Construction device and method for controlling construction device

Abstract

In order to provide a construction device capable of automatically acquiring various data, this construction device is provided with: a drive device that is provided in a body part and supplies a driving force to a work device that performs work on a ground surface; and an instruction device that, in connection with the supply of the driving force by the drive device, instructs an imaging device for performing imaging to image the ground surface, and that, after the imaging of the ground surface, instructs the imaging device to perform imaging related to the body part.

Description

Construction equipment and construction equipment control method

[0001] The present invention relates to a construction device and a control method for the construction device, and more particularly to a construction device and a control method for the construction device that can automatically acquire various data.

[0002] Scraper vehicles equipped with scrapers for excavating the ground surface have been used as construction equipment at civil engineering sites. Labor-saving features such as automatic operation and remote control are desired for construction equipment. Patent Document 1 describes a scraper vehicle that automatically captures images using an imaging device to determine whether a bowl containing material excavated by the scraper is full.

[0003] International Publication No. 2022 / 118516

[0004] However, although Patent Document 1 mentions automatic imaging of the bowl and automatic operation of the towing vehicle that tows the scraper vehicle, further automation of construction equipment was desired.

[0005] Therefore, an object of the present invention is to provide a construction device and a method for controlling the construction device that can automatically acquire various data.

[0006] A construction apparatus according to the present invention includes a first work device provided on a main body and performing a first task on the ground surface, and a control device that takes images of the ground surface while the first work device is performing the first task and takes images related to the main body after the first work device has completed the first task.A control method for a construction apparatus according to the present invention includes the steps of: instructing a work device provided on the main body and performing a task on the ground surface to perform the task; instructing an imaging device that takes images to image the ground surface in association with the task instruction; and instructing an imaging device that takes images to image the ground surface after imaging the ground surface.

[0007] According to the construction equipment and construction equipment control method of the present invention, the control device controls the imaging of the ground surface and the imaging related to the main body unit, so that data related to the ground surface and data related to the main body unit can be obtained.

[0008] 1(a) is a schematic diagram showing a towing vehicle and a scraper vehicle of the first embodiment, with FIG. 1(a) being a top view and FIG. 1(b) being a side view. FIG. 1(b) is a block diagram of the main parts of the towing vehicle, scraper vehicle, and drone of the first embodiment. FIG. 1(c) is a diagram showing the towing vehicle, scraper vehicle, and drone in a construction yard. FIG. 1(d) is a diagram showing a flowchart executed by a first control device of the towing vehicle of the first embodiment. FIG. 1(a) is a diagram showing the construction process of the first embodiment, with FIG. 1(a) being a diagram showing the scraper vehicle excavating and the drone capturing an image of the finished product, and FIG. 1(b) being a diagram showing the drone capturing an image of the excavated material loaded into the bowl after excavation is completed.

[0009] A first embodiment of the present invention will be described in detail below with reference to the accompanying drawings. Note that the present invention is not limited to the embodiment described below. In the following description, for convenience, the vertical direction is defined as the Z direction, and two orthogonal axial directions in a horizontal plane are defined as the X direction and the Y direction.

[0010] (First Embodiment) A scraper vehicle 20 according to this first embodiment is used as a towed vehicle towed by a large truck or other towing vehicle 1. The scraper vehicle 20 is a device that, while being towed by the towing vehicle, scrapes soil and sand from a traveling surface such as the ground surface using a blade-like or spatula-like scraper 25, and collects and transports the scraped soil and sand in a bowl 24. In addition, this first embodiment describes an example in which the scraper vehicle 20 automatically acquires various data in cooperation with a UAV (Unmanned Aerial Vehicle, hereinafter referred to as a drone 100), which is an unmanned aerial vehicle flying in the sky.

[0011] The scraper vehicle 20 is a construction device that repeats an excavation process, a transport process, a discharge process, and a forwarding process, with one cycle consisting of the excavation process, the transport process, the discharge process, and the forwarding process.

[0012] FIG. 1 is a schematic diagram showing a towing vehicle 1, which is a driving vehicle, and a scraper vehicle 20 in this first embodiment, with FIG. 1(a) being a top view and FIG. 1(b) being a side view. FIG. 2 is a block diagram of the main parts of the towing vehicle 1, scraper vehicle 20, and drone 100 in this first embodiment. As shown in FIG. 1, the towing vehicle 1 tows the scraper vehicle 20 and is connected (coupled) to the scraper vehicle 20 by a hitch 21, which is a coupling device. The hitch 21 is detachable from the towing vehicle 1 and has a flexible ball joint (not shown) provided at one end on the towing vehicle 1 side.

[0013] (Towing Vehicle) As is clear from FIG. 1, the towing vehicle 1 of the first embodiment is an autonomous or remotely operated type without a driver's seat. In addition, in the first embodiment, the towing vehicle 1 is driven (propelled) using a fuel cell 2 (see FIG. 2) instead of an internal combustion engine, and in-wheel motors 3 (see FIG. 2) provided on each of the two front wheels and four rear wheels. The in-wheel motors 3 may be provided coaxially connected to the hubs of the front and rear wheels. The towing vehicle 1 may also be a type provided with a driver's seat, or may use an engine that uses an internal combustion engine.

