in addition to the first mark; Entered and a step of stopping the second device and positioning the first device and the second device based on the imaging results of the first mark and the second mark when the second device has decelerated. A method for positioning construction equipment described in claim 4 includes the steps of: capturing an image of a first mark provided on a first device; moving the second device so as to approach the first device when positioning the first device and a second device separated from the first device; slowing down the movement speed of the second device when a portion of the first mark is blocked by the second device; and stopping the second device and positioning the first device and the second device based on the image capturing results of the first mark and the second mark when the second device has slowed down. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide a method for positioning construction equipment that is easy to use. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a perspective view of a mixing device according to an embodiment. [Figure 2] FIG. 2 is a perspective view of the mixing device of the embodiment, seen from a different direction than FIG. [Figure 3] FIG. 3 is a perspective view of a first device included in the mixing device of the embodiment. [Figure 4] FIG. 4 is a perspective view of the first device included in the mixing device of the embodiment, seen from a different direction than FIG. [Figure 5] FIG. 5 is a perspective view showing a state in which the generator is lowered from the first device included in the mixer of the embodiment. [Figure 6] FIG. 6 is a side view of a first device included in the mixing device of the embodiment. [Figure 7] FIG. 7 is an explanatory view schematically showing a first measuring section provided in a first device included in the mixing device of the embodiment. [Figure 8] FIG. 8 is a plan view of a first device included in the mixing device of the embodiment. [Figure 9] FIG. 9 is an explanatory view showing an enlarged view of a connection position between a first transfer conveyor and a mixer provided in a first device included in the mixer of the embodiment. [Figure 10] FIG. 10 is a perspective view of a second base material supplying device included in the mixing device of the embodiment. [Figure 11] FIG. 11 is a perspective view of a second base material supplying device included in the mixing device of the embodiment, seen from a different direction than FIG. [Figure 12] FIG. 12 is a block diagram showing a control system of the mixing device of the embodiment. [Figure 13] FIG. 13 is a flowchart showing an example of control of the mixing device in the embodiment. [Figure 14] Figures 14(a) to 14(c) are flowcharts showing subroutines included in the control of the mixing device of the embodiment, where Figure 14(a) is a flowchart showing an example of first base material supply control, Figure 14(b) is a flowchart showing an example of second base material supply control, and Figure 14(c) is a flowchart showing an example of additive material supply control. [Figure 15] 15(a) and 15(b) are diagrams (part 1) for explaining Modification 1. FIG. [Figure 16] 16(a) and 16(b) are diagrams (part 2) for explaining the first modification. [Figure 17] Figure 17(a) is a diagram showing the first device and second base material supply device according to variant example 2 as viewed from the +Z direction, and Figure 17(b) is a diagram showing the first device and second base material supply device according to variant example 2 as viewed from the +X direction. [Figure 18] FIG. 18 is a diagram showing the first device and the second base material supply device according to the second modification as viewed from the -Y direction. [Figure 19] FIG. 19 is a flowchart showing the processing of the control unit when the second base material supplying device 200 according to the second modification is positioned at the second position. [Figure 20]20(a) and 20(b) are diagrams (part 1) for explaining the processing of FIG. [Figure 21] 21(a) and 21(b) are diagrams (part 2) for explaining the processing of FIG. [Figure 22] 22(a) and 22(b) are diagrams (part 3) for explaining the processing of FIG. [Figure 23] FIG. 23 is a diagram showing a modified example of the arrangement of the third and fourth marks. [Figure 24] FIG. 24 is a diagram for explaining the angular deviation between the third and fourth marks. [Figure 25] 25(a) and 25(b) are diagrams for explaining the third modification. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment will be described with reference to the drawings.

[0010] (Embodiment) First, a schematic configuration of a mixer 1000 according to an embodiment will be described with reference to FIGS. 1 and 2. Both FIGS. 1 and 2 are perspective views of the mixer 1000, but the direction in which the mixer 1000 is viewed differs between FIGS. 1 and 2. For convenience, in the following description, the vertical direction is referred to as the Z direction, and two orthogonal axial directions in a horizontal plane are referred to as the X direction and the Y direction. Here, the X direction corresponds to a first direction in which a first transport conveyor 110 (described in detail below) extends, and the Y direction corresponds to a second direction in a horizontal plane that is orthogonal to the first direction. In the following description, the notations -X and +X are used to describe the positional relationship of components in the X direction, and similarly, the notations -Y and +Y are used to describe the positional relationship of components in the Y direction.

[0011] The mixer 1000 mixes the first and second base materials. If necessary, it also adds additives to these two materials. The mixer 1000 is installed, for example, at a site where embankment construction work is being carried out. The mixer mixes the first base material, which is construction waste soil excavated at the site, with the second base material and additives to improve the first base material. The second base material is appropriately prepared to match the properties of the first base material to obtain the desired improved soil. If a second base material with the desired properties can be collected on site, it may be used. The additives are appropriately selected and supplied from lime-based solidification materials such as quicklime and slaked lime, cement-based solidification materials such as ordinary cement and blast-furnace cement, soil improvement materials made from polymeric materials, and chemical fibers made from natural fibers and resins. The additives are supplied and mixed with the first and second base materials to adjust the properties and strength of the improved soil.

[0012] The mixing apparatus 1000 includes a first apparatus 100 and a second base material supplying apparatus 200 used in combination with the first apparatus 100. The first apparatus 100 is provided with a first base material supplying section 120, a first transfer conveyor 110, a mixing section 130, and a discharge conveyor 160, which are arranged in this order along the X direction from the -X side to the +X side. The first base material is introduced into a first base material hopper 120a provided in the first base material supplying section 120. The first base material is then supplied to the first transfer conveyor 110 at a first position P1 by a supply conveyor 120b provided below the first base material hopper 120a. The first transfer conveyor 110 is provided with a first weighing section 150 (not shown in FIGS. 1 and 2; see FIGS. 4 to 6) that measures the weight of the first base material. This will be described later.

