Construction machinery work management system and work management method

Abstract

To improve construction efficiency in a work area in which an automatically operable construction machine is used.SOLUTION: A work management system 100 for a construction machine comprises: a work area setting unit 11A that sets an automatic operation work area in which a construction machine 2 carriers out work through automatic operation in a work area; a work recording unit 11F that records a work completion range within which the construction machine 2 has completed work, and extracts a work incompletion range within which work has not been completed on the basis of the automatic operation work area and the work completion range; and a completion time calculation unit 11G that calculates and updates scheduled completion time when the work within the work incompletion range is completed.SELECTED DRAWING: Figure 1

Description

[[Technical Field]]

[0001] The present invention relates to a work management system and a work management method for construction machinery. [[Background Art]]

[0002] Patent Document 1 discloses a construction machine capable of automatic operation that does not require an operator's operation. [[Prior Art Documents]] [[Patent Documents]]

[0003] [[Patent Document 1]] Japanese Unexamined Patent Publication No. 2008-8183 [[Summary of the Invention]] [[Problems to be Solved by the Invention]]

[0004] In recent years, in order to improve construction efficiency, the introduction of construction machinery capable of automatic (autonomous) operation as described in Patent Document 1 has been promoted. Although it is desirable to complete all construction work through work performed by automatically operated construction machinery, for example, in precise work and finishing processes, work performed by construction machinery manually operated by an operator is required.

[0005] The operator's operation of the construction machinery is performed in accordance with the progress of work by the automatically operated construction machinery, but the work by the automatically operated construction machinery does not always proceed as planned. If work by the automatically operated construction machinery is delayed for some reason, the waiting time of the operator becomes longer, and the operator cannot operate other construction machinery during the waiting time. As a result, there is a risk that construction efficiency in the work area will decrease.

[0006] An object of the present invention is to improve construction efficiency in a work area where automatically operable construction machinery is used. [[Means for Solving the Problems]]

[0007] The present invention relates to the work area In Autonomous driving of Work using transparent machinery And, following the work performed by the autonomous construction machinery, there is work performed by a separate, manually operated construction machine, A work management system for construction machinery that manages autonomous driving of Construction machinery by Automated driving work area where work is performed And, a manual operation work area where work is carried out using manually operated construction machinery. A work area setting unit that sets the work area within the work area, In the autonomous driving work area, A work recording unit records the work area completed by the construction machine, extracts the work area that has not been completed based on the automated driving work area and the work area, and a completion time calculation unit calculates and updates the estimated completion time for the work in the work area that has not been completed. A display unit that shows the estimated completion time, updated by the completion time calculation unit, for operators operating manually operated construction machinery, It is equipped with.

[0008] Furthermore, the present invention provides a plurality of work areas In Autonomous driving of Work using transparent machinery And, following the work performed by the autonomous construction machinery, there is work performed by a separate, manually operated construction machine, A construction machinery work management system that centrally manages the operation of autonomous driving of Construction machinery by Automated driving work area where work is performed And, a manual operation work area where work is carried out using manually operated construction machinery. A work area setting unit that sets each of the following within multiple work areas, In the autonomous driving work area, A work recording unit records the completed work area for each work area where construction machinery has completed work, and extracts the incomplete work area for each work area based on the automated driving work area and the completed work area; and a completion time calculation unit calculates and updates the estimated completion time for the incomplete work area for each work area. A display unit that shows the estimated completion time, updated by the completion time calculation unit, for operators operating manually operated construction machinery, It is equipped with.

[0011] Furthermore, the present invention relates to the working area In Autonomous driving of Work using transparent machinery And, following the work performed by the autonomous construction machinery, there is work performed by a separate, manually operated construction machine, A method for managing the work of construction machinery using a work management system that manages the operation of automated driving of Construction machinery by Automated driving work area where work is performed And, a manual operation work area where work is carried out using manually operated construction machinery.a work area setting step of setting an automatic driving work area within a work area; a work recording step of recording a work completed range where work has been completed by a construction machine, and extracting an incomplete work range in which work has not been completed on the basis of the automatic driving work area and the work completed range; and a completion time calculation step of calculating and updating a scheduled completion time at which work in the incomplete work range will be completed A display process for operators of manually operated construction machinery, which displays the estimated completion time updated in the completion time calculation process on the display unit, comprising the above steps.

[0012] The present invention also relates to a work management method for a construction machine, which is implemented by a work management system that collectively manages In autonomous driving of work performed by construction machines And, following the work performed by the autonomous construction machinery, there is work performed by a separate, manually operated construction machine, in a plurality of work areas, the method comprising: a work area setting step of respectively setting an automatic driving work area where an automatic driving of construction machine by performs work in each of the plurality of work areas And, a manual operation work area where work is carried out using manually operated construction machinery. ; a work recording step of recording, for each work area, a work completed range where work has been completed by the construction machine, and extracting, for each work area, an incomplete work range in which work has not been completed on the basis of the automatic driving work area and the work completed range; and a completion time calculation step of calculating and updating, for each work area, a scheduled completion time at which work in the incomplete work range will be completed In the autonomous driving work area, A display process for operators of manually operated construction machinery, which displays the estimated completion time updated in the completion time calculation process on the display unit, comprising the above steps. Effects of the Invention

[0015] According to the present invention, construction efficiency can be improved in a work area where an autonomously drivable construction machine is used. Brief Description of the Drawings

[0016] [Figure 1] FIG. 1 is a conceptual diagram showing the overall configuration of a work management system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a configuration diagram showing a schematic configuration of a site management unit and a construction machine in the work management system according to an embodiment of the present invention. [Figure 3] FIG. 3 is a block diagram for explaining functions of a work management unit of the work management system according to an embodiment of the present invention. [Figure 4A] ​This is a diagram illustrating an example of work performed in a work area. [Figure 4B] This is a diagram illustrating an example of work performed in a work area. [Figure 4C] This is a diagram illustrating an example of work performed in a work area. [Figure 4D] This is a diagram illustrating an example of work performed in a work area. [Figure 5] Figures 4A, 4B, 4C, and 4D are diagrams illustrating the work area for the tasks shown. [Figure 6] This diagram illustrates an example of a work schedule set within a work area. [Figure 7] This diagram illustrates how to set up work schedules for multiple work areas. [Figure 8] This figure shows the processing flow of a work management system according to an embodiment of the present invention. [Figure 9] This diagram illustrates how to identify incomplete tasks within your assigned area of ​​responsibility. [Figure 10] This is a diagram illustrating an example of the work progress status displayed on the display unit. [Figure 11A] This is a diagram illustrating other examples of work performed in the work area. [Figure 11B] This is a diagram illustrating other examples of work performed in the work area. [Figure 11C] This is a diagram illustrating other examples of work performed in the work area. [Figure 12] Figures 11A, 11B, and 11C illustrate the work area for the tasks shown. [Modes for carrying out the invention]

[0017] Hereinafter, with reference to the drawings, a work management system and a work management method according to an embodiment of the present invention will be described.

[0018] First, with reference to Figures 1 to 3, a work management system 100 according to an embodiment of the present invention will be described.

[0019] As shown in Figure 1, the work management system 100 is a system constructed to centrally manage the work of multiple construction machines 2, which are capable of both automated and manual operation, deployed at multiple work sites 1A, 1B, and 1C. The multiple work sites 1A, 1B, and 1C managed by the work management system 100 are, for example, civil engineering work areas set up in locations several hundred kilometers or more apart from each other. Note that the multiple work sites 1A, 1B, and 1C may be multiple work areas set up within a single civil engineering construction site.

[0020] Furthermore, work sites 1A, 1B, and 1C are not limited to domestic civil engineering work sites; they may also be overseas civil engineering work sites, or even extraterrestrial civil engineering work sites such as the lunar surface. Additionally, the number of work sites 1A, 1B, and 1C under management can be any number, as long as there are two or more locations.

[0021] The work management system 100 comprises a site management unit 30 installed at each work site 1A, 1B, and 1C (work area), and a work management unit 10 that manages the work status of multiple construction machines 2 deployed at each work site 1A, 1B, and 1C via the site management unit 30. The work management unit 10 and each site management unit 30 are connected to each other via a communication network 50 such as a public telephone line. In the following description, we will explain the case in which the work management system 100 manages the work of construction machines 2 that are involved in civil engineering work to construct embankment bodies such as trapezoidal dams by piling up embankment materials such as CSG (Cemented Sand and Gravel).