[0014] The towing vehicle 1 of the first embodiment also has a hydrogen tank 4 that supplies hydrogen to the fuel cell 2, a storage battery 5, a GNSS 6 (Global Navigation Satellite System), a takeoff and landing section 7, a power transmission device 8, a first communication device 9, a hydraulic unit 10, a speedometer 11, a first memory 12, and a first control device 13.

[0015] The fuel cell 2 is a power generation device that generates electricity through an electrochemical reaction between hydrogen and oxygen. The hydrogen tank 4 stores hydrogen compressed to several tens of MPa and supplies hydrogen to the fuel cell 2 via a hydrogen supply flow path (not shown). The storage battery 5 is a secondary battery that stores the electric power generated by the fuel cell 2. The storage battery 5 can supply the stored electric power to the motor 3 and to a storage battery 33 provided in the scraper vehicle 20 via a connector (not shown). Although some parts are not shown in the block diagram of FIG. 2 , electric power is supplied to each unit of the towing vehicle 1 from the fuel cell 2 or the storage battery 5.

[0016] The fuel cell 2 and hydrogen tank 4 are preferably disposed on the front side (-X direction side) of the towing vehicle 1. Conventionally, an internal combustion engine and a driver's seat are disposed in the front of the towing vehicle 1. In the first embodiment, the internal combustion engine and driver's seat are omitted, so a large space can be provided in the front of the towing vehicle 1, allowing for the placement of many hydrogen tanks 4 and ensuring flexibility in the placement of the fuel cell 2 and other components.

[0017] The GNSS 6 uses artificial satellites to determine the position of the towing vehicle 1. In this first embodiment, the takeoff and landing section 7 is provided on the top of the towing vehicle 1 and has a flat surface large enough to allow the drone 100 to take off and land. The takeoff and landing section 7 may be formed on the hood or other part of the towing vehicle 1 rather than on the top, and may be large enough to allow multiple drones 100 to take off and land. In addition, as shown in FIG. 2 , the takeoff and landing section 7 is provided with a power transmission device 8 that supplies power to the power receiving device 103 of the drone 100 via wireless power supply.

[0018] In the first embodiment, the power transmitting device 8 employs wireless power feeding. Wireless power feeding is a method of supplying power to the power receiving device 103 in a contactless manner, and known methods include magnetic resonance and electromagnetic induction. The power transmitting device 8 of the first embodiment includes a power source, a control circuit, and a power transmitting coil. This power transmitting coil is preferably provided in the takeoff and landing section 7. Note that a contact-type power feeding method may be used instead of wireless power feeding. In this case, metal contacts may be provided on each of the power transmitting device 8 and the power receiving device 103, and the contacts may be mechanically connected to feed power.

[0019] The first communication device 9 is a wireless communication unit that accesses the second communication device 40 and the associated third communication device 106 (described below) and a wide area network such as the Internet. Each of the first communication device 9, the second communication device 40, and the third communication device 106 can also communicate with a host computer located away from the civil engineering site. In this first embodiment, the first communication device 9 communicates with the third communication device 106 of the drone 100 to transmit the travel route of the towing vehicle 1, the travel speed of the towing vehicle 1, data related to the scraper vehicle 20 (e.g., the dimensions of the scraper vehicle 20), the flight route of the drone 100, imaging conditions, and the like.

[0020] The hydraulic unit 10 drives a plurality of hydraulic cylinders (not shown) provided on the scraper vehicle 20. The hydraulic unit 10 is equipped with a hydraulic pump and a control valve, and adjusts the flow rate, pressure, and direction of the hydraulic pressure supplied to the plurality of hydraulic cylinders (not shown) provided on the scraper vehicle 20.

[0021] The speedometer 11 detects the speed of the towing vehicle 1, and is, for example, a vehicle speed sensor that detects the number of rotations of a shaft connected to the front wheels. Speed ​​detection may also be performed using various sensors, such as a sensor that uses the output of GNSS 6. Speed ​​detection using GNSS 6 may also use the method utilizing the Doppler effect described in JP 2019-22108 A.

[0022] The first memory 12 is a non-volatile memory (for example, a flash memory) that stores map information of the civil engineering site (construction yard), a program for automatically driving the towing vehicle 1, a program for driving and controlling the drone 100, and programs for controlling the scraper 25 (described below) and the hydraulic unit 10. The first memory 12 also stores various data sent from the scraper vehicle 20 and the drone 100.

[0023] The first control device 13 is equipped with a CPU and is a control device that controls the towing vehicle 1, the scraper vehicle 20, and the drone 100. In the first embodiment, the first control device 13 performs automatic driving of the towing vehicle 1 at the civil engineering site, drive control of the drone 100, drive control of the scraper 25 described below, and drive control of multiple hydraulic cylinders (not shown) provided on the scraper vehicle 20. Control by the first control device 13 will be described later using the flowchart of FIG. 4.