[0013] The second base material supply device 200 includes a second transfer conveyor 210 and a second base material supply section 220, and is connected to the first apparatus 100 with the direction in which the second transfer conveyor 210 extends aligned with the Y direction. The second transfer conveyor 210 is connected to the first transfer conveyor 110 at a second position P2, which is on the +X side of the first position P1 in the first apparatus 100. In other words, the second position P2 is the supply position for the second base material. The second transfer conveyor 210 is provided with a second weighing section 250 that measures the weight of the second base material, as will be described later.

[0014] The first apparatus 100 is provided with an additive supply section 140 between the first position P1 and the second position P2. The additive supply section 140 supplies the additive onto the first transport conveyor 110. As a result, the first base material, the second base material, and the additive are supplied onto the first transport conveyor 110. The first transport conveyor 110 transports the supplied first base material, the second base material, and the additive to the mixing section 130.

[0015] Next, the first device 100 will be described in detail with reference to Fig. 3 to Fig. 7. Fig. 3 and Fig. 4 are both perspective views of the first device 100, but the direction in which the first device 100 is viewed is different between Fig. 3 and Fig. 4. Fig. 5 shows the state in which the generator 170 has been removed from the first device 100. Fig. 6 is a side view of the first device 100. Fig. 7 is an explanatory diagram schematically showing the first measuring section 150 provided in the first device 100.

[0016] As described above, the first apparatus 100 includes the first transport conveyor 110, the first base material supply section 120, the mixing section 130, the additive supply section 140, and the discharge conveyor 160. These are mounted on and supported by the first support member 101. In this embodiment, the first support member 101 is a plate-shaped member, but it may be, for example, a frame-shaped member as long as it can support these elements. Furthermore, the first support member 101 in this embodiment is equipped with a generator 170. As described above, since the main equipment of the first apparatus 100 is supported by the first support member 101, the first apparatus 100 has excellent transportability and is easy to move to and around the site. In this embodiment, a first moving device 102 is attached to the first support member 101. This allows the first apparatus 100 to travel within a construction site, work site, or the like in response to remote control operation by a worker, etc. The first moving device 102 in this embodiment is an endless track, but it may also be a moving device using wheels, etc. By providing the first moving device 102, it becomes easier to carry out soil improvement work while moving little by little at the site.

[0017] The first conveyor 110 extends along the X direction, conveys the first base material, the second base material, and the additive from the -X side toward the +X side, and inputs them into the mixer 130. The first conveyor 110 includes a first weighing section 150 between a first position P1 where the first base material is supplied and the additive supply section 140. The first weighing section 150 measures the weight of the first base material. By incorporating the first weighing section 150 into the first conveyor 110, the first weighing section 150 can measure the weight of the first base material while it is being conveyed. The measurement value by the first weighing section 150 is used to adjust the mixing ratio of the first base material, the second base material, and the additive. Here, referring to FIG. 7 , the first weighing section 150 is supported by a support frame 150a and includes support rollers 150b provided below the conveyor belt 110a of the first conveyor 110. The support frame 150a is a lever that receives a load and is connected to a load cell 150c. The first weighing unit 150 can measure the weight of the first base material transported by the first transport conveyor 110 based on the speed of the first transport conveyor 110 and the measurement value of the load cell 150c. Note that the mechanism of the first weighing unit 150 itself is conventionally known, so a detailed description of the method for calculating the measurement value will be omitted here.

[0018] The first base material is fed into the first base material supply unit 120. The first base material supply unit 120 is equipped with a first base material hopper 120a. The first base material fed into the first base material hopper 120a is crushed by rotating rollers installed inside and falls onto a supply conveyor 102b installed below. The dropped first base material is supplied to the first transport conveyor 110 at a first position P1.

[0019] The mixing section 130 includes a drum 131 and a rotating member 132 rotatably mounted within the drum 131. The rotating member 132 includes a shaft member 132a, a bearing member (not shown) that rotatably supports the shaft member 132a, an impact member 132b (not shown in FIGS. 3 to 5, see FIGS. 8 and 9), and a rotating shaft-side pulley 132c. The mixing section 130 also includes a lid 133 attached to the drum 131. The lid 133 is provided with an inlet 133a (not shown in FIGS. 3 to 5, see FIG. 8). The mixing section 130 also includes a motor 134. The motor 134 includes a motor-side pulley 134a. A drive belt 135 is stretched between the rotating shaft-side pulley 132c and the motor-side pulley 134a, and the rotating member 132 rotates when driven by the motor 134. The rotation axis AX132 of the rotating member 132 (shaft member 132a) extends in the Z direction. The impact member 132b rotates within the drum 131, crushing the first and second base materials that have been introduced and mixing them with the additives. The mixed first and second base materials and additives are discharged from the bottom of the drum 131 as improved soil and fall onto a discharge conveyor 160 extending below the drum 131. The bearing member (not shown) is provided inside the rotating member 132 shown in FIG. 6 and is a cantilevered bearing member that is not provided below the rotating member 132. The applicant of the present application also proposed a rotary crushing device with cantilevered ball bearings in Japanese Patent Application No. 2020-004183, filed on January 15, 2020. In this embodiment, too, a ball bearing can be used as the bearing member (not shown), and an angular contact ball bearing can be used to improve the rotational accuracy and rigidity of the shaft member 132a. In this manner, the shaft member 132a is cantilevered on the upper side (first conveyor 110 side) of the shaft member 132a, and the lower side (other end) of the shaft member 132a is made a free end, thereby freeing up space below the shaft member 132a for arranging a bearing member. Therefore, in this embodiment, the mixing section 130 can be arranged lower along the Z direction, and accordingly, the first base material supply section 120 and the like can also be arranged lower, thereby reducing the overall height of the first apparatus 100 as a whole.Specifically, the overall height of the first device 100 can be set to 3.8 m or less, which satisfies the transport height of 3.8 m, which is the guideline for height during transportation, and ensures freedom of transport of the first device 100 by truck or trailer.

[0020] As shown in FIG. 6, the additive supplying section 140 is provided between the first position P1 and the second position P2. The additive supplying section 140 is provided on the +X side of the first measuring section 150 so as to supply the additive onto the first transport conveyor 110. The additive supplying section 140 includes an additive hopper 140a and a screw feeder 140b disposed below the additive hopper 140a. The additive is cut out by the screw feeder 140b and supplied onto the first transport conveyor 110. The additive supplying section 140 includes a third measuring section 180 that measures the weight of the additive to be supplied onto the first transport conveyor 110. A weighing device equipped with a load cell, for example, can be used as the third measuring section 180.