[0022] The work management unit 10 mainly consists of a microcomputer equipped with a CPU (Central Processing Unit) as a control unit 11, ROM (Read Only Memory) and RAM (Random Access Memory) as storage units 15, and an input / output interface (I / O interface); a communication unit 12 that exchanges data with each site management unit 30 via a communication network 50; a display unit 13 that can display the results calculated by the control unit 11 and the work status of each work site 1A, 1B, and 1C in real time; and an input unit 14 that accepts input operations from operators managing the work. The storage unit 15 pre-stores programs executed by the control unit 11 and data necessary for program execution, as well as sequentially stores the results calculated by the control unit 11. The specific control performed by the control unit 11 will be described later.

[0023] The work management unit 10 is installed in a location separate from each work site 1A, 1B, and 1C in order to centrally manage the operations of multiple construction machines 2 deployed at each work site 1A, 1B, and 1C. However, the work management unit 10 may also be installed at any of the work sites 1A, 1B, and 1C.

[0024] Next, with reference to Figure 2, we will describe the site management units 30 installed at each work site 1A, 1B, and 1C, and the construction machinery 2 deployed at each work site 1A, 1B, and 1C. Figure 2 shows a schematic configuration of one of the multiple work sites 1A, 1B, and 1C, specifically work site 1A.

[0025] The site management unit 30, like the work management unit 10, mainly consists of a microcomputer equipped with a CPU (Central Processing Unit) as a control unit 31, ROM (Read Only Memory) and RAM (Random Access Memory) as storage units 35, and an input / output interface (I / O interface); a communication unit 32 that exchanges data with the work management unit 10 via a communication network 50; a display unit 33 that can display the results calculated by the control unit 11 of the work management unit 10, the situation within the work site 1A, and the status of each construction machine 2 in real time; and an input unit 34 that accepts input operations from operators managing the work.

[0026] Furthermore, the site management unit 30 includes a transmitting / receiving unit 36 ​​that exchanges data with each construction machine 2, and an imaging unit 37 that captures images of the work site 1A. The transmitting / receiving unit 36 ​​is a wireless communication means such as LTE (Long Term Evolution), 5G, or Wi-Fi (registered trademark), and the imaging unit 37 is a camera installed at multiple locations within the work site 1A. The site management units 30 installed at the other work sites 1B and 1C have a similar configuration.

[0027] The construction machine 2 deployed at the work site 1A is configured to operate automatically (autonomously) by mounting the following components on a general-purpose construction machine: a position acquisition unit 42 capable of receiving signals from GPS satellites and other components of the Global Navigation Satellite System (GNSS); a state detection unit 43 capable of detecting acceleration, angular velocity, and geomagnetic field; an environment detection unit 44 capable of detecting surrounding obstacles; a transmission / reception unit 45 that exchanges data with the site management unit 30; and a control unit 41 that controls the operation of the construction machine 2 based on the information acquired by these units.

[0028] The position acquisition unit 42 is a positioning sensor capable of detecting the position (latitude, longitude, altitude) of the construction machine 2 based on signals from multiple positioning satellites. The state detection unit 43 is a so-called inertial measurement unit (IMU) that integrates an acceleration sensor, gyro sensor, barometric pressure sensor, and geomagnetic sensor capable of detecting the state of the construction machine 2. The state detection unit 43 also includes an engine operation detection sensor that detects the operating status of the construction machine 2, and a voltmeter and ammeter that detect the voltage and current of the construction machine 2's battery and electrical components. The surrounding detection unit 44 is a three-dimensional range sensor such as a laser scanner that can recognize the surrounding space by irradiating light and measuring the reflected light reflected by an object, a so-called 3D-LiDAR (light detection and ranging) sensor, and a radar sensor (RADAR: Radio Detection and Ranging) that can measure the distance to an object using radio waves. The transmitting and receiving unit 45 is a wireless communication means similar to the transmitting and receiving unit 36 ​​of the site management unit 30.

[0029] The control unit 41 is mainly composed of a CPU (Central Processing Unit) and is connected to an existing control unit 48 that is pre-installed on the construction machine 2. The control unit 41 detects the state and shape of the workpiece, such as embankment material, from the results detected by the surrounding detection unit 44 and confirms the safety of the surroundings, while confirming its own position and posture from the results detected by the position acquisition unit 42 and the state detection unit 43, thereby controlling the steering of the construction machine 2 to autonomously perform the instructed work. The automatic (autonomous) operation of the construction machine 2 may be performed by sequence control, which controls based on a predetermined order and judgment, or by feedback control, which controls based on the shape and quantity of the workpiece, such as embankment material, measured by the surrounding detection unit 44, or by a combination of these controls.

[0030] Here, the existing control unit 48 controls the steering and engine output of the construction machine 2 in response to the operation of existing operating parts 49, such as handles and levers, which are pre-installed on the construction machine 2 for manual steering, etc., by the operator. In other words, by generating a signal equivalent to the signal generated when the existing operating parts 49 are operated in the control unit 41 and transmitting the generated pseudo-signal to the existing control unit 48, it is possible to move the construction machine 2 as if it were being operated by an operator.

[0031] Furthermore, since the existing control unit 49 remains installed on construction machine 2, it is possible for an operator to manually operate construction machine 2 by boarding it.

[0032] Furthermore, the construction machine 2 is equipped with an imaging unit 46 capable of capturing images of the work site 1A visible from the driver's cab, and a sound collection device (not shown) that picks up sounds of the construction machine 2, etc., so that an operator can control the construction machine 2 from a distance. The imaging unit 46 is preferably, for example, a stereo camera capable of capturing images of the surrounding environment of the construction machine 2, and the imaging direction changes according to the orientation and movement of the operator's head when operating it with the remote control unit 20 described later.

[0033] Thus, the construction machine 2 is configured to be capable of automatic (autonomous) operation, as well as manual operation with an operator on board, and manual operation by an operator operating it remotely. In other words, the manual operation of the construction machine 2 described below includes cases where the operator is on board the construction machine 2 and operates it, and cases where the operator does not board the construction machine 2 but operates it remotely from the remote control unit 20 described later.

[0034] Construction machinery 2, configured to be capable of both automated and manual operation, includes, for example, bulldozers, dump trucks, vibratory rollers, and backhoes. The work performed by these different types of construction machinery 2 deployed at the work site 1A is managed by the site management unit 30 and also managed by the work management unit 10 via the site management unit 30. Although the configuration of the existing control unit 49 differs depending on the type of construction machinery 2, the configuration necessary to enable automated operation and remote control is almost the same.

[0035] The work management system 100 further includes a remote control unit 20 for remotely operating construction machinery 2 deployed at each work site 1A, 1B, and 1C from a location away from each work site 1A, 1B, and 1C.

[0036] As shown in Figure 1, the remote control unit 20 mainly consists of a microcomputer equipped with a CPU (Central Processing Unit) as a remote control unit 21, a plurality of remote control devices 24 connected to the remote control unit 21, and a display unit 22 capable of displaying the schedule for remote control and the work status of the construction machine 2 being remotely controlled in real time. The remote control unit 20 may be directly connected to the control unit 11 of the work management unit 10, or it may be connected to the work management unit 10 via a communication network 50. Furthermore, the remote control unit 20 may be installed in the same location as the work management unit 10, or it may be installed in a location away from the work management unit 10 or at any of the work sites 1A, 1B, 1C.

[0037] The remote control device 24 includes an operating unit 27 such as a handle or lever for operating the construction machine 2, a display unit 26 that displays images captured by an imaging unit 46 installed on the construction machine 2 and work details, and a speaker (not shown) for emitting sounds from the surroundings of the construction machine 2. The operation of these components is controlled by a control unit 25 mainly composed of a CPU (Central Processing Unit). The display unit 26 may be, for example, a head-mounted display worn by the operator.

[0038] Next, the control performed by the control unit 11 of the work management unit 10 in the work management system 100 configured in this way will be explained with reference to Figure 3.