[0024] (Scraper vehicle) In addition to the hitch 21 described above, the scraper vehicle 20 has a frame 23, a bowl 24, a scraper 25, an axle 26, wheels 27, a reference mark 28, and an accelerometer 29 (see FIG. 2). In the first embodiment, the frame 23 and the bowl 24 form the main body 22. The scraper vehicle 20 also has a storage battery 33 (see FIG. 2) which is a secondary battery, a blade 35, and a connection part 36.

[0025] As shown in FIG. 2, the scraper vehicle 20 has a second memory 39 that stores various data, a second communication device 40, and a second control device 41 that controls the entire scraper vehicle 20.

[0026] The frame 23 is a metal support member, and in this first embodiment, supports the bowl 24, the axles 26, the blade 35, etc. The bowl 24 has an open top, and receives excavated material such as soil and sand excavated by the scraper 25 through an opening (not shown). The opening (not shown) formed in the bowl 24 is opened and closed by an opening / closing hydraulic cylinder (not shown) using hydraulic pressure from the hydraulic unit 10.

[0027] The scraper 25 is a blade- or spatula-shaped member for scraping away earth and sand from a travel surface such as the ground, and in the first embodiment, is provided integrally with the bowl 24 at the bottom of the bowl 24. Because the bowl 24 and the scraper 25 are provided integrally, the scraper 25 can dig into the ground surface and excavate earth and sand by tilting the bowl 24 toward the ground surface using a hydraulic cylinder for changing its position (not shown). When the bowl 24 is tilted toward the ground surface, the material excavated by the scraper 25 is stored in the bowl 24 by opening an opening (not shown) using a hydraulic cylinder for opening and closing (not shown).

[0028] When excavation by the scraper 25 is completed, the bowl 24 is tilted toward the ground by a hydraulic cylinder for changing the position (not shown) so that the scraper 25 is separated from the ground surface. At this time, an opening (not shown) of the bowl 24 is closed by a hydraulic cylinder for opening and closing (not shown).

[0029] The axle 26 rotates due to the tractive force of the towing vehicle 1, and the wheels 27 are connected to both ends of the axle 26 and are a pair of driven wheels that rotate as the axle rotates. The wheels 27 may be provided at the front and rear of the scraper vehicle 20 as front and rear wheels.

[0030] The reference marks 28 are marks with known dimensions that are provided on the scraper vehicle 20. In the first embodiment, the reference marks 28 are provided on the hitch 21 and the connection portion 36, and include a reference mark 28a that can be imaged from above by the imaging device 102 of the drone 100, and a reference mark 28b that can be imaged from the side by the imaging device 102 of the drone 100. Note that the reference marks 28 may be provided on either the hitch 21 or the connection portion 36. Furthermore, a reference mark 28c is provided behind the connection portion 36 as a reference mark 28 for imaging the finished shape after construction such as excavation and compaction has been performed.

[0031] Reference mark 28a is provided on the upper surface of hitch 21 and the upper surface of connecting portion 36 so as not to be covered by the excavated material contained in bowl 24. Reference mark 28b is also provided on the side surface of hitch 21 and the side surface of connecting portion 36 so as not to be covered by the excavated material contained in bowl 24. Reference mark 28c is provided below (on the -Z side of) connecting portion 36 as it serves as a reference when photographing the finished shape.

[0032] The ground surface at the civil engineering site where the scraper vehicle 20 is towed is not flat, but may be inclined in the towing direction (e.g., the X direction) or in a direction intersecting the towing direction (e.g., the Y direction). Furthermore, the scraper vehicle 20 is subjected to vibrations associated with towing the scraper vehicle 20. For this reason, in the first embodiment, for example, when detecting the load of excavated material contained in the bowl 24 by imaging with the imaging device 102, an image of a reference mark 28 having known dimensions (e.g., 15 cm × 15 cm or 30 cm × 30 cm) is captured. This allows the reference mark 28 a to be used as a reference when processing images captured by the imaging device 102 from above the scraper vehicle 20 (e.g., when performing orthogonal processing).

[0033] In the first embodiment, when the imaging device 102 detects the load amount of excavated material stored in the bowl 24 from the side of the scraper vehicle 20 by capturing an image with the imaging device 102, it captures an image of the reference mark 28b having known dimensions (for example, 15 cm x 15 cm or 30 cm x 30 cm). In the first embodiment, by capturing images from above and from the side, the load amount of excavated material stored in the bowl 24 can be detected with high accuracy. Note that the detection of the load amount based on the image captured by the imaging device 102 may be performed by the host computer, the second control device 41, or the UAV control device 108 described below.

[0034] In the first embodiment, the imaging device 102 captures an image of a reference mark 28c having known dimensions (for example, 15 cm x 15 cm or 30 cm x 30 cm) when detecting the finished shape by imaging the image when excavating or compacting from behind the scraper vehicle 20. Note that, for example, if the first control device 13 or the host computer can detect the finished shape without the reference mark 28c, the reference mark 28c may be omitted.

[0035] The reference mark 28 is not limited to a square, and may be rectangular or circular. The reference mark 28 may be colored or have a diagonal line to make it easier to see from the imaging device 102. A reflector or a reflective sticker may be attached to the reference mark 28 so that the reference mark 28 can be seen even at night. In this case, it is preferable to provide the drone 100 with a light source that irradiates the reference mark 28 with light.