[0021] The discharge conveyor 160 extends in the +X direction from the underside of the mixing section 130. The discharge conveyor 160 transports the improved soil discharged from the drum 131 to a position away from the mixing section 130 and discharges it. The improved soil can be used for purposes such as backfilling of structures, backfilling of buildings, backfilling of civil engineering structures, embankments for river embankments, embankments for roads, embankments for land development, railway embankments, airport embankments, and water surface reclamation.

[0022] The generator 170 is used as a power source for various drive parts of the first equipment 100, such as the first transport conveyor 110, and also as a power source for obtaining power for the first moving device 102. The generator 170 is mounted on the first support member 101 and moves together with the main equipment of the first equipment 100, which is convenient because it is not necessary to attach and detach various cables each time the first equipment 100 is moved.

[0023] Here, the arrangement of each component included in the first device 100 will be described in detail with reference to Figures 8 and 9. Figure 8 is a plan view of the first device 100, and Figure 9 shows an enlarged view of the connection position between the first transfer conveyor 110 and the mixer 130. Note that in Figure 9, the cover 133, the rotary shaft side pulley 132c, and the drive belt 135 shown in Figure 8 are omitted, and the interior of the drum 131 is depicted.

[0024] 8, the dimension of the first support member 101 along the X direction (first direction) is length L101, and the dimension along the Y direction (second direction) is width W101. The center position of the first support member 101 in the X direction is center line CL101, and the center position in the Y direction is center line CW101. Here, the rotation axis AX132 of the rotation member 132 intersects with the center line CW101. That is, in FIG. 8, the rotation axis AX132 is located on the center line CW101.

[0025] The width W101 is set to a width that allows the first device 100 to be loaded onto the platform of a transport device that transports the first device 100, such as a truck or trailer, in consideration of the transportability of the first device 100.

[0026] Next, the dimension of the first conveyor 110 in the Y direction (second direction) is width W110, and the center line (transport center line) in the Y direction is CW110. In this embodiment, the center line (transport center line) CW110 in the Y direction of the first conveyor 110 is shifted in the +Y direction with respect to the center line CW101 in the Y direction of the first support member 101. As a result, the rotation axis AX132 is positioned so as not to intersect with the transport center line CW110. As a result, a space is formed on the -Y side of the first conveyor 110. In this embodiment, the transport center line CW110 of the first conveyor 110 is shifted in the +Y direction with respect to the center line CW101 of the first support member 101, thereby forming a space SP. Various equipment can be installed in the space SP. In this embodiment, as shown in FIG. 5, a generator 170 is installed in the space SP. That is, the generator 170 is mounted on and supported by the first support member 101 in parallel with the first transfer conveyor 110 in the Y direction. This allows the generator 170 to be transported as part of the first device 100.

[0027] 9, by positioning the rotation axis AX132 so as not to intersect with the conveyance center line CW110, the first base material, the second base material, and the additives conveyed by the first conveyor 110 are introduced along the periphery of the drum 131. By misaligning the rotation axis AX132 with the conveyance center line CW110 in this manner, the first base material, the second base material, and the additives to be mixed can be easily introduced into the drum 131. If the rotation axis AX132 and the conveyance center line CW110 were aligned, the leading end of the first conveyor 110 would have to approach the shaft member 132a in order to connect the first conveyor 110, which has a predetermined width, to the drum 131. When the leading end of the first conveyor 110 approaches the shaft member 132a, the mixed materials dropping from the first conveyor 110 would collide with a position near the base of the impact member 132b. If the falling materials to be mixed collide with the impact member 132b at a position close to its base, the impact force will be weaker than near the tip of the impact member, resulting in insufficient crushing and mixing, and in some cases, the impact member 132b may be more susceptible to wear. In contrast, by offsetting the rotation axis AX132 from the conveyance center line CW110 as in this embodiment, the degree of freedom in connecting the first conveyor 110 and the drum 131 is increased, making it easier to connect the two. Furthermore, the collision position of the falling materials to be mixed with the impact member 132b is improved, suppressing wear on the impact member 132b.

[0028] 8, the rotation axis AX132 is set to be shifted in the +X direction from the center line CL101 in the X direction of the first support member 101. In other words, the mixer 130 is supported by the first support member 101 so that the rotation axis AX132 is not at the center position of the first support member 101 in the X direction.

[0029] In this way, by displacing the rotation axis AX132 in the +X direction from the center line CL101 in the X direction of the first support member 101 and placing the mixing section 130 away from the first base material supply section 120, it is possible to ensure space between them for supplying the second base material and additives. That is, a second position P2 can be set on the first transport conveyor 110 arranged between the first base material supply section 120 and the mixing section 130 to supply the second base material and / or additives. As a result, the first base material, the second base material, and the additives can be supplied to the mixing section 130 all at once.

[0030] The first apparatus 100 of this embodiment includes a first moving device 102. The first moving device 102 includes a pair of caterpillar tracks, the width of which is approximately equal to the width W101 of the first support member 101. This allows the first moving device 102 to be easily loaded onto transportation equipment such as a truck or trailer. Furthermore, by mounting the first transport conveyor 110 and the generator 170 side by side in the Y direction, the first moving device 102 can be stably operated and the first apparatus 100 can be stably moved. The dimension of the first moving device 102 in the X direction is L102, and its center line is CL102. The rotation axis AX132 is also offset in the +X direction with respect to the center line CL102 and is positioned closer to the +X side than the +X end of the first moving device 102. However, the amount of offset is set within a range that does not affect stable operation of the first moving device 102, taking into account the position of the center of gravity of the first apparatus 100.

[0031] Next, the second base material supplying device 200 will be described with reference to Figures 10 and 11. Figures 10 and 11 are both perspective views of the second base material supplying device 200, but the direction in which the second base material supplying device 200 is viewed is different between Figures 10 and 11.

