JP2022088116A - Information sharing system and information sharing method for cooperative work of a plurality of caisson excavators - Google Patents

Abstract

To provide an information sharing system and an information sharing method for cooperative work of a plurality of caisson excavators allowing an excavation plan on an entire working room to be carried out through efficient cooperative work while preventing collision of the plurality of caisson excavators to allow soil to be moved to a target place.SOLUTION: An information sharing system (10) for cooperative work of a plurality of caisson excavators (100) is provided with a plurality of computers (C1 to C3) equipped on the plurality of caisson excavators, respectively, and an integrated PC (C0) redistributing information collected from the plurality of computers to each of the computers after mapping the information, wherein the integrated PC and each of the computers are configured to communicate with each other through by wired or wireless communication, and either of storage devices of the integrated PC and each of the computers store ground information about the shape of the excavated ground and allows the integrated PC and each of the computers to access the ground information.SELECTED DRAWING: Figure 7

Description

The present invention relates to an information sharing system and an information sharing method for a plurality of collaborative work of a caisson excavator.

Conventionally, in order to construct pier foundations, underground tunnels, underground structures, etc., which are seen in the construction of transportation infrastructure, the pneumatic caisson method that can secure a vast space underground has been used. The pneumatic caisson method constructs a box made of reinforced concrete with a bottomed square cylinder called a caisson, eliminates the ingress of groundwater at high pressure, and has a caisson excavator (hereinafter, also referred to simply as a caisson excavator). ) Is used to excavate the ground surface under the bottom slab and sink the caisson itself to secure a space for constructing the structure underground.

Since such a pneumatic caisson method eliminates the ingress of groundwater and excavates in a dry environment, when excavation work is performed with a manned excavator, a person moves from the high pressure work room under the caisson bottom slab to atmospheric pressure. There is a risk of developing decompression sickness when decompressing, and there is a problem that it is dangerous.

Therefore, in recent years, the mainstream of the pneumatic caisson method is to operate a caisson excavator remotely from the ground to perform excavation work. It is also being attempted to go further and automate the excavation work of the caisson excavator by automatic operation.

However, in order to realize the automatic operation of the caisson excavator, (1) the movements of multiple caisson excavators compete with each other, resulting in inefficiency or collision accident. (2) Only one caisson excavator. It is necessary to solve problems such as not being able to make an excavation plan for the entire work room, and (3) being unable to move the earthen mountain to the desired location due to the limited range of movement with only one caisson excavator. There is.

For example, in Patent Document 1, the predicted operation locus of the traveling body, the boom and the bucket is calculated based on the positions of the traveling body, the boom and the bucket detected by the sensor and the like proposed by the applicant of the present application and the operation command. A Kason excavator provided with a collision determination unit for determining whether or not the calculated predicted operation locus overlaps with the predicted operation locus of another working machine is disclosed (claims of Patent Document 1). Claim 1, the paragraphs [0067] to [0074] of the specification, FIG. 4 of the drawing, etc.).

However, the collision determination unit of the caisson excavator described in Patent Document 1 of the traveling body 110, the boom 130, and the bucket 152 is based not only on the information from the sensor or the like but also on the work operation signal from the remote control device 12. It was to calculate the predicted operation trajectory. Therefore, the invention described in Patent Document 1 cannot be directly applied to the automatic operation of the caisson excavator, and is an information sharing system for a plurality of cooperative work of the caisson excavator that can solve the above three problems. Information sharing methods are desired.

Japanese Unexamined Patent Publication No. 2018-111923

Therefore, the present invention has been devised in view of the above-mentioned problems, and an object thereof is to efficiently perform cooperative work while avoiding collisions between a plurality of caisson excavators in the entire work room. The purpose is to provide an information sharing system and an information sharing method for multiple collaborative work of caisson excavators capable of executing an excavation plan and moving a soil mountain to a desired location.