[0036] The imaging device 102 cannot capture an image of the excavated material contained inside the bowl 24. However, since the volume of the bowl 24 is known, the weight of the excavated material contained inside the bowl 24 can be estimated from the volume of the bowl 24. When a wide-angle lens is used as the lens of the imaging device 102, the fiducial mark 28 may be omitted and the frame 23, whose dimensions are known, may be used as a reference.

[0037] In the first embodiment, the accelerometer 29 detects acceleration acting on the scraper vehicle 20 and may be any type, such as mechanical, optical, or semiconductor. The accelerometer 29 may be provided, for example, on the frame 23 or the connection portion 36, and detects acceleration in the Z-axis direction. However, the accelerometer 29 is not limited to this and may also detect acceleration in the X-axis direction or the Y-axis direction. In the first embodiment, the first control device 13 may stop imaging by the imaging device 102 when acceleration exceeding a predetermined value acts on the scraper vehicle 20, or may not use image data captured by the imaging device 102 when acceleration exceeding a predetermined value acts on the scraper vehicle 20.

[0038] The storage battery 33 stores the electric power generated by the fuel cell 2. The electric power stored in the storage battery 33 is supplied to each unit of the scraper vehicle 20.

[0039] The blade 35 is a metal mechanical part that, during the discharge process, discharges the excavated material stored in the bowl 24 to a discharge site. The blade 35 is positioned in the +X direction of the bowl 24 except during the discharge process, and during the discharge process, the blade 35 is moved in the -X direction of the bowl 24 by a discharge hydraulic cylinder (not shown) to discharge the excavated material.

[0040] The connection part 36 is a metal mechanical part provided at the rear (+X direction) of the frame 23. In the case of a train-type scraper in which multiple scraper vehicles 20 are connected, the connection part 36 is a member that connects the scraper vehicles 20 together. Also, in the case where the scraper vehicles 20 cannot be towed by the towing force of the towing vehicle 1 alone, the connection part 36 is a member that connects a pusher such as a bulldozer.

[0041] Any type of memory may be used for the second memory 39. In the first embodiment, a non-volatile semiconductor memory (e.g., a flash memory) is used. The second memory 39 stores information such as the acceleration detected by the accelerometer 29, the dimensions (total length, total height, and width) of the scraper vehicle 20, and the position of the scraper 25 relative to the scraper vehicle 20.

[0042] The second communication device 40 is capable of communicating with the first communication device 9, the third communication device 106, and the host computer, and transmits information such as the dimensions (total length, total height, vehicle width) of the scraper vehicle 20 connected to the towing vehicle 1, and the position of the scraper 25 relative to the scraper vehicle 20, as well as transmitting information that the scraper vehicle 20 has been subjected to acceleration exceeding a predetermined value.

[0043] The second control device 41 includes a CPU (Central Processing Unit) and controls the entire scraper vehicle 20. In the first embodiment, if an abnormality occurs in the scraper vehicle 20, such as an acceleration exceeding a predetermined value acting on the scraper vehicle 20, the second control device 41 transmits a notice of the abnormality to at least one of the towing vehicle 1 and the host computer, and requests control of the attitude of the scraper 25 and bowl 24 in the event of the abnormality. The second control device 41 also prohibits the drone 100 from approaching the scraper vehicle 20 in the event of an abnormality.

[0044] 1 and 2, the drone 100 of the first embodiment includes a flight device 101, an imaging device 102, a power receiving device 103, a sensor group 104, a battery 105, a third communication device 106, a third memory 107, a UAV control device 108, and legs 109. The flight device 101 has a motor and multiple propellers (not shown) that lift the drone 100 in the air and generate thrust for movement in the air.

[0045] The imaging device 102 is a digital camera that has a lens, an imaging element, an image processing engine, etc., and captures videos and still images. In the first embodiment, the imaging device 102 captures images of the finished shape excavated or compacted by the scraper vehicle 20 and the excavated material contained in the bowl 24.

[0046] In the enlarged view enclosed by the dashed line in FIG. 1B, the lens of the imaging device 102 is attached to the side (front) of the drone 100, but the lens of the imaging device 102 may be attached to the underside of the drone 100, or multiple lenses may be provided on the drone 100. Also, a movement mechanism may be provided that moves the lens attached to the side toward the underside. Also, a mechanism that rotates the imaging device 102 around the Z axis may be provided so that the lens of the imaging device 102 can be positioned at any position around the Z axis.

[0047] It should be noted that a LiDAR (Light Detection and Ranging) may be used instead of the imaging device 102. The LiDAR is a sensor that scans an electromagnetic wave, such as an ultraviolet, visible, or near-infrared pulse laser, and detects information such as the distance to an object, the shape, material, and color of the object based on the emitted light and scattered light.

[0048] The power receiving device 103 has a power receiving coil and a charging circuit provided on the legs 109 of the drone 100, and charges the battery 105 with power from the power transmitting device 51. The battery 105 is a secondary battery connected to the power receiving device 103, and may be, but is not limited to, a lithium ion secondary battery or a lithium polymer secondary battery. The battery 105 can supply power to the flight device 101, the imaging device 102, the third communication device 106, the third memory 107, and the UAV control device 108.

