Overall system of construction, overall method of construction and overall program of construction

Abstract

To provide an overall system of construction, an overall method of construction, and an overall program of construction that appropriately support the automatic operation of a crane. The overall system of construction

Description

[Technical Field]

[0001] This invention relates to a general construction system, a general construction method, and a general construction procedure. [Previous Technology]

[0002] Generally speaking, tower cranes are used in the construction of large buildings, high-rise buildings and high-rise apartments to lift building materials and move them horizontally.

[0003] The tower crane is equipped with a cab in which the operator operates buttons or levers to raise the hoisting device, raise and lower the boom by operating the sling, or rotate the boom by operating the slewing device.

[0004] Furthermore, in recent years, even without the operator's cab typically found in tower cranes, remote operation systems for tower cranes have been developed that allow operation from a remote location. These remote operation systems can recreate the same environment on the ground as operation from the operator's cab of the tower crane.

[0005] Furthermore, technologies related to the automatic operation system of tower cranes, which automatically control tower cranes via control devices, are known (for example, see Patent Document 1). The automatic operation system of the tower crane described in Patent Document 1 is configured such that receivers capable of continuous satellite positioning are installed at the top of the tower, the front end of the boom, and the hook block, enabling real-time positioning of their respective positions, appropriate display of the building's design plan and perspective views, and the control device automatically controls the boom's undulation (including raising) and the rotation of the rotating body.

[0006] Existing Technical Documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2019-112178

[0008] However, in the automatic operation system of the tower crane described in Patent Document 1, the operator confirms the plan view and perspective view of the building design displayed on the screen, determines the installation position of the building components (loads), and touches the determined installation position on the screen. Then, based on the operator's touch, the control device automatically performs the undulation of the boom and the rotation of the rotating body.

[0009] In other words, while the automatic operation system for the tower crane described in Patent Document 1 achieves some automation of the tower crane, there is room for further improvement in the technology related to the automatic operation control of the tower crane. In particular, when lifting building materials and moving them horizontally using the tower crane, it is essential to ensure the safety of the main structure and its surroundings, and to move and set it appropriately. [Summary of the Invention]

[0010] Therefore, the object of the present invention is to provide a construction system, construction method and construction procedure that appropriately support the automatic operation of a crane.

[0011] One aspect of the present invention relates to a construction system that manages the automatic operation of a crane, comprising: a system control unit that controls a machine body control system based on first planning information including at least the setting coordinates of construction components, the machine body control system controlling the operation of the crane; a position information acquisition unit that acquires position information of construction components mounted on a clamp attached to the crane; and a clamp operation determination unit that determines whether to move the clamp based on the crane's operation status notified from the machine body control system. If the system control unit determines that the clamp should be moved by the clamp operation determination unit, it controls the clamp control system based on second planning information including at least the setting direction of the construction components and the position information of the construction components acquired by the position information acquisition unit, the clamp control system controlling the operation of the clamp to make the clamp move.

[0012] According to this method, the system control unit controls the machine body control system based on the first planning information, the position information acquisition unit acquires the position information of the construction component installed on the clamp attached to the crane, and the clamp action determination unit determines whether to actuate the clamp based on the crane's operating status notified from the machine body control system. Then, if the clamp action determination unit determines that the clamp should actuate, the system control unit controls the clamp control system to actuate the clamp based on the second planning information and the position information of the construction component. Thus, the system control unit can control the clamp control system to actuate the clamp appropriately at the appropriate time based on the crane's operating status. As a result, the automatic operation of the crane including the clamp can be appropriately supported.

[0013] In the above method, the system control unit may also control the fixture control system by prohibiting the movement of the fixture when the fixture action determination unit determines that the fixture should not be moved.

[0014] According to this method, since the system control unit controls the clamp control system by prohibiting the clamp from moving when the clamp action judgment unit determines that the clamp should not move, it can reduce accidents such as conflicts with the surrounding main body, components, operators, work vehicles and other buildings.

[0015] In the above method, the clamp action determination unit can also determine that the clamp should be operated when the construction component installed on the clamp is located in a safe area.

[0016] According to this method, since the clamp action determination unit determines that the clamp should be operated when the construction component installed on the clamp is in a safe area, the clamp control system can be controlled to operate the clamp in a way that ensures safety appropriately.

[0017] In the above method, the clamp action determination unit may also determine that the clamp should be moved when the crane is raised to a specified position based on the first planning information.