[0039] As shown in Figure 3, the control unit 11 includes a work area setting unit 11A that sets an automated operation work area within each work site 1A, 1B, 1C (work area) where the construction machinery 2 will perform work by automated operation based on 3D data such as CIM (Construction Information Modeling) data for each work site 1A, 1B, 1C (work area), a selection unit 11B that selects multiple construction machinery 2 to perform work in the automated operation work area, and a work planning unit 11C that sets the area of ​​responsibility for each construction machinery 2 selected by the selection unit 11B within the automated operation work area set by the work area setting unit 11A, and plans the work to be performed within the area of ​​responsibility based on the specifications of each construction machinery 2, and the work planning unit 11C The system includes a schedule generation unit 11D that generates a schedule such as a Gantt chart showing the order and timing of planned tasks; a notification unit 11E that displays the schedule generated by the schedule generation unit 11D on the display unit 13, the display units 33 of each site management unit 30, and the display unit 22 of the remote control unit 20; a work recording unit 11F that records the work completion range completed by each construction machine 2 and extracts the work incomplete range based on the assigned range and work completion range for each construction machine 2; and a completion time calculation unit 11G that calculates and updates the expected completion time for the work in the work incomplete range.

[0040] Three-dimensional data such as CIM data used in the work area setting unit 11A is stored in advance in the storage unit 15 and the storage units 35 of each site management unit 30. Alternatively, the data used in the work area setting unit 11A may be input by an operator via the input unit 14.

[0041] The work area setting unit 11A sets areas within each work site 1A, 1B, and 1C where work is relatively easy to perform as automated operation work areas, while areas with many obstacles and where work is relatively difficult to perform smoothly are set as manual operation work areas where the construction machine 2 performs work manually. Note that manual operation work areas do not necessarily have to be set.

[0042] The selection unit 11B selects construction machinery 2 that are in a working condition from among the construction machinery 2 deployed at each work site 1A, 1B, and 1C, according to the work to be performed in the automated work area. Whether or not a construction machinery 2 is in a working condition, that is, whether or not a construction machinery 2 is undergoing inspection or repair, is entered by the operator at any time via the input unit 34 of the site management unit 30. In this way, construction machinery 2 that is undergoing inspection or repair is excluded from the selection, and only construction machinery 2 that are in a working condition are selected.

[0043] Furthermore, since each construction machine 2 originally has an abnormality detection function that detects abnormalities in actuators and other components that operate the work machine based on hydraulic fluid pressure sensors and hydraulic fluid temperature sensors (not shown), it is also possible to determine whether the construction machine 2 is in a state where it can work based on the presence or absence of abnormalities transmitted from each construction machine 2, and to exclude the construction machine 2 in which an abnormality has been detected from work.

[0044] The selection of construction machinery 2 by the selection unit 11B is performed for each work site 1A, 1B, and 1C (work area).

[0045] The specifications of each construction machine 2 used in the work planning unit 11C are entered in advance by the operator via the input unit 34 of the site management unit 30. For example, if the construction machine 2 is a bulldozer, the blade width, etc., is entered as the specifications; if it is a dump truck, the maximum load capacity and travel speed are entered; and if it is a vibratory roller, the roller width, etc., are entered.

[0046] The work planning unit 11C sets the area of ​​responsibility for each construction machine 2 by dividing the amount of work within the automated operation work area, which is set by the work area setting unit 11A, among a plurality of construction machines 2 selected by the selection unit 11B in a predetermined proportion (for example, equally divided). The size of the area of ​​responsibility may be set according to the specifications of the construction machine 2. For example, if the construction machine 2 is a bulldozer, the size of the area of ​​responsibility may be changed according to the blade width, and if the construction machine 2 is a vibratory roller, the size of the area of ​​responsibility may be changed according to the roller width.

[0047] Furthermore, the work planning unit 11C plans the automated operation work content for each construction machine 2, which includes the starting position, ending position, and route from the starting position to the ending position, within its assigned area. This work content is digitized and transmitted to the construction machine 2 responsible for the work via the site management unit 30. The automated operation work content includes, for example, the work performed on the work object such as embankment material, the work area in which the work is performed, and target values ​​(target shape, target specifications) within the work area, which are set according to the work performed by each construction machine 2, as described later. Once the work area and target values ​​within the work area are set, the construction machine 2 performs the work within the work area by automated operation in order to achieve the target values.

[0048] Furthermore, the work details planned in the work planning unit 11C also include manual operation work in which the construction machine 2 performs work by manual operation within the work area. When an operator boards the construction machine 2, the work details planned in the work planning unit 11C are transmitted via the site management unit 30 to a terminal equipped on the construction machine 2 or to a tablet terminal held by the operator, and when the operator remotely operates the construction machine 2 using the remote control unit 20, they are transmitted to the remote control device 24.

[0049] As described later, the schedule generation unit 11D generates a schedule outlining the order and timing of operations for each construction machine 2 within each work area of ​​each work site 1A, 1B, and 1C. The schedule generation unit 11D also generates the schedule so that the working times (times) of the construction machines 2 operated manually do not overlap as much as possible between the work sites 1A, 1B, and 1C. As a result, the operator remotely controlling the construction machines 2 with the remote control unit 20 can sequentially operate the construction machines 2 deployed at multiple work sites 1A, 1B, and 1C, thereby reducing the number of operators required.

[0050] The work recording unit 11F estimates and records the work completion range, which is the area where work was performed, based on the movement trajectory of the construction machine 2 obtained from the position information of the construction machine 2 obtained from the position acquisition unit 42, the specifications of the construction machine 2, for example, the width of the blade if the construction machine 2 is a bulldozer, and the operating state of the work part of the construction machine 2, for example, if the construction machine 2 is a bulldozer, the state in which the blade height is at a predetermined leveling height.

[0051] Furthermore, the work record unit 11F extracts and records the size of the unfinished work area by subtracting the area of ​​the completed work area recorded from the area of ​​the area to which the construction machine 2 is responsible.

[0052] The recording of the completed work area and extraction of the incomplete work area by the work recording unit 11F are performed for each construction machine 2 selected by the selection unit 11B at each work site 1A, 1B, and 1C. If only one construction machine 2 is selected by the selection unit 11B, the area responsible for that machine 2 is the entire automated work area. In this case, the size of the incomplete work area is determined by subtracting the area of ​​the completed work area from the area of ​​the automated work area.

[0053] The completed and incomplete work areas recorded in the work record unit 11F are sent to the work plan unit 11C. The work plan unit 11C determines the progress of the work of the construction machine 2 based on the completed and incomplete work areas, and modifies the work plan as necessary.

[0054] Specifically, for construction machine 2 whose unfinished work area is larger than that of other construction machines 2, the area of ​​responsibility will be reduced, while the areas of responsibility of other construction machines 2 will be increased. This will improve the imbalance in work progress and, as a result, improve overall construction efficiency.

[0055] Furthermore, the completed and incomplete work ranges recorded by the work recording unit 11F are sent to the completion time calculation unit 11G and used to predict the time when the construction machine 2 will complete its work. The completion time calculation unit 11G calculates the time required if the construction machine 2 were to perform the work in the incomplete work range at the same work speed as when it performed the work in the completed work range, and predicts the time when the work will be completed.

[0056] The completion time calculation unit 11G predicts the work completion time for each construction machine 2 selected by the selection unit 11B at each work site 1A, 1B, and 1C, and for each area of ​​responsibility assigned to the construction machine 2. In other words, the work completion time prediction is performed for the automated operation work area set by the work area setting unit 11A.

[0057] The estimated completion time and the time required to complete the work, calculated by the completion time calculation unit 11G, are sent to the work planning unit 11C, similar to the completed work range and incomplete work range recorded by the work recording unit 11F. The work planning unit 11C uses these to understand and determine the progress of the work of each construction machine 2.

[0058] Furthermore, the estimated completion time calculated by the completion time calculation unit 11G and the time required to complete the work are displayed via the notification unit 11E on the display unit 13, the display units 33 of each site management unit 30, and the display unit 22 of the remote control unit 20, similar to the schedule generated by the schedule generation unit 11D. This allows operators managing the work to easily grasp the progress of the work at each work site 1A, 1B, and 1C. Also, by looking at the display unit 22 of the remote control unit 20, operators remotely controlling the construction machinery 2 can easily grasp the time until the next remote operation to begin and the next construction machinery 2 to be remotely controlled.

[0059] It should be noted that these work area setting units 11A, etc., represent the functions of the control unit 11 as virtual units and do not imply their physical existence. Furthermore, the above functions are only a part of the control performed by the control unit 11, and the control unit 11 also performs control related to other functions as needed.