The information sharing system for a plurality of cooperative work of a Kason excavator according to claim 1 is an information sharing system for a plurality of cooperative work of a Kason excavator, and a plurality of individual units mounted on each of the plurality of Kason excavators. It includes a computer and an integrated PC that aggregates information from these plurality of individual computers and redistributes it to each individual computer by mapping, and the integrated PC and the individual computer can communicate with each other by wire or wirelessly. The storage device of either the integrated PC or the individual computer stores the ground information which is the information about the shape of the excavated ground, and the ground information can be accessed from the integrated PC and the individual computer. It is characterized by being.

The information sharing system for multiple cooperative work of the caisson excavator according to claim 2 is the information sharing system for multiple cooperative work of the caisson excavator according to claim 1, and the ground information is 3 at the top of the earthen mountain. It is characterized by having soil mountain information including at least three-dimensional information, three-dimensional information of the boundary of the earth and mountain, and information of the rest angle θ.

The information sharing system for the multiple cooperative work of the caisson excavator according to claim 3 is the information sharing system for the multiple cooperative work of the caisson excavator according to claim 1 or 2, and the integrated PC is the plurality of said. The feature is that it is also used as one of the individual computers.

The information sharing system for the multiple cooperative work of the Kason excavator according to claim 4 is the information sharing system for the multiple cooperative work of the Kason excavator according to claim 2 or 3, and the distance to the Kason excavator is A sensor is mounted, and the integrated PC or the individual computer recognizes a soil mountain based on the distance information obtained from the distance sensor, and is stored in the storage device as the soil mountain information.

The information sharing system for the multiple cooperative work of the Kason excavator according to claim 5 is the information sharing system for the multiple cooperative work of the Kason excavator according to claim 4, wherein the integrated PC or the individual computer is used. The distance information obtained from the distance sensor is converted into DEM data, and the soil is recognized and stored in the storage device as the soil information.

The information sharing method for the multiple cooperative work of the Kason excavator according to claim 6 is an information sharing method for the multiple cooperative work of the Kason excavator, and a plurality of individual pieces mounted on the plurality of Kason excavators respectively. A computer and an integrated PC that aggregates information from these plurality of individual computers and redistributes them to each individual computer by mapping are provided, and the integrated PC and the individual computer can communicate with each other by wire or wirelessly. The integrated PC and the individual computer are characterized in that the ground information, which is information on the shape of the excavated ground, is stored in the storage device of either the integrated PC or the individual computer, and the ground information is shared by the integrated PC and the individual computer. And.

The information sharing method for the multiple cooperative work of the caisson excavator according to claim 7 is the information sharing method for the multiple cooperative work of the caisson excavator according to claim 6, wherein the caisson excavator has a distance sensor. It is characterized in that it is mounted and the integrated PC or the individual computer recognizes the earthen hill based on the distance information obtained from the distance sensor and shares it as the ground information.

The information sharing method for the multiple cooperative work of the Kason excavator according to claim 8 is the information sharing method for the multiple cooperative work of the Kason excavator according to claim 7, wherein the integrated PC or the individual computer is the same. After converting the distance information obtained from the distance sensor into DEM data, it recognizes the earthen mountain, and the ground information includes at least three-dimensional information on the top of the earthen mountain, three-dimensional information on the boundary of the earthen mountain, and information on the rest angle θ. It is characterized by adding and sharing Tsuchiyama information.

According to the inventions according to claims 1 to 8, it is possible to efficiently carry out collaborative work while avoiding collisions between a plurality of caisson excavators, execute an excavation plan for the entire work room, and move the earth and mountain to a target place. Can be done.

In particular, according to the invention of claim 5 and the invention of claim 8, after recognizing the earthen hill without using a huge amount of data for machine learning and the like, collaborative work is performed by a plurality of cason excavators. The excavation plan for the entire work room can be executed, and the soil can be moved to the desired location.

