Construction Management System

Abstract

To provide a construction management system capable of safely and efficiently performing construction machine work by autonomous operation.SOLUTION: A construction management system 10 includes: a plurality of construction machines 11 that perform work by autonomous operation at a construction site; a management device 12 that can be operated by an operator; and a platform 13 to which the plurality of construction machines 11 and the management device 12 are communicably connected. Each construction machine 11 is configured to acquire its self-position and to be able to transmit the acquired self-position to the platform 13. The management device 12 is configured to be able to transmit safety priorities for the plurality of construction machines 11 to the platform 13. During operation of each construction machine 11, the platform 13 determines whether or not an emergency stop is necessary for each construction machine 11 based on the self-position and the safety priority of each construction machine 11, and makes an emergency stop of the construction machine 11 that needs the emergency stop.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a construction management system that performs construction by autonomous operation of a plurality of construction machines.

Background Art

[0002] For example, in automobiles as in Patent Document 1, autonomous driving that recognizes objects around the vehicle using in-vehicle cameras, radars, etc. and drives the vehicle based on the recognition is being put into practical use. Such autonomous driving is also being applied to construction machines that perform work at construction sites.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, at a construction site where construction machines that perform autonomous operation carry out work, considering construction efficiency, it is necessary to carry out the work of a plurality of construction machines in the same period. Therefore, measures regarding safety aspects such as preventing contact between construction machines during work were necessary.

Means for Solving the Problems

[0005] A construction management system that solves the above problems comprises a plurality of construction machines that perform work by autonomous operation at a construction site, a management device that can be operated by an operator, and a platform to which the plurality of construction machines and the management device are connected in a communicative manner, wherein each construction machine is configured to acquire its own position and transmit the acquired position to the platform, the management device is configured to transmit safety priorities for the plurality of construction machines to the platform, and the platform determines whether an emergency stop is necessary for each construction machine based on its own position and safety priority while each construction machine is working, and performs an emergency stop on the construction machine that requires an emergency stop. [Effects of the Invention]

[0006] According to the present invention, construction machinery can perform its work safely and efficiently through autonomous operation. [Brief explanation of the drawing]

[0007] [Figure 1] A block diagram showing the schematic configuration of one embodiment of a construction management system. [Figure 2] A schematic diagram illustrating an example of an aerial photograph of a construction site. [Figure 3] A schematic diagram showing an example of sensor mounting for carrier dumps. [Figure 4] A functional block diagram showing an example of construction machinery and control equipment. [Figure 5] A flowchart showing an example of a construction method. [Figure 6] A schematic diagram showing an example of a system operation screen. [Figure 7] A schematic diagram showing an example of the system operation screen when setting up loading operations. [Figure 8] A schematic diagram showing an example of the system operation screen when setting up transportation operations. [Figure 9] A schematic diagram showing an example of the system operation screen when setting up transportation operations. [Figure 10] A schematic diagram showing an example of the system operation screen when setting up the leveling work. [Figure 11] A schematic diagram showing an example of the system operation screen when setting up the leveling work. [Figure 12] A schematic diagram showing an example of the system operation screen when setting up compaction work. [Figure 13] A schematic diagram showing an example of the system operation screen when setting up compaction work. [Figure 14] A schematic diagram illustrating an example of the procedures to be followed when a backhoe makes an emergency stop. [Figure 15] A schematic diagram illustrating an example of procedures to be followed when a bulldozer makes an emergency stop. [Figure 16] A schematic diagram illustrating an example of the processing that occurs during an emergency stop of a carrier dump. [Figure 17] A schematic diagram illustrating an example of the procedure for emergency stopping other construction machinery while a backhoe is in operation. [Figure 18] A schematic diagram illustrating an example of the procedure for emergency stopping other construction machinery while a bulldozer is in operation. [Figure 19] A schematic diagram illustrating an example of the process for emergency stopping a carrier dump during operation. [Modes for carrying out the invention]

[0008] Referring to Figures 1 to 19, one embodiment of a construction management system will be described. A construction management system is a system that manages the operations of multiple construction machines. As shown in Figure 1, the construction management system 10 is comprised of multiple construction machines 11, a management device 12, and a platform 13.

[0009] The construction machine 11 has a traveling device for moving itself and a working device for performing specific work, etc. The construction machine 11 is configured to be operable by an on-board operator. Further, the construction machine 11 has an autonomous driving device 14. The platform 13 and the autonomous driving device 14 are configured to be able to communicate with each other via a network by wireless connection. The autonomous driving device 14 automatically and autonomously drives the machine itself by driving and controlling the traveling device and the working device of the machine itself based on work information transmitted by the platform 13, external information at the construction site, and the like.

[0010] The management device 12 is configured to be able to communicate with the platform 13 via a network by wired or wireless connection. The management device 12 has an input unit for inputting various information such as work information of each construction machine 11 into the platform 13, a display unit on which a system operation screen provided from the platform 13 is displayed, and the like.

[0011] The platform 13 is a standard base for acquiring functions and information necessary for IoT (Internet of Things) from other devices, etc. via a network, and providing them to other devices, etc. via a network.