[0060] Next, referring to Figures 4 to 10, we will specifically explain the work management method for the construction machinery 2 performed by the work management system 100 with the above configuration. In the following, we will explain using a civil engineering work example in which, as shown in Figure 4A, embankment material transported by an automated dump truck 2B (transportation machine) is spread by an automated bulldozer 2A (leveling machine), then as shown in Figure 4B, it is further spread by a manually operated bulldozer 2C (leveling machine), then as shown in Figure 4C, the ends of the slope are shaped by an automated or manually operated backhoe 2D (end shaping machine), and then as shown in Figure 4D, the surface is compacted by an automated vibratory roller 2E (compaction machine) and a manually operated vibratory roller 2F (compaction machine), and these processes are repeated to form multiple layers and construct an embankment.

[0061] In this embodiment, the workpiece is so-called embankment material, such as soil or a cement mixture. The embankment material, transported and unloaded by a dump truck 2B, is spread by a bulldozer 2A to a predetermined target thickness (target shape), for example, 25 cm, that is, to raise the height by 25 cm. After that, the ends are shaped into a predetermined shape, which is the target shape, by a backhoe 2D. Then, it is compacted by a vibratory roller 2E for a predetermined number of times (for example, 6 times), which is the target specification.

[0062] Therefore, the work planned in the work planning section 11C is as follows: in the case of the bulldozer 2A, to spread the embankment material to a target shape (spread thickness of 25 cm) within a predetermined range; in the case of the backhoe 2D, to shape the edges of the predetermined range where the embankment material has been spread to a target shape (a predetermined angle (e.g., 45 degrees)); and in the case of the vibratory roller 2E, to compact the surface of the embankment material that has been spread within a predetermined range and whose edges have been shaped by moving it back and forth for a target specification (a predetermined number of times (e.g., 6 times)).

[0063] Figure 5 shows three work areas A, B, and C, where predetermined civil engineering work is performed sequentially by each construction machine 2 (bulldozer 2A, dump truck 2B, bulldozer 2C, backhoe 2D, vibratory roller 2E, vibratory roller 2F). The order and timing (times) of the work performed by each construction machine 2 (bulldozer 2A, dump truck 2B, bulldozer 2C, backhoe 2D, vibratory roller 2E, vibratory roller 2F) within each work area A, B, and C are shown in the schedule in Figure 6. The schedule is generated in advance by the schedule generation unit 11D described above.

[0064] As shown in Figures 5 and 6, once the work of spreading the embankment material unloaded from the dump truck 2B in the first work area A is completed, the automated bulldozer 2A moves to the second work area B and begins spreading the material there. Once the spreading work by bulldozer 2A is completed in the first work area A, a manually operated bulldozer 2C enters the area and begins spreading the material in areas that were not sufficiently spread by the automated bulldozer 2A.

[0065] Once the leveling work in the second work area B is completed, the automated bulldozer 2A moves to the third work area C and begins leveling work there. After the leveling work by bulldozer 2A is completed in the second work area B, the manually operated bulldozer 2C, which has finished its work in the first work area A, enters and begins leveling any areas that were not sufficiently leveled. In addition, after the leveling work by the manually operated bulldozer 2C is completed in the first work area A, the automated or manually operated backhoe 2D enters and begins shaping the edges of the slope.

[0066] Once the leveling work in the third work area C is complete, the automated bulldozer 2A moves to the next work area or parking area. After the leveling work by bulldozer 2A is completed in the third work area C, the manually operated bulldozer 2C, which has completed its work in the second work area B, enters and begins leveling any areas that were not sufficiently leveled. In addition, after the leveling work by the manually operated bulldozer 2C is completed in the second work area B, the automated or manually operated backhoe 2D, which has completed its work in the first work area A, enters and begins shaping the edges of the slope. After the shaping of the edges by the automated or manually operated backhoe 2D is completed in the first work area A, the automated vibratory roller 2E enters and begins compaction.

[0067] Once the leveling work in the third work area C is complete, the manually operated bulldozer 2C moves to the next work area or parking area. After the leveling work by the bulldozer 2C is completed in the third work area C, the automatically operated or manually operated backhoe 2D, which has completed its work in the second work area B, enters and begins shaping the edge of the slope. After the edge shaping by the automatically operated or manually operated backhoe 2D is completed in the second work area B, the automatically operated vibratory roller 2E, which has completed its work in the first work area A, enters and begins compaction. After the compaction by the automatically operated vibratory roller 2E is completed in the first work area A, the manually operated vibratory roller 2F enters and begins compaction of areas that were not sufficiently compacted by the automatically operated vibratory roller 2E.

[0068] In this way, as each construction machine 2A, 2B, 2C, 2D, 2E, and 2F performs its work sequentially, the height of the dam increases in the order of 1st work area A, 2nd work area B, and 3rd work area C, respectively.

[0069] The schedule shown in Figure 6 is generated for each work site 1A, 1B, and 1C, but the schedule generation unit 11D sets the scheduled work times for the manually operated bulldozer 2C so that they do not overlap at the two work sites 1A and 1B, for example, as shown in Figure 7. This makes it possible for one operator to remotely control the bulldozers 2C deployed at different work sites 1A and 1B using the remote control unit 20. The schedule shown in Figure 7 shows an excerpt of the scheduled work for the automatically operated bulldozer 2A and the manually operated bulldozer 2C from the total scheduled work at the two work sites 1A and 1B.

[0070] Here, from the standpoint of efficiency and safety, it is preferable to have all the work in each work area A, B, and C performed by the automated construction machine 2. However, for example, as shown in Figure 5, when leveling is performed by multiple automated bulldozers 2A, the work accuracy tends to decrease near the boundaries between each assigned area A1, A2, and A3. Therefore, in these areas, it is necessary to ensure work accuracy by manually operated bulldozers 2C operated by an operator, as described above.

[0071] For safety reasons, the operator will only operate construction machine 2 after it has been confirmed that the work by the automatically operated construction machine 2 is complete, as shown in Figures 6 and 7. However, the work by the automatically operated construction machine 2 does not always proceed according to the planned schedule, i.e., on time. If any factor causes a delay in the work by the automatically operated construction machine 2, the operator's waiting time will increase, and during this waiting period, they will not be able to operate other construction machines 2, such as those deployed at other work sites. As a result, the construction efficiency at work sites 1A, 1B, and 1C may decrease.

[0072] Therefore, in this embodiment, as described above, in order to grasp the progress of work performed by the autonomous construction machine 2, a work recording unit 11F and a completion time calculation unit 11G are provided in the work management unit 10. Furthermore, if a delay occurs in the work performed by the autonomous construction machine 2, the work plan is modified by the work planning unit 11C provided in the work management unit 10.

[0073] Next, referring to the flowchart shown in Figure 8, we will specifically explain the control flow performed in the work management unit 10. In the following explanation, we will use as an example the case in which three bulldozers 2A1, 2A2, and 2A3 perform leveling work by automatic operation in an automated operation work area (first work area A, second work area B, third work area C) set up within the work site 1A, as shown in Figure 5.

[0074] First, in step S10, the work management unit 10 sets three work areas A, B, and C as automatic operation work areas within the work site 1A using the work area setting unit 11A of the control unit 11, as described above (work area setting step). Note that the number of work areas is not limited to three; it may be one or two, or four or more.

[0075] Next, in step S11, the work management unit 10, as described above, uses the selection unit 11B of the control unit 11 to select bulldozers 2A1, 2A2, and 2A3 to perform leveling work in each work area A, B, and C, and dump trucks 2B to transport embankment material to each work area A, B, and C (selection process). Note that the number of bulldozers 2A and dump trucks 2B to be selected is not limited to three units, but may be one or two units, or four or more units.

[0076] Once work areas A, B, and C are set and construction machinery 2 is selected, the work management unit 10, in the following step S12, sets the areas within work areas A, B, and C that each bulldozer 2A1, 2A2, and 2A3 is responsible for performing work automatically, and plans the work to be performed within those areas based on the specifications of each bulldozer 2A1, 2A2, and 2A3, the specifications of each dump truck 2B, etc. (work planning process).