FIG. 1 is a diagram showing an example of the main equipment of the pneumatic caisson construction method in which the caisson excavator according to the embodiment of the present invention is used. FIG. 2 is a perspective view showing a caisson excavator according to an embodiment of the present invention. FIG. 3 is a block diagram mainly showing a sensor and a control system of an individual computer mounted on the caisson excavator as a control device. FIG. 4 is a schematic diagram showing a method of performing vertex determination and boundary determination from DEM data representing a work room. FIG. 5 is a schematic diagram showing a case where a boundary is determined from an elevation cross-sectional view of DEM data. FIG. 6 is a schematic diagram showing another case of determining the boundary from the elevation cross-sectional view of the DEM data. FIG. 7 is a configuration explanatory diagram schematically showing an outline of the information sharing system according to the embodiment of the present invention. FIG. 8 is a configuration explanatory diagram schematically showing an outline of the information sharing system according to the modified example. FIG. 9 is a flowchart showing the earthen pit excavation algorithm.

Hereinafter, an embodiment of an information sharing system and an information sharing method for a plurality of collaborative work of a caisson excavator according to the present invention will be described in detail with reference to the drawings.

[Caisson's main equipment]
First, with reference to FIG. 1, the main equipment of the caisson excavator and the pneumatic caisson method constituting the information sharing system for the multiple cooperative work of the caisson excavator according to the embodiment of the present invention will be described. FIG. 1 is a diagram showing an example of the main equipment of the pneumatic caisson construction method in which the caisson excavator according to the embodiment of the present invention is used.

As shown in FIG. 1, the pneumatic caisson method uses a reinforced concrete bottomed square tubular box using excavation equipment E1, mounting equipment E2, soil removal equipment E3, air supply equipment E4, and spare / safety equipment E5. It is a construction method to construct an underground structure by submerging the caisson 1 which is a body into the ground.

The excavation equipment E1 includes, for example, a caisson excavator (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 located under the bottom plate 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 mainly a cylindrical passage connecting the ground and the work room 2 in order to carry the earth bucket 31 loaded with earth and sand by the automatic earth and sand loading device 11 to the ground, and carries in and out materials and the like. It is a material carry-in route for the purpose. The material lock 24 is an airtight door having a double door structure provided on the material shaft 23 to adjust the atmospheric pressure on the ground and the pressure difference in the work room 2. 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 earth removal equipment E3 includes, for example, an earth bucket 31, a carrier device 32, and an earth and sand 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 the atmospheric pressure.

[Caisson excavator]
Next, the caisson excavator 100, which is a caisson excavator according to the embodiment of the present invention, will be described with reference to FIGS. 2 and 3. FIG. 2 is a perspective view showing a caisson excavator 100, which is a caisson excavator according to an embodiment of the present invention, and FIG. 3 is mainly a sensor and a control system of an individual computer mounted on the caisson excavator 100 as a control device. It is a block diagram which shows.

As shown in FIG. 2, the caisson excavator 100 includes 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 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 in the proximal boom 131 and is configured to be retractable. 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 end portions of the pair of undulating cylinders 134 are rotatably attached to the left and right side portions of the base end boom 131.

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. In the bucket cylinder 153, the bucket 152 is configured to swing 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 traveling body controller 165b is configured to drive the traveling body 110 in response to the 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 disposed on the side of the base end boom 131 of the boom 130.

(Sensors)
As shown in FIG. 3, the cason excavator 100 includes 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 an outside world sensor 206. And prepare. The traveling body position sensor 201 detects the position of the traveling body 110 on the traveling rail 4. The turning angle sensor 202 detects the turning angle of the turning frame 121 with respect to the traveling frame 111. 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 in the work room 2 and the shape of the ground.

The traveling body position sensor 201 is a traveling distance meter configured by 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 swivel angle sensor 202 is a swivel encoder configured by an optical rotary encoder arranged on the swivel 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 a dump rangefinder configured by 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 a boom range finder configured by a laser sensor arranged 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 a bucket flow meter configured by a flow sensor arranged in the 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 rate integrated 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 is also an example, and the swing angle of the bucket 152 is directly detected by an optical rotary encoder, a potentiometer, or the like, or another sensor that obtains the extension amount of the bucket cylinder 153 by a laser sensor. A sensor may be used.