[0049] The sensor group 104 includes a GNSS, an infrared sensor for avoiding collision between the drone 100 and other devices (e.g., the scraper vehicle 20), a barometric pressure sensor for measuring altitude, a magnetic sensor for detecting direction, a gyro sensor for detecting the attitude of the drone 100, and an acceleration sensor for detecting the acceleration acting on the drone 100.

[0050] The third communication device 106 has a wireless communication unit and accesses a wide area network such as the Internet and communicates with the first communication device 9, the second communication device 40, and the host computer's communication device. In the first embodiment, the third communication device 106 transmits image data captured by the imaging device 102 and detection results detected by the sensor group 104 to at least one of the first communication device 9 and the host computer's communication device, and transmits flight commands from the first communication device 9 or the host computer's communication device to the UAV control device 108.

[0051] The third memory 107 is a non-volatile memory (e.g., a flash memory) that stores various data and programs for flying the drone 100, as well as image data captured by the imaging device 102 and detection results detected by the sensor group 104.

[0052] The UAV control device 108 includes a CPU, an attitude control circuit, a flight control circuit, etc., and controls the entire drone 100. The UAV control device 108 also determines the timing of charging the takeoff and landing section based on the remaining charge of the battery 105, and controls the imaging position, angle of view, frame rate, etc. of the imaging device 102.

[0053] The legs 109 are metal members that support the drone 100 when the drone 100 lands on the takeoff and landing section 7. In addition, the legs 109 are provided with the power receiving device 103 as described above.

[0054] Figure 3 is a diagram showing the towing vehicle 1, scraper vehicle 20, and drone 100 in the construction yard. In this first embodiment, the towing vehicle 1 and scraper vehicle 20 move counterclockwise as shown by the arrows in Figure 3, perform excavation in an excavation area 31, and discharge the excavated material to a spreading area 32. Movement from the excavation area 31 to the spreading area 32 is a transport process, and movement from the spreading area 32 to the excavation area 31 is a delivery process.

[0055] The bowl 24 of the scraper vehicle 20 is empty before it enters the excavation area 31. When the scraper vehicle 20 starts excavating in the excavation area 31, excavated material is stored in the bowl 24, and by the time the scraper vehicle 20 leaves the excavation area 31, the bowl 24 is fully loaded with excavated material. Depending on the size of the bowl 24, when the bowl 24 goes from empty to fully loaded, the bowl 24 will contain approximately several tens of tons (for example, 15 to 30 tons) of excavated material.

[0056] For this reason, when the bowl 24 changes from empty to full, the weight of the scraper vehicle 20 increases by several tens of tons, which may cause the towing vehicle 1 to slow down. Furthermore, when excavation begins in the excavation area 31, the scraper 25 digs into the ground surface, which creates resistance on the towing vehicle 1, causing the towing vehicle 1 to slow down. Furthermore, as shown in FIG. 3 , the towing vehicle 1 may also slow down when traveling around a curve due to the automatic driving program stored in the first memory 12 and the control of the first control device 13. While the drone 100 is in flight, the first control device 13 transmits speed information of the towing vehicle 1 to the drone 100 when the towing vehicle 1 decelerates or accelerates, resulting in a speed change. This more reliably prevents contact or collision between the drone 100 and the scraper vehicle 20 when the drone 100 is flying at low altitude during and before and after capturing an image of the finished product.

[0057] The control of the towing vehicle 1, scraper vehicle 20, and drone 100 configured as described above will be explained using the flowchart in Figure 4. Note that Figure 4 is a flowchart executed by the first control device 13, but the host computer or the second control device 41 may also control the process.

[0058] 4 is assumed to start when the towing vehicle 1, towing the scraper vehicle 20, heads toward the excavation area 31 of the civil engineering work site. Furthermore, it is assumed that the state of the construction yard has been imaged in advance by the imaging device 102 of the drone 100 prior to construction, and that this image data has been transmitted to the first control device 13 or the host computer. Furthermore, it is assumed that the drone 100 has landed on the takeoff and landing section 7 after this image capture, and that the battery 105 has been charged by the power transmission device 8 and the power receiving device 103.

[0059] The first control device 13 determines from the output of the GNSS 6 whether the towing vehicle 1 has entered the vicinity of the excavation area 31 (for example, several tens of meters to 100 meters before) (step S1). If the towing vehicle 1 has entered the vicinity of the excavation area 31, the first control device 13 proceeds to step S2, and if the towing vehicle 1 has not entered the vicinity of the excavation area 31, step S1 is repeated. Here, the first control device 13 proceeds to step S2 assuming that the towing vehicle 1 has entered the vicinity of the excavation area 31.

[0060] The first control device 13 instructs the UAV control device 108 of the drone 100 that has landed on the takeoff and landing section 7 to fly (step S2). The first control device 13 also transmits to the UAV control device 108 related information such as the travel route of the towing vehicle 1, i.e., the travel route of the scraper vehicle 20, the travel speed of the towing vehicle 1, and the dimensions of the scraper vehicle 20. Note that FIG. 3 shows the state of the drone 100 immediately after it starts flying. Until it flies to the rear (+X side) of the scraper vehicle 20, the drone 100 flies at a speed faster than the travel speed of the towing vehicle 1 received from the first control device 13. Then, once the drone 100 is positioned behind (+X side) the scraper vehicle 20, it flies in the -X direction at a flight speed corresponding to the travel speed of the towing vehicle 1 received from the first control device 13.