[0012] Each of the autonomous driving device 14, the management device 12, and the platform 13 of the construction machine 11 is configured around an information processing device. The information processing device can be realized, for example, by circuitry, that is, one or more dedicated hardware circuits such as an ASIC, one or more processing circuits operating according to a computer program (software), or a combination of both. The processing circuit has a CPU and a memory (such as ROM and RAM) storing a program executed by the CPU. The memory, that is, the computer-readable medium, includes any available medium accessible by a general-purpose or dedicated computer.

[0013] Furthermore, the construction management system 10 may also include a construction progress measuring instrument 15, a surveillance camera 16, and a remote control device 17. The construction progress measuring instrument 15, the surveillance camera 16, and the remote control device 17 are connected to the platform 13 by wired or wireless connection.

[0014] The construction progress measuring instrument 15 is installed at a designated location on the construction site 20. The construction progress measuring instrument 15 is a device for determining the construction progress (or amount of work completed) using the construction management system 10. For example, when performing construction to form an embankment at a designated location using the construction management system 10, the construction progress measuring instrument 15 is an imaging device such as a 3D scanner that images the embankment. The construction progress measuring instrument 15 may also be mounted on an unmanned aerial vehicle. The construction progress measuring instrument 15 transmits construction progress information showing the measurement results to the platform 13.

[0015] The surveillance cameras 16 are installed at various locations on the construction site 20. Each surveillance camera 16 is used to monitor the operation of the construction machinery 11. The surveillance cameras 16 transmit surveillance image information, which shows the captured surveillance images, to the platform 13.

[0016] The remote control device 17 is a device for a remote operator to remotely operate the construction machinery 11. The remote control device 17 may be provided for each piece of construction machinery 11, or it may be possible to switch between the construction machinery 11 being operated. The remote control device 17 is used, for example, when remotely operating a construction machinery 11 that has been stopped in an emergency due to some trouble. The remote control device 17 is also configured to allow the target construction machinery 11 to be manually stopped in an emergency. The remote control device 17 transmits remote operation information based on the remote operator's actions to the platform 13.

[0017] Furthermore, the construction management system 10 may be configured to input weather information 18 to the platform 13 via the internet. The weather information 18 may be, for example, hourly weather forecasts for the construction day. The weather information 18 may also be configured to show the current and predicted conditions of the air and road surface, such as rainfall, snowfall, fog, mist, and frost. The construction management system 10 may also be configured to transmit various information, such as the operating status of each construction machine 11 and measurement information of various measured values ​​in that operating status, from the platform 13 to the logging monitoring device 19. The logging monitoring device 19 is a device that stores the transmitted information and distributes it so that relevant parties can view it. The information stored in the logging monitoring device 19 will be used for future system modifications and development.

[0018] As shown in Figure 2, the construction management system 10 of this embodiment manages the work of construction machinery 11, including a backhoe BH, a bulldozer BD, and a carrier dump truck CD, at the construction site 20. The backhoe BH loads soil and sand brought into area 21 by a transport vehicle onto the carrier dump truck CD. The carrier dump truck CD transports soil and sand back and forth between area 21 and area 22. The bulldozer BD levels and compacts the soil and sand transported by the carrier dump truck CD in area 22 to form an embankment. Figure 2 shows the backhoe BH, bulldozer BD, and carrier dump truck CD as icons and schematically illustrates their positions in the parking area. The construction site 20 is also equipped with a monitoring room 23 where the management device 12 and remote control device 17 are installed, and landmarks are provided at various locations to identify the positions in the aerial images described later.

[0019] (Regarding sensors installed on construction machinery) Each construction machine 11 is equipped with various sensors for detecting and acquiring information about its operating status, such as an ambient environment sensor for detecting the surrounding environment and a drive status sensor for detecting the machine's drive status (drive status of the travel gear and drive status of the work gear). The detection results from these sensors are transmitted to the platform 13 via the autonomous driving device 14.

[0020] Examples of various sensor installations will be explained using a carrier dump (CD). As shown in Figure 3, each construction machine 11 is equipped with a traveling device 25 and a working device 26 supported by the traveling device 25. In the case of a carrier dump truck CD, the traveling device 25 is of the crawler type, and the working device 26 is equipped with a main body 27 that can rotate relative to the traveling device 25 and a loading platform 28 that can tilt relative to the main body 27.

[0021] The carrier dump CD is equipped with surrounding environment sensors such as a 3D-LiDAR (Light Detection and Ranging) 30, a 2D-LiDAR 31, and a camera 32.

[0022] The 3D-LiDAR 30 measures the distance from the illumination point to the surface of objects within the measurement range, with the measurement range being the area around the aircraft. Based on the measurement results of the 3D-LiDAR 30, the autonomous driving device 14 acquires point cloud information centered on the aircraft and its surroundings.

[0023] The 2D-LiDAR 31 measures the distance to the surface of objects within its measurement range, which includes the area in front of and to the sides of the aircraft. Based on the measurement results of the 2D-LiDAR 26, the autonomous driving device 14 acquires point cloud information in front of the aircraft, i.e., in the direction of travel.

