JP2022064219A - Motion control system - Google Patents

Abstract

To provide a motion control system capable of preventing delay of overall excavation work by avoiding collisions between multiple excavators during autonomous driving.SOLUTION: The motion control system controls the motion of multiple excavators 100 inside a workroom 2 used in the pneumatic caisson method. The motion control system includes: failure detection means that detects a failure of an excavator 100-2 out of the multiple excavators 100; and action control means that controls the other excavator 100 to avoid contact with the excavator 100-2 when the failure of the excavator 100-2 is detected by the failure detection means.SELECTED DRAWING: Figure 8

Description

The present invention relates to an operation control system for controlling the operation of a plurality of excavators in a work room used in the pneumatic caisson method.

In recent years, the pneumatic caisson method has been used to meet the needs for the increase in underground infrastructure equipment in the city. In the pneumatic caisson method, a work room is provided in the caisson frame, and the caisson is gradually subsided while excavating and excavating soil in the work room. As the work room becomes deeper in the ground, it is necessary to increase the air pressure in the work room, and the work environment deteriorates. Therefore, there is a problem that the working time is limited in order to prevent the atmospheric pressure disorder of the worker. In order to solve this problem, it is common to unmanned the work room including automatic excavation by remote control from the ground.

Further, in a field other than the pneumatic caisson, for example, Patent Document 1 is known as a document relating to the use of an automatic guided vehicle at a work site. Patent Document 1 discloses an example in which a plurality of unmanned vehicles travel in a course area. Not only unmanned vehicles but also multiple manned vehicles are running in the course area, and cargo may fall from unmanned or manned vehicles while driving, and the dropped cargo may become an obstacle for unmanned vehicles. .. Alternatively, the deterioration of these road surface conditions can be an obstacle due to the appearance of rocks, holes, and muddy areas on the traveling course. Therefore, the traveling course has been corrected by updating the obstacle data so that the automatic guided vehicle does not interfere with the obstacle.

Japanese Patent No. 5162795

By the way, for example, in the pneumatic cason method in which a plurality of excavators in the work room are remotely controlled from a remote control room provided on the ground, the number of cameras installed in the excavator is limited and the field of view of the cameras is narrow. In addition, when operating excavators from the remote control room, there is a high possibility that the excavators will collide with each other and some excavators will break down. Therefore, there is a problem that another excavator comes into contact with the failed excavator, which causes a delay in the excavation work.

Therefore, the present invention has been devised in view of the above-mentioned problems, and an object thereof is to avoid a collision between a plurality of excavators during automatic operation and prevent a delay in the entire excavation work. The purpose is to provide an operation control system that can be used.

The motion control system to which the present invention is applied is a motion control system that controls the motion of a plurality of excavators in a work room used in the pneumatic cason method, and is a failure detection that detects a failure of one of the plurality of excavators. It is characterized by comprising means and motion control means for controlling the other excavator so as to avoid contact with the excavator when the failure of the one excavator is detected by the failure detecting means.

According to the present invention having the above-described configuration, when one excavator fails in the work room, the other excavators continue the work while avoiding the failed excavator. As a result, even in an automation system such as a factory, it is possible to prevent work delays without stopping the entire system.

FIG. 1 is a vertical sectional view showing the main equipment of the pneumatic caisson method according to the embodiment of the present invention. FIG. 2 is a side view of an excavator which is an example of a working machine according to an embodiment of the present invention. FIG. 3 is a block diagram showing a control system in the excavator according to the embodiment of the present invention. FIG. 4 is a side view of the work room. FIG. 5 is a plan view of the working room. FIG. 6 is a schematic view of a work room divided into a plurality of areas. FIG. 7 is a flowchart showing an example of the operation of the operation control system according to the embodiment of the present invention. FIG. 8 is a schematic diagram showing an intrusion prohibition region according to an embodiment of the present invention.

Hereinafter, the motion control system to which the present invention is applied will be described in detail with reference to the drawings.

FIG. 1 is a diagram showing an example of a main facility of a pneumatic caisson method in which an excavator, which is an example of a working machine according to the present invention, is used. In the pneumatic caisson method, the reinforced concrete caisson 1 is submerged underground using the excavation equipment E1, the equipment equipment E2, the soil removal equipment E3, the air supply equipment E4, and the reserve / safety equipment E5. Build a structure.