[0018] According to this method, since the clamp action determination unit determines that the clamp should be moved when the crane is raised to a specified position based on the first planning information, the clamp control system can be controlled to move the clamp in a manner that ensures safety more specifically from the size or shape of the construction components and the building design drawings included in the first planning information.

[0019] In the above method, the clamp action determination unit may also determine that the clamp should be activated when the construction component installed on the clamp exceeds the main body under construction after being lifted by the crane.

[0020] According to this method, since the clamp action determination unit determines that the clamp should be moved when the construction component installed on the clamp exceeds the main body under construction due to the lifting of the crane, the conflict between the construction component and the main body under construction can be reduced, and the clamp control system can be controlled to move the clamp in a way that ensures safety more specifically.

[0021] In the above method, the position information acquisition unit can also acquire information related to the position and orientation of the construction component installed on the fixture through at least two sensors.

[0022] According to this method, since the position information acquisition unit acquires information related to the position and orientation of the construction component mounted on the fixture through at least two sensors, it is possible to properly grasp the position and orientation of the construction component. Then, it is possible to calculate the rotation angle up to the setting direction that becomes the target of the construction component from the position and orientation of the construction component, and control the fixture control system in a manner that causes the fixture to move based on the rotation angle. As a result, the construction component can be set in the appropriate position and orientation.

[0023] In the above manner, at least two sensors may also be mounted on the fixture.

[0024] According to this method, since at least two sensors are installed in the fixture, the sensors can be replaced without having to be replaced each time, whether the suspension components need to be replaced or not. This can improve work efficiency.

[0025] In the above manner, at least two sensors may also be installed on the suspension component located between the clamp and the construction component.

[0026] According to this method, since at least two sensors are installed on the suspension component located between the clamp and the construction component, it is not necessary to replace the sensors for each construction component each time, which can improve work efficiency. In addition, if the sensors are installed close to the construction component, the position information of the construction component can be obtained with high accuracy.

[0027] In the above manner, at least two sensors may also be installed on the construction component.

[0028] According to this method, since at least two sensors are installed on the construction component, the position information of the construction component can be obtained with higher accuracy.

[0029] In the above method, it further includes: a building information acquisition unit that acquires building information including design drawings of the building under construction, construction components and construction plans related to the construction; and a plan information generation unit that, based on the building information, generates first plan information including at least the setting coordinates of the construction components and second plan information including at least the setting direction of the construction components. The system control unit can control the machine control system based on the first plan information generated by the plan information generation unit, and control the fixture control system based on the second plan information generated by the plan information generation unit and the position information of the construction components acquired by the position information acquisition unit.

[0030] According to this method, since it also has a building information acquisition unit for acquiring building information and a planning information generation unit for generating first planning information that includes at least the setting coordinates of construction components and second planning information that includes at least the setting direction of construction components based on the building information, as a general construction system, it includes information management and construction plan generation, and can comprehensively and appropriately support the automatic operation of cranes.

[0031] One aspect of the present invention relates to a general construction method executed by a general construction system that manages the automatic operation of a crane, comprising: a machine control step, controlling a machine control system based on first planning information including at least the setting coordinates of construction components, the machine control system controlling the operation of the crane; a position information acquisition step, acquiring position information of construction components installed on a clamp attached to the crane; a clamp action determination step, determining whether to actuate the clamp based on the crane's operation status notified from the machine control system; and a clamp control step, in which, if the clamp action determination step determines that the clamp should actuate, the clamp control system is controlled based on second planning information including at least the setting direction of the construction components and the position information of the construction components acquired in the position information acquisition step, the clamp control system controlling the operation of the clamp to actuate the clamp.

[0032] According to this method, in the machine body control step, the machine body control system is controlled based on the first planning information; in the position information acquisition step, the position information of the construction component installed on the clamp attached to the crane is acquired; and in the clamp action determination step, it is determined whether to actuate the clamp based on the crane's operating status notified from the machine body control system. Then, in the clamp control step, if it is determined in the clamp action determination step that the clamp should be actuated, the clamp control system is controlled to actuate the clamp based on the second planning information and the position information of the construction component. Therefore, the clamp control system can be controlled to actuate the clamp appropriately at the appropriate time based on the crane's operating status. As a result, the automatic operation of the crane including the clamp can be appropriately supported.