[0024] Camera 32 captures images of the area in front of the aircraft. Camera 32 captures images of the area in front of the aircraft from the perspective of, for example, a worker on board the aircraft. The carrier dump truck CD is equipped with drive status sensors, including a rotary encoder 33, a linear encoder 34, and a tilt sensor 35. The rotary encoder 33 detects the rotation speed of the left and right tracks that make up the running gear 25 separately. The linear encoder 34 detects the turning angle of the main body 27 relative to the running gear 25. The tilt sensor 35 includes sensors that detect the tilt angle of the main body 27 and sensors that detect the tilt angle of the cargo bed 28. In addition, the carrier dump truck CD is also equipped with a gyro sensor 36 that measures acceleration (angular velocity). The autonomous driving device 14 transmits the driving status of the vehicle based on the measurement results of these various sensors to the platform 13 as status information.

[0025] In addition, each construction machine 11 is equipped with an emergency stop button 37. This emergency stop button 37 is used for checking the operation of the machine during emergency stops during pre-operation checks and daily checks, as well as for the operator to perform an emergency stop on the machine.

[0026] (Autonomous driving device) As shown in Figure 4, the autonomous driving device 14 of this embodiment includes a work information storage unit 42, a self-position estimation unit 43, an obstacle detection unit 44, and a vehicle control unit 45. The autonomous driving device 14 receives the detection results of various surrounding environment sensors 46 and the detection results of various driving status sensors 47.

[0027] The work information storage unit 42 stores work information transmitted from the platform 13. The work information includes information such as the travel route and the details of the work at the work location. The self-position estimation unit 43 transmits its own position, estimated using a satellite positioning system (GNSS) such as the Global Positioning System (GPS), to the platform 13 as position information.

[0028] The obstacle detection unit 44 detects obstacles based on point cloud information acquired from the surrounding environment sensor 46. The vehicle control unit 45 drives and controls the vehicle's own running gear 25. In autonomous driving, the vehicle control unit 45 drives and controls the running gear 25 to travel according to the work information, while avoiding obstacles detected by the obstacle detection unit 44, based on the work information and the vehicle's own position. In remote operation, the vehicle control unit 45 controls the running gear 25 to travel according to the remote operation information from the remote operation device 17.

[0029] The vehicle control unit 45 controls the work device 26 of the vehicle. In autonomous driving, the vehicle control unit 45 drives and controls the work device 26 so that work is performed according to work information. In remote operation, the vehicle control unit 45 drives and controls the work device 26 so that work is performed based on remote operation information from the remote operation device 17.

[0030] The vehicle control unit 45 performs an emergency stop on the running gear 25 and the work equipment 26 when the emergency stop button 37 is operated. When the running gear 25 and the work equipment 26 are in an emergency stop state, the autonomous driving device 14 transmits to the platform 13 that the vehicle is in an emergency stop state.

[0031] Furthermore, the autonomous driving device 14 performs an emergency stop on its own vehicle based on status information and instructions from the platform 13. In this embodiment, there are three types of emergency stops: emergency stop, operation stop, and temporary stop. When the autonomous driving device 14 performs an emergency stop on its own vehicle based on status information, it transmits emergency stop information indicating the type of emergency stop to the platform 13.

[0032] An emergency stop is an emergency stop that occurs when a serious malfunction occurs in the machine itself, other construction machinery, or the system, or when the machine detects unexpected behavior. During an emergency stop, the autonomous driving device 14 stops the machine's travel device 25 and work device 26. Once autonomous operation has been stopped in an emergency, the construction machine requires operation by the onboard operator.

[0033] An emergency stop occurs when there is a minor malfunction in the machine itself, other construction machinery, or the system, or when there is a possibility of a collision between construction machines due to the emergency stop of another construction machine. When an emergency stop occurs, the autonomous driving device 14 stops or interrupts autonomous operation while maintaining the machine's travel device 25 and work device 26 in the driving state. For construction machines whose autonomous operation has been interrupted, operation by the onboard operator is required.

[0034] A temporary stop is an emergency stop that occurs when the machine detects obstacles such as workers or other construction equipment within a predetermined range centered on the machine, or when there is a possibility of a collision between construction equipment. In this case, the autonomous driving device 14 resumes autonomous driving once the cause of the temporary stop has been removed.

[0035] (Management device) As shown in Figure 4, the control device 12 has an input unit 51, a display unit 52, an information processing unit 53, and an emergency stop button 54.

[0036] The input unit 51 has an interface to which various devices can be connected. The input unit 51 inputs information received from various devices connected to its interface to the information processing unit 53. The input unit 51 also has an interface to which a keyboard, mouse, etc., that can be operated by an operator operating the system can be connected. The input unit 51 inputs the operation information of the keyboard, mouse, etc., by the operator to the information processing unit 53. In addition, the input unit 51 has an interface to which an external storage medium can be connected. The input unit 51 inputs information stored on the external storage medium, etc., to the information processing unit 53.

[0037] The display unit 52 is a display capable of displaying various types of information. The display unit 52 includes a display that shows the system operation screen provided by the platform 13. The display unit 52 also includes a display for a monitoring operator to monitor the operating status of the construction machine 11, that is, a display that shows the monitoring images from the monitoring camera 16 provided by the platform 13.

[0038] The information processing unit 53 performs various processes. For example, the information processing unit 53 performs processes such as displaying a system operation screen on the display unit 52 and transmitting information entered through the input unit 51 to the platform 13.