[0032] The second base material supply device 200 includes a second support member 201. The second support member 201 includes a second transfer conveyor 210 and a second base material supply section 220. The second base material supply section 220 includes a second base material hopper 220a and a supply conveyor 220b provided below the second base material hopper 220a. One end of the second transfer conveyor 210 is located below the supply conveyor 220b and extends obliquely upward from there. The other end of the second transfer conveyor 210 is connected to the first device 100 at a second position P2, as shown in FIGS. 1 and 2. The second base material supply device 200 includes a second moving device 202 below the second support member 201. The second moving device 202 is an endless track like the first moving device 102, but may also be wheels or the like. The second base material supply device 200 is transported separately from the first device 100, but by providing the second moving device 202, it can be easily moved and can be easily loaded onto a truck or trailer.

[0033] A second weighing section 250 that measures the weight of the second base material is provided on the second transport conveyor 210. The configuration of the second weighing section 250 is the same as that of the first weighing section, and therefore a description thereof will be omitted here.

[0034] Next, a control system of the mixer 1000 according to the embodiment will be described with reference to FIG. 12. FIG. 12 is a block diagram showing the control system of the mixer 1000 according to the embodiment. The mixer 1000 includes a control unit 190 and an input unit 191 connected to the control unit 190. The control unit 190 and the input unit 191 are provided in the first device 100. The control unit 190 includes a central processing unit (CPU), read-only memory (ROM), random access memory (RAM), and a storage unit (here, a hard disk drive (HDD)). Information regarding the mixing ratio of the first base material, the second base material, and the additive is input from the input unit. The control unit 190 is communicatively connected to the supply conveyor 120b, the first measuring unit 150, the screw feeder 140b, the third measuring unit 180, the second transport conveyor 210, and the second measuring unit 250. The communicative connection between the control unit 190 and other elements may be wired or wireless.

[0035] Next, an example of control in the mixing device 1000 will be described with reference to Fig. 13 to Fig. 14(c). Fig. 13 is a flowchart showing an example of main control in the mixing device 1000. Fig. 14(a) is a flowchart showing an example of first base material supply control, Fig. 14(b) is a flowchart showing an example of second base material supply control, and Fig. 14(c) is a flowchart showing an example of additive material supply control.

[0036] 13, the control unit 190 acquires the mixing ratio of the first base material, the second base material, and the additive material through input from the input unit 191. Then, in step S2, the control unit 190 calculates a target supply amount DW10 for the first base material, a target supply amount DW20 for the second base material, and a target supply amount DW30 for the additive material.

[0037] The control unit 190 performs first base material supply control in step S3, second base material supply control in step S4, and additional material supply control in step S5. These controls are subroutines shown in Figures 14(a) to 14(c), and are executed in parallel.

[0038] 14(a), in step S31, the control unit 190 calculates the supply amount DW11 of the first base material at that time. The supply amount DW11 is calculated based on the conveying speed V1 of the supply conveyor 120b at that time and the weighing result by the first weighing unit 150. In step S32, the control unit 190 determines whether the calculated supply amount DW11 is greater than the target supply amount DW10 calculated in step S2. If the control unit 190 makes a positive determination (YES determination) in step S32, the control unit 190 proceeds to step S33. In step S33, the control unit 190 reduces the conveying speed V1 by a predetermined reduction amount. After executing step S33, the process returns, and the control unit 190 repeats the process from step S31. On the other hand, if the control unit 190 makes a negative determination (NO determination) in step S32, the control unit 190 proceeds to step S34. In step S34, the control unit 190 determines whether the supply amount DW11 at that time calculated in step S31 is lighter than the target supply amount DW10 calculated in step S2. If the control unit 190 determines yes in step S34, the process proceeds to step S35. In step S35, the control unit 190 increases the conveying speed V1 by a predetermined increase amount. After executing step S35, the process returns, and the control unit 190 repeats the process from step S31. On the other hand, if the control unit 190 determines no in step S34, the control unit 190 repeats the process from step S31 while maintaining the conveying speed V1 at that time. The control unit 190 repeatedly performs the first base material supply control, for example, in real time.

[0039] 14(b), in step S41, the control unit 190 calculates the supply amount DW21 of the second base material at that time. The supply amount DW21 is calculated based on the conveying speed V2 of the second transport conveyor 210 at that time and the weighing result by the second weighing unit 250. In step S42, the control unit 190 determines whether the calculated supply amount DW21 is greater than the target supply amount DW20 calculated in step S2. If the control unit 190 makes a positive determination (YES determination) in step S42, the control unit 190 proceeds to step S43. In step S43, the control unit 190 reduces the conveying speed V2 by a predetermined reduction amount. After executing step S43, the process returns, and the control unit 190 repeats the process from step S41. On the other hand, if the control unit 190 makes a negative determination (NO determination) in step S42, the control unit 190 proceeds to step S44. In step S44, the control unit 190 determines whether the supply amount DW21 at that time calculated in step S41 is lighter than the target supply amount DW20 calculated in step S2. If the control unit 190 makes a positive determination in step S44, the control unit 190 proceeds to step S45. In step S45, the control unit 190 increases the conveying speed V2 by a predetermined increase amount. After executing step S45, the process returns, and the control unit 190 repeats the process from step S41. On the other hand, if the control unit 190 makes a negative determination in step S44, the control unit 190 repeats the process from step S41 while maintaining the conveying speed V2 at that time. The control unit 190 repeatedly performs second base material supply control, for example, in real time.