[0061] The first control device 13 determines whether to start excavation in the excavation area 31 (step S3). Based on the map information of the civil engineering site (construction yard) stored in the first memory 12 and the positioning data of the towing vehicle 1 measured by the GNSS 6, the first control device 13 starts excavation if the scraper vehicle 20 approaches the excavation area 31, and repeats the determination of step S3 if the scraper vehicle 20 has not approached the excavation area 31. Here, it is assumed that the scraper vehicle 20 is approaching the excavation area 31, and the process proceeds to step S4. Note that the first control device 13 may also start excavation if the scraper 25 approaches the excavation area 31 based on the position information of the scraper 25 when making the determination of step S3.

[0062] The first control device 13 controls the attitude-changing hydraulic cylinder (not shown) by the hydraulic unit 10 to cause the scraper 25 to dig into the ground surface and start excavation, and also opens the opening (not shown) of the bowl 24 by the opening / closing hydraulic cylinder (not shown). The first control device 13 also instructs the drone 100 to take an image of the finished product (step S4).

[0063] Figure 5 is a diagram showing the construction process of the first embodiment, where Figure 5(a) shows the scraper vehicle 20 digging and the drone 100 capturing an image of the finished product, and Figure 5(b) shows the drone 100 capturing an image of the excavated material loaded into the bowl 24 after excavation is completed.

[0064] The first control device 13 performs excavation by controlling the amount of penetration of the scraper 25 into the ground surface while moving the towing vehicle 1 in the -X direction. The excavated material is collected in the bowl 24 through an opening (not shown). As shown in FIG. 5( a), the first control device 13 also performs flight control so that the drone 100 follows the scraper vehicle 20 from near the ground surface behind the scraper vehicle 20 (+X direction side). Note that flight control of the drone 100 may be performed by the UAV control device 108 or by cooperative control between the first control device 13 and the UAV control device 108. The drone 100 flies in the -X direction to avoid colliding with the scraper vehicle 20, using the travel speed of the towing vehicle 1 received from the first control device 13 and the infrared sensors of the sensor group 104.

[0065] At this time, in order to obtain data on the finished shape, the drone 100 uses the imaging device 102 to capture an image of the ground surface after excavation by the scraper 25, together with the reference mark 28c. The image data of the finished shape captured by the imaging device 102 is stored in the third memory 107 and is also transmitted to the towing vehicle 1 and the host computer by the third communication device 106. The host computer calculates the finished shape after excavation based on the data on the finished shape of the excavation area 31 captured in advance prior to construction and the image data of the finished shape captured by the imaging device 102 in step S4.

[0066] The first control device 13 determines whether to end excavation (step S5). The first control device 13 determines whether the scraper vehicle 20 has left the excavation area 31 based on the positioning data of the towing vehicle 1 measured by the GNSS 6. If the scraper vehicle 20 is in the excavation area 31, the first control device 13 repeats step S4 to continue excavation and capturing images of the finished product, and if the scraper vehicle 20 has left the excavation area 31, the first control device 13 ends excavation and proceeds to step S6. Here, it is assumed that the scraper vehicle 20 has left the excavation area 31 and proceeds to step S6.

[0067] When excavation is completed, the first control device 13 controls the attitude-changing hydraulic cylinder (not shown) by the hydraulic unit 10 to drive the scraper 25 to a position away from the ground surface, and closes the opening (not shown) of the bowl 24 by the opening / closing hydraulic cylinder (not shown). The first control device 13 also instructs the drone 100 to move the bowl 24 upward. The first control device 13 controls the movement of the towing vehicle 1 to the spreading area 32 without stopping the towing vehicle 1.

[0068] In the transport process, which is the movement from the excavation area 31 to the spreading area 32, the first control device 13 captures an image of the excavated material contained in the bowl 24 to detect the load amount (step S6). As shown in Fig. 5(b), the first control device 13 captures an image of the excavated material contained in the bowl 24 from above the bowl 24 using the imaging device 102 of the drone 100. In addition, in order to capture an image of the excavated material contained in the bowl 24 from the side (Y direction side), the first control device 13 moves the drone 100 to the side of the bowl 24 and performs imaging using the imaging device 102.

[0069] The first control device 13 can reduce the influence of rolling, pitching, and yawing of the scraper vehicle 20 by capturing an image of the reference mark 28 when capturing an image of the excavated material using the imaging device 102. The images of the excavated material may be captured from above or from the side. Furthermore, if the amount of excavated material stored in the bowl 24 can be determined from one image, the other image may be omitted.

[0070] Image data of the excavated material captured by the imaging device 102 is stored in the third memory 107 and transmitted to the towing vehicle 1 and the host computer by the third communication device 106. The host computer calculates the load amount of the excavated material from the image data of the excavated material transmitted by the third communication device 106. At this time, the host computer may also use image data of the as-built shape to calculate the load amount of the excavated material. This is because the amount of material excavated by the scraper 25 can be estimated from the image data of the as-built shape.