[0039] For example, when the information processing unit 53 receives overall map information showing an overall map of the construction site 20 from the input unit 51, it transmits that overall map information to the platform 13. For example, when the information processing unit 53 receives aerial image information of the construction site 20 from the input unit 51, it transmits the aerial image information to the platform 13. Aerial photography of the construction site 20 is performed regularly, for example, every morning.

[0040] The emergency stop button 54 is operated when the operator or monitoring operator deems it necessary to ensure safety, such as in the event of a serious malfunction in the construction machinery or system. The emergency stop button 54 is provided for the operator and for each piece of construction machinery 11 for the monitoring operator. When the emergency stop button 54 is operated, the information processing unit 53 transmits emergency stop information to the platform 13.

[0041] (Platform) Platform 13 performs processing to send and receive various information with connected devices. For example, Platform 13 transmits status information, location information, and emergency stop information from the autonomous driving devices 14 of each construction machine 11 to the management device 12 and the remote control device 17. Platform 13 transmits construction progress information from the construction progress measuring instrument 15, monitoring image information from the surveillance camera 16, and weather information to the management device 12. Platform 13 transmits remote control information from the remote control device 17 to the autonomous driving device 14 of the construction machine 11 to be operated.

[0042] Platform 13 transmits the information entered in the management device 12 to the autonomous driving device 14 of each construction machine 11. In connection with the information input in the management device 12, Platform 13 provides the management device 12 with a system operation screen. Platform 13 transmits the information entered through the system operation screen to the autonomous driving device 14 of the construction machine 11 corresponding to that information.

[0043] (Example of construction method) This section describes an example of a specific construction method using the system operation screen of the construction management system 10 in this embodiment.

[0044] As shown in Figure 5, an example of a construction method includes a preparation process (step S101), a loading process (step S102), a transportation process (step S103), a leveling process (step S104), a leveling measurement process (step S105), a compaction process (step S107), and a compaction measurement process (step S108).

[0045] In the preparation process (step S101), preparations are made for each construction machine 11 and for the system. The preliminary preparations for the construction machinery 11 are carried out by workers for each piece of construction machinery 11 parked in the parking area. The workers activate the autonomous driving device 14 of each piece of construction machinery 11 and perform an emergency stop operation by pressing the emergency stop button 37.

[0046] System preparation is performed by an operator who uses the system's control screen. Figure 6 shows an example of the system operation screen display. As shown in Figure 6, the system operation screen 60 displays the current date and time display unit 61, weather information display unit 62, and current status display unit 63 with an aerial image of the construction site 20 as the background. When the platform 13 receives the latest aerial image information from the management device 12, it updates the background of the system operation screen 60 with the aerial image based on that information. The weather information display unit 62 is the part that displays weather information entered into the platform 13 via the internet. By displaying weather information in the weather information display unit 62, the operator can consider the construction plan for the construction day based on that weather information. The current status display unit 63 is the part that shows the current status in the construction management system 10.

[0047] The system operation screen 60 displays selectable buttons, such as the construction equipment button 66, the home button 67, and the construction management button 68, which can be selected by the operator. The operator inputs work information corresponding to the selected button by operating the input unit 51 of the management device 12 and selecting various selectable buttons. The background of the system operation screen 60 displays icons representing the positions of each construction machine 11 based on the position information input from the autonomous driving device 14 to the platform 13. Note that in Figures 6 to 13, different types of construction machines are displayed with the same icons as shown in Figure 2.

[0048] As a preliminary step for the system, the operator updates the background of the system operation screen 60 by transmitting the latest aerial images from the management device 12 to the platform 13. Once the background is updated, the operator sets the movable area 71, no-entry area 72, loading area 73, construction area 74, etc., by selecting areas on the background of the system operation screen 60 based on the construction plan.

[0049] The movable area 71 is the area in which each construction machine 11 can move. The no-entry area 72 is an area within the movable area 71 where the construction machine 11 is prohibited from entering. The no-entry area 72 may be set, for example, by a control device 12 installed in the monitoring room 23, or it may be set by an operator using a portable terminal that can function as a control device 12, while actually checking the existing structures and terrain at the construction site 20. The platform 13 will perform an emergency stop on any construction machine 11 that enters outside the movable area 71 or enters the no-entry area 72.

[0050] The loading area 73 is the area 21 into which soil and sand are transported by transport vehicles. The construction area 74 is the area 22 into which the embankment is formed. The operator also works in cooperation with the workers on site to confirm the operation of the emergency stop button 54.

[0051] Once these preliminary preparations are complete, each construction machine 11 is positioned at the work start point. Each construction machine 11 may be positioned at the work start point by being driven by a worker, or it may be positioned at the work start point by autonomous operation based on instructions from the operator on the system operation screen 60. The work start point for the backhoe BH and the carrier dump CD is the loading area 73, and the work start position for the bulldozer BD is near the construction area 74.

[0052] In the loading process (step S102), the operator sets up the loading operation. Specifically, as shown in Figure 7, the operator operates the construction equipment button 66, then the backhoe button 81, the drive button 82, and the loading button 83 in that order. When the loading button 83 is operated, the loading amount confirmation box 84 is displayed. The loading amount confirmation box 84 displays the pre-set loading amount. When the confirm button on the loading amount confirmation box 84 is selected, the platform 13 transmits information such as the loading amount as loading operation information to the backhoe BH's autonomous driving device 14.