[0040] 14(c), in step S51, the control unit 190 calculates the supply amount DW31 of the additive at that time. The supply amount DW31 is calculated based on the conveying speed V3 of the screw feeder 140b at that time and the measurement result by the third measuring unit 180. In step S52, the control unit 190 determines whether the calculated supply amount DW31 is greater than the target supply amount DW30 calculated in step S2. If the control unit 190 makes a positive determination (YES determination) in step S52, the control unit 190 proceeds to step S53. In step S53, the control unit 190 reduces the conveying speed V3 by a predetermined reduction amount. After executing step S53, the process returns, and the control unit 190 repeats the process from step S51. On the other hand, if the control unit 190 makes a negative determination (NO determination) in step S52, the control unit 190 proceeds to step S54. In step S54, the control unit 190 determines whether the supply amount DW31 at that time calculated in step S51 is lighter than the target supply amount DW30 calculated in step S2. If the control unit 190 makes a positive determination in step S54, the process proceeds to step S55. In step S55, the control unit 190 increases the conveying speed V3 by a predetermined increase amount. After executing step S55, the process returns, and the control unit 190 repeats the process from step S51. On the other hand, if the control unit 190 makes a negative determination in step S54, the control unit 190 repeats the process from step S51 while maintaining the conveying speed V3 at that time. The control unit 190 repeatedly performs the additive material supply control, for example, in real time.

[0041] After starting the control of steps S3 to S5, the control unit 190 executes step S6. In step S6, the control unit 190 determines whether or not there is a stop command for the mixing device 1000. If the control unit 190 makes a positive determination in step S6, it stops the mixing device 1000 in step S7, and the process ends. On the other hand, if the control unit 190 makes a negative determination in step S6, it repeats the control of steps S3 to S5.

[0042] Here, we will explain the effect of determining the mixing ratio of the first base material, second base material, and additives based on weight, as in this embodiment. If the mixing ratio of the first base material, second base material, and additives were determined based on their volumes, the volumes of these materials would change depending on their state, making it difficult to mix them in accurate ratios. For example, even if the apparent volume of a first base material with many gaps and cavities is roughly the same as that of a first base material in a compressed and dense state, the actual amount of first base material will differ. Therefore, if the mixing ratio is controlled based on weight, the accuracy of the mixing ratio will be improved, making it easier to obtain improved soil with the desired properties.

[0043] In the mixer 1000 of this embodiment, the rotating member 132 of the mixer 130 is disposed so that the rotation axis AX132 of the rotating member 132 does not intersect with the conveyance center line CW110 of the first conveyor 110. This allows a space SP to be secured to the side of the first conveyor 110. Various equipment can be installed in this space SP. Installing various equipment in this space SP also improves the conveyance performance of the mixer 1000 as a whole. Furthermore, the first base material, second base material, and additive material conveyed by the first conveyor 110 are introduced along the periphery of the drum 131, improving the collision position of the falling materials to be mixed with the impact member 132b. As a result, wear on the impact member 132b is reduced. Reduced wear on the impact member 132b reduces the frequency of maintenance. As such, the mixer 1000 of this embodiment can be made easier to use.

[0044] The conveying speeds of the supply conveyor 120b, the second conveyor 210, and the screw feeder 140b may be changed in accordance with the detected load current by detecting the load current of the motor 134. Specifically, when the load current of the motor 134 exceeds 90% of the rated current of the motor 134, the control unit 190 may determine that the load on the mixer 130 is high and control the conveying speeds of the supply conveyor 120b, the second conveyor 210, and the screw feeder 140b to be lowered. When the load current of the motor 134 is less than 70% of the rated current of the motor 134, the control unit 190 may determine that there is sufficient capacity for crushing and mixing in the mixer 130 and control the conveying speeds of the supply conveyor 120b, the second conveyor 210, and the screw feeder 140b to be increased.

[0045] Furthermore, while the properties of the second base material and the additive are known, the properties of the first base material are often unknown because it is construction waste soil. For this reason, the control unit 190 may control the conveying speeds of the second transport conveyor 210 and the screw feeder 140b according to the control status of the supply conveyor 120b.

[0046] The mixing device 1000 of this embodiment is equipped with a first base material supply section 120 and a second base material supply section 220. The first base material supply section 120 is equipped with a first base material hopper 120a dedicated to the first base material, and the second base material supply section 220 is equipped with a second base material hopper 220a dedicated to the second base material. Therefore, the first base material and the second base material can be charged in large quantities into the respective hoppers, and improved soil can be obtained efficiently.

[0047] In the mixer 1000 of this embodiment, the first transport conveyor 110 is supported by the first support member 101 so that the transport center line CW110 of the first transport conveyor 110 is shifted from the center line CW101 of the first support member 101. The generator 170 is mounted in the space SP created by this. This allows the generator 170 to be transported as part of the first equipment 100. Furthermore, since the generator 170 is supported by the first support member 101 in parallel with the first transport conveyor 110 in the Y direction, the center of gravity of the first equipment 100 is stabilized, and the stability of the first equipment 100 during movement and operation is increased.

[0048] According to the mixer 1000 of this embodiment, the mixer 130 is supported by the first support member 101 so that the rotation axis AX132 of the rotating member 132 is different from the center position (center line CL101) of the first support member 101 in the X direction (first direction). This makes it possible to ensure a position on the first transport conveyor 110 for supplying the second base material and a position for supplying the additive. In addition, a first measuring section 150 can be provided on the first transport conveyor 110.

[0049] The mixing device 1000 of this embodiment is equipped with an additive supply unit 140. This makes it easy to supply additives at the site. The additive supply unit 140 is located between a position (first position P1) where the first base material is supplied from the first base material supply unit 120 and a position (second position P2) where the second base material is supplied from the second base material supply unit 220. This allows the additive supply unit 140 to move together with the first transport conveyor 110, the first base material supply unit 120, etc., thereby achieving high transportability of the first device 100.

[0050] The mixing device 1000 of this embodiment is equipped with a first measuring section 150, a second measuring section 250, and a third measuring section 180, and therefore the mixing ratio of the first base material, the second base material, and the additive can be accurately controlled based on their weights.

[0051] The first device 100 included in the mixing device 1000 of this embodiment includes a first moving device 102 that moves while holding a first transport conveyor 110, a first base material supply section 120, and a mixing section 130. This makes it easy to move the first device 100, and to load and unload it onto transportation equipment such as a truck or trailer.

[0052] The above-described embodiment is a preferred example of the present invention. However, the present invention is not limited to this, and various modifications are possible within the scope of the present invention. For example, a crane may be provided to supply the first base material to the first base material hopper 120a. In this case, it is preferable to provide the crane via a post member so that the crane is positioned above the first base material hopper 120a. The post member and the crane may be provided using the space SP, or may be provided near the first base material supply section 120.