The outside world sensor 206 is a ground measuring meter composed of an RGB-D sensor (LiDAR: Light Detection and Ranging) arranged on the turning frame 121 of the traveling body 110. The outside world sensor 206 acquires an RGB image (color image) and a distance image of the excavated ground, and acquires distance information to the excavated ground and DEM data of the excavated ground based on these images. As another example of the RGB-D sensor, the external world sensor 206 may use another distance sensor such as a stereo camera, an ultrasonic range finder, or a laser sensor that can acquire distance information from each caisson excavator 100 to the excavated ground. good.

(Individual computer)
The 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 in the individual computer mounted on the caisson excavator 100 includes a traveling body position measurement unit 211, a bucket position measurement unit 212, a DEM data calculation unit 213, a vertex determination unit 214, and a Tsuchiyama boundary determination unit 215. , The angle of repose calculation unit 216, and the like.

As shown in FIG. 3, the traveling body position measuring unit 211 includes distance information from the end portion of the traveling body 4 (or the wall portion of the work room 2) detected by the traveling body position sensor 201 to the traveling body 110, and the said. Information on where the traveling rail 4 is provided in the work room 2 (this information is information on the traveling rail 4 to which the traveling body 110 is attached, and the traveling body 110 is attached. It is sometimes set in the traveling body position measuring unit 211) to calculate where the traveling body 110 is located in the work room 2. Further, even if the two-dimensional position (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 for 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 DEM data calculation 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. Direction and position) are used to specify 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.

Then, the distance information obtained from the outside world sensor 206 is calculated as DEM data representing the surface shape of the excavated ground. Here, the DEM (Digital Elevation Model) data divides the ground surface in the work room 2 into squares (bitmaps) at equal intervals in a plan view, and each square has two-dimensional position information and a center. It refers to data with point height information.

The apex determination unit 214 determines the apex of the earthen mountain from the DEM data calculated by the DEM data calculation unit 213. Specifically, as shown in FIG. 4, the vertex determination unit 214 compares the height information of the target pixel divided into squares of the DEM data with the height information of eight pixels adjacent to the pixel. If the target pixel is high, it is determined that the pixel is the vertex. FIG. 4 is a schematic diagram showing a method of performing vertex determination and boundary determination from DEM data representing the inside of the work room 2. The X direction indicates the long side direction in the work room 2, and the Y direction indicates the short side direction orthogonal to the X direction. Further, the Z direction indicates a vertical direction (the same applies hereinafter).

The vertex determination unit 214 performs the above-mentioned determination operation for each pixel of the DEM data sequentially for all pixels from the end. However, the apex determination unit 214 according to the present embodiment does not perform apex determination in the area around the blade edge, which is an inclined surface in the working room 2 indicated by the shaded portion. Excavation of the area around the blade edge is an extremely important work for safety, which is directly linked to the sinking and tilting of the caisson 1, and the area around the blade edge is not currently considered to be the target area for excavation by the automatic operation of the caisson excavator. Is. The blade edge circumference region may be set in advance, or may be determined to be the blade edge circumference region from the inclination angle (for example, 15 ° or more).

As shown in FIG. 4, the Tsuchiyama boundary determination unit 215 sequentially compares and checks the height information in the pixel in the radial example indicated by the arrow from the pixel determined to be the apex by the apex determination unit 214. However, the inspection direction may be any direction as long as it is radial such as 4 directions or 16 directions. Specifically, as shown in FIG. 5, the Tsuchiyama boundary determination unit 215 is used when the difference in height between adjacent pixels is, for example, 10 mm or less, which is equal to or less than a predetermined reference value according to the ground and excavation conditions. Judged as the boundary of the earthen mountain. The predetermined reference value can be obtained from, for example, the density of the grid of the DEM and the ideal angle of repose of the geology. FIG. 5 is a schematic diagram showing a case where a boundary is determined from an elevation cross-sectional view of DEM data.