[0033] One aspect of the present invention relates to a construction process for an automated construction method that enables a computer to manage the automatic operation of a crane, comprising the following steps: a machine control step, wherein a machine control system is controlled based on first planning information including at least the setting coordinates of construction components, the machine control system controlling the crane's movement; a position information acquisition step, wherein position information of construction components mounted on a clamp attached to the crane is acquired; a clamp movement determination step, wherein, based on the crane's movement status notified from the machine control system, it is determined whether the clamp should be moved; and a clamp control step, wherein, if the clamp movement determination step determines that the clamp should be moved, the clamp control system is controlled based on second planning information including at least the setting direction of the construction components and the position information of the construction components acquired in the position information acquisition step, the clamp control system controlling the movement of the clamp to cause the clamp to move.

[0034] According to this method, in the machine body control step, the machine body control system is controlled based on the first planning information; in the position information acquisition step, the position information of the construction component installed on the clamp attached to the crane is acquired; in the clamp action determination step, it is determined whether to actuate the clamp based on the crane's operating status notified from the machine body control system. Then, in the clamp control step, if it is determined in the clamp action determination step that the clamp should be actuated, the clamp control system is controlled to actuate the clamp based on the second planning information and the position information of the construction component. Thus, the clamp control system can be controlled to actuate the clamp appropriately at the appropriate time based on the crane's operating status. As a result, the automatic operation of the crane including the clamp can be appropriately supported.

[0035] According to the present invention, a general construction system, general construction method and general construction procedure can be provided to appropriately support the automatic operation of a crane.

Implementation Method

[0043] Hereinafter, suitable embodiments of the present invention will be described in detail with reference to the accompanying drawings. Furthermore, for ease of understanding, the same reference numerals will be used as much as possible to denote the same constituent elements in each drawing, and repeated descriptions will be omitted.

[0044] FIG1 is a system overview showing an outline of a construction system 100 according to an embodiment of the present invention. In FIG1, the construction system 100 controls the operation of a crane and a rotating device attached to the crane by transmitting and receiving data with a body control system 20 and a clamp control system 30, which are separate systems of the construction system 100.

[0045] The body control system 20 controls the movement of the crane (automatic operation), and the construction system 100 supports the movement of the crane via the body control system 20. The crane controlled by the body control system 20 is typically a tower crane, but is not limited to this, for example, it can also be a gantry crane, a bridge crane, a container crane in a harbor, or a barge crane on a ship, etc.

[0046] The clamp control system 30 controls the movement (automatic operation) of the clamps attached to the crane. The construction system 100 also supports the movement of the crane via the clamp control system 30, including the movement of the clamps. The clamps controlled by the clamp control system 30 are typically rotating devices such as horizontal rotating clamps attached to a tower crane, but are not limited to this. They can be other clamps or clamps attached to cranes other than tower cranes.

[0047] The overall construction system 100, based on construction plan information (first plan information and second plan information) including the setting coordinates, setting sequence, and setting direction of construction components, sends action instructions to the machine control system 20 via the Gateway to move the crane, or sends action instructions to the clamp control system 30 to move the rotating device. Here, the overall construction system 100 can, for example, use a Global Navigation Satellite System (GNSS) to monitor the position information of the crane's boom or construction components in real time, and can further install cameras to monitor the surrounding conditions and send action instructions to the machine control system 20 and the clamp control system 30. The overall construction system 100 can avoid collisions or dangers, ensure safety, and simultaneously transmit construction components and accurately set them in the setting coordinates and setting direction.

[0048] In addition, the construction system 100 can either collaborate with Building Information Modeling (BIM) or other systems to generate construction plan information, or acquire and store pre-generated construction plan information.

[0049] Furthermore, the overall construction system 100 can also monitor the operation status of the crane and rotating device through operation logs from the machine control system 20 and the clamp control system 30, or reflect this as construction progress to the building information model (BIM) 10. The overall construction system 100 can also manage the progress of construction by analyzing this information.

[0050] Thus, the overall construction system 100 sends action instructions to the machine control system 20 and the clamp control system 30 based on construction plan information or location information, controls the movement of the crane and rotating device, and monitors the movement status of the crane and rotating device based on operation logs, etc., to manage the progress of construction. That is, the overall construction system 100 unifies the entire system related to construction in the crane.

[0051] FIG2 is a system block diagram showing the functions of a construction system 100 according to an embodiment of the present invention. As shown in FIG2, it includes a building information acquisition unit 110, a planning information generation unit 120, a system control unit 130, a fixture motion judgment unit 140, and a position information acquisition unit 150.

[0052] The building information acquisition unit 110 acquires building information that includes design drawings, construction components, and construction plans related to the building under construction. For example, the building information acquisition unit 110 acquires the building information from the information stored in the building information model (BIM) 10.