The excavation equipment E1 includes, for example, an excavator 100 (hereinafter referred to as a caisson excavator 100), an automatic earth and sand loading device 11, and a ground remote control room 13. The caisson excavator 100 is installed in the work room 2 provided at the bottom of the caisson 1. The earth and sand automatic loading device 11 loads the earth and sand excavated by the caisson excavator 100 into the cylindrical earth bucket 31. The ground remote control room 13 includes a remote control device 12 that remotely controls the operation of the caisson excavator 100 from the ground.

The fitting equipment E2 includes, for example, a man shaft 21, a man lock 22 (airlock), a material shaft 23, and a material lock 24 (airlock). The man shaft 21 is a cylindrical passage connecting the ground and the work room 2 for an operator to enter and exit the work room 2, and is provided with, for example, a spiral staircase 25. The man lock 22 is an airtight door having a double door structure provided on the man shaft 21 to adjust the atmospheric pressure on the ground and the pressure difference in the work room 2. The material shaft 23 is a cylindrical passage connecting the ground and the work room 2 in order to carry the earth bucket 31 on which the earth and sand are loaded by the earth and sand automatic loading device 11 to the ground. The material lock 24 is an airtight door having a double door structure that adjusts the atmospheric pressure on the ground and the pressure difference in the work room 2 provided on the material shaft 23 for loading and unloading materials and the like. The man lock 22 and the material lock 24 are configured so that the worker and the earth bucket 31 can move in and out of the work room 2 while suppressing the change in the air pressure in the work room 2.

The soil removal equipment E3 includes, for example, an earth bucket 31, a carrier device 32, and a soil hopper 33. The earth bucket 31 is a bottomed cylindrical container in which earth and sand excavated by the caisson excavator 100 are loaded. The carrier device 32 is a device that pulls up the earth bucket 31 to the ground via the material shaft 23 and carries it out. The earth and sand hopper 33 is a facility for temporarily storing the earth and sand carried to the ground by the earth bucket 31 and the carrier device 32.

The air supply equipment E4 includes, for example, an air compressor 42, an air purifier 43, an air supply pressure adjusting device 44, and an automatic depressurizing device 45. The air compressor 42 is a device that sends compressed air into the working room 2 through the air supply passage 3 formed in the air supply pipe 41 and the caisson 1. The air purifying device 43 is a device that purifies the compressed air sent by the air compressor 42. The air supply pressure adjusting device 44 is a device that adjusts the amount (pressure) of the compressed air sent from the air compressor 42 into the working room 2 so that the air pressure in the working room 2 becomes substantially equal to the ground water pressure. The automatic decompression device 45 is a device that decompresses the air pressure in the man lock 22.

The spare / safety equipment E5 includes, for example, an emergency air compressor 51 and a hospital lock 53. The emergency air compressor 51 is a device capable of sending compressed air into the work room 2 in place of the air compressor 42 in the event of a failure or inspection of the air compressor 42. The hospital lock 53 is a decompression chamber for a worker who has worked in the work room 2 to enter and gradually acclimatize the worker's body to atmospheric pressure.

Next, the caisson excavator 100 according to the present invention will be described with reference to FIGS. 2 to 3. As shown in FIG. 2, the caisson excavator 100 includes, for example, a traveling body 110, a boom 130, and a bucket attachment 150. The traveling body 110 is attached to a pair of left and right traveling rails 4 provided on the ceiling of the work room 2, and travels along the traveling rails 4 while being suspended from the left and right traveling rails 4. The boom 130 is pivotally connected to the turning frame 121 of the traveling body 110 so as to be swingable in the vertical direction. The bucket attachment 150 is attached to the tip of the boom 130.

The traveling body 110 includes a traveling frame 111, a turning frame 121, and a traveling roller 113. The swivel frame 121 is provided on the lower surface side of the traveling frame 111 so as to be swivelable. The traveling roller 113 is four rollers on the front, rear, left, and right provided on the front and rear on the upper surface side of the traveling frame 111. The traveling body 110 is configured to rotate and drive the traveling rollers 113 in the front-rear and left-right directions to travel along the left and right traveling rails 4.

The boom 130 includes, for example, a base end boom 131, a tip end boom 132, a telescopic cylinder 133, and an undulating cylinder 134. The base end boom 131 is attached to the swivel frame 121 so as to be undulating (swingable in the vertical direction). The tip boom 132 is nested and configured with the proximal boom 131. The telescopic cylinder 133 is provided in the base end boom 131. Two undulating cylinders 134 are provided on the left and right sides of the base end boom 131. The boom 130 is configured such that when the telescopic cylinder 133 is expanded and contracted, the tip boom 132 moves in the longitudinal direction with respect to the proximal boom 131, whereby the boom 130 expands and contracts. The base ends of the two undulating cylinders 134 are rotatably attached to the left and right sides of the base end boom 131, respectively.