However, as shown in FIG. 6, when the pixel to be determined reaches the area around the blade edge, the Tsuchiyama boundary determination unit 215 determines whether or not the height difference between adjacent pixels is equal to or less than a predetermined reference value. Regardless, the pixel in front of it is determined to be the boundary of the earthen mountain. FIG. 6 is a schematic diagram showing another case of determining the boundary from the elevation cross-sectional view of the DEM data.

As shown in FIGS. 5 and 6, the rest angle calculation unit 216 has height information (coordinates in the Z direction) and position information (coordinates in the X direction and coordinates in the Y direction) of the pixels determined to be the vertices by the vertex determination unit 214. ), The height information and the position information of the pixel determined to be the boundary by the Tsuchiyama boundary determination unit 215, and the horizontal distance and the vertical distance of the center points of both pixels are calculated to calculate the rest angle θ.

[Information sharing system]
Next, an information sharing system 10 (hereinafter, also simply referred to as an information sharing system) for a plurality of cooperative work of a caisson excavator according to an embodiment of the present invention will be described. In order to automatically operate the caisson excavator, ground information (including the earth and mountain information described later), which is information on the shape of the excavated ground based on the distance information from each caisson excavator to the excavated ground, and the action being executed are performed. It is necessary to understand and integrate. Therefore, in the information sharing system according to the present embodiment, as described above, one individual computer (C1 to C3) is assigned to each caisson excavator 100, which is a caisson excavator, and the caisson excavator is assigned from those computers. A mother computer C0, which is an integrated PC for integrating information, is provided in the ground remote control room 13 of FIG.

As shown in FIG. 7, the individual computers C1 to C3, ... Of the caisson excavator 100 are configured to be able to communicate with the mother computer C0 by wire or wirelessly. FIG. 7 is a configuration explanatory diagram schematically showing an outline of the information sharing system 10 according to the embodiment of the present invention. The individual computers C1 to C3 and the mother computer C0 are general commercial products equipped with a storage device (CPU: Central Processing Unit), a storage device such as RAM, ROM, EPROM, and EEPROM, an input device, and an output device, respectively. It's a computer.

(Integrated PC: Mother computer)
The mother computer C0, which is an integrated PC, aggregates the information from the individual computers C1 to C3, ..., Maps the information, and redistributes the information to the individual computers C1 to C3, .... In addition, the mother computer C0 sets the action plan of each caisson excavator 100 such as the work command input by the input device, the change of the work range, and the switching between the automatic / manual operation (remote control) of the caisson excavator 100 from the individual computer C1 to the individual computer C1. Notify C3, ...

The information shared by the information sharing system 10, that is, the mother computer C0 and the individual computers C1 to C3, ... Information obtained from the unit 214, the Tsuchiyama boundary determination unit 215, and the rest angle calculation unit 216, the traveling body position sensor 201, the turning angle sensor 202, the boom undulation angle sensor 203, the boom extension amount sensor 204, and the bucket swing. Information obtained from various sensors such as the angle sensor 205 and the external world sensor 206, information obtained via the controller, and the like may be included (see FIG. 3).

Specifically, the mother computer C0 integrates and shares information obtained from the sensors of each caisson excavator 100 transmitted from each individual computer C1 to C3, ..., And positions all caisson excavators 100 as information to be shared. , Posture, speed, etc. are stored in the storage device. These shared information can be accessed from the individual computers C1 to C3, ....

The information shared by the information sharing system 10 includes three-dimensional information on the vertices obtained by the vertex determination unit 214, three-dimensional information on the boundary of the earth and mountains obtained by the earthen mountain boundary determination unit 215, and the angle of repose calculation unit 216. It is preferable to include the soil mountain information having the information of the angle of repose θ of the soil mountain. This is because it is indispensable information when performing multiple cooperative work of caisson excavators automatically.