[0053] (Variation 1) Modification 1 will be described below with reference to Figures 15(a) to 16(b). The second base material supply device 200' according to this modification 1 can approach the first apparatus 100 from one side (+Y side) as shown in Figure 15(a), and can also approach the first apparatus 100 from the other side (-Y side) as shown in Figure 15(b).

[0054] More specifically, as shown in FIG. 15(b), even if the second base material supplying device 200′ approaches the first apparatus 100 from the −Y side via the second moving device 202, the second transfer conveyor 210′ ​​(belt conveyor) of the second base material supplying device 200′ is designed not to come into contact with any part of the first apparatus 100 (for example, with the generator 170), i.e., to be non-contact. That is, the length of the second transfer conveyor 210′ ​​is set longer than the second transfer conveyor 210 of the above embodiment (see FIG. 10, etc.), and therefore the height of the chute section 512 provided at the tip of the second transfer conveyor 210′ ​​is set higher. Note that the inclination angle of the second transfer conveyor 210′ ​​is set to be approximately the same as the inclination angle of the second transfer conveyor 210 of the above embodiment, so that the second base material to be transported does not slide downward. Therefore, in this modification 1, the length of the second transfer conveyor 210′ ​​is increased, thereby increasing the height of the chute section 512. The second conveyor 210' conveys the second base material from the lower end (second height) to above the first conveyor 110 (first height), and the chute section 512 is a member that guides the second base material conveyed to the first height by the second conveyor 210' so that it is properly supplied onto the first conveyor 110.

[0055] As described above, according to the present modified example 1, the second base material supply unit 220 and the second transport conveyor 210' cooperate to supply the second base material to the first transport conveyor 110. Furthermore, regardless of whether the second base material supply device 200' is installed on the +Y side or the -Y side of the first equipment 100, the second base material can be supplied from the second base material supply device 200' to the first transport conveyor 110. Therefore, the layout of the first equipment 100 and the second base material supply device 200' can be appropriately adjusted according to the topography, conditions, etc. of the site.

[0056] In this first modification, the height of the end (chute section 512) of the second transfer conveyor 210' is increased, so when the second base material supply device 200' is loaded onto a truck 900 for transport to the work site (see FIG. 16(a)), the end of the second transfer conveyor 210' may exceed the height limit T. Therefore, in this first modification, the second transfer conveyor 210' is configured to have a front conveyor 510A and a rear conveyor 510B, and when loaded onto the truck 900, the front conveyor 510A is bent (flexed) relative to the rear conveyor 510B, as shown in FIG. 16(b). This prevents the end of the second transfer conveyor 210' from exceeding the height limit T. Here, the +Y end of the front conveyor 510A is connected to a hinge provided at the upper end of the support member 302, and can transition between the state shown in Figure 16(a) and the bent state shown in Figure 16(b) by the extension and contraction movement of the jack 300. In other words, the jack 300 and the front conveyor 510A function as a height changing mechanism that changes the height of the end (chute section 512) of the second transfer conveyor 210'.

[0057] 16(a) and 16(b) illustrate the case where the second transfer conveyor 210' includes a front conveyor 510A and a rear conveyor 510B, but the present invention is not limited to this. For example, the second transfer conveyor 210' may have the same configuration as the second transfer conveyor 210 of the above embodiment, and may be provided with a change mechanism for changing the inclination angle of the second transfer conveyor 210'.

[0058] (Variation 2) Next, Modification 2 will be described with reference to Fig. 17(a) to Fig. 24. Note that in Modification 2, an example is described in which the second base material supplying device 200' described in Modification 1 is employed as the second base material supplying device, but the second base material supplying device may be the second base material supplying device 200 of the above embodiment.

[0059] In this second modification, the operation of the second base material supply device 200 to approach the first equipment 100 is automatically controlled. In this automatic control, a first flying vehicle 600a and a second flying vehicle 600b are used, as shown in Figures 17(a) and 17(b). Note that Figure 17(a) shows the first equipment 100 and the second base material supply device 200' as viewed from the +Z direction, and Figure 17(b) shows the first equipment 100 and the second base material supply device 200' as viewed from the +X direction. For convenience of illustration, the second flying vehicle 600b is omitted from Figure 17(a). The first and second flying vehicles 600a and 600b are, for example, drones, each equipped with an imaging unit (camera). The camera mounted on the first flying vehicle 600a captures images of the first apparatus 100 and the second base material supplying device 200' from the -Y direction, and the camera mounted on the second flying vehicle 600b captures images of the first apparatus 100 and the second base material supplying device 200' from the +Z direction. The images captured by each camera are sent to the control unit 280 of the second base material supplying device 200 (see FIG. 17(a)). Then, the control unit 280 determines the positional relationship between the first apparatus 100 and the second base material supplying device 200' based on the acquired images, and outputs operational instructions to the second moving device 202.

[0060] Fig. 18 shows the first apparatus 100 and the second base material supplying apparatus 200' as viewed from the -Y direction. As shown in Fig. 18, a linear first mark 701 extending in the Z direction is provided on the -Y side surface of the generator 170 of the first apparatus 100, and a linear second mark 702 extending in the Z direction is provided on the -Y side surface of the chute section 512 of the second base material supplying apparatus 200'. When the positions of the first mark 701 and the second mark 702 in the Y axis direction match, this means that the positions in the Y axis direction of the chute section 512 and the second position P2 (see Fig. 1, etc.) of the first apparatus 100 where the second base material is supplied match.

[0061] 17(a), a plate-like member 181 bearing a third cross mark 703 is placed on the first transport conveyor 110 of the first apparatus 100. Furthermore, a fourth cross mark 704 is provided on the +Z side surface of the chute section 512 of the second base material supplying device 200′. The third mark 703 is larger than the fourth mark 704. The plate-like member 181 is placed on the first transport conveyor 110 only when the second base material supplying device 200′ is automatically controlled to approach the first apparatus 100.