[0053] Building Information Modeling (BIM) 10 Generally, in a three-dimensional digital model generated in relation to a building, all information is included, depending on the elements that constitute the building, such as additional information related to the shape and quantity of construction components. Specifically, it includes the main model containing site reference points and unloading locations, the eight points on the outermost diameter of construction components, reference points, and marker locations, etc. Moreover, it also includes information related to cost, processing, and construction schedules, which can be used for cost and project management.

[0054] The planning information generation unit 120 generates first planning information, which includes at least the installation coordinates of the construction components, based on the construction information acquired by the construction information acquisition unit 110. Specifically, the first planning information may also include identification information (e.g., ID) of the construction components installed by crane, the scheduled installation date, and the installation coordinates (x, y, z) of the target.

[0055] Furthermore, the planning information generation unit 120 can directly use the information contained in the building information obtained by the building information acquisition unit 110 from the building information model (BIM) 10, or it can generate the first planning information by appropriate processing as needed. In addition, the planning information generation unit 120 can also generate the first planning information in a manner suitable for the body control system 20 interface.

[0056] Furthermore, the planning information generation unit 120 generates second planning information, which includes at least the installation direction of the construction component, based on the construction information acquired by the construction information acquisition unit 110. Specifically, the second planning information includes identification information (e.g., ID) of the construction component controlled by a clamp attached to a crane, and the installation direction that is the target.

[0057] Furthermore, the planning information generation unit 120 can directly use the information contained in the building information obtained by the building information acquisition unit 110 from the building information model (BIM) 10, just like the first planning information, or it can generate the second planning information by appropriate processing as needed. In addition, the planning information generation unit 120 can also generate the second planning information in a manner suitable for the fixture control system 30 interface.

[0058] Furthermore, the planning information generation unit 120 can also generate a single planning information in a manner suitable for either the machine control system 20 or the fixture control system 30, such that the same information is included in both the first and second planning information. This eliminates the need to generate multiple planning information sets, simplifying processing and improving production efficiency.

[0059] The system control unit 130 sends an operation instruction to the machine control system 20 in a manner that causes the crane to operate based on the first planning information generated by the planning information generation unit 120. Thereby, the machine control system 20 calculates the route for the construction component to be transported to the target installation coordinates based on various information about the construction components included in the first planning information, and controls the crane's operation according to information related to the route, the scheduled installation date, and the installation sequence.

[0060] Furthermore, the system control unit 130 sends an operation instruction to the clamp control system 30 in a manner that causes the rotating device to operate based on the second planning information generated by the planning information generation unit 120 and the position information of the construction component. Thus, the clamp control system 30 controls the operation of the rotating device in a manner that sets the construction component in a target setting direction based on various information about the construction component included in the second planning information and the position information of the construction component. Here, the setting direction refers to the orientation (north, south, east, west) on the horizontal plane, and may also include the slope (inclination) relative to the horizontal plane. On the other hand, the system control unit 130 sometimes also sends an operation instruction to the clamp control system 30 in a manner that prohibits the operation of the rotating device.

[0061] In addition, the location information of the construction components is obtained by the location information acquisition unit 150, the details of which will be described later.

[0062] The clamping action determination unit 140 determines whether to activate the rotating device based on the crane's operating status. The rotating device is typically a horizontal rotating clamp with a construction component suspended below it. For example, the construction component may be a support column, etc. When suspended horizontally, horizontal rotation may cause collisions with surrounding structures, components, operators, work vehicles, and other buildings. Therefore, the timing of activating the rotating device must be controlled while ensuring safety.

[0063] Figure 3 is a diagram showing a specific example of the route for transporting a construction component to its installation position. As shown in Figure 3, after the construction component is moved to a safe position in a manner that does not conflict with the main body of the construction component during construction, the rotating device is rotated and transported to the installation position of the construction component (which becomes the installation coordinate of the target).

[0064] When transporting the construction component to the target location, the route for transporting the construction component is calculated, and the machine control system 20 first raises the crane according to the route. Then, for example, when the crane reaches the highest position on the route, the machine control system 20 notifies the overall construction system 100 of the crane's operating status.

[0065] The clamping motion determination unit 140 in the construction system 100 determines, based on the crane's motion status notified from the machine control system 20, that the rotating device, which is a horizontal rotating clamp, should be activated. Therefore, the system control unit 130 sends an activation instruction to the clamping control system 30 in a manner that activates the rotating device based on the second planning information generated by the planning information generation unit 120 and the position information of the construction components.

[0066] Furthermore, the clamping motion determination unit 140 determines that the rotation device should be operated at a time not limited to the point at which the construction component is transported to the highest position on the route that serves as the target coordinate. For example, based on the condition of the main body under construction, the surrounding main bodies, components, workers, work vehicles, and the shape of other buildings, the shape of the construction component, and environmental conditions such as weather, if the crane is raised to a predetermined position and it is safe to move the construction component horizontally, the machine control system 20 may notify the overall construction system 100 of this as the crane's operating status, and the clamping motion determination unit 140 determines that the rotation device should be operated.

[0067] The machine control system 20 may also notify the construction system 100 of the crane's operating status if it is safe to move the construction component horizontally even when the crane is being raised, or during the process of raising the crane. The clamping action determination unit 140 determines that the rotating device should be activated. That is, the construction system 100 raises the crane and activates the rotating device to move the construction component horizontally. Similarly, when the crane is being transported to the installation position of the construction component (which becomes the target installation coordinate), the rotating device can be activated to move the construction component horizontally and the crane can be lowered.

[0068] Furthermore, regarding the situation where it is safe even when the construction component is moved horizontally, it can be determined based on, for example, the route for transporting the construction component to the target coordinates, the design drawings or construction plans obtained from the Building Information Model (BIM) 10, the operation logs from the machine control system 20, etc., and it can also be determined based on the surrounding conditions obtained from the crane, the main body under construction, or the surrounding equipment equipped with cameras or sensors.

[0069] On the other hand, the clamp action judgment unit 140 in the construction system 100 determines that the rotating device, which is a horizontal rotating clamp, should not be operated until it is determined that the construction component should be moved horizontally to a safe area. The system control unit 130 sends an action instruction to the clamp control system 30 in a manner that prohibits the operation of the rotating device.

[0070] Next, we will specifically explain how the rotating device operates when the system control unit 130 sends an action instruction to the fixture control system 30.

[0071] Figure 4 is a diagram showing a specific example of a construction component suspended by a clamp. As shown in Figure 4, a horizontally rotating rotating device 31 is installed as a clamp attached to the front end of a rope suspended from the crane, and the construction component 40 is suspended from the rotating device 31 by a rope via a suspension member 32.

[0072] The rotating device 31 is a clamp that rotates horizontally based on the action instruction from the system control unit 130 in the overall construction system 100. As the rotating device 31 rotates horizontally, the construction component 40, which is suspended by ropes via the suspension member 32, rotates horizontally. In addition, the construction component 40 is, for example, a precast concrete component, or a support column that forms the skeleton of a building.

[0073] The suspension component 32 is a device that raises one end of the suspended construction component 40 from a lying state and lowers the other end, thereby making the construction component 40 stand vertically.

[0074] Figure 5 is a diagram showing an example of installing two mobile terminals (sensors) on the suspension component 32 to monitor the direction and position of the construction component using GNSS. As shown in Figure 5(a), two mobile terminals 32A and 32B are installed on the upper surface of the suspension component 32. Moreover, a reference terminal (fixed terminal) can also be set up nearby, using a positioning system that uses Real Time Kinematic (RTK).

[0075] Positioning information is obtained by receiving signals from positioning satellites through two mobile terminals 32A and 32B and a reference terminal. Then, this positioning information is exchanged between the two mobile terminals 32A and 32B and the reference terminal, enabling the acquisition of more precise positioning information by correcting for positional offsets. Furthermore, the reference terminal communicates with the two mobile terminals 32A and 32B, for example, via WiFi (registered trademark). If a high-precision positioning system such as Real-time Kinematics (RTK) is used, the direction and position of the construction components can be determined with high precision in centimeters, unaffected by backlighting or bad weather.

[0076] Thus, by utilizing a positioning system employing Real-time Dynamic Positioning (RTK), the location information acquisition unit 150 in the overall construction system 100 can accurately determine the positions of the two mobile terminals 32A and 32B, and accurately determine the direction of the suspension component 32. Furthermore, it can determine the position and direction of the construction component 40 suspended on the suspension component 32 based on the position and direction of the suspension component 32.

[0077] The position information acquisition unit 150 may also acquire position information, including the position and orientation of the construction component 40, at predetermined time intervals (e.g., several hundred milliseconds to one thousand milliseconds), at least acquiring the position information of the construction component 40 when an action instruction is sent by the system control unit 130 to operate the rotating device 31. The system control unit 130 calculates the rotation angle from the orientation of the construction component 40 acquired by the position information acquisition unit 150 to the installation orientation of the construction component 40 included in the second planning information, and sends an action instruction to operate the rotating device 31 based on the rotation angle.

[0078] Furthermore, the system control unit 130 can also calculate the rotational speed at which the rotating device 31 rotates. For example, it is preferable to complete the rotation of the rotating device 31 during horizontal movement as shown in FIG3, and the rotational speed of the rotating device 31 can be calculated based on the speed of the crane moving horizontally and the rotation angle of the rotating device 31.

[0079] Furthermore, since the mobile terminals 32A and 32B installed on the suspension member 32 receive signals from the positioning satellite respectively, it is preferable that the radio waves are not blocked above the mobile terminals. In a specific example shown in FIG5(a), the mobile terminals 32A and 32B are installed on the upper surface of the suspension member 32, but it is not limited to this.

[0080] For example, as shown in FIG5(b), the mobile terminals 32A and 32B can also be mounted on the outside of the suspension member 32 using a fastener.

[0081] Furthermore, the number of mobile terminals installed on the suspension component 32 is not limited to two (mobile terminals 32A and 32B), but can be three or more. For example, the mobile terminals can also be installed at the four corners of the suspension component 32. By installing a larger number of mobile terminals, the position and orientation of the construction component 40 can be grasped with greater precision.

[0082] In addition, Real-time dynamic positioning (RTK) is listed here as a positioning system for knowing the direction and position of the construction component 40, but it is not limited to this. Other positioning systems may be used if the direction and position of the construction component 40 can be known.

[0083] Next, the general construction method performed by the construction general system 100 for managing the automatic operation of the crane will be described in detail.

[0084] FIG6 is a flowchart showing the processing flow of a construction general method M100 executed by a construction general system 100 according to an embodiment of the present invention. In FIG6, the construction general method M100 includes steps S110 to S150 executed by a processor included in the construction general system 100.

[0085] In step S110, the overall construction system 100 controls the machine control system 20 based on first planning information including at least the setting coordinates of the construction components 40 (machine control step). Specifically, the system control unit 130 in the overall construction system 100 sends an action instruction to the machine control system 20 to move the crane based on the first planning information. For example, the building information acquisition unit 110 in the overall construction system 100 acquires building information from information stored in the building information model (BIM) 10 (building information acquisition step), and the planning information generation unit 120 may also generate first planning information based on the building information acquired in the building information acquisition step (first planning information generation step).

[0086] In step S120, the construction system 100 acquires the position information of the construction component 40 installed on the clamp attached to the crane (position information acquisition step). Specifically, the position information acquisition unit 150 in the construction system 100 uses a real-time dynamic positioning (RTK) system to determine the position and orientation of the construction component 40 based on mobile terminals 32A and 32B installed on the suspension component 32. Furthermore, the position information acquisition unit 150 can continuously acquire the position information of the construction component 40 at predetermined intervals.

[0087] In step S130, the construction system 100 determines whether to activate the clamp based on the crane's operating status notified from the machine control system 20 (clamp activation determination step). Specifically, the clamp activation determination unit 140 in the construction system 100 determines to activate the rotating device 31 based on notification from the machine control system 20 that the crane has reached a predetermined position (e.g., the highest position in the crane's movement path) (Yes in step S130). On the other hand, the clamp activation determination unit 140 in the construction system 100 determines not to activate the rotating device 31 until it receives notification from the machine control system 20 that the crane has reached a predetermined position (No in step S130).

[0088] In step S140 (which is the case in step S130), the construction system 100 controls the clamp control system 30 (clamp control step) to move the clamp based on second planning information that includes at least the setting direction of the construction component 40 and the position information of the construction component 40 obtained in step S120. As a specific example, the system control unit 130 in the construction system 100 calculates the rotation angle up to the setting direction that becomes the target of the construction component 40 included in the second planning information from the position information (direction) of the construction component 40, and sends an action instruction to the clamp control system 30 based on the rotation angle in a manner that does not cause the rotating device 31 to move.

[0089] In step S150 (the opposite of step S130), the construction system 100 controls the clamp control system 30 in a manner that prevents the clamp from moving (clamp control step). As a specific example, the system control unit 130 in the construction system 100 sends an action instruction to the clamp control system 30 in a manner that prevents the rotating device 31 from moving.

[0090] In other words, the system control unit 130 in the construction system 100 controls the clamp control system 30 in a way that prevents the rotating device 31 from operating, until it is determined in step S130 that the rotating device 31 should be operated.