[0053] The autonomous driving device 14 of the backhoe BH performs the loading operation autonomously based on the loading operation information. When the loading operation is completed, the autonomous driving device 14 transmits a message to the platform 13 indicating that the loading operation is complete. The platform 13 displays a message indicating that the loading operation is complete on the system operation screen 60. During the loading operation, the platform 13 prohibits autonomous and remote operation of the carrier dump CD.

[0054] In the transport process (step S103), the operator sets up the transport operation. Specifically, as shown in Figure 8, the operator operates the construction equipment button 66, then the carrier dump button 86, the drive button 87, and the autonomous button 88 in that order. Then, as shown in Figure 9, the operator sets the route for the carrier dump CD by selecting the waypoint 89 and the unloading point 90 on the system operation screen 60. After setting the route, the operator operates the confirm button on the route setting confirmation box 91. When the confirm button is operated, the platform 13 transmits the route information set by the operator to the autonomous driving device 14 of the carrier dump CD as transport work information.

[0055] The autonomous driving device 14 of the carrier dump CD performs the transport operation autonomously based on the transport operation information. Specifically, the autonomous driving device 14 autonomously drives itself to the unloading point 90 as the target position. Upon reaching the unloading point 90, the autonomous driving device 14 performs the unloading operation and then autonomously drives the carrier dump CD back to the start point of the operation using the same route. The autonomous driving device 14 then transmits to the platform 13 that the transport operation has been completed. The platform 13 displays the completion of the transport operation on the system operation screen 60.

[0056] In the leveling process (step S104), the operator first sets up the leveling work using the bulldozer BD by operating the system operation screen 60. Specifically, as shown in Figure 10, the operator operates the construction equipment button 66, then the bulldozer button 93, the drive button 94, and the leveling button 95 in that order. At this time, the platform 13 displays the unloading point 90 on the system operation screen 60.

[0057] As shown in Figure 11, when the leveling button 95 is operated, a leveling confirmation box 96 is displayed on the system operation screen 60. In this state, the operator uses the unloading point 90 as a landmark and specifies the starting point and direction of construction by the bulldozer BD on the system operation screen 60 using a strip mark 97. After specifying the starting point and direction of construction, the operator operates the confirm button on the leveling confirmation box 96. When the confirm button is operated, the platform 13 transmits the information regarding the strip mark 97 set by the operator as leveling work information to the autonomous driving device 14 of the bulldozer BD.

[0058] The autonomous driving device 14 of the bulldozer BD performs leveling work autonomously based on leveling work information. Specifically, the autonomous driving device 14 autonomously drives itself to the construction start point as the target position. Upon arriving at the construction start point, the autonomous driving device 14 levels the ground in the construction area 74 toward the direction of construction.

[0059] Once the leveling work is complete, the autonomous driving device 14 autonomously drives the bulldozer BD back to the starting point and then transmits information to the platform 13 indicating that the leveling work is complete. The platform 13 displays on the system operation screen 60 that the leveling work is complete.

[0060] As shown in Figure 12, the operator sets up the loading process (step S101), transport process (step S102), and leveling process (step S103) described above so that the construction area 74 is filled with strip marks 97. This allows for parallel operation by the backhoe BH, bulldozer BD, and carrier dump CD.

[0061] In the leveling measurement process (step S105), the operator, for example, operates the construction management button 68 and then selects the leveling completion button. When the leveling completion button is selected, the platform 13 uses the completion measuring instrument 15 to acquire the completion of the leveling work and displays the acquired completion on the system operation screen 60.

[0062] If the completed work displayed on the system operation screen 60 is insufficient (step S106: NO), the operator repeats the loading process (step S102), the transport process (step S103), and the leveling process (step S104) for the insufficient portion. If the completed work displayed on the system operation screen 60 is sufficient (step S106: YES), the operator performs the compaction process (step S107).

[0063] In the compaction process (step S107), the operator sets the compaction operation using the bulldozer BD by operating the system operation screen 60. Specifically, as shown in Figure 12, the operator operates the construction equipment button 66, then the bulldozer button 93, the drive button 94, and the compaction button 98 in that order.

[0064] As shown in Figure 13, when the compaction button 98 is operated, the compaction confirmation box 99 is displayed on the system operation screen 60. In this state, the operator sets the strip mark 97 to the compaction area and then operates the confirm button on the compaction confirmation box 99. When the confirm button is operated, the platform 13 transmits the information regarding the compaction area set by the operator as compaction work information to the autonomous driving device 14 of the bulldozer BD.

[0065] The autonomous driving system 14 of the bulldozer BD performs compaction work autonomously based on compaction work information. Specifically, the autonomous driving system 14 autonomously drives itself to the compaction area. Upon arriving at the compaction area, the autonomous driving system 14 compacts the ground.

[0066] Once the compaction work is complete, the autonomous driving device 14 autonomously drives the bulldozer BD back to the work start point and then transmits information to the platform 13 indicating that the compaction work is complete. The platform 13 displays on the system operation screen 60 that the compaction work is complete.

[0067] In the compaction measurement process (step S108), the operator, for example, operates the construction management button 68 and then selects the compaction completion button. When the compaction completion button is selected, the platform 13 uses the completion measuring instrument 15 to acquire the completion of the compaction work and displays the acquired completion on the system operation screen 60.

[0068] If the completed work shown on the system operation screen 60 is insufficient (step S108: NO), the operator will use the insufficient area as a compaction area and repeat the compaction process (step S107). If the completed work shown on the system operation screen 60 is sufficient (step S107: YES), the operator will complete the series of operations.

[0069] (Safety management method) This section describes the safety management method for the construction management system 10 using platform 13. Platform 13 performs safety management by emergency stopping the construction machinery 11 based on pre-set safety priorities. Safety priorities are set by the operator via the control device 12. Platform 13 sets a first safety priority for the operator and the autonomous driving device 14, and a second safety priority based on the type of construction machinery 11.

[0070] The first safety priority is set in the following order from highest to lowest: operating operator, monitoring operator, onboard operator, remote operator, and autonomous driving device 14. The first safety priority is such that, for example, if an emergency stop is initiated by the operating operator even if an emergency stop has not been initiated by the autonomous driving device 14 or the monitoring operator, the operation of the operating operator with the higher safety priority will be given priority for the emergency stop.

[0071] The second priority is set based on the work content of each construction machine 11, taking into consideration construction efficiency. The second safety priority is used to determine whether an emergency stop is necessary for other construction machines 11 if one of them makes an emergency stop. The second safety priority is also used to determine whether an emergency stop is necessary if construction machines 11 come close to each other during work. In this embodiment, the second safety priority is set in descending order from highest to lowest: backhoe BH, bulldozer BD, and carrier dump CD.

[0072] An example of safety management using the second safety priority in this embodiment will be described. First, we will explain the safety management in the event that any of the construction machines 11 come to an emergency stop. As shown in Figure 14, when the backhoe BH makes an emergency stop, the platform 13 causes the management device 12 to issue an emergency stop alert for the backhoe BH.

[0073] Platform 13 determines whether the position of each bulldozer BD and carrier dump CD is within the operating range of the backhoe BH. The operating range is set based on the movable range of the work device 26, taking into account the movement range of the construction machine 11 performing the work. Platform 13 performs an emergency stop by stopping the operation of bulldozers BD and carrier dump CDs whose position is within the operating range of the backhoe BH. Platform 13 causes the management device 12 to issue an operation stop notification for those bulldozers BD and carrier dump CDs. In addition, Platform 13 prohibits operation of the stopped bulldozers BD and carrier dump CDs via Platform 13.

[0074] As shown in Figure 15, when the bulldozer BD makes an emergency stop, the platform 13 causes the management device 12 to issue an emergency stop alert for the bulldozer BD. Platform 13 determines whether a bulldozer BD that has been stopped in an emergency is within the operating range of the backhoe BH. Platform 13 then performs an emergency stop by ceasing operation on the backhoe BH if the bulldozer BD is within its operating range.

[0075] Platform 13 determines whether the position of each carrier dump CD is within the operating range of the emergency-stopped bulldozer BD. Platform 13 performs an emergency stop by shutting down the operation of any carrier dump CD whose position is within the operating range of the bulldozer BD.

[0076] Platform 13 causes the control device 12 to issue an alert to stop operation for the backhoes BH and carrier dump CDs. Platform 13 also prohibits operation of the stopped backhoes BH and carrier dump CDs via Platform 13.

[0077] As shown in Figure 16, when the carrier dump CD makes an emergency stop, platform 13 causes the management device 12 to issue an emergency stop alert regarding the carrier dump CD. Platform 13 determines whether the carrier dump truck CD that has been stopped in an emergency is within the operating range of the backhoe BH. Platform 13 performs an emergency stop by shutting down the backhoe BH if the carrier dump truck CD is within its operating range.

[0078] Platform 13 determines whether the carrier dump CD that has been stopped in an emergency is within the operating range of the bulldozer BD. If the carrier dump CD is within the operating range of the bulldozer BD, Platform 13 performs an emergency stop by shutting down the operation.

[0079] Platform 13 causes the control device 12 to issue a shutdown alert for the backhoe BH and bulldozer BD. Platform 13 also prohibits operation of the shut-down backhoe BH and bulldozer BD via Platform 13.

[0080] Next, we will explain the safety management (interlocks) for each construction machine 11 during operation. As shown in Figure 17, during the loading operation of the backhoe BH, the platform 13 determines whether the bulldozer BD and the carrier dump CD have entered the working range of the backhoe BH. The working range is set based on the movable range of the backhoe BH's working device 26 at its current position. The platform 13 makes an emergency stop by temporarily stopping the bulldozer BD and carrier dump CD that have entered the working range of the backhoe BH. The platform 13 causes the management device 12 to issue a temporary stop alert for those bulldozer BD and carrier dump CD.

[0081] As shown in Figure 18, while the bulldozer BD is operating, platform 13 determines whether the backhoe BH and the carrier dump CD have entered the working range of the bulldozer BD. If the backhoe BH enters the working range of the bulldozer BD, platform 13 will emergency stop the bulldozer BD by temporarily stopping it. Similarly, if the carrier dump CD enters the working range of the bulldozer BD, platform 13 will emergency stop the carrier dump CD by temporarily stopping it. Platform 13 then causes the control device 12 to issue a temporary stop alert for the bulldozer BD and the carrier dump CD.

[0082] As shown in Figure 19, during the transport operation of the carrier dump truck CD, platform 13 determines whether each carrier dump truck CD has entered the working range of the backhoe BH or the bulldozer BD. Platform 13 makes an emergency stop by temporarily stopping any carrier dump truck CD that has entered those working ranges. Platform 13 causes the control device 12 to issue a temporary stop notification for that carrier dump truck CD.

[0083] The operation and effects of this embodiment will now be described. (1) The construction management system 10 comprises a plurality of construction machines 11 that perform work autonomously at the construction site 20, a management device 12 that can be operated by an operator, and a platform 13 to which the plurality of construction machines 11 and the management device 12 are connected in a manner that enables communication. Each construction machine 11 is configured to acquire its own position and transmit the acquired position to the platform 13. The management device 12 is configured to transmit safety priorities for the plurality of construction machines 11 to the platform 13. During the operation of each construction machine 11, the platform 13 determines whether an emergency stop is necessary for each construction machine 11 based on its own position and safety priority, and performs an emergency stop on the construction machine 11 that requires an emergency stop.

[0084] This allows, for example, when there is a possibility of contact between construction machines 11 during their work, to continue work on construction machines 11 that do not require emergency stopping, while emergency stopping is performed on construction machines 11 that do require it, according to safety priorities. As a result, autonomous operation of the construction machines 11 can be performed safely and efficiently.

[0085] (2) Each of the construction machines 11 is configured to temporarily stop itself as an emergency stop. The platform 13 temporarily stops the construction machine 11 with a lower safety priority if it enters the working area of ​​the construction machine 11 with a higher safety priority.

[0086] This allows construction equipment 11 with a higher safety priority to continue its work while construction equipment 11 with a lower safety priority can be emergency stopped. Furthermore, because the emergency stop is a temporary pause, operation of construction equipment 11 with a lower safety priority can be automatically resumed.

[0087] (3) Each of the multiple construction machines 11 is configured to be able to perform an emergency stop and to transmit the emergency stop of its machine to the platform 13. When any of the multiple construction machines 11 perform an emergency stop, the platform 13 determines whether an emergency stop is necessary for the other construction machines 11 based on the position of each construction machine 11 and the safety priority, and performs an emergency stop on the construction machine 11 that requires an emergency stop.

[0088] This allows for the continuation of work on construction equipment 11 that does not require an emergency stop, while maintenance of construction equipment 11 that has been stopped in an emergency can be performed. Furthermore, construction equipment 11 that has been stopped in an emergency from autonomous operation requires operation by an onboard operator. Therefore, operation of construction equipment 11 that has been stopped in an emergency can be carried out while ensuring the safety of the surrounding area.

[0089] (4) Each of the multiple construction machines 11 is configured to stop itself in an emergency. The platform 13 stops the construction machine 11 that requires an emergency stop if any of the multiple construction machines 11 has stopped in an emergency.

[0090] In this way, by stopping the construction equipment 11 that requires an emergency stop, direct operation by the onboard operator is required to restart the construction equipment 11. As a result, the safety of the area around the emergency-stopped construction equipment 11 can be ensured before the stopped construction equipment 11 can be operated.

[0091] (5) Each of the multiple construction machines 11 is configured to be able to be stopped in an emergency. The control device 12 is configured to transmit to the platform 13 the movable area 71 in which each construction machine 11 can move at the construction site 20. The platform 13 will perform an emergency stop on any construction machine 11 that enters outside the movable area 71.

[0092] This allows construction equipment 11 that has moved outside the movable area 71 due to some trouble to be brought to an emergency stop without the need for monitoring by a supervisor. As a result, safety near the construction site 20 can be improved.

[0093] (6) The control device 12 is configured to transmit the no-entry zone 72 in the movable area 71 to the platform 13. The platform 13 will make an emergency stop on any construction machine 11 that has entered the no-entry zone 72.

[0094] This allows, for example, areas within the movable area 71 where it is difficult for the construction equipment 11 to travel to be pre-defined. As a result, accidents and troubles associated with travel within the restricted area 72 can be prevented.

[0095] (7) Furthermore, by setting the no-entry zone 72 on a daily basis, the no-entry zone 72 can be set according to the ever-changing conditions of the construction site 20.

[0096] Although one embodiment of the construction management system has been described above, the present invention is not limited to the above-described embodiment and can be modified as appropriate without departing from its spirit. For example, this embodiment can be implemented with the following modifications. This embodiment and the following modifications can be combined with each other to the extent that they do not contradict the technical aspects.

[0097] The construction machine 11 only needs to be configured to be able to perform an emergency stop. This will enhance safety because autonomous operation will not resume after an emergency stop. The no-entry area 72 may be set as needed. Therefore, the no-entry area 72 does not need to be set if, for example, the safe movement of the construction machinery 11 can be ensured throughout the entire movable area 71 based on existing structures and terrain conditions.

[0098] For example, if a monitoring operator is constantly monitoring the operating status of each construction machine 11, it is not necessary to set a movable area 71. In this case, any construction machine 11 that moves outside the movable area 71 will be brought to an emergency stop by the monitoring operator.