[0077] The size of the area each bulldozer 2A1, 2A2, and 2A3 is responsible for may be divided equally according to the number of selected bulldozers 2A, as shown in Figure 5. However, it is preferable to change the size of the area according to the width of the blade, which is related to the speed of the leveling work, so that the completion times of the work in each area A1, A2, and A3 are approximately the same. As a result, for example, each bulldozer 2A1, 2A2, and 2A3, having completed their work in the first work area A at approximately the same time, will move to the next work area, the second work area B, at approximately the same time. This makes it possible to hand over the entire first work area A to the manually operated bulldozer 2C that will perform the next step, and as a result, the overall construction efficiency can be improved.

[0078] Furthermore, the work planning department 11C plans, based on the load capacity of each dump truck 2B, which bulldozer 2A1, 2A2, or 2A3 will be responsible for transporting the embankment material to its assigned area and where within that area it will unload.

[0079] The plan generated by the work planning unit 11C is then transmitted to each bulldozer 2A1, 2A2, 2A3 and each dump truck 2B, along with a start command that instructs the start of work under automated driving.

[0080] Upon receiving the start command signal, each bulldozer 2A1, 2A2, and 2A3 begins work in automatic operation and executes the work according to the plan set by the work planning unit 11C. Specifically, the surrounding detection unit 44 detects the position of the dump truck 2B and the shape of the embankment material (work to be done) unloaded from the dump truck 2B, and starts leveling work in automatic (autonomous) operation according to the shape of the embankment material.

[0081] Each bulldozer 2A1, 2A2, and 2A3 spreads the embankment material (work to be done) detected by the surrounding detection unit 44 in a predetermined direction and range within their respective assigned areas A1, A2, and A3, so that the spreading thickness of the embankment material reaches a set target value (for example, 25 cm). The spreading thickness of the embankment material is approximately equal to the difference between the height (altitude) of bulldozer 2A before spreading and the height (altitude) of bulldozer 2A after spreading, and is calculated using a known method based on the detected values ​​of the position acquisition unit 42 and the state detection unit 43.

[0082] As the bulldozers 2A1, 2A2, 2A3 and dump trucks 2B begin work automatically according to the plan set by the work planning unit 11C, the work management unit 10, in the following step S13, uses the work recording unit 11F of the control unit 11 to record the completed work area where each bulldozer 2A1, 2A2, 2A3 has completed the leveling work, and extracts the incomplete work area based on the assigned area and completed work area for each bulldozer 2A1, 2A2, 2A3 (work recording process).

[0083] Specifically, as shown in Figure 9, the completed work area within the first assigned area A1 where the automated bulldozer 2A1 has completed leveling work is recorded, and the area of ​​the incomplete work area is calculated by subtracting the area of ​​the completed work area from the area of ​​the first assigned area A1. The completed work area where the bulldozer 2A1 has completed leveling work is calculated based on the trajectory of the bulldozer 2A1 when the blade height is at a predetermined leveling height, and the width of the bulldozer 2A1's blade.

[0084] Once the completed work ranges and incomplete work ranges for each bulldozer 2A1, 2A2, and 2A3 are recorded and the incomplete work ranges are extracted, in the following step S14, the work management unit 10 calculates and updates the estimated completion time for the incomplete work ranges using the completion time calculation unit 11G of the control unit 11 (completion time calculation step).

[0085] In step S14, the updated estimated completion times for each bulldozer 2A1, 2A2, and 2A3 are displayed in the following step S15 by the notification unit 11E of the control unit 11 on the display unit 13, the display units 33 of each site management unit 30, and the display unit 22 of the remote control unit 20 (display process).

[0086] As shown in Figure 10, each display unit 13, 22, and 33 displays the estimated completion time for each bulldozer 2A1, 2A2, and 2A3. Although Figure 10 shows an example of the estimated completion time for the first work area A of a single work site 1A, each display unit 13, 22, and 33 will similarly display the estimated completion times for other work areas B and C, as well as for other work sites 1B and 1C.

[0087] Furthermore, as shown in Figure 10, each display unit 13, 22, and 33 may display the time remaining until the work is completed or the progress of the work. The progress of the work is, for example, the ratio of the area of ​​the completed work area to the area of ​​the assigned areas A1, A2, and A3, which is obtained by dividing the area of ​​the completed work area by the area of ​​the assigned areas A1, A2, and A3, and is calculated by the work recording unit 11F or the completion time calculation unit 11G.

[0088] In this way, the estimated completion time and progress of the work are displayed on each of the display units 13, 22, and 33. For example, by looking at the display unit 22 of the remote control unit 20, the operator can easily grasp the time until the next remote control operation begins and the next construction machine 2 to be remotely controlled. Furthermore, by displaying the progress status of multiple work sites 1A, 1B, and 1C, the operator can not only operate the construction machine 2 deployed at a specific work site, but also arbitrarily select and operate any construction machine 2 that is ready for remote control from among the construction machines 2 deployed at any of the work sites 1A, 1B, and 1C to proceed with the work.

[0089] In the following step S16, the work management unit 10 determines whether or not there are any changes to the bulldozers 2A1, 2A2, and 2A3 selected by the selection unit 11B.

[0090] For example, if one of the three bulldozers 2A1, 2A2, and 2A3 experiences some kind of malfunction and it becomes difficult to continue work, the selection unit 11B will remove the malfunctioning bulldozer 2A from the selection, and if there are other bulldozers 2A on standby, it will select a replacement bulldozer 2A from among them. If there are no other bulldozers 2A on standby, it will re-select the remaining two bulldozers 2A to perform leveling work in each of the work areas A, B, and C.

[0091] In particular, if the number of bulldozers 2A performing leveling work in each work area A, B, and C decreases, some of the assigned areas set in step S12 will remain unworked. Furthermore, even if the number of units remains the same, if the blade width of the bulldozer 2A selected to replace the unusable bulldozer 2A is relatively small, the work in the area assigned to the leveling work by the replacement bulldozer 2A may be delayed compared to other areas.

[0092] Therefore, if it is determined in step S16 that there has been a change in the bulldozer 2A selected by the selection unit 11B, the process returns to step S12, and the areas of responsibility for each newly selected bulldozer 2A to perform work within work areas A, B, and C are reset. When resetting the areas of responsibility, the portion recorded as the work completion area in step S13 is excluded from the work area.

[0093] In this way, by readjusting the assigned area of ​​responsibility as needed in response to changes in the selected Bulldozer 2A, it is possible to ensure that no areas are left unattended even if the number of Bulldozer 2A decreases, and that work progress does not differ even if a Bulldozer 2A is replaced with one of a different specification.

[0094] Furthermore, the changes to the bulldozer 2A selected by the selection unit 11B include not only cases where one bulldozer 2A is replaced with another, or where the number of bulldozers 2A is reduced, but also cases where the number of bulldozers 2A is increased.

[0095] If, in step S16, it is determined that there are no changes to the bulldozer 2A selected by the selection unit 11B, the process proceeds to step S17, where the work management unit 10, using the work planning unit 11C of the control unit 11, compares the progress of the work in each assigned area A1, A2, and A3.

[0096] As described above, the work planning department 11C plans the size of each assigned area A1, A2, and A3 and the amount of embankment material transported to each assigned area A1, A2, and A3 by the dump truck 2B so that the completion times of the work in each assigned area A1, A2, and A3 are approximately the same. However, differences in the amount of embankment material actually transported by the dump truck 2B and the planned amount, as well as differences in the leveling performance of each bulldozer 2A1, 2A2, and 2A3, accumulate, causing differences in the progress of the work to gradually occur.

[0097] If the progress of work in each assigned area A1, A2, and A3 becomes large, even if work in one of the assigned areas A1, A2, or A3 is completed first, the entire first work area A cannot be handed over to the manually operated bulldozer 2C, which will perform the next stage of work, until work in all assigned areas A1, A2, and A3 is completed. As a result, the overall construction efficiency may decrease.

[0098] Therefore, in step S17, if the difference in the ratio of the area of ​​each completed work area to the area of ​​each assigned area A1, A2, A3, or, if the areas of each assigned area A1, A2, A3 are the same, the difference in the area of ​​each completed work area between each assigned area A1, A2, A3, exceeds a predetermined value, the process returns to step S12, and at least one of the sizes of each assigned area A1, A2, A3 and the content of the work performed within each assigned area A1, A2, A3 is changed by the work planning unit 11C so that the difference in work progress becomes smaller.