However, if the earthen mountain information includes the three-dimensional information of the apex of the earthen mountain, the three-dimensional information of the boundary of the earthen mountain, and the information of the rest angle θ, the above-mentioned apex determination unit 214, the earthen mountain boundary determination unit 215, and the rest angle calculation unit It is not limited to the judgment / calculation method described in 216. This is because it is possible to automatically perform multiple cooperative work of the caisson excavator even if it is obtained by other judgment / calculation methods.

Further, it is preferable that the information shared by the information sharing system 10 includes the DEM data obtained by the DEM data calculation unit 213. This is because it is necessary to grasp the shape of the excavated ground in the work room 2. However, the position and angle of the earthen hill may be calculated by edge detection from the information of the distance image obtained by the distance sensor such as the RGB-D sensor (LiDAR: Light Detection and Ranging). It is also possible to calculate the position and angle of the earthen hill by searching the vertices by comparing the height coordinates with the adjacent points directly from the point cloud which is a set of three-dimensional points corresponding to one pixel of the distance image. In addition, the position and angle of the earthen hill can be calculated by approximating the point cloud of the distance image to a polygon, comparing the angles formed with the adjacent surfaces, and searching for vertices. In short, any method may be used as long as the position and angle of the earthen hill can be calculated from the information of the distance image obtained by the distance sensor such as the RGB-D sensor.

Further, for the information shared by the information sharing system 10, a reaction force map showing the hardness of the ground and the ground reaction force can be created and shared by the mother computer C0 based on the information from the pressure sensors provided in each. good. This is because it is useful when formulating an action plan for automatic driving of the caisson excavator 100.

In addition, the information shared by the information sharing system 10 may include obstacle information such as the position / size of rocks, the position / size of a puddle, and the position of a failed caisson excavator 100. This is because it is useful in determining the working range of the automatic operation of the caisson excavator 100.

Further, it is preferable that the information shared by the information sharing system 10 includes the position / orientation information of the caisson excavator 100. This is because it is useful information when the caisson excavator 100 is automatically operated. The position / attitude information of the caisson excavator 100 is information obtained from the traveling body position sensor 201 or the turning angle sensor 202, or a camera image installed in the work room 2 (mounted on the caisson excavator 100 and installed on the ceiling of the work room 2). Information obtained from (regardless of the location of the camera), etc.

Further, the mother computer C0 of the information sharing system 10 identifies the position of each caisson excavator 100 based on the information obtained from the sensors of each caisson excavator 100 transmitted from the individual computers C1 to C3, .... , Mapping consistent with the position information in the work room 2.

Then, the mother computer C0 assigns which earth mountain to be excavated to each caisson excavator 100 based on the earth mountain information and the position of each caisson excavator 100, and the earth mountain information such as the position and height of the earth mountain and the angle of repose of the earth mountain. give. At this time, the mother computer C0 can also assign to each caisson excavator 100 which soil to be excavated so that the working radii do not overlap from the position of each caisson excavator 100.

However, each individual computer C1 to C3, ... Generates an excavation locus during automatic operation of each caisson excavator 100, and the information sharing system 10 stores and shares the excavation locus in any storage device. .. By sharing the excavation trajectories of the caisson excavators 100 during automatic operation, when the excavation trajectories overlap, any one of the caisson excavators 100 on which the excavation trajectories overlap can be set to the waiting mode described later. As a result, the operating rate of a plurality of adjacent caisson excavators 100 can be increased rather than stopping one of the caisson excavators 100 having overlapping work radii, and efficient cooperative work can be performed while avoiding collisions between a plurality of caisson excavators. It is possible to carry out an excavation plan (work plan) for the entire work room 2.