[0071] Among the various controls, there are some that require real-time performance, such as the operation of the scraper 25 and the flight of the drone 100, and others that do not require real-time performance as much, such as the calculation of the payload. The first control device 13 may have the host computer perform controls that do not require real-time performance as much or controls that require a large amount of calculation, and have the first control device 13, the second control device 41, or the UAV control device 108 perform controls that require real-time performance or controls that require a small amount of calculation.

[0072] When the imaging device 102 finishes capturing images, the first control device 13 determines whether charging of the drone 100 is necessary (step S7). This is because the transportation process using the towing vehicle 1 takes several minutes depending on the size of the construction yard, and it takes several minutes for the drone 100 to capture images of the excavated material and then capture images of the discharge area 32. Also, advances in rapid charging technology mean that charging of the drone 100 can be completed in a few minutes.

[0073] The first control device 13 proceeds to step S8 if charging is to be performed based on the remaining capacity of the battery 105 of the drone 100, and proceeds to step S9 if charging is not to be performed. In this example, it is assumed that charging is to be performed and the process proceeds to step S8.

[0074] After the drone 100 lands on the takeoff and landing section 7, the first control device 13 supplies power to the battery 105 using the power transmitting device 8 and the power receiving device 103 (step S8). Note that although one drone 100 is illustrated in Figures 1, 3, and 5, there may be multiple drones 100, and the first control device 13 may determine in step S8 whether to replace the drone 100 based on the remaining charge of the battery 105.

[0075] The first control device 13 determines whether to perform rolling compaction in the spreading area 32 (step S9). The first control device 13 determines from the output of the GNSS 6 that the towing vehicle 1 is approaching the spreading area 32 and whether to perform rolling compaction using the wheels 27 of the scraper vehicle 20. In this case, it is assumed that rolling compaction using the wheels 27 of the scraper vehicle 20 will be performed, and the process proceeds to step S10. Note that even if rolling compaction using the wheels 27 of the scraper vehicle 20 is not performed, the first control device 13 controls a plurality of hydraulic cylinders (not shown) (hydraulic cylinders for opening and closing, hydraulic cylinders for changing posture, and hydraulic cylinders for discharge) using the hydraulic unit 10 in the spreading area 32 to tilt the bowl 24 so that it leans forward, thereby discharging the excavated material from the opening of the bowl 24.

[0076] In the spreading area 32, the first control device 13 discharges the excavated material from the opening of the bowl 24 as described above, performs compaction with the wheels 27, and then takes an image of the finished shape (step S10). When the first control device 13 approaches the spreading area 32, it issues flight instructions to the drone 100, which has landed on the takeoff and landing section 7, and performs flight control so that the drone 100 follows the scraper vehicle 20 from near the ground surface behind the scraper vehicle 20 (the -X direction side). Furthermore, in order to obtain data on the finished shape, the first control device 13 causes the imaging device 102 to capture an image of the ground surface after the wheels 27 have compacted it. The first control device 13 also transmits speed information of the towing vehicle 1 to the drone 100. This is because, in the spreading area 32, the bowl 24 goes from being fully loaded to being empty, which reduces the weight of the scraper vehicle 20 and makes it easier for the towing vehicle 1 to increase its speed.

[0077] Image data of the finished shape captured by the imaging device 102 is stored in a third memory 107 and is transmitted to the towing vehicle 1 and the host computer by a third communication device 106. The host computer calculates the finished shape after compaction based on the data of the finished shape of the spreading area 32 captured in advance prior to construction and the image data of the finished shape captured by the imaging device 102 in step S10.

[0078] When the compaction and imaging of the finished shape in step S10 are completed, the first control device 13 carries out a forwarding process, which is a movement from the spreading area 32 to the excavation area 31 (step S11). In this case, too, the first control device 13 carries out the forwarding process without stopping the towing vehicle 1.

[0079] The first control device 13 determines whether construction using the scraper vehicle 20 has been completed in the forwarding process (step S12). If the planned load amount has been excavated, the first control device 13 determines that construction has been completed and ends this flowchart. On the other hand, if the planned load amount has not been excavated, the first control device 13 determines that construction has not been completed and repeats step S1 and subsequent steps.

[0080] As described above, according to this first embodiment, it is possible to obtain data on the finished shape of the ground surface and data on the excavated material contained in the bowl 24 that constitutes the main body 22, thereby realizing a construction device that is easy to use.

[0081] In addition, the imaging device 102 of the drone 100 is used to capture images of the finished product and the excavated material contained in the bowl 24, so that images of the finished product and the excavated material contained in the bowl 24 can be captured without being affected by vibrations acting on the scraper vehicle 20.

[0082] By capturing an image of the reference mark 28 when capturing an image of the finished product or the excavated material contained in the bowl 24, it is possible to easily correct and calibrate the captured image, eliminating the need to install a distance measurement device on the drone 100 or scraper vehicle 20.