[0099] Specifically, the areas A1, A2, and A3 handled by bulldozers 2A1, 2A2, and 2A3, which are working slowly, will be made smaller, and the areas A1, A2, and A3 handled by bulldozers 2A1, 2A2, and 2A3, which are working faster, will be made larger.

[0100] Furthermore, the work procedures will be modified so that the amount of embankment material transported by dump truck 2B to areas A1, A2, and A3, which are handled by bulldozers 2A1, 2A2, and 2A3 (which are making slower progress), will increase, while the amount of embankment material transported by dump truck 2B to areas A1, A2, and A3, which are handled by bulldozers 2A1, 2A2, and 2A3 (which are making faster progress), will decrease accordingly.

[0101] By changing either the size of each assigned area A1, A2, and A3, or the content of the work performed within each assigned area A1, A2, and A3, or both, the differences in work progress between each assigned area A1, A2, and A3 can be reduced. For example, it becomes possible to complete the work in the first work area A almost simultaneously. This makes it possible to hand over the entire first work area A to the manually operated bulldozer 2C, which will perform the work for the next stage, and as a result, the overall construction efficiency can be improved.

[0102] Furthermore, instead of the difference in the ratio of the area of ​​each completed work area to the area of ​​each assigned area A1, A2, A3, or the difference in the area of ​​the completed work areas between each assigned area A1, A2, A3, the difference in the estimated work completion time calculated in step S14 may be used as the indicator showing the difference in work progress used for the determination in step S17. In this case, if the difference in estimated work completion time exceeds a predetermined time, the process returns to step S12, and at least one of the sizes of each assigned area A1, A2, A3 and the work content performed within each assigned area A1, A2, A3 is changed by the work planning unit 11C so that the difference in estimated work completion time becomes smaller. In other words, the indicator showing the difference in work progress used for the determination can be said to be the difference in the amount of work performed on the workpiece by each construction machine 2.

[0103] If, in step S17, it is determined that the difference in work progress between each assigned area A1, A2, and A3 is small, the process proceeds to step S18, where the work management unit 10 determines whether or not work has been completed in all work areas A, B, and C set by the work area setting unit 11A.

[0104] At this point, once the autonomous bulldozers 2A1, 2A2, and 2A3 have completed the leveling work in their respective assigned areas A1, A2, and A3 in each of the work areas A, B, and C, the areas where work is not yet completed will no longer be extracted in step S13.

[0105] Therefore, in step S17, when no incomplete work areas are extracted, the work management unit 10 terminates its work management for the automatically operated bulldozers 2A1, 2A2, and 2A3, assuming that all work in work areas A, B, and C has been completed by the automatically operated bulldozers 2A1, 2A2, and 2A3.

[0106] On the other hand, if areas with incomplete work have been identified, the process returns to step S13, indicating that work by the autonomous bulldozers 2A1, 2A2, and 2A3 in all work areas A, B, and C has not yet been completed. The subsequent steps are then repeated, and the estimated completion time and other information are updated as needed.

[0107] In step S18, it is determined whether work has been completed in all work areas A, B, and C based on whether or not the incomplete work area has been extracted. However, whether or not work has been completed may also be determined by, for example, whether or not it has been confirmed that the automatically driven bulldozers 2A1, 2A2, and 2A3 have moved to the position designated as the work completion position in the third work area C, which is the last work area. Alternatively, it may be determined by whether or not the leveling thickness of the embankment material (work to be done) in each work area A, B, and C has reached a set target value (for example, 25 cm), for example, whether or not the height (altitude) of each bulldozer 2A1, 2A2, and 2A3, which is determined from the detected values ​​of the position acquisition unit 42 and the state detection unit 43, has risen by the target leveling thickness within work areas A, B, and C.

[0108] Following the above process, the progress of the leveling work carried out by the automated bulldozers 2A1, 2A2, and 2A3 in the automated work areas (work area 1A, work area 2B, and work area 3C) is managed by the work management unit 10.

[0109] Furthermore, through a similar process, the progress of work performed by other construction machinery 2 (manually operated bulldozer 2C, automatically operated or manually operated backhoe 2D, automatically operated vibratory roller 2E, manually operated vibratory roller 2F) deployed at work site 1A, as well as the progress of work performed by construction machinery 2 (automatically operated bulldozer 2A, automatically operated dump truck 2B, manually operated bulldozer 2C, automatically operated or manually operated backhoe 2D, automatically operated vibratory roller 2E, manually operated vibratory roller 2F) deployed at other work sites 1B and 1C, is also managed by the work management unit 10. Furthermore, whether or not work in each work area A, B, and C has been completed may be determined by whether or not the work performed by each construction machine 2 on the embankment material (work to be done) has reached the target value. In the case of the backhoe 2D, for example, it may be determined by whether or not the angle of the compaction attachment is at the target angle (e.g., 45 degrees). In the case of the vibratory roller 2E, for example, it may be determined by whether or not the trajectory of the vibratory roller 2E moving across the surface of the embankment material, which is determined based on the detected value of the position acquisition unit 42, is the target trajectory (e.g., 6 compactions).

[0110] According to the above embodiments, the following effects are achieved.

[0111] According to the work management system 100 and work management method of this embodiment, the time when work is completed by the autonomous construction machine 2 performing work in the autonomous work areas of multiple work sites 1A, 1B, and 1C (work areas) is updated and displayed in real time.

[0112] By continuously updating and displaying the time when the work by the autonomously operated construction machine 2 is completed, that is, the time when the work by the manually operated construction machine 2 can begin, it becomes possible for the remote operator to easily recognize the time until they can start remotely operating the next construction machine 2 and which construction machine 2 they should remotely operate next. As a result, after the work by the autonomously operated construction machine 2 is completed, the work by the manually operated construction machine 2 can be started by the operator in a timely manner, which reduces the operator's waiting time and improves construction efficiency at multiple work sites 1A, 1B, and 1C where autonomously operated construction machines 2 are deployed.

[0113] Furthermore, by displaying the progress status of multiple work sites 1A, 1B, and 1C, it becomes possible for remote operators to easily recognize the time remaining until not only the construction machinery 2 deployed at a specific work site, but also the construction machinery 2 deployed at other work sites 1A, 1B, and 1C become remotely controllable. This allows, for example, if there is still time before the construction machinery 2 that the operator plans to remotely control becomes remotely controllable, the operator can remotely control the construction machinery 2 deployed at other work sites 1A, 1B, and 1C to proceed with the work. This improves construction efficiency at multiple work sites 1A, 1B, and 1C where autonomously operated construction machinery 2 are deployed.

[0114] Furthermore, according to the work management system 100 and work management method of this embodiment, if there is a change in the construction machinery 2 selected by the selection unit 11B, the work planning unit 11C will reset the scope of work that each construction machinery 2 is responsible for.

[0115] In this way, by readjusting the scope of responsibility in accordance with changes in the selected construction machinery 2, it is possible to ensure that no work is left undone even if the number of construction machinery 2 decreases, and that there is no difference in the progress of work even if construction machinery 2 is replaced with construction machinery 2 of different specifications. This makes it possible to improve construction efficiency at multiple work sites 1A, 1B, and 1C where autonomously operated construction machinery 2 are deployed.

[0116] Furthermore, according to the work management system 100 and work management method of this embodiment, at least one of the assigned area and the work content is changed by the work planning unit 11C in accordance with the progress of the work performed within each assigned area.

[0117] In this way, by changing either the size of each assigned area or the content of the work performed within each area, or both, according to the progress of the work performed within each area, it becomes possible to reduce the difference in work progress between each assigned area. As a result, it becomes possible to complete the work within the work area performed by multiple autonomous construction machines 2 almost simultaneously, making it possible to hand over the entire work area to the construction machine 2 performing the next stage of work, and as a result, the overall construction efficiency can be improved.

[0118] Furthermore, the following modifications are also within the scope of the present invention, and it is possible to combine the configurations shown in the modifications with the configurations described in the embodiments described above, or to combine the configurations described in the following different modifications.

[0119] In the above embodiment, the work management system 100 manages the work of construction machinery 2 involved in civil engineering work to construct the embankment. Alternatively, the work management system 100 may manage the work of construction machinery 2G, 2H, and 2J involved in excavation work, as shown in Figures 11A, 11B, and 11C. Furthermore, the civil engineering work carried out at each work site 1A, 1B, and 1C managed by the work management system 100 may be of different forms, such as embankment work and excavation work.