The excavation plan (work plan) is input by the person in charge from the input device of the mother computer C0. For example, when moving the earthen hill, the vicinity of the material shaft 23 which is the discharge destination of the soil in the work room 2, or the plane position (position in the X direction and the Y direction) of the material shaft 23 and the plane of the earthen hill to be excavated. Set the target position for moving the earthen mountain on the straight line connecting the positions and enter it. As a result, the moving target position of the earthen mountain is shared, and the mother computer C0 selects and works on the caisson excavator 100 whose moving target position is within the working radius or which can move to the vicinity of the moving target position. Notify each individual computer C1 to C3, ... Of course, it is preferable that the moving target position of the earthen mountain can be automatically set by the mother computer C0 based on the setting algorithm.

[Information sharing system related to modified examples]
FIG. 8 is a configuration explanatory diagram schematically showing an outline of the information sharing system 10'related to the modified example. As shown in FIG. 8, as the information sharing system 10'related to the modified example of the information sharing system 10, one of the individual computers C1 to C3, ... Of the caisson excavator 100 and the mother computer C0 are wired or wireless. It may be configured so that mutual communication is possible and information is shared between individual computers C1 to C3, .... This is to distribute the load applied to the mother computer C0. Specifically, the data in the storage devices of the individual computers C1 to C3, ... Of the caisson excavator 100 are made accessible to each other. The mother computer C0 may not be provided on the ground, and one of the individual computers mounted on the caisson excavator 100 may be used as the mother computer.

[Multiple collaborative work of caisson excavators]
Next, with reference to FIG. 9, a case where a plurality of collaborative work is automatically performed by the caisson excavator by the above-mentioned information sharing system 10 will be specifically described. An example will be described in which an earthen pit is automatically excavated using an earthen mine excavation algorithm as a collaborative work by a plurality of caisson excavators. FIG. 9 is a flowchart showing the earthen pit excavation algorithm.

In the main earthen mountain excavation algorithm, based on the earthen mountain information shared by the information sharing system 10, the mother combiner C0 assigns which earthen mountain to be excavated by which caisson excavator 100, and the assigned earthen mountain is assigned to a plurality of caisson excavators 100. This is a soil excavation algorithm that automatically excavates until the height drops below a predetermined height.

(1. Mapping mode)
As shown in FIG. 9, in the earthen pit excavation algorithm according to the present embodiment, the mapping mode is first performed. In this mapping mode, based on the DEM data and the Tsuchiyama information obtained from the DEM data calculation unit 213, the vertex determination unit 214, the Tsuchiyama boundary determination unit 215, and the angle of repose calculation unit 216 of each individual computer C1 to C3, ... This is a mode in which the mother computer C0 maps in accordance with the position information of the entire work room 2 and recognizes the earth and mountain.

In this mapping mode, the individual computers C1 to C3, ... Mounted on each caisson excavator 100 recognize the earth and mountain from the DEM data of the excavated ground, and the mother computer C0 is a computer mounted on a plurality of caisson excavators 100. DEM data from and the information of the earthen mountain are integrated, and which earthen mountain is to be excavated to each caisson excavator 100 is assigned based on the input work plan. give.

The specific method for recognizing the earthen hill is as described in the apex determination unit 214, the earthen mountain boundary determination unit 215, and the angle of repose calculation unit 216. However, the apex determination unit 214, the Tsuchiyama boundary determination unit 215, and the angle of repose calculation unit 216 may be provided only in the mother computer C0, not in the individual computers C1 to C3, ... That is, the mother computer C0 receives the sensing information from the sensors of each caisson excavator 100, and as described above, obtains the three-dimensional information of the vertices, the three-dimensional information of the boundary of the earthen mountain, and the information of the rest angle θ of the earthen mountain. You may analyze and calculate.

(2. Moving mode)
As shown in FIG. 9, in the earthen pit excavation algorithm according to the present embodiment, the moving mode is next performed. In this moving mode, according to a command from the mother computer C0, each caisson excavator 100 travels on the traveling rail 4 to a position where the assigned soil can be excavated by the traveling body 110, and drives the turning frame 121. Then, the traveling body 110 is turned in the direction toward the earthen mountain.

(3. Excavating Mode)
As shown in FIG. 9, in the earthen pit excavation algorithm according to the present embodiment, the excavