JP2022011680A - Work plan system and work plan method - Google Patents

Abstract

To draft a detailed work plan that can be applied to a situation where work lands, such as embanked lands and cut lands lie sporadically in a work site.SOLUTION: A work plan system creates a work plan using a plurality of work bodies, and comprises: an information acquisition unit that acquires work body information indicating the specification of the work bodies, spatial restriction information including the distance restriction between the work bodies, and time restriction information including time restriction in which the occupation of spaces by the work bodies is represented by time; a work body area definition unit that, based on the work body information, the spatial restriction information, and the time restriction information, defines the shape of work body areas where the work bodies introduced to respective types of work operate; and a work body area arrangement unit that arranges the work body areas of the work bodies not to be overlapped throughout the entire time to create the work plan.SELECTED DRAWING: Figure 4

Description

The present invention relates to a work planning system and a method for planning the types and numbers of work bodies to be put into work sites such as civil engineering and construction, and the work contents and work order of each work body.

At work sites such as civil engineering and construction, work machines and workers are assigned to the site according to the work content, and work is performed while moving within the site. In order to efficiently perform work at the work site, it is necessary to appropriately determine the work content, work order, type and number of work machines to be introduced, and formulate a work plan. However, working plan development is time consuming and requires considerable experience for planners to be able to formulate appropriate work plans. Therefore, it is desirable that the system can automatically formulate a work plan.

In the technical field of construction work, a construction planning system that automatically formulates a construction plan has been proposed as a technique for improving the productivity of the site. For example, claim 1 of Patent Document 1 includes "a current terrain data acquisition unit that acquires current terrain data of a construction site, a design terrain data acquisition unit that acquires design terrain data indicating the design terrain of the construction site, and a unit. Difference between the current terrain data and the design terrain data and the basic unit data acquisition unit that indicates the conditions of the work machine that constructs the construction site and acquires the known basic unit data that can be acquired before the construction of the construction site. Based on the above, the construction range data indicating the construction range of the construction site and the soil amount data indicating the excavation amount or the compensation amount of the earth and sand in the construction range are calculated, and the construction range data, the soil amount data and the basic unit data are combined. A construction plan system including a computer system including a construction plan data calculation unit that calculates construction plan data indicating the construction plan of the construction site and a construction plan data output unit that outputs the construction plan data based on the above. It has been disclosed.

Japanese Patent No. 6496182

According to Patent Document 1, the amount of excavation or compensation of earth and sand can be calculated from the data of the target topography and the design topography of the entire construction site. In addition, by comparing the amount of work per unit time of one work machine with the amount of excavation or compensation of earth and sand at the entire construction site, how many work machines can be used to complete the construction within the target construction period. Can be calculated.

On the other hand, at the actual site, there are cases where the cut land for excavating the earth and sand and the piled land for supplementing the earth and sand are scattered and scattered. Even in such a site, the number of work machines required for the entire construction site can be calculated by formulating a construction plan using the technique disclosed in Patent Document 1.

However, in the technique of Patent Document 1, it is not possible to calculate how many work machines are to be arranged in each of the cut land and the filled land scattered at the construction site, and the plan is not sufficiently detailed. As described above, there is room for further improvement in the technique of Patent Document 1.

Therefore, an object of the present invention is to provide a work planning system for formulating a detailed work plan, which can be applied to work sites where a plurality of construction sites such as filled land and cut land are scattered.

The present invention includes a plurality of means for solving the above problems, and one example thereof is a work planning system for creating a work plan using a plurality of work bodies, and the specifications of the work body are described. The information acquisition unit for acquiring the work body information to be shown, the space constraint information including the distance constraint between the work bodies, and the time constraint information including the time constraint representing the space occupancy of the work body in time, and the work body information. Based on the space constraint information and the time constraint information, the work body area definition unit that defines the shape of the work body area in which the work body to be input to each work operates, and the work body area of each work body are all the work. It is a work planning system including a work body area arranging unit for creating the work plan by arranging them so as not to overlap with each other over time.

According to the work planning system of the present invention, even in a work site where a plurality of construction sites such as filled land and cut land are scattered, it is possible to make a plan for each work body, so that a more efficient work plan can be obtained. Can be planned.

Configuration diagram of hydraulic excavator Top view of hydraulic excavator An example of a civil engineering work site Functional block diagram of the work planning system of one embodiment Diagram showing the relationship between the information acquisition unit and the input interface Diagram showing design information in grid format Explanatory drawing of work body information when the work body is a hydraulic excavator Explanatory diagram of work body information when the work body is a dump truck A method to calculate a group of cut land and fill land from the grid of cut land and fill land The figure which applied the spatial constraint information converted from the future constraint of the time constraint information to the shovel. The figure which shows the working body area shape in a manned excavator The figure which shows the definition of the shape of the work body area in an unmanned excavator. Flow chart showing how the work body area placement unit arranges the work body area Flow chart showing how the work body area placement unit arranges the work body area Output example of drawing the simulation result of the work plan on the display

Hereinafter, examples of the work planning system 1 according to the present invention will be described with reference to the drawings. The present invention is not limited to these drawings, and some components may not be used.

In this embodiment, a work machine or a worker who works at a work site is referred to as a work body. Further, the area occupied by the working body during work is referred to as "working body area A". Although the explanation is given for the civil engineering construction field, it can also be applied to a field where work machines and workers coexist, such as a physical quantity warehouse. Further, in the present invention, a work machine that operates according to human operation is referred to as a "manned machine", a work machine that operates autonomously without human operation is referred to as an "unmanned machine", and the work machine is, for example, a hydraulic excavator. Is referred to as "manned excavator" or "unmanned excavator".

<Construction of hydraulic excavator>
In this embodiment, the work machine for mining soil and leveling the ground is a hydraulic excavator (hereinafter, simply referred to as "excavator"). FIG. 1 is a configuration diagram schematically showing a general excavator 2. As shown here, the excavator 2 is composed of an articulated front working machine 21 and a vehicle body 22 that supports the front working machine 21.

The vehicle body 22 includes a lower traveling body 22b that travels by the traveling hydraulic motor 22a, and an upper rotating body 22d that is mounted on the lower traveling body 22b and can be swiveled with respect to the lower traveling body 22b by the swivel hydraulic motor 22c.

On the other hand, the front working machine 21 is configured by connecting a plurality of front members (boom 21a, arm 21b, bucket 21c) that rotate in each vertical direction. The base end of the boom 21a is rotatably supported via a boom pin at the front of the upper swing body 22d. The arm 21b is rotatably connected to the tip of the boom 21a via an arm pin, and the bucket 21c is rotatably connected to the tip of the arm 21b via a bucket pin. The boom 21a is driven by the boom cylinder 21d, the arm 21b is driven by the arm cylinder 21e, and the bucket 21c is driven by the bucket cylinder 21f. It is assumed that the base end of the boom 21a coincides with the turning center 2o described later.

FIG. 2 is a plan view of the excavator 2. The front work machine length L ₁ referred to in the work body area definition unit 13 described later is the length when the reach of the front work machine 21 composed of the boom 21a, the arm 21b, and the bucket 21c is maximized. .. Similarly, the vehicle body rear length L ₂ referred to in the working body area definition unit 13 is the distance from the turning center 2o to the rear end portion of the upper turning body 22d. Further, the center coordinates of the excavator 2 indicate the position of the turning center 2o in the on-site coordinate system when the excavator 2 is arranged in the on-site coordinate system.

<Overview of work planning system>
The work planning system 1 of this embodiment specifies the position of the work body from the start to the end of the work by determining the work body area A for each work body at each time at the work site 3 where the work body works. This is to formulate the work plan P that has been completed.

First, an example of a civil engineering work site 3 in which each orthogonal coordinate of the XYZ space is defined in the direction shown in FIG. 3 will be described with reference to FIG. The work bodies put into the work site 3 are a shovel 2 for excavating and leveling earth and sand, and a dump truck (hereinafter, simply referred to as “dump”) 4 for transporting earth and sand. In the work plan P at the work site 3, the excavator 2 excavates the earth and sand "cutting work", the dump 4 transports the excavated earth and sand "soil transportation", and the excavator 2 excavates the earth and sand carried from the dump 4 as the work site. The plan consists of repeating three types of work, "filling earthwork".

Here, the place where the earthwork is performed is called "cut land", the place where the embankment is performed is called "embankment", and the route where the soil is transported is called "transport route 3a". For the earth-cutting work and earth-moving work in the work plan P of the work site 3, the excavator 2 is the place where the soil is excavated or piled up, "working site 3b", and the excavator 2 packs the soil in the dump 4 or loads it in the dump 4. In order to excavate the sown soil, it is necessary to plan the "release land 3c" where the dump 4 arrives and departs.

The work planning system 1 is operated by the planner M to formulate a work plan P according to the request of the planner M. The planner M does not have to have experience in planning the work plan P, and may be a person who has mastered how to use the work plan system 1.

FIG. 4 is a functional block diagram showing the configuration of the work planning system 1. As shown here, the work planning system 1 includes an information acquisition unit 10, a work information determination unit 11, a spatial constraint information conversion unit 12, a work body area definition unit 13, a work body area arrangement unit 14, and a work plan evaluation unit 15. It is composed of a work plan output unit 16. Specifically, the work planning system 1 is a computer equipped with hardware such as an arithmetic unit such as a CPU, a main storage device such as a semiconductor memory, an auxiliary storage device such as a hard disk, and a communication device. Then, each of the above functions is realized by the arithmetic unit executing the program loaded from the auxiliary storage device to the main storage device. In the following, each part will be omitted while appropriately omitting such well-known techniques in the computer field. The details of the above will be described in sequence.

<Information acquisition unit 10>
The information acquisition unit 10 includes a design information acquisition unit 10a for acquiring design information I ₁ , a work body information acquisition unit 10b for acquiring work body information I ₂ , and a target information acquisition unit 10c for acquiring target information I ₃ . It is composed of a space constraint information acquisition unit 10d for acquiring spatial constraint information I ₄ and a time constraint information acquisition unit 10e for acquiring time constraint information acquisition I ₅ .

FIG. 5 is a diagram showing the relationship between the information acquisition unit 10 and the input interface IF. The input interface IF shown here transmits the input by the planner M to the information acquisition unit 10, and is, for example, a touch panel, a keyboard, a mouse, a playback device for a storage medium, or the like.

<Design information acquisition unit 10a>
The design information acquisition unit 10a acquires the design information I ₁ based on the current terrain data representing the current terrain of the work site 3 and the target terrain data to be realized by carrying out the work. The current terrain data is three-dimensional data created by converting the current terrain of the work site 3 acquired from the aerial image of the optical measuring instrument or the drone into the three-dimensional point cloud data in the XYZ space. Further, the target terrain data is three-dimensional data showing the target shape of the work site 3 on the XYZ space. The current topographical data and the target topographical data are created in a grid format, which is a method of drawing a grid-like straight line on the bird's-eye view of the work site 3 and expressing how much soil is in the mass. In addition, the square representing the point is called a grid.

Table ₁ is a table showing an example of design information I1. Further, FIG. 6 is a diagram showing the design information I1 in Table ₁ in a grid format. Information on the amount of soil is stored in the grid in FIG. _The design information acquisition unit 10a determines whether the land is cut or filled by comparing the current terrain data and the target terrain data, and generates the design information I1. In other words, information such as whether embankment work, cut work, or any work is required for the current topography in grid units, and information including the amount of soil when embankment or cut work is performed. _Is generated as design information I1.

<Work body information acquisition unit 10b>
The work body information acquisition unit 10b acquires the work body information I ₂ indicating the specifications of the work body arranged by the work planning system 1.

Table 2 is an input example of the work body information I ₂ when the work body is the excavator 2. The work body information I ₂ includes the front work machine length L ₁ , the car body rear length L ₂ , the car body width W, the excavation capacity which is the excavation amount per unit time, the daily usage cost, the number of manned machines, and the manned machine. Or each information of unmanned machine is registered. Further, FIG. 7 is an explanatory diagram of the front working machine length L ₁ , the vehicle body rear length L ₂ , and the vehicle body width W among the variables of the working body information I ₂ of the excavator 2.

Table 3 is an input example of the work body information I ₂ when the work body is the dump 4. In this work body information I ₂ , each information of the vehicle body length L ₁ , the vehicle body width W, the loading capacity, the daily usage cost, the number of units that can be input, and whether it is a manned machine or an unmanned machine is registered. Further, FIG. 8 is an explanatory diagram of the vehicle body length L ₁ and the vehicle body width W among the variables of the work body information I ₂ of the dump truck 4.

<Work information determination unit 11>
The work information determination unit 11 calculates the work information I ₆ based on the design information I ₁ from the design information acquisition unit 10a and the work body information I ₂ from the work body information acquisition unit 10b. The work information I ₆ is the information related to the work necessary for realizing the target terrain data, which is input in the design information I ₁ .

FIG. 9 is a diagram showing a method of calculating a cut land group 3d and a fill land group 3e from a grid of cut land and a grid of fill land. As shown here, in the work information determination unit ₁₁ , based on the design information I1, the grids of the cut land with a short distance are group-classified and calculated as the cut land group 3d, and the filled land with a short distance is also classified. The grids are grouped and calculated as the Sheng land group 3e.

Table 4 is a table showing output examples of the cut land group 3d and the filled land group 3e. The work information determination unit 11 determines the amount of soil to be transported and the transportation route data from one cut land group 3d to one filling land group 3e, and calculates it as transportation plan data. The transportation route data is data in which the grid that becomes the transportation route 3a is labeled for each transportation route 3a.

Table 5 is a table showing an output example of transportation plan data. Table 6 is a table showing an output example of transportation route data.

The work information determination unit 11 determines the work information I ₆ based on the above-mentioned cut land group data, fill land group data, transportation plan data, and the like. Table ₇ is a table showing an output example of the work information I6. The work information I ₆ includes information such as a work type, related work, a place where the work is performed, a work amount, and a type of a work body used. The related work is information that labels and records the cutting work and the embankment work necessary for carrying out one soil transportation.

<Purpose information acquisition unit 10c>
The target information acquisition unit 10c acquires the target information I ₃ including the target data and the constraint data that are constraints in formulating the work plan P. Table 8 is a table showing an input example of the target information _I3 . In this purpose information I ₃ , "(1) specify the work period and minimize the work cost", "(2) specify the upper limit of the work period and minimize the work cost", "(3) work cost". Includes objective data such as "specify the upper limit of the work period and minimize the work period." The purpose information I ₃ includes constraint data such as designating a start time of a specific work or performing work 1 before work 2.

<Spatial constraint information acquisition unit 10d>
The space constraint information acquisition unit 10d acquires the space constraint information I4 so that the working bodies do not collide with _each other. Table 9 is a table showing an input example of the spatial constraint information _I4 . As shown in the right column of this table, spatial constraints are classified into "distance constraints", "limited constraints", and "relaxation constraints".

The "distance constraint" is a constraint that the working bodies perform work at a certain distance from each other, and is, for example, the content as shown in the constraint 1 in Table 9.

In the case of the excavator 2, the "limited restriction" is a restriction that prohibits the invasion of other working objects into the movable area of the excavator 2, and prohibits the excavator 2 from sharing the same land release 3c. It is a constraint, and the contents are as shown in the constraints 2 and 3 in Table 9, for example. Further, in the case of the dump 4, there is a restriction that the work in which the transportation routes 3a of the soil transportation intersecting at the same time cannot be planned. be.

The "mitigation constraint" is that in the case of the excavator 2, the movable area of the unmanned excavator 2 does not prohibit the invasion of other working objects, and if the excavators 2 are unmanned, the released land 3c is shared. It is a restriction that the work can be performed, and the contents are as shown in the restrictions 5 and 6 in Table 9, for example. Further, in the case of the dump truck 4, a plurality of soil transports are performed at the same time, and the transport routes 3a intersect, but the manned dump truck 4 is input to only one soil transport, and the other dump trucks 4 are used. Soil transportation is a restriction that if an unmanned dump truck 4 is loaded, work can be performed at the same time even if the transportation routes 3a intersect, for example, as in restriction 7 in Table 9. Content.

<Time constraint information acquisition unit 10e>
The time constraint information acquisition unit 10e acquires the time constraint information _I5 so that the working bodies do not collide with each other. Table ₁₀ is a table showing an input example of the time constraint information I5. As shown in the right column of this table, time constraints are classified into "future constraints" and "past constraints".

The "future constraint" is a constraint that prohibits intrusion in all areas that the work body reaches after a certain period of time, and is as shown in constraint 1 of Table 10, for example. The "past constraint" is a constraint that prohibits intrusion in the entire area where the work body has existed until a certain time ago, and is as shown in constraint 2 of Table 10, for example.

<Spatial constraint information conversion unit 12>
The space constraint information conversion unit 12 converts the time constraint information I ₅ from the time constraint information acquisition unit 10e into the space constraint information I ₄ , and integrates it with the space constraint information I ₄ from the space constraint information acquisition unit 10d. Table 11 is a table showing an example in which the time constraint information I ₅ in Table 10 is converted into the spatial constraint information I ₄ . Here, for example, a predetermined "future constraint" is converted into a "distance constraint" such as "in the movable part of the work body, the distance from the traveling direction to the VT prohibits the invasion of another work body".

Further, FIG. 10 is a diagram in which the space constraint information I ₄ converted from the future constraint of the time constraint information I ₅ exemplified in Table 11 is applied when the moving body is the excavator 2. FIG. 10 shows an intrusion prohibition area when the excavator 2 is turning. The front working machine 21 of the excavator 2 has a higher turning speed toward the tip of the front working machine 21, and due to future restrictions, "in the movable part of the working body, the distance from the traveling direction to the VT causes the intrusion of other working bodies. Therefore, the intrusion prohibited area becomes larger toward the tip of the front working machine 21.

<Work body area definition unit 13>
The work body area definition unit 13 is based on the work body information I ₂ from the work body information acquisition unit 10b and the space constraint information I ₄ from the space constraint information acquisition unit 10d and the space constraint information conversion unit 12. The work body area shape I ₇ is defined for each type of work body described in I ₂ . The work body region shape I ₇ is the shape of the work body region A determined based on the work body information I ₂ and the space constraint information I ₄ . The fact that the work body areas A arranged at the work site 3 do not overlap each other indicates that the space constraint information I ₄ (see Table 9) is observed.

FIG. 11 is a diagram showing the working body area shape I ₇ of the manned excavator 2, and Table 12 is a table showing the variables of the excavator 2 necessary for defining the working body area shape I ₇ of FIG. be.

By referring to the work body information I ₂ and the space constraint information I ₄ , the work body area definition unit 13 " _workes at a distance of L3 or more between the work bodies" and "into the movable area of the excavator 2". The work body area shape _I7 is defined in consideration of three restrictions such as "prohibiting the invasion of other work bodies" and "the excavator 2 cannot share the released land 3c". Considering the above three restrictions, as shown in FIGS. 11 and 12, the work body area definition unit 13 has the excavator 2 center coordinates X ₁ and Y ₁ , the work site center coordinates X ₂ and Y ₂ , and the land release center coordinates. The work body region shape I ₇ can be defined by determining X ₃ and Y ₃ , a safety distance L ₃ , a front work machine length L ₁ , a vehicle body rear length L ₂ , and a vehicle body width W. The work body area definition unit 13 determines the safety distance L ₃ based on the spatial constraint information I ₄ . The center coordinates X ₁ and Y ₁ of the excavator 2, the work area center coordinates X ₂ and Y ₂ , and the open land center coordinates X ₃ and Y ₃ are determined by the work body area arrangement unit 14. Further, based on the work body information I ₂ , the front work machine length L ₁ , the vehicle body rear length L ₂ , and the vehicle body width W are determined.

On the other hand, FIG. 12 is a diagram showing the definition of the working body region shape I ₇ of the unmanned excavator 2, and Table 13 shows the variables of the shovel 2 necessary for defining the working body region shape I ₇ of FIG. It is a table shown. The unmanned excavator 2 can be set to perform the operation as planned, and in the middle of the operation from the work site 3b to the released land 3c, the turning direction is suddenly changed and the unmanned excavator 2 heads for the work site 3b again. It is possible to set so as not to make such a sudden operation change. Therefore, since the operation of the unmanned excavator 2 is easier to predict than the operation of the manned excavator 2, the working body area A of the unmanned excavator 2 can be smaller than the working body area A of the manned excavator 2. ..

By referring to the work body information I ₂ and the space constraint information I ₄ , the work body area definition unit 13 " _workes at a distance of L3 or more between the work bodies" and "the traveling direction in the movable part of the work body". The area from to the point reached after T seconds prohibits the invasion of other working bodies. "," In the moving part of the working body, the area existing up to T'second in the direction opposite to the traveling direction is another. The work body area shape I ₇ is defined in consideration of three restrictions such as "prohibit the intrusion of the work body". Here, the traveling direction is information on whether the unmanned excavator 2 is turning toward the work area 3b or turning toward the released land 3c. Considering the above three restrictions, as shown in FIGS. 12 and 13, the work body area definition unit 13 has the center coordinates X ₁ and Y ₁ of the excavator 2, the work site center coordinates X ₂ and Y ₂ , and the land release center. By determining the coordinates X ₃ and Y ₃ , the safety distance L ₃ , the front work machine length L ₁ , the vehicle body rear length L ₂ , the vehicle body width W, the turning angle θ, the future safety time T, and the past safety time T'. The work body region shape I ₇ can be defined.

<Work body area arrangement unit 14>
The work body area arranging unit 14 arranges the work body area A in the work site 3 based on the work body information I ₂ , the purpose information I ₃ , the work information I ₆ and the work body area shape I ₇ described above. As a result, a work plan P that specifies the position of the work body at each time is drawn up. The work body area arranging unit 14 formulates a work plan P by determining the position of the work body and the work body area shape I ₇ from the start of the work to the end of the work in chronological order. Hereinafter, the details of the process of determining the type and number of the work bodies to be input to each work described in the work information _I6 by the work body area arrangement unit 14 and then determining the arrangement positions of the work body and the work body area A will be described. explain.

First, the work body area arranging unit 14 is based on the amount of work of each work described in the work information I ₆ and the amount of soil that the work body can work on per unit time described in the work body information I ₂ . ) Estimate the time required to complete the work and the cost required for the entire work by determining the two types of work units to be put into each work and the number of work bodies and (2) the start time of each work. ..

Next, the work body area arranging unit 14 takes all combinations of "(1) the type and number of work bodies to be put into each work" and "(2) the start time of each work" until the end of the work. Estimate the time and cost of the entire work.

Then, the combination that most satisfies the target data described in the target information I ₃ is specified, and the optimized work information I ₈ is recorded in association with the work ID. Further, as a method for calculating the combination that most satisfies the target data described in the target information _I3 , an optimization method such as simulated annealing or a genetic algorithm can be used. Further, the work body area arranging unit 14 reads the related work associated with the work ID based on the work information I ₆ , and records the related work associated with the optimized work information I ₈ in association with the work ID.

Regarding soil transportation, the work in which the transportation routes 3a intersect at the same time is also linked to the work ID as related work and recorded _in the optimized work information I8. The work body area arrangement unit 14 reads the work ID whose work type is soil transportation from the optimized work information _I8 , and calls the ID of the transportation route 3a where the soil transportation is performed from the work information _I6 . In addition, the coordinate information of the transportation route ID is called based on the transportation route data. Since the coordinates of the transportation route 3a used for soil transportation recorded _in the optimized work information I8 are known from the above means, the work start time and the work end time recorded _in the optimized work information I8 are known. By studying together with, it is possible to determine the work in which the transportation routes 3a intersect at the same time. Table ₁₄ is a table showing the optimized work information I8 recorded by the work body area arrangement unit 14.

<Arrangement method of work body area>
Next, a method of arranging the work body area A in the work site 3 by using the work body area arrangement unit 14 will be described. 13 and 14 are flowcharts showing a method of arranging the working body area A by the working body area arranging unit 14. Although both figures are flowcharts showing a series of processes, steps S1 to S4 and S13 to S14 are shown in FIG. 13, and steps S5 to S12 are shown in FIG.

In step S1, first, based _on the optimized work information I8, all the work is arranged in the order of the earliest start time, so that the unselected work list I9, which is a list of work groups to which the work body is not yet arranged, is _displayed . create. Table ₁₅ is a table showing an input example of the unselected work list I9. Then, the work at the head of the unselected work list I ₉ is selected and recorded in the selected work list I ₁₀ . For example, in the case of Table 15, work 5 is recorded in the selected work list I ₁₀ . The selected work list I ₁₀ is a list of work groups in which the work body area A is arranged in steps S5 to S12.

In step S2, the related work described in all the work described in the selected work list I ₁₀ is read based on the optimized work information I ₈ .

In step S3, it is determined whether or not the read related work includes related work that is not listed in the selected work list _I10 . If present, the process proceeds to step S4. If it does not exist, the process proceeds to step S5. That is, step S3 is a step of repeating the process until all the existing related works are extracted. Table 16 is a table showing an input example of the selection work list I ₁₀ . In this Table 16, work 2 and work 3 which are related works of work 5 are already recorded in the selected work list I ₁₀ , but work 4 which is a related work of work 3 is still recorded in the selected work list I ₁₀ . Since it has not been done, it is necessary to proceed to step S4 next.

In step S4, the related work not listed in the selected work list I ₁₀ is recorded in the selected work list I ₁₀ , and the process returns to step S2 again. In the case of Table 16, the work ₄ is recorded in the selected work list I10, and the process returns to step S2 again.

In step S5, the earliest work start time among all the works in the selected work list I ₁₀ is set to time t.

In step S6, the work to be performed at time t is selected from all the work in the selected work list _I10 , and all the work bodies to be input to the selected work are input based _on the optimized work information I8. Record on body list I ₁₁ . Table 17 is a table showing an input example of the input work body list I ₁₁ .

In step S7, one work body is selected from the input work body list I ₁₁ based on the work body information I ₂ and the work body area shape I ₇ , and the position of the work body is determined to determine the position of the work body. The placement position of the work body area A is determined and recorded in the work plan P.

In step S8, the work body arranged from the input work body list I ₁₁ is deleted.

In step S9, it is determined whether or not the information of the work body whose arrangement has not been completed exists in the input work body list I ₁₁ . If present, the process returns to step S7. If it does not exist, the process proceeds to S10.

In step S10, the progress rate of each work at time t is calculated. The work progress rate is calculated from the work amount described in the work information I ₆ and the excavation capacity described in the work body information I ₂ .

In step S11, if there is a work whose work progress rate is 100% among all the works described in the selected work list I ₁₀ , the work is deleted from the selected work list I ₁₀ .

In step S12, it is determined whether or not there is a description of the work in the selected work list I ₁₀ . If there is a description, the time t is advanced by 1 second and the process returns to step S6. If there is no description, the process proceeds to step S13.

In step S13, the work described in the selected work list I ₁₀ is deleted from the unselected work list I ₉ .

_In step S14, it is determined whether or not there is a description of the work in the unselected work list I9. If there is a description, carry out S1 again. If there is no description, the process ends.

By the above method, the position of the working body and the position of the working body area A at each time can be determined. The position of the work body, the position of the work body area A, and the work progress rate at each time are recorded as the work plan P.

<Work plan evaluation department 15>
The work plan evaluation unit 15 evaluates whether the work plan P satisfies the constraint specified in the purpose information I ₃ based on the work plan P and the purpose information I ₃ . Based on the purpose information _I3 , the work plan evaluation unit 15 "(1) specifies the work period and minimizes the work cost", "(2) specifies the upper limit of the work period and minimizes the work cost", It is evaluated whether the work plan P satisfies the target data such as "(3) Specify the upper limit of the work cost and minimize the work period".

When "(1) Designate the work period and minimize the work cost" is selected as the target data, the work plan evaluation unit 15 uses whether or not the work plan P has the specified work period as an evaluation standard. Similarly, when "(2) Specify the upper limit of the work period and minimize the work cost" is selected, the evaluation standard is whether the work plan P is completed within the upper limit of the work period, and "(3) When "Specify the upper limit of the work cost and minimize the work period" is selected, the evaluation standard is whether the construction plan 5 is equal to or less than the upper limit of the work cost.

In this way, the work plan evaluation unit 15 determines whether the work plan P satisfies the evaluation criteria. If the work plan P does not meet the evaluation criteria, the planner M is informed that the work plan P according to the input target information I ₃ cannot be drafted. In addition, the planner M is requested to relax at least one of the design information I ₁ , the work body information I ₂ , the purpose information I ₃ , the space constraint information I ₄ , and the time constraint information I ₅ . Changes one or more pieces of information through the input interface IF of the information acquisition unit 10 shown in FIG. After the change, the work planning system 1 newly formulates the work plan P. When the work plan P satisfies the evaluation criteria, the work plan P is input to the work plan output unit 16.

<Work plan output unit 16>
The work plan output unit 16 calculates output information I ₁₂ such as a work plan table and a work plan simulation based on the work plan P so that the planner M can clearly grasp the contents of the work plan P, and displays it on the display D. draw. The work plan table is a process chart that specifies the position coordinates of the work body and the work contents at each time. Further, the work plan simulation shows the time change of the position of each work body and the work body area, which can convey to the planner M that the work body can perform the work without interference of other work bodies according to the contents of the work plan P. It is video or electronic data.

FIG. 15 is a diagram showing a situation in which the result of the work plan simulation is drawn on the display D as an output example of the work plan P. In the work plan simulation, based on the work plan P, the result of reproducing the work body and the work body area A on the three-dimensional space consisting of the X-axis, the Y-axis, and the time axis on the plane is drawn on the display D, and the work is performed. By showing that the body areas A do not overlap at all times, it is planned that the work body area arrangement unit 14 calculates the work plan P in compliance with the space constraint information I ₄ and the time constraint information I ₅ . It is clearly shown to person M. Although the work plan P was output to the display D in FIG. 15 on the three-dimensional space consisting of the X-axis, the Y-axis, and the time axis, the work plan was output on the three-dimensional space consisting of the X-axis, the Y-axis, and the Z-axis. P may be output.

Further, by drawing the movement of the work body and the change of the work body area A on the display D, it becomes possible to make the planner M understand the stage in which the work is performed, and the work plan P can be understood. Can be shown to the planner M. Further, in the case of civil engineering construction, the current terrain and the terrain data that is the target of the construction may be drawn at the same time as the work body and the work body area A. Further, the output of the work plan table is not limited to the display D, and may be output on paper by, for example, a printer.

As described above, according to the work planning system of this embodiment, it is possible to formulate a work plan for each work body at a work site where there are multiple construction sites such as filled land and cut land. It is possible to formulate an efficient work plan as a whole.

1 Work planning system 10 Information acquisition unit 10a Design information acquisition unit 10b Work unit information acquisition unit 10c Purpose information acquisition unit 10d Spatial constraint information acquisition unit 10e Time constraint information acquisition unit 11 Work information determination unit 12 Spatial constraint information conversion unit 13 Work unit Area definition part 14 Work body area arrangement part 15 Work plan evaluation part 16 Work plan output part 2 Excavator 21 Front work machine 21a Boom 21b Arm 21c Bucket 21d Boom cylinder 21e Arm cylinder 21f Bucket cylinder 22 Body 22a Running hydraulic motor 22b Lower running body 22c Swing hydraulic motor 22d Upper swivel body 2o Swing center 3 Work site 3a Transportation route 3b Work site 3c Free land 3d Cut land group 3e Sheng land group 4 Dump A Work body area P Work plan I ₁ Design information I ₂ Work body information I ₃ Purpose information I ₄ Spatial constraint information I ₅ Time constraint information I ₆ Work information I ₇ Work body area shape I ₈ Optimized work information I ₉ Unselected work list I ₁₀ Selected work list I ₁₁ Input work body list I ₁₂ Output information

Claims (6)

A work planning system that creates a work plan using multiple work bodies.
Information acquisition to acquire work body information indicating the specifications of the work body, space constraint information including a distance constraint between work bodies, and time constraint information including a time constraint representing the space occupancy of the work body in time. Department and
A work body area definition unit that defines the shape of the work body area in which the work body to be input to each work operates based on the work body information, the space constraint information, and the time constraint information.
By arranging the work body areas of each work body so as not to overlap over the entire time of the work, the work body area arrangement unit for creating the work plan and the work body area placement unit
A work planning system characterized by being equipped with. In the work planning system of claim 1,
Further, it is provided with a spatial constraint information conversion unit that converts the time constraint information into spatial constraint information.
The work body area definition unit is a work planning system characterized in that the shape of the work body area is defined based on the space constraint information converted by the space constraint information conversion unit. In the work planning system of claim 1,
Further, it is provided with a work plan output unit that calculates a simulation result based on the work plan and draws it on a display or a printer.
A work planning system characterized in that a simulation result showing a position of the work body and a time change of the work body region is drawn on the display. In the work planning system of claim 1,
The work body area definition unit is a work planning system characterized in that the shape of the work body area is changed according to whether the work body is a manned machine or an unmanned machine. In the work planning system of claim 4,
The work body area definition unit defines the shape of the work body area from the movable range of the work body.
In a manned machine, the work area is defined so as to include at least the work area.
An unmanned aerial vehicle is a work planning system characterized in that the work body area is defined by the moving direction of the unmanned aerial vehicle. It is a work planning method that creates a work plan using multiple work bodies.
A step of acquiring work body information indicating the specifications of the work body, space constraint information including a distance constraint between the work bodies, and time constraint information including a time constraint representing the space occupancy of the work body in time. ,
Based on the work body information, the space constraint information, and the time constraint information, a step of defining the shape of the work body area in which the work body to be input to each work operates, and
By arranging the work body areas of each work body so as not to overlap over the entire work time, the step of creating the work plan and the step
A work planning method characterized by providing.

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