[0120] The examples shown in Figures 11A, 11B, and 11C involve, as shown in Figure 11A, excavating the ground with an automated bulldozer 2G (excavator) to form an excavation bed, then, as shown in Figure 11B, further excavating near the toe of the slope with a manually operated bulldozer 2H (excavator), and finally, as shown in Figure 11C, compacting the slope with an automated or manually operated backhoe 2J (slope shaping machine). By repeating these processes, a construction base surface of a predetermined width is formed. In the examples shown in Figures 11A, 11B, and 11C, the workpiece is the ground, which is gradually excavated by bulldozers 2G and 2H until the height of the excavation bed reaches a predetermined height (target shape), and then the slope is compacted to a predetermined shape, the target shape, by the backhoe 2J. The excavated soil is transported out as needed by dump trucks (not shown).

[0121] In this example, the work planned in the work planning section 11C is, in the case of the bulldozer 2G, to excavate within a predetermined range so that the height of the excavation bed is reduced by a predetermined amount, and in the case of the backhoe 2J, to compact the slope within a predetermined range to a target shape (a predetermined angle (e.g., 45 degrees)).

[0122] Figure 12 shows three work areas A, B, and C where excavation work is carried out sequentially by each construction machine 2 (bulldozer 2G, bulldozer 2H, backhoe 2J). A schedule (not shown) indicating the order and timing of the work performed by each construction machine 2 (bulldozer 2G, bulldozer 2H, backhoe 2J) within each work area A, B, and C is pre-generated by the schedule generation unit 11D, similar to the embodiment described above.

[0123] As shown in Figure 12, once the excavation work in the first work area A is completed, the automated bulldozer 2G moves to the second work area B and begins excavation work in the second work area B. Once the excavation work by the automated bulldozer 2G is completed in the first work area A, the manually operated bulldozer 2H enters the area and begins excavation work in areas such as near the toe of the slope that were not sufficiently excavated by the automated bulldozer 2G.

[0124] Once excavation work in the second work area B is completed, the automated bulldozer 2G will move to the third work area C and begin excavation work there. After excavation work by bulldozer 2G is completed in the second work area B, the manually operated bulldozer 2H, which has finished its work in the first work area A, will enter and begin excavating any areas that were not sufficiently excavated. In addition, after excavation work by the manually operated bulldozer 2H is completed in the first work area A, the automated or manually operated backhoe 2J will enter and begin compacting the slope.

[0125] Once excavation work in the third work area C is complete, the automated bulldozer 2G will move to the next work area or parking area. After excavation work by bulldozer 2G is completed in the third work area C, the manually operated bulldozer 2H, which has completed work in the second work area B, will enter and begin excavating any areas that were not sufficiently excavated. In addition, after excavation work by the manually operated bulldozer 2H is completed in the second work area B, the automated or manually operated backhoe 2J, which has completed work in the first work area A, will enter and begin compacting the slope.

[0126] As each construction machine (2G, 2H, 2J) performs its work sequentially, the height of the excavation bed in the three work areas A, B, and C decreases in the order of first work area A, second work area B, and third work area C. These operations are repeated until the height of the excavation bed reaches the construction base level.

[0127] In such excavation work, it is preferable from the standpoint of efficiency and safety to have all work in each work area A, B, and C performed by an automated construction machine 2. However, for example, as shown in Figure 12, when excavation in each assigned area A1, A2, and A3 is performed by multiple automated bulldozers 2G1, 2G2, and 2G3, the work accuracy tends to decrease near the boundaries between each assigned area A1, A2, and A3, and near the toe of the slope. Therefore, in these areas, it is necessary to ensure work accuracy by using a manually operated bulldozer 2H operated by an operator, as described above.

[0128] For safety reasons, the operator will only operate construction machine 2 after it has been confirmed that the work performed by the automatically operated construction machine 2 is complete. However, the work performed by the automatically operated construction machine 2 does not always proceed according to the planned schedule, i.e., on time. If any delay occurs in the work performed by the automatically operated construction machine 2, the operator's waiting time will increase, and during this waiting period, they will not be able to operate other construction machines 2, such as those deployed at other work sites. As a result, the construction efficiency at work sites 1A, 1B, and 1C may decrease.

[0129] Therefore, with respect to the work of each construction machine 2 involved in excavation work as shown in Figures 11A, 11B, and 11C, the progress of these tasks can be managed by the work management system 100 and work management method according to the above embodiment. By appropriately changing the scope of responsibility and work content according to the progress of the work, construction efficiency can be improved at multiple work sites 1A, 1B, and 1C where autonomously operated construction machines 2 are deployed, similar to the above embodiment.