[0091] As described above, according to an embodiment of the present invention, the overall construction system 100 and overall construction method M100 control the machine control system 20 based on the first planning information, the position information acquisition unit 150 acquires the position information of the construction component 40 installed on the rotating device 31, and the clamping action determination unit 140 determines whether to actuate the rotating device 31 based on the crane's operating status notified from the machine control system 20. Then, when the system control unit 130 determines that the rotating device 31 should be actuated by the clamping action determination unit 140, it calculates the rotation angle up to the setting direction that becomes the target of the construction component 40 included in the second planning information from the position information (direction) of the construction component 40 acquired by the position information acquisition unit 150, and controls the clamping control system 30 to actuate the rotating device 31 based on this rotation angle. Thus, the system control unit 130 can control the clamping control system 30 to actuate the rotating device 31 appropriately at the appropriate time based on the crane's operating status. As a result, it is possible to appropriately support the automatic operation of the crane including the clamp.

[0092] Furthermore, in this embodiment, building information is acquired by the building information acquisition unit 110 in cooperation with the building information model (BIM) 10, and construction planning information (first planning information and second planning information) is generated by the planning information generation unit 120. However, the building information model (BIM) 10 may be configured to be included in the overall construction system 100, or it may be configured to cooperate with the overall construction system 100 as an external system.

[0093] Furthermore, the overall construction system 100 includes or collaborates with systems other than the Building Information Model (BIM) 10, and the building information acquisition unit 110 can also acquire building information from them. Moreover, it is also possible to acquire and store pre-generated construction plan information without generating all or part of the construction plan information in the overall construction system 100.

[0094] In this embodiment, in order to know the position and direction of the construction component 40, the mobile terminals 32A and 32B are installed on the suspension component 32, but the location where the mobile terminals 32A and 32B are installed is not limited to this.

[0095] For example, there are cases where a different suspension component than the suspension component 32 shown in FIG4 is used depending on the suspension construction component 40, the installation position of the construction component 40, or other conditions.

[0096] Figure 7 is a diagram showing another specific example of a construction component suspended from a clamp. As shown in Figure 7, a horizontally rotating rotating device 31 is installed as a clamp attached to the end of a rope suspended from the crane. The construction component 40 is suspended from the rotating device 31 by a rope via a suspension member 33. The suspension member 33 is a horizontally elongated approximately rectangular parallelepiped or approximately rod-shaped device, unlike the approximately cubic suspension member 32 shown in Figure 4. Similarly, when using the suspension member 33, mobile terminals 32A and 32B can be installed on the upper surface of the suspension member 33 or on the outside of the suspension member 33 using fasteners.

[0097] Furthermore, in cases where it is necessary to replace the suspension components as described above, or when the suspension components are not used, the mobile terminals 32A and 32B can also be configured to be mounted on the rotating device 31. This eliminates the need to replace the mobile terminals 32A and 32B each time, thereby improving work efficiency.

[0098] Furthermore, for example, mobile terminals 32A and 32B can also be installed on the construction component 40. By directly installing them on the construction component 40, the position and orientation of the construction component 40 can be obtained with good accuracy.

[0099] Furthermore, in this embodiment, the crane's operating status notified from the machine control system 20 to the construction system 100 refers to, for example, a situation where the horizontal movement of the construction components is also safe. The construction system 100 controls the clamp control system 30 to operate / stop the rotating device based on this crane's operating status. Additionally, the crane's operating status may include information related to abnormalities or emergency stops. It may also include emergency stop situations such as abnormalities occurring in the crane, unexpected accidents, strong winds or heavy rain, earthquakes, or other external environmental factors requiring construction to be stopped. The construction system 100 may also control the clamp control system 30 to stop the rotating device based on emergency stop situations from the machine control system 20.

[0100] Furthermore, the crane's operating status, which is notified from such a machine control system 20 to the construction system 100, can be included in the operation log or presented as a notification different from the usual operation log.

[0101] The above provides a detailed description of various embodiments of the present invention, but this is only an explanation of embodiments. The above description is for the purpose of facilitating understanding of the present invention and does not limit the interpretation of the present invention. The scope of the present invention is not limited to each embodiment, and is interpreted broadly within the scope that can be grasped by those skilled in the art. The elements, configurations, materials, conditions, shapes, and dimensions of the embodiments are not limited to those illustrated and can be appropriately modified. Furthermore, the configurations shown in different embodiments can be partially replaced or combined with each other. 10: Building Information Model 20: Body Control System 30: Fixture Control System 31: Rotation Device 32: Suspension Components 32A, 32B: Mobile Terminal 33: Suspension Components 40: Construction Components 100: Overall Construction System 110: Building Information Acquisition Unit 120: Planning Information Generation Unit 130: System Control Unit 140: Fixture Action Judgment Unit 150: Position Information Acquisition Unit M100: Overall Construction Method S110~S150: Each step of the overall construction method M100 [Simplified Explanation of the Diagram]

[0036] Figure 1 is a system overview showing an outline of a construction system according to an embodiment of the present invention.