[0062] Next, the processing by the control unit 280 when positioning the second base material supplying device 200' at the second position P2 will be described with reference to the flowchart in Figure 19. Note that, as a prerequisite for starting the processing in Figure 19, the control unit 280 assumes that the first and second flying vehicles 600a, 600b have already started flying. Then, the control unit 280 positions the first flying vehicle 600a so that the camera of the first flying vehicle 600a can capture the first mark 701, and positions the second flying vehicle 600b so that the camera of the second flying vehicle 600b can capture the third mark 703 (see Figure 17(b)). Note that, it is assumed that the first apparatus 100 and the second base material supplying device 200' are positioned at positions separated in the Y-axis direction, as shown in Figure 17(a).

[0063] 19 starts, first, in step S102, the control unit 280 starts image capture by the first aircraft 600a. In this case, for example, the camera of the first aircraft 600a captures an image within the field of view (angle of view) Fa shown by the dashed line in FIG. 20(a). The first aircraft 600a transmits the captured image to the control unit 280.

[0064] Next, in step S104, the control unit 280 determines whether or not the horizontal positions (positions in the X-axis direction) of the first mark 701 and the second mark 702 match. In the case of Fig. 20(a), they do not match, so the determination in step S104 is negative and the process proceeds to step S106.

[0065] When the process proceeds to step S106, the control unit 280 instructs the second movement device 202 to move. In this case, the control unit 280 calculates an approximate amount of deviation from the image and instructs the second movement device 202 to move in the X-axis direction. After that, the process returns to step S104.

[0066] On the other hand, if the determination in step S104 is positive, the process proceeds to step S108. At the stage of proceeding to step S108, the positional relationship between the first apparatus 100 and the second base material supply device 200' is as shown in FIG. 20(b) when viewed from the -Y direction, and as shown in FIG. 21(a) when viewed from the +Z direction. When proceeding to step S108, the control unit 280 starts imaging by the second flying object 600b. In this case, for example, the camera of the second flying object 600b captures an image within the field of view Fb indicated by the dashed line in FIG. 21(a). The second flying object 600b transmits the captured image to the control unit 280.

[0067] Next, in step S110, the control unit 280 starts the approaching operation of the second mobile device 202 (at a speed of A km per hour, for example, 2 km per hour) (see the white arrow in FIG. 21(a)).

[0068] Next, in step S112, the control unit 280 waits until the fourth mark 704 enters the field of view Fb. In this case, the control unit 280 uses a predetermined image processing technique to determine whether two cross-shaped marks have entered the field of view Fb. As shown in FIG. 21(b), when the fourth mark 704 enters the field of view Fb, the control unit 280 proceeds to step S114.

[0069] In step S114, the control unit 280 adjusts the speed of the second moving device 202 to B km / h (<A km / h). B km / h is, for example, 1 km / h.

[0070] Next, in step S116, the control unit 280 waits until part of the third mark 703 disappears. In this case, the control unit 280 determines, for example, whether or not one of the intersections of the two cross-shaped marks that existed immediately before is no longer imageable. As shown in FIG. 22(a), when the intersection of the third mark 703 is hidden by the chute unit 512 and becomes invisible, the control unit 280 proceeds to step S118.

[0071] In step S118, the control unit 280 adjusts the speed of the second moving device 202 to C km / h (< B km / h). C km / h is a speed at which the second moving device 202 can be stopped immediately, for example, 0.5 km / h.

[0072] Next, in step S120, the control unit 280 waits until the center positions of the third mark 703 and the fourth mark 704 coincide. In this case, the control unit 280 proceeds to step S122 when the line extending in the X-axis direction of the third mark 703 and the line extending in the X-axis direction of the fourth mark 704 coincide (continuous stage), as shown in FIG.

[0073] When the process proceeds to step S122, the control unit 280 stops the second moving device 202. This makes it possible to position the second base material supplying device 200' at the second position P2.

[0074] As described above, according to the present modified example 2, the first and third marks 701, 703 are provided in a predetermined positional relationship with respect to the first transport conveyor 110, and the second and fourth marks 702, 704 are provided in a predetermined positional relationship with respect to the chute section 512. The control unit 280 then outputs a control instruction to the second moving device 202 based on the results of capturing images of each mark. This allows the second base material supplying device 200' to be automatically positioned so that the second base material supplying device 200' and the first device 100 have an appropriate positional relationship. In this embodiment, the first and third marks 701, 703 correspond to first marks, and the second and fourth marks 702, 704 correspond to second marks.

[0075] Furthermore, according to this second modification, the second base material supply device 200' is positioned at the second position P2 using the imaging results from the cameras mounted on the first and second flying vehicles 600a and 600b. As a result, after positioning, the first and second flying vehicles 600a and 600b can be put away, so that the first and second flying vehicles 600a and 600b do not interfere with the operation of the mixer 1000. Furthermore, after positioning, the first and second flying vehicles 600a and 600b can be used (diverted) at another site.

[0076] In the above-described modified example 2, the case where the second moving device 202 is automatically controlled has been described, but the present invention is not limited to this, and the second moving device 202 may be operated by an operator. In this case, the control unit 280 may notify the operator of the operation timing, etc., by displaying (outputting) operation information on a display visible to the operator, so that the operator can perform the same operation as that described in the above-described modified example 2. In this case, the operator can easily position the second base material supplying device 200′ at the second position P2 by performing an operation based on the operation information.

[0077] Furthermore, in the above-described second modification, the case where the cameras are mounted on the first and second flying vehicles 600a and 600b has been described, but this is not limited to this. For example, the camera may be held by an arm attached to the first device 100 so that the camera can capture the fields of view Fa and Fb. Furthermore, the markers do not have to be positioned as described in the second modification. For example, the third and fourth markers 703 and 704 may be positioned as shown in FIG. 23. Even if the positions of the markers are changed in this way, the same processing as in the second modification can be performed by adjusting the position of the camera to match the positions of the markers.

[0078] In the processing of the above-described modified example 2, if the angle between the third mark 703 and the fourth mark 704 (the orientation in the rotational direction around the Z axis) is within a tolerance range, it may be treated as no problem. For example, as shown in FIG. 24 , even if there is a deviation of angle α between the third mark 703 and the fourth mark 704, positioning can be treated as successful as long as α is within ±15°, thereby facilitating positioning of the mixer 1000 and shortening the positioning time. The tolerance range is set to ±15° because, if this range is exceeded, there is a risk that part of the second base material will spill over from the first transport conveyor 110. However, the tolerance range is not limited to this, and may be within ±10°, ±5°, or the like. The narrower the tolerance range, the more likely it is that the second base material will spill over from the first transport conveyor 110.