The bucket attachment 150 includes a base member 151, a bucket 152, and a bucket cylinder 153. The base member 151 is attached to the tip boom 132. The bucket 152 is attached to the tip of the base member 151 so as to be swingable up and down. The bucket cylinder 153 is configured to swing the bucket 152 up and down with respect to the base member 151.

As shown in FIG. 3, the control unit 165 includes a main controller 165a, a traveling body controller 165b, and a boom / bucket controller 165c. The main controller 165a receives an operation signal from the remote control device 12 and outputs a drive control signal corresponding to the operation signal. The vehicle controller 165b is configured to drive the vehicle 110 in response to a drive control signal output from the main controller 165a. The main controller 165a and the traveling body controller 165b are arranged on the turning frame 121 of the traveling body 110. The boom / bucket controller 165c is configured to drive the boom 130 and the bucket attachment 150 in response to the drive control signal output from the main controller 165a. The boom bucket controller 165c is arranged on the side of the base end boom 131 of the boom 130.

As shown in FIG. 3, the cason excavator 100 includes, for example, a traveling body position sensor 201, a turning angle sensor 202, a boom undulation angle sensor 203, a boom extension amount sensor 204, a bucket swing angle sensor 205, and the outside world. It is equipped with a sensor 206. The traveling body position sensor 201 detects the position of the traveling body 110 on the traveling rail 4. The turning angle of the turning frame 121 with respect to the turning angle sensor 202 and the traveling frame 111 is detected. The boom undulation angle sensor 203 detects the undulation angle of the boom 130 with respect to the swivel frame 121. The boom extension amount sensor 204 detects the extension amount of the boom 130. The bucket swing angle sensor 205 detects the swing angle of the bucket 152 with respect to the boom 130 (base member 151 of the bucket attachment 150). The outside world sensor 206 is provided on the traveling body 110 and acquires information such as the distance to the excavated ground G in the work room 2 and the shape of the excavated ground G.

The traveling body position sensor 201 is composed of, for example, a laser sensor arranged on the traveling frame 111 of the traveling body 110. The traveling body position sensor 201 irradiates the laser beam toward the end of the traveling rail 4 (or the wall of the working room 2) and reflects the laser light at the end of the traveling rail 4 (or the wall of the working room 2). Measure the time it takes to return. The traveling body position sensor 201 detects the distance from the end portion of the traveling rail 4 (or the wall portion of the work room 2) to the traveling body 110 based on this time. The turning angle sensor 202 is composed of, for example, an optical rotary encoder arranged on the turning frame 121 of the traveling body 110. The turning angle sensor 202 converts the turning amount of the turning frame 121 with respect to the traveling frame 111 into an electric signal. The turning angle sensor 202 calculates and processes the signal to detect the turning angle (turning direction and position) of the turning frame 121. The traveling body position sensor 201 and the turning angle sensor 202 have been described as an example, and other sensors for detecting the two-dimensional position of the traveling body and other sensors for detecting the turning angle of the turning frame 121 are used, respectively. You may.

The boom undulation angle sensor 203 is composed of, for example, a laser sensor arranged on the side of the cylinder bottom of the undulation cylinder 134. The boom undulation angle sensor 203 irradiates the laser beam toward the swivel frame 121 and measures the time until the laser beam is reflected by the swivel frame 121 and returned. The boom undulation angle sensor 203 detects the extension amount of the undulation cylinder 134 based on this time, and detects the undulation angle (undulation position) of the boom 130 with respect to the swivel frame 121 based on the extension amount of the undulation cylinder 134. The boom undulation angle sensor 203 also describes an example, and another sensor that directly detects the undulation angle of the boom 130 by an optical rotary encoder, a potentiometer, or the like may be used.

The boom extension amount sensor 204 is composed of, for example, a laser sensor disposed on the base end boom 131 of the boom 130. The boom extension amount sensor 204 irradiates a laser beam toward the base member 151 of the bucket attachment 150 attached to the tip of the tip boom 132, and measures the time until the laser beam is reflected by the base member 151 and returned. The boom extension amount sensor 204 detects the extension amount of the boom 130 (the extension amount of the tip boom 132 with respect to the proximal boom 131) based on this time. The boom extension amount sensor 204 also describes an example, and another sensor that directly measures the extension amount of the cable that expands and contracts with the expansion and contraction of the boom may be used.

The bucket swing angle sensor 205 is composed of, for example, a flow rate sensor arranged in an oil passage of the bucket cylinder 153. The bucket swing angle sensor 205 detects the flow rate of the hydraulic oil supplied to the bucket cylinder 153 and calculates the integrated value of the flow rate. The bucket swing angle sensor 205 obtains the extension amount of the piston rod of the bucket cylinder 153 based on this flow integral value, and based on the extension amount of the bucket cylinder 153, the extension amount with respect to the base member 151 (boom 130) of the bucket attachment 150. The swing angle (swing position) of the bucket 152 is detected. The bucket swing angle sensor 205 also explains an example, and another sensor that directly detects the swing angle of the bucket 152 by an optical rotary encoder, a potentiometer, etc., and a laser sensor that obtains the extension amount of the bucket cylinder 153. Sensor may be used.

The external world sensor 206 is composed of, for example, an RGB-D sensor arranged on the turning frame 121 of the traveling body 110. The outside world sensor 206 acquires RGB images (color images) and distance images of the excavated ground G and the caisson excavator 100, and acquires distance information to the excavated ground G and shape information of the excavated ground G based on these images. As another example of the RGB-D sensor, the external world sensor 206 may use a stereo camera, an ultrasonic rangefinder, a laser sensor, or the like.

Information detected by the traveling body position sensor 201, the turning angle sensor 202, the boom undulation angle sensor 203, the boom extension amount sensor 204, the bucket swing angle sensor 205, and the outside world sensor 206 is transmitted to the main controller 165a of the control unit 165. Will be sent. The main controller 165a includes a traveling body position measuring unit 211, a bucket position measuring unit 212, a ground shape measuring unit 213, an image segmenting unit 214, and a failure detecting unit 215. Further, the motion control system 200 according to the present embodiment includes an external world sensor 206, an image segmentation unit 214, and a failure detection unit 215.

The traveling body position measuring unit 211 includes distance information from the end portion (or the wall portion of the working room 2) of the traveling body 4 detected by the traveling body position sensor 201 to the traveling body 110, and the traveling body position 4 is the working room 2. Information on where the traveling rail is provided (this information is information on the traveling rail 4 to which the traveling body 110 is attached, and when the traveling body 110 is attached, the traveling body position measuring unit is used. (Set to 211) is used to calculate where the traveling body 110 is located in the work room 2. Further, even if the two-dimensional position (the position including the direction of the traveling body 110) in the ceiling of the traveling body 110 is detected by detecting the distance information detected by the traveling body position sensor 201 at a plurality of surrounding locations. good.

The bucket position measuring unit 212 determines the turning angle (turning direction and position) of the turning frame 121 with respect to the traveling frame 111 detected by the turning angle sensor 202, and the undulation of the boom 130 with respect to the turning frame 121 detected by the boom undulating angle sensor 203. Using the angle (undulation position), the extension amount of the boom 130 detected by the boom extension amount sensor 204, and the swing angle (swing position) of the bucket 152 with respect to the boom 130 detected by the bucket swing angle sensor 205. The position of the bucket 152 with respect to the traveling frame 111 of the traveling body 110 is calculated.

The ground shape measuring unit 213 determines the position of the traveling body 110 in the work room 2 determined by the traveling body position measuring unit 211, and the turning angle (turning) of the turning frame 121 with respect to the traveling frame 111 detected by the turning angle sensor 202. By specifying the position of the outside world sensor 206 provided on the swivel frame 121 and the direction in which the distance information is acquired by the outside world sensor 206, the distance information is converted into the ground shape information. ..

The image segmentation unit 214 divides RGB images such as the excavated ground G and the caisson excavator 100 acquired by the outside world sensor 206. For example, the image of the excavated ground G and the caisson excavator 100 in the work room 2 is divided into a plurality of grid-like image regions on the xy plane. The range of the work room 2 to be divided and the number of image areas are not particularly limited.

The failure detection unit 215 detects a failure of a specific caisson excavator 100 among the plurality of caisson excavators 100. The failure detection unit 215 may detect the failure of the caisson excavator 100 when the communication from the specific caisson excavator 100 among the plurality of caisson excavators 100 is interrupted, or the failure detection unit 215 may detect the failure of the specific caisson excavator 100. Failure of the caisson excavator 100 may be detected when control is not possible. Information on the failure of the caisson excavator 100 may be shared by communicating with each other, or the operation control system 200 may centrally and centrally manage the information.

When the failure detection unit 215 detects a failure of a specific caisson excavator 100, the control unit 165 sets an intrusion prohibition area in the work room 2, and the non-failed caisson excavator 100 invades the intrusion prohibition area. It is controlled to avoid contact with the failed caisson excavator 100. Further, when the control unit 165 includes the caisson excavator 100 whose failure is detected by the failure detection unit 215 in any of the areas divided by the image segmentation unit 214, the failure of the other caisson excavator 100 is detected. It is controlled so as to avoid intrusion into the real space in the work room 2 corresponding to the area including the caisson excavator 100. Whether or not the failed caisson shovel 100 is included in any of the divided regions is determined by, for example, whether the failed caisson shovel 100 is included in the plane image data of the work room 2 captured by the outside world sensor 206. The judgment may be made based on whether or not. Further, the control unit 165 extends to the area corresponding to the real space of the work room 2 divided into a plurality of areas of the other caisson excavator 100, which includes the maximum movable range of the caisson excavator 100 in which the failure is detected. Control to avoid intrusion.

FIG. 4 is a side view of the work room 2, and FIG. 5 is a plan view of the work room 2. In the following example, a case where two caisson excavators 100 are suspended on two traveling rails 4 will be described as an example. A caisson excavator 100-1 and a caisson excavator 100-2 are suspended on one traveling rail 4-1 and a caisson excavator 100-3 and a caisson excavator 100-4 are suspended on the other traveling rail 4-2. .. The number of traveling rails 4 provided in the work room 2 and the number of caisson excavators 100 suspended from the traveling rails 4 are not particularly limited.

With traveling along the traveling rail 4 and turning of the boom 130, each caisson excavator 100 occupies a predetermined range in the work room 2. For example, the area X1 is the maximum movable range of the caisson excavator 100-1, the area X2 is the maximum movable range of the caisson excavator 100-2, the area X3 is the maximum movable range of the caisson excavator 100-3, and the area X4 is. It is assumed that the maximum movable range of the caisson excavator 100-4. It is assumed that the maximum movable range of the caisson excavator 100 is set in advance for each caisson excavator 100. The maximum movable range of the caisson excavator 100 may be the same range for all the caisson excavators 100, or may be different for each caisson excavator 100.

FIG. 6 is a diagram in which the image data of the work room 2 is divided into a plurality of areas. As shown in FIG. 6, for example, when the work room 2 is divided into 5 in the x direction and 12 in the y direction along the horizontal plane, the area X1, the area X2, the area X3, and the area set in advance for each caisson excavator 100 are formed. The range occupied by X4 is shown. Region X1 occupies regions from R (1, 2), R (2, 2), R (3, 2) to R (1, 7), R (2, 7), R (3, 7). Region X2 occupies the region from R (1,6), R (2,6), R (3,6) to R (1,11), R (2,11), R (3,11). Region X3 occupies the region from R (3, 2), R (4, 2), R (5, 2) to R (3, 7), R (4, 7), R (5, 7). Region X4 occupies regions from R (4, 6), R (5, 6), R (6, 6) to R (3, 11), R (4, 11), R (5, 11).

Region X1 and region X2 overlap in R (1,6), R (2,6), R (3,6), R (1,7), R (2,7), R (3,7). are doing. This indicates that the work areas of the caisson excavator 100-1 and the caisson excavator 100-2 partially overlap. Further, the regions X1 and the regions X3 are R (3, 2), R (3, 3), R (3, 4), R (3, 5), R (3, 6), R (3, 7). Overlaps in. This indicates that the work areas of the caisson excavator 100-1 and the caisson excavator 100-3 partially overlap. Further, the regions X1, the regions X2, the regions X3, and the regions X4 overlap in R (3, 6) and R (3, 7). This indicates that the work areas of the caisson excavator 100-1, the caisson excavator 100-2, the caisson excavator 100-3, and the caisson excavator 100-4 partially overlap. The division of the working room 2 along the horizontal plane is not limited to this.

Next, an example of the operation of the operation control system 200 according to the present embodiment will be described. FIG. 7 is a flowchart showing an example of the operation of the operation control system 200 according to the present embodiment.

In step S110, the outside world sensor 206 captures the plane image data of the work room 2. Specifically, the outside world sensor 206 captures the plane image data (image data of the xy plane) of the excavated ground G and the caisson shovel 100 in the work room 2 as shown in FIG.

In step S120, the image segmentation unit 214 divides the RGB image of the excavated ground G acquired by the outside world sensor 206 and the like. For example, the image dividing unit 214 divides the plane image data of the excavated ground G and the caisson shovel 100 in the work room 2 into a plurality of grid-like image regions on the xy plane as shown in FIG.

In step S130, when a failure occurs in any of the caisson excavators 100 in the work room 2, the failure detection unit 215 detects the failure of the caisson excavator 100. For example, when the communication from the caisson excavator 100-2 is interrupted, or when the caisson excavator 100-2 cannot be controlled, the failure detection unit 215 detects the failure of the caisson excavator 100-2.

In step S140, the control unit 165 controls the caisson excavator 100 so as not to come into contact with the failed caisson excavator 100. Specifically, the control unit 165 controls the intrusion prohibited area of the failed caisson excavator 100-2 so that another caisson excavator 100 does not invade.

The control unit 165 analyzes the plane image data of the excavated ground G and the caisson excavator 100 imaged by the outside world sensor 206, and collates a plurality of grid-like image regions divided by the image dividing unit 214 with the caisson excavator. Determine which position 100 occupies. Alternatively, it may be determined which position the caisson excavator 100 occupies by acquiring the position information of the caisson excavator 100 from the information from the traveling body position sensor 201.

When the information detected by the traveling body position sensor 201, the turning angle sensor 202, or the like of any caisson excavator 100 is no longer transmitted to the control unit 165, the control unit 165 detects the failure of the caisson excavator 100. When the control unit 165 detects a failure of the caisson excavator 100, the control unit 165 collates a plurality of grid-like image areas divided by the image dividing unit 214 based on the image data acquired from the external sensor 206, and collates the failed caisson excavator 100. Identify the area occupied by. The control unit 165 compares the image data of another caisson excavator 100 sequentially acquired from the external world sensor 206 with the image data of the failed caisson excavator 100 each time the image data is acquired from the external world sensor 206. As a result of comparison, when the control unit 165 determines that the distance between the other caisson excavator 100 and the failed caisson excavator 100 is less than a predetermined value, the control unit 165 invades the caisson excavator 100 approaching the failed caisson excavator 100. Notify the approach to the prohibited area. When the distance between the caisson excavators 100 is less than or equal to a predetermined value, or when the distance between the image area of the caisson excavator 100 and the intrusion prohibited area is less than or equal to a predetermined value, another caisson excavator 100 has failed. It may be determined that the excavator has come into contact with the excavator 100, but the present invention is not limited to this. When the control unit 165 determines that there is a caisson excavator 100 notified of the approach to the intrusion prohibited area, the vehicle controller 165b and the boom bucket are used so that the caisson excavator 100 does not collide with the failed caisson excavator 100. It controls the controller 165c.

FIG. 8 shows an example when the caisson excavator 100-2 fails. For example, when the information detected by the traveling body position sensor 201 of the caisson excavator 100-2, the turning angle sensor 202, or the like is no longer transmitted to the control unit 165, the control unit 165 detects the failure of the caisson excavator 100-2. .. When the control unit 165 detects a failure of the caisson excavator 100-2, the control unit 165 collates a plurality of grid-like image regions divided by the image segmentation unit 214 based on the image data acquired from the external sensor 206, and collates the caisson excavator 100. Identify the area occupied by -2. That is, the control unit 165 identifies an area occupied by the caisson excavator 100-2 among the image data of the work room 2 divided into a plurality of areas. For example, in the control unit 165, the caisson excavator 100-2 occupies the regions R (2, 9), R (3, 9), R (2, 10), R (3, 10), R (2, 11). It is specified as an area, and these areas are set as an intrusion prohibited area P (hatched part in the figure). The control unit 165 compares the image data of the caisson excavator 100 sequentially acquired from the outside world sensor 206 with the image data of the caisson excavator 100-2 each time the image data is acquired from the outside world sensor 206. As a result of comparison, when the control unit 165 determines that the distance between the caisson excavator 100 and the intrusion prohibited area P is equal to or less than a predetermined value, the caisson excavator 100 approaching the intrusion prohibited area P is moved to the intrusion prohibited area P. Notify any further approach. The control unit 165 controls the vehicle controller 165b and the boom / bucket controller 165c so that the caisson excavator 100 notified of the approach to the intrusion prohibited area P does not collide with the failed caisson excavator 100-2. The control unit 165 may use the region X2, which is the maximum movable range of the caisson excavator 100-2, as the intrusion prohibition region P.

The control unit 165 updates the work data so that the intrusion prohibited area P is released when the caisson excavator 100-2 starts normal operation. Further, when another caisson excavator 100 fails, the data is updated so that the area corresponding to the caisson excavator 100 becomes the intrusion prohibition area P.

According to the present invention having the above-described configuration, when one caisson excavator 100 fails in the work room, the other caisson excavator 100 can continue the work while avoiding the failed caisson excavator 100. Thereby, for example, when a plurality of caisson excavators 100 are performing excavation work by automatic operation, even if one caisson excavator 100 fails, it is possible to prevent the excavation work from being delayed without stopping the entire system. can. Further, the image data in the work room 2 in which the plurality of caisson excavators 100 are installed is divided into a plurality of areas on the horizontal plane, and the control unit 165 prohibits intrusion including the failed caisson excavator 100 of the other caisson excavators 100. It is controlled so as to avoid invasion into the real space in the work room 2 corresponding to the area P. As a result, the safety of operation of the caisson excavator 100 in the work room 2 can be ensured. When the communication from one caisson excavator 100 is interrupted, the failure of the caisson excavator 100 may be detected. This makes it possible to easily identify the failed caisson excavator 100. Further, when one caisson excavator 100 cannot be controlled, a failure of the caisson excavator 100 may be detected. Thereby, the safety of operation of the caisson excavator 100 other than the failed caisson excavator 100 can be further enhanced. Further, the maximum movable range of the failed caisson excavator 100 may be set as the intrusion prohibition area P. This makes it possible to more reliably avoid contact with the other caisson excavator 100 of one caisson excavator 100.

Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other embodiments, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are also included in the scope of the invention described in the claims and the equivalent scope thereof.

1 Caisson 2 Work room 3 Air supply path 4 Travel rail 11 Automatic sediment loading device 12 Remote control device 13 Ground remote control room 100 Excavator (caisson excavator)
110 Vehicle 130 Boom 150 Bucket attachment 165 Control unit 200 Operation control system 206 External world sensor 214 Image division part 215 Failure detection part G Excavation ground P Intrusion prohibition area

The motion control system to which the present invention is applied is a failure detection system for detecting the failure of one of the plurality of excavators in the motion control system for controlling the motion of a plurality of excavators in the work room used in the pneumatic cason method. The means, the operation control means for controlling the other shovel to avoid contact with the shovel when the failure of the one shovel is detected by the failure detection means , and the plan image data of the work room. The imaging means for imaging and the image dividing means for dividing the plane image data captured by the imaging means into a plurality of regions are provided, and the operation control means is divided into any of the regions divided by the image dividing means. When the one excavator whose failure is detected by the failure detection means is included, the other excavator is controlled so as to avoid intrusion into the real space in the work room corresponding to the area. And.

Claims (5)

In the motion control system that controls the motion of multiple excavators in the work room used in the pneumatic caisson method.
A failure detection means for detecting the failure of one of the above-mentioned plurality of excavators, and
An operation control system including an operation control means for controlling another excavator so as to avoid contact with the excavator when the failure of the one excavator is detected by the failure detection means. An imaging means for capturing the planar image data of the work room, and
An image segmentation means for dividing the plane image data captured by the image pickup means into a plurality of regions is provided.
When the one shovel whose failure is detected by the failure detecting means is included in any of the regions divided by the image segmenting means, the motion control means corresponds to the other excavators in the area. The operation control system according to claim 1, wherein the operation control system is controlled so as to avoid intrusion into the real space in the work room. The operation control system according to claim 1 or 2, wherein the failure detecting means detects a failure of the excavator when communication from the excavator is interrupted. The operation control system according to claim 1 or 2, wherein the failure detecting means detects a failure of the excavator when the excavator cannot be controlled. The motion control means avoids intrusion into the area including the maximum movable range of the one excavator among the areas corresponding to the real space of the work room divided into the plurality of areas of the other excavator. 2. The operation control system according to claim 2, wherein the operation control system is controlled.

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