[0037] Figure 2 is a system block diagram showing the functions of the overall construction system according to an embodiment of the present invention.

[0038] Figure 3 is a diagram showing a specific example of the route for transporting construction components to the installation location.

[0039] Figure 4 is a diagram showing a specific example of a construction component suspended in a clamp.

[0040] Figure 5 is a diagram showing a specific example of installing two mobile terminals (sensors) on a construction component to monitor the direction and position of the construction component using GNSS.

[0041] Figure 6 is a flowchart showing the processing flow of the overall construction method executed by the overall construction system according to an embodiment of the present invention.

[0042] Figure 7 is a diagram showing other specific examples of construction components suspended in a clamp.

Claims

1. A construction system for managing the automatic operation of a crane, comprising: a system control unit that controls a machine body control system based on first planning information including at least the installation coordinates of construction components, the machine body control system controlling the operation of the crane; a position information acquisition unit that acquires position information of construction components mounted on a clamp attached to the crane; and a clamp operation determination unit that determines whether to actuate the clamp based on the crane's operation status notified from the machine body control system, wherein if the system control unit determines that the clamp should actuate, it controls the clamp control system based on second planning information including at least the installation direction of the construction components and the position information of the construction components acquired by the position information acquisition unit, the clamp control system controlling the operation of the clamp to actuate the clamp.

2. The construction system as claimed in claim 1, wherein the system control unit controls the clamp control system by prohibiting the clamp from moving when the clamp action determination unit determines that the clamp should not move.

3. The construction system as described in claim 1 or 2, wherein the clamp action determination unit determines that the clamp is activated when the construction component installed on the clamp is located in a safe area.

4. The construction system as described in any one of claims 1 to 3, wherein the clamp action determination unit determines, based on the first planning information, that the clamp will be actuated when the crane rises to a predetermined position.

5. The construction system as described in claim 4, wherein the clamp action determination unit determines that the clamp is activated when the construction component mounted on the clamp is raised above the main body under construction by the crane.

6. The construction system as described in any one of claims 1 to 5, wherein the position information acquisition unit acquires information related to the position and orientation of the construction component mounted on the fixture via at least two sensors.

7. The overall construction system as described in claim 6, wherein the at least two sensors are mounted on the fixture.

8. The construction system as described in claim 6, wherein the at least two sensors are mounted on a suspension component disposed between the clamp and the construction component.

9. The construction system as described in claim 6, wherein the at least two sensors are mounted on the construction component.

10. The construction system as described in any one of claims 1 to 9 further comprises: a building information acquisition unit that acquires building information including design drawings, construction components, and construction plans related to the building being constructed; and a plan information generation unit that, based on the building information, generates first plan information including at least the installation coordinates of the construction components and second plan information including at least the installation direction of the construction components; the system control unit controls the machine control system based on the first plan information generated by the plan information generation unit, and controls the clamp control system based on the second plan information generated by the plan information generation unit and the position information of the construction components acquired by the position information acquisition unit.

11. A general construction method, executed by a general construction system for managing the automatic operation of a crane, comprising: a machine control step, controlling a machine control system based on first planning information including at least the setting coordinates of construction components, the machine control system controlling the movement of the crane; a position information acquisition step, acquiring position information of construction components mounted on a clamp attached to the crane; a clamp movement determination step, determining whether to move the clamp based on the crane's movement status notified by the machine control system; and a clamp control step, if the clamp movement determination step determines that the clamp should move, controlling the clamp control system based on second planning information including at least the setting direction of the construction components and the position information of the construction components acquired in the position information acquisition step, the clamp control system controlling the movement of the clamp to move the clamp.

12. A construction general procedure, a construction general method for automatically managing the operation of a crane by computer execution, comprising the following steps: a machine control step, controlling a machine control system based on first planning information including at least the setting coordinates of construction components, the machine control system controlling the movement of the crane; a position information acquisition step, acquiring position information of construction components mounted on a clamp attached to the crane; a clamp movement determination step, determining whether to move the clamp based on the crane's movement status notified from the machine control system; and a clamp control step, in which, if the clamp movement determination step determines that the clamp should move, the clamp control system is controlled based on second planning information including at least the setting direction of the construction components and the position information of the construction components acquired in the position information acquisition step, the clamp control system controlling the movement of the clamp to cause the clamp to move.

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