[0083] (Modifications) The first embodiment described above can be modified in various ways and functions can be added, which will be described below. Imaging of the finished product and the excavated material contained in the bowl 24 may be performed by an imaging device provided on the scraper vehicle 20 instead of the imaging device 102 of the drone 100.

[0084] For example, a pole extending in the +Z direction from the main body 22 or the connecting portion 36 may be provided, and the imaging device may be mounted on this pole. In this case, it is preferable to provide a damper or a vibration-isolating member made of resin (e.g., vibration-isolating rubber) between the pole and the imaging device to prevent vibrations caused by the movement of the scraper vehicle 20 from being transmitted to the imaging device.

[0085] Furthermore, if the acceleration detected by the accelerometer 29 exceeds a predetermined value, the imaging device may be stopped from capturing images, or the image data captured by the imaging device may not be used.

[0086] The first embodiment and the modified examples described above are merely examples for explaining the present invention, and various modifications can be made without departing from the spirit of the present invention. For example, a push-type driving vehicle that pushes the scraper vehicle 20 from behind may be used instead of the towing vehicle 1.

[0087] Furthermore, a gyro sensor may be used in place of the accelerometer 29 or in combination with the accelerometer 29 .

[0088] REFERENCE SIGNS LIST 1 Towing vehicle 9 First communication device 10 Hydraulic unit 13 First control device 20 Scraper vehicle 22 Main body 24 Bowl 25 Scraper 40 Second communication device 41 Second control device 100 Drone 102 Imaging device 106 Third communication device 108 UAV control device

Claims

1. A drive unit is provided in the main body and supplies driving force to a work device that performs work on the ground surface, A construction apparatus comprising, in relation to the supply of the driving force of the drive device, an instruction device that instructs an imaging device to image the ground surface, and after the imaging of the ground surface, an instruction device that instructs the imaging device to image a reference portion of known dimensions provided on the main body.

2. The construction apparatus according to claim 1, wherein the indicating device causes the imaging device to perform imaging of the ground surface and imaging related to the main body while the main body is moving.

3. The drive device supplies the driving force for the work device to excavate the ground surface. The construction apparatus according to claim 1, wherein the indicator device instructs the imaging of the completed shape of the ground surface during excavation by the work apparatus, and instructs the imaging of the excavated material contained in the main body after the completion of the excavation.

4. The construction apparatus according to claim 1, wherein the instruction device instructs the imaging device provided on the unmanned aerial vehicle to take images of the ground surface and images related to the main body.

5. It has a towing vehicle equipped with a takeoff and landing section, The construction apparatus according to claim 4, wherein the instruction device instructs the unmanned aircraft to land on the takeoff and landing section when the imaging device is not performing imaging.

6. It has a towing vehicle equipped with a takeoff and landing section, The construction apparatus according to claim 4, wherein the indicator device is provided on the towing vehicle.

7. The main body is provided on the towed vehicle that is being towed. The construction apparatus according to claim 4, further comprising a wireless device for transmitting information regarding the dimensions of the towed vehicle to the unmanned aerial vehicle via communication.

8. The indicator device causes the imaging device to perform imaging of the ground surface and imaging related to the main body while the main body is moving. The construction apparatus according to claim 5, further comprising a communication device for transmitting information regarding the movement speed of the main body to the unmanned aerial vehicle via communication.

9. The construction apparatus according to claim 8, wherein the communication device transmits information regarding the movement speed of the main body to the unmanned aircraft when the movement speed of the main body changes.

10. The main body is equipped with a work device that performs work on the ground surface, and the steps include instructing the device to perform the aforementioned work, In connection with the instructions for the aforementioned work, the steps include instructing the imaging device to perform imaging to image the ground surface, A method for controlling a construction device, comprising the step of instructing the device to image a reference section of known dimensions provided on the main body after imaging the ground surface.

11. A control method for a construction apparatus according to claim 10, wherein, while the main body is moving, the imaging device is instructed to take images of the ground surface and images related to the main body.

12. The work performed by the aforementioned work device on the ground surface is excavation. The control method for a construction apparatus according to claim 10, wherein the imaging device takes an image of the completed shape of the ground surface while the work apparatus is excavating, and takes an image of the excavated material contained in the main body after the completion of the excavation.

13. A control method for a construction device according to claim 10, wherein the imaging device provided on the unmanned aerial vehicle is instructed to image the ground surface and image the main body.

14. A method for controlling a construction device according to claim 13, which includes the step of instructing the unmanned aircraft to land on a takeoff and landing section provided on a towing vehicle that tows the main body when imaging is not performed by the imaging device.

15. The main body is provided on the towed vehicle that is being towed. A method for controlling a construction device according to claim 13, comprising the step of transmitting information regarding the dimensions of the towed vehicle to the unmanned aerial vehicle.

16. While the main body is moving, the imaging device is instructed to perform imaging of the ground surface and imaging related to the main body. A method for controlling a construction device according to claim 13, comprising the step of transmitting information regarding the movement speed of the main body to the unmanned aerial vehicle.

17. A method for controlling a construction device according to claim 16, wherein when the movement speed of the main body changes, information regarding the movement speed of the main body is transmitted to the unmanned aircraft.