[0079] In the second modification, the case where the vehicle is decelerated in three stages, from A km / h to B km / h to C km / h, is described, but the method of deceleration is not limited to this and can be changed as appropriate.

[0080] In the above-described second modification, the plate-like member 181 marked with the third mark 703 is placed on the first transport conveyor 110, but the present invention is not limited to this, and the third mark 703 may be directly marked on the first transport conveyor 110. In this case, the first transport conveyor 110 may be operated before performing the processing of FIG. 19 to align the position of the third mark 703 with the second position P2.

[0081] (Variation 3) Next, Modification 3 will be described. Fig. 25(a) schematically shows the vicinity of the mixing section 130 as viewed from the +Y direction, and Fig. 25(b) schematically shows the vicinity of the mixing section 130 as viewed from the +Z direction. In Modification 3, the drum 131 of the mixing section 130 has a cylindrical portion 131a with a substantially constant diameter, and a tapered portion 131b provided at the upper end of the cylindrical portion 131a, the diameter of which increases upward.

[0082] 25(b), in this third modification, when the distance between the center of conveyance of the first conveyor 110 and the center of rotation of the shaft member 132a is a and the inner diameter of the cylindrical portion 131a of the drum 131 is b, the value of a / b × 100(%) is set to 20 to 60%, preferably 25 to 50%, and more preferably 30 to 40%. The reason for setting the range of a / b × 100(%) in this way is that if it exceeds 60%, a large amount of raw material will adhere to the tapered portion 131b, causing clogging inside the drum 131, and if it is less than 20%, the center M of the soil / sand injection range RM will not pass between the center of gravity G and the tip Q of the impact member 132b, reducing crushing efficiency.

[0083] When the center of gravity G is located closer to the shaft member 132a than in FIG. 25, the value of a / b×100(%) may be set to be 15 to 60%.

[0084] (others) In the above embodiment and each modification, a generator using renewable energy such as a fuel cell, a generator using an ammonia co-fuel engine, or a solar power generation system can be used as the generator 170 of the first apparatus 100 and the generator 301 of the second base material supply apparatus 200, 200′ (see FIG. 16(a)). This can reduce the environmental load.

[0085] Furthermore, in the above-described embodiment and each modified example, common components can be used as components having the same function. For example, the first base material supply unit 120 provided in the first apparatus 100 and the second base material supply unit 220 of the second base material supply units 200, 200' can be common components. Furthermore, the first mover device 102 of the first apparatus 100 and the second mover device 202 of the second base material supply units 200, 200' can be common components. In this way, the number of types of parts can be reduced. [Explanation of symbols]

[0086] 100 First device 101 First support member 102 First moving device 110 First transport conveyor 120 First base material supply section 130 Mixing section 131 Drum (housing) 132 Rotating member 132a shaft member 132b impact member 140 Additive supply section 150 1st measuring section 160 Discharge conveyor 170 Generator 180 Third measuring section 190 Control section 191 input unit 200 second base material supply device 201 Second support member 202 Second moving device 210 Second conveyor 220 Second base material supply section 250 2nd weighing section CW110 conveying center line CW101 Center line of the first support member in the Y direction CL101 Center point (center line) of the first support member in the X direction AX132 Rotating Axis 131b Tapered section 300 Jack (change mechanism) 301 Generator 701 First Mark (First Mark) 702 Second Mark (Second Mark) 703 3rd Mark (1st Mark) 704 4th Mark (2nd Mark) 600a, 600b (aircraft, imaging unit) 280 Control Unit (Processing Unit)

Claims

1. capturing an image of a first mark provided on the first device by an imaging unit; When positioning the first device and a second device separated from the first device, moving the second device closer to the first device; a step of reducing a moving speed of the second device when a second mark provided on the second device enters a field of view of the imaging unit in addition to the first mark; A method for positioning a construction device, comprising: a step of stopping the second device and positioning the first device and the second device based on the imaging results of the first mark and the second mark when the second device decelerates.

2. the first mark and the second mark extend along a first direction, The method for positioning a construction device according to claim 1 , wherein the step of capturing an image is performed from a second direction different from the first direction.

3. the first mark and the second mark extend along a first direction and a second direction different from the first direction, The method for positioning a construction device according to claim 1 , wherein the imaging step is performed from a third direction different from the first direction and the second direction.

4. capturing an image of a first mark provided on a first device; When positioning the first device and a second device that is separate from the first device and has a second mark, moving the second device closer to the first device; slowing down the moving speed of the second device when a portion of the first mark is blocked by the second device; A method for positioning a construction device, comprising: a step of stopping the second device and positioning the first device and the second device based on the imaging results of the first mark and the second mark when the second device decelerates.

5. The method for positioning a construction device according to claim 1 , further comprising the step of stopping movement of the second device when a rotational deviation between the first mark and the second mark is within an allowable range.

6. The method for positioning a construction device according to claim 1 , wherein the imaging unit is provided on an aircraft.

7. The method for positioning a construction device according to claim 1 , wherein the imaging unit is provided on each of a plurality of flying objects.

8. The method for positioning a construction device according to any one of claims 1 to 7, wherein the first mark and the second mark are different in size.

9. The method for positioning a construction device according to claim 6 or 7, further comprising the step of transmitting an image captured by the imaging unit to the second device.

10. the first device includes a first transport conveyor that transports a first object; the second device includes a second transport conveyor that transports a second object different from the first object; The method for positioning a construction device according to any one of claims 1 to 9, wherein the second transport conveyor supplies the second object to the first device above the first transport conveyor and in a non-contact state.

11. the second object is supplied from the second transport conveyor to the first transport conveyor via a chute; 11. The method for positioning a construction device according to claim 10, wherein the first mark is provided on the first transport conveyor, and the second mark is provided on the chute.

Images