[0099] • An emergency stop of construction equipment 11 may result in an emergency stop of other construction equipment 11, which may be either an emergency stop or a temporary stop. If a construction machine 11 with a lower safety priority enters the working range of a construction machine 11 with a higher safety priority, the emergency stop of the construction machine 11 with the lower safety priority may be either an emergency stop or a complete shutdown.

[0100] In the above embodiment, safety priorities were set for each type of construction machine 11. However, safety priorities may be set for each construction machine 11, regardless of type, taking into consideration construction efficiency.

[0101] Furthermore, in the event of unforeseen circumstances that prevent construction from being carried out properly, such as during an emergency stop, the system may be configured to automatically and autonomously return the construction machine 11 to the parking area at an appropriate time. [Explanation of symbols]

[0102] BD...Bulldozer, BH...Backhoe, CD...Carrier Dump, 10...Construction Management System, 11...Construction Machinery, 12...Management Device, 13...Platform, 14...Autonomous Driving Device, 15...Construction Progress Measuring Instrument, 16...Surveillance Camera, 17...Remote Control Device, 18...Weather Information, 19...Logging Monitoring Device, 20...Construction Site, 42...Work Information Storage Unit, 43...Self-Position Estimation Unit, 44...Obstacle Detection Unit, 45...Vehicle Control Unit, 46...Surrounding Environment Sensor, 47...Drive Status Sensor, 51...Input Unit, 52...Display Unit, 53...Information Processing Unit, 54...Emergency Stop Button, 60...System Operation Screen, 61...Current Date and Time Display Unit, 62...Weather Information display unit, 63...Current status display unit, 66...Construction equipment button, 67...Home button, 68...Construction management button, 71...Movable area, 72...No entry area, 73...Loading area, 74...Construction area, 81...Backhoe button, 82...Drive button, 83...Loading button, 84...Loading amount confirmation box, 86...Carrier dump button, 87...Drive button, 88...Autonomous button, 89...Waypoint, 90...Unloading point, 91...Route setting confirmation box, 93...Bulldozer button, 94...Drive button, 95...Leveling button, 96...Confirmation box, 97...Strip mark, 98...Compacting button, 99...Confirmation box.

Claims

1. Multiple construction machines performing tasks autonomously at the construction site, A control device that can be operated by an operator, A construction management system comprising a platform to which the plurality of construction machines and the management device are communicated together, Each construction machine is configured to acquire its own position and transmit the acquired position to the platform. The management device is configured to transmit safety priorities for the plurality of construction machines to the platform. The platform is configured to determine whether an emergency stop is necessary for each construction machine during its operation, based on its own position and safety priority, and to perform an emergency stop on any construction machine that requires it. Each of the aforementioned construction machines is configured to be able to perform an emergency stop and to transmit the emergency stop of its machine to the platform. The platform, in the event that any of the multiple construction machines comes to an emergency stop, determines whether an emergency stop is necessary for the other construction machines based on the position of each machine and the safety priority, and then performs an emergency stop on the construction machine that requires it. Construction management system.

2. Each of the aforementioned construction machines is configured to stop its own operation as an emergency stop, The platform will stop the construction machine that requires emergency stopping if any of the multiple construction machines comes to an emergency stop. The construction management system according to claim 1.

3. Each of the aforementioned construction machines is configured to temporarily stop itself as an emergency stop, The platform will temporarily stop the construction machine with a lower safety priority if it enters the working area of ​​the construction machine with a higher safety priority. The construction management system according to claim 1 or 2.

4. Multiple construction machines having a traveling device and a working device supported by the traveling device, which perform work autonomously at a construction site, A control device that can be operated by an operator, A construction management system comprising a platform to which the plurality of construction machines and the management device are communicated together, Each construction machine is configured to acquire its own position and transmit the acquired position to the platform. The management device is configured to transmit safety priorities for the plurality of construction machines to the platform. The platform is configured to determine whether an emergency stop is necessary for each construction machine during its operation, based on its own position and safety priority, and to perform an emergency stop on any construction machine that requires it. Each of the aforementioned construction machines is configured to temporarily stop itself as an emergency stop, and has a working range that is the range of motion of the work device relative to its own position. The platform designates a stationary construction machine that is currently operating with the work device as a high-safety-priority construction machine, and temporarily suspends a low-safety-priority construction machine within the working range of the high-safety-priority construction machine. Construction management system.

5. The platform provides the management device with a system operation screen on which work information for each of the construction machines can be input, The management device has a display unit capable of displaying the system operation screen, The platform is configured to acquire weather information and provides the management device with a system operation screen that includes a weather information display unit capable of displaying the acquired weather information. A construction management system according to any one of claims 1 to 4.

6. Each of the aforementioned construction machines is configured to be able to perform an emergency stop as an emergency stop, The management device is configured to transmit to the platform the movable area in which each construction machine can move at the construction site. The platform will bring construction machinery that has entered outside the movable area to an emergency stop. A construction management system according to any one of claims 1 to 5.

7. The management device is configured to transmit the no-entry zones within the movable area to the platform. The platform will bring construction machinery that has entered the restricted area to an emergency stop. The construction management system according to claim 6.

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