[0130] Although embodiments of the present invention have been described above, these embodiments only represent a part of the application examples of the present invention, and are not intended to limit the technical scope of the present invention to the specific configurations of the above embodiments. The claims initially filed for this application are as follows: [Claim 1] A construction machinery work management system for managing work performed by autonomously operated construction machinery deployed in a work area, A work area setting unit sets an automated operation work area within the work area in which the construction machine will perform work by automated operation, A work recording unit records the work completion area where the construction machine has completed work, and extracts the work incomplete area where work has not been completed based on the automated operation work area and the work completion area. A completion time calculation unit calculates and updates the estimated completion time for the work in the aforementioned incomplete work range, A work management system for construction machinery equipped with the following features. [Claim 2] A construction machinery work management system that centrally manages the work performed by autonomously operated construction machinery deployed in multiple work areas, A work area setting unit sets an automated operation work area within each of the multiple work areas in which the construction machine performs work by automated operation, A work recording unit records the completed work area for each work area where the construction machine has completed work, and extracts the incomplete work area for each work area based on the automated operation work area and the completed work area. For each of the aforementioned work areas, a completion time calculation unit calculates and updates the estimated completion time for the work in the incomplete range of work, A work management system for construction machinery equipped with the following features. [Claim 3] The system further includes a display unit that displays the estimated completion time for each work area, which is updated by the completion time calculation unit. Work management system for construction machinery according to claim 2. [Claim 4] A construction machine work management system for managing the work performed by multiple autonomous construction machines deployed in a work area, A work area setting unit sets an automated operation work area within the work area in which multiple construction machines perform work by automated operation, A selection unit for selecting multiple construction machines to perform work in the aforementioned automated operation work area, A work planning unit sets the scope of work to be performed by each construction machine selected by the selection unit, The system includes a work recording unit that records the completed work area for each construction machine and extracts the incomplete work area for each construction machine based on the assigned area and the completed work area, If there is a change in the construction machinery selected by the selection unit, the work planning unit resets the scope of work that each construction machine is responsible for, based on the unfinished work area within the automated operation work area and the modified construction machinery selected by the selection unit. A work management system for construction machinery. [Claim 5] A construction machine work management system for managing the work performed by multiple autonomous construction machines deployed in a work area, A work area setting unit sets an automated operation work area within the work area in which multiple construction machines perform work by automated operation, A selection unit for selecting multiple construction machines to perform work in the aforementioned automated operation work area, The system includes a work planning unit which sets the scope of work to be performed by each construction machine selected by the selection unit and plans the content of work to be performed within that scope, The work planning department shall change at least one of the scope of responsibility and the content of the work in accordance with the progress of the work to be carried out within the scope of responsibility. A work management system for construction machinery. [Claim 6] The system further includes a work recording unit that records the completed work area for each construction machine and extracts the incomplete work area for each construction machine based on the assigned area and the completed work area. The work planning unit compares the ratio of the uncompleted work area to the assigned area for each construction machine, and if the difference in the ratio exceeds a predetermined value, it changes at least one of the assigned area and the work content. Work management system for construction machinery according to claim 5. [Claim 7] A work recording unit records the completed work area for each construction machine, and extracts the incomplete work area for each construction machine based on the assigned area and the completed work area. The system further includes a completion time calculation unit that calculates and updates the estimated completion time for the work in the aforementioned incomplete work range, The work planning unit compares the estimated completion times for each construction machine, which have been updated by the completion time calculation unit, and if the difference in estimated completion times exceeds a predetermined value, it changes at least one of the assigned scope and the work content. Work management system for construction machinery according to claim 5. [Claim 8] The system further comprises a remote control unit capable of remotely operating manually operated construction machinery deployed in the aforementioned work area. A work management system for construction machinery according to any one of claims 1 to 7. [Claim 9] A method for managing the work of construction machinery using a work management system that manages the work performed by autonomously operated construction machinery deployed in a work area, A work area setting step, which sets an automated operation work area within the work area in which the construction machine will perform work by automated operation, A work recording step which records the work completion area where the construction machine has completed work, and extracts the work incomplete area where work has not been completed based on the automated driving work area and the work completion area, A completion time calculation step that calculates and updates the estimated completion time for the work in the aforementioned incomplete work range, A method for managing the operation of construction machinery, including the operation of construction machinery. [Claim 10] A method for managing the work of construction machinery using a work management system that centrally manages the work performed by autonomously operated construction machinery deployed in multiple work areas, A work area setting step involves setting an automated operation work area within each of the multiple work areas in which the construction machine performs work by automated operation, A work recording step which records the completed work area for each work area in which the construction machine has completed work, and extracts the incomplete work area for each work area based on the automated operation work area and the completed work area, For each of the aforementioned work areas, a completion time calculation step is performed to calculate and update the estimated completion time for the work in the incomplete range of work, A method for managing the operation of construction machinery, including the operation of construction machinery. [Claim 11] The process further includes a display step that displays the scheduled completion time for each work area, which is updated in the completion time calculation step. A method for managing the operation of construction machinery according to claim 10. [Claim 12] A method for managing the work of construction machinery using a work management system that manages the work performed by multiple autonomously operated construction machines deployed in a work area, A work area setting step, which sets an automated operation work area within the work area in which multiple construction machines perform work by automated operation, A selection step of selecting multiple construction machines to perform work in the aforementioned automated operation work area, A work planning step is to set the scope of work that each of the construction machines selected in the selection step will be responsible for, The process includes recording the completed work area for each construction machine, and extracting the incomplete work area for each construction machine based on the assigned area and the completed work area, If there is a change in the construction machinery selected in the selection process, the work planning process will reset the scope of work that each construction machine is responsible for, based on the uncompleted work area within the automated operation work area and the modified construction machinery selected in the selection process. Methods for managing the operation of construction machinery. [Claim 13] A method for managing the work of construction machinery using a work management system that manages the work performed by multiple autonomously operated construction machines deployed in a work area, A work area setting step, which sets an automated operation work area within the work area in which multiple construction machines perform work by automated operation, A selection step of selecting multiple construction machines to perform work in the aforementioned automated operation work area, The process includes a work planning step in which the construction machinery selected in the selection step sets the scope of work to be performed for each machine, and plans the content of work to be performed within that scope, In the aforementioned work planning process, at least one of the aforementioned scope of responsibility and the aforementioned work content is changed according to the progress of the work performed within the aforementioned scope of responsibility. Methods for managing the operation of construction machinery. [Claim 14] The process further includes recording the completed work area for each construction machine, and extracting the incomplete work area for each construction machine based on the assigned area and the completed work area, In the work planning process, the ratio of the uncompleted work area to the assigned area for each construction machine is compared, and if the difference in the ratio exceeds a predetermined value, at least one of the assigned area and the work content is changed. A method for managing the operation of construction machinery according to claim 13. [Claim 15] A work recording step which records the completed work area for each construction machine, and extracts the incomplete work area for each construction machine based on the assigned area and the completed work area, The process further includes a completion time calculation step that calculates and updates the estimated completion time for the work in the aforementioned incomplete work range, In the work planning step, the estimated completion times for each construction machine, which were updated in the completion time calculation step, are compared, and if the difference in the estimated completion times exceeds a predetermined value, at least one of the assigned area and the work content is changed. A method for managing the operation of construction machinery according to claim 13. [Claim 16] The operation of the manually operated construction machinery deployed in the aforementioned work area is performed remotely via a remote control unit capable of remotely controlling the construction machinery deployed in the aforementioned work area. A method for managing the operation of construction machinery according to any one of claims 9 to 15. [Explanation of Symbols]

[0131] 100...Work Management System 1A, 1B, 1C...Work site (work area) 2. Construction machinery 2A... Bulldozer (construction machinery) 2B... Dump truck (construction machinery) 2C... Bulldozer (construction machinery) 2D... Backhoe (construction machinery) 2E...Vibratory roller (construction machinery) 2F...Vibratory roller (construction machinery) 2G... Bulldozer (construction machinery) 2H... Bulldozer (construction machinery) 2J... Backhoe (construction machinery) 10...Work management department 11. Control Unit 11A...Work area setting section 11B...Selection section 11C...Work Planning Department 11D...Schedule generation unit 11E···Notification Department 11F...Work Records Department 11G... Completion time calculation section 13...Display section 20. Remote Control Unit 22...Display section 26...Display section 30... Site management department 33...Display section A, B, C...Work area (autonomous driving work area) A1, A2, A3, B1, B2, B3, C1, C2, C3... Area of ​​responsibility

Claims

1. A construction machine work management system that manages work performed by an autonomous construction machine in a work area, and work performed by a manually operated construction machine, separate from the autonomous construction machine, after the work performed by the autonomous construction machine, A work area setting unit sets within the work area an automated work area where work is performed by the automated construction machinery and a manual work area where work is performed by the manual construction machinery. A work recording unit records the work completion range in the aforementioned automated driving work area, and extracts the work incomplete range based on the automated driving work area and the work completion range, A completion time calculation unit calculates and updates the estimated completion time for the work in the aforementioned incomplete work range, A display unit that displays the estimated completion time, which is updated by the completion time calculation unit, to the operator of the manually operated construction machine, A work management system for construction machinery equipped with the following features.

2. A construction machine work management system that manages, in a unified manner, work performed by an autonomous construction machine in multiple work areas, and work performed by a manually operated construction machine, separate from the autonomous construction machine, after the work performed by the autonomous construction machine, A work area setting unit sets up an automated work area where work is performed by the automated construction machinery and a manual work area where work is performed by the manual construction machinery, within a plurality of work areas. A work recording unit records the completed work area for each work region within the automated construction machine in the automated work area, and extracts the incomplete work area for each work region based on the automated work area and the completed work area. For each of the aforementioned work areas, a completion time calculation unit calculates and updates the estimated completion time for the work in the incomplete range of work, A display unit that displays the estimated completion time, which is updated by the completion time calculation unit, to the operator of the manually operated construction machine, A work management system for construction machinery equipped with the following features.

3. Further comprising a remote control unit capable of remotely operating the manually operated construction machine, A work management system for construction machinery according to claim 1 or 2.

4. A method for managing the work of construction machinery using a work management system that manages work performed by an autonomously driven construction machine in a work area, and work performed by a manually driven construction machine, separate from the autonomously driven construction machine, after the work performed by the autonomously driven construction machine, A work area setting step, which sets up within the work area an automated work area where work is performed by the automated construction machinery and a manual work area where work is performed by the manual construction machinery, A work recording step in which, in the aforementioned automated driving work area, the scope of work completed by the automated construction machine is recorded, and the scope of work that has not been completed is extracted based on the automated driving work area and the scope of work completed. A completion time calculation step that calculates and updates the estimated completion time for the work in the aforementioned incomplete work range, A display step for the operator of the manually operated construction machinery, which displays the scheduled completion time updated in the completion time calculation step on the display unit, A method for managing the operation of construction machinery, including the operation of construction machinery.

5. A method for managing the work of construction machinery using a work management system that centrally manages work performed by an autonomously driven construction machine in multiple work areas, and work performed by a manually driven construction machine, separate from the autonomously driven construction machine, after the work performed by the autonomously driven construction machine, A work area setting step involves setting up an automated work area where work is performed by the automated construction machinery and a manual work area where work is performed by the manual construction machinery, within a plurality of work areas. A work recording step in which, in the aforementioned automated driving work area, the completed work area of ​​the automated construction machine is recorded for each work area, and the incomplete work area is extracted for each work area based on the automated driving work area and the completed work area, For each of the aforementioned work areas, a completion time calculation step is performed to calculate and update the estimated completion time for the work in the incomplete range of work, A display step for the operator of the manually operated construction machinery, which displays the scheduled completion time updated in the completion time calculation step on the display unit, A method for managing the operation of construction machinery, including the operation of construction machinery.

6. The operation of the manually operated construction machine is performed remotely via a remote control unit. A method for managing the operation of construction machinery according to claim 4 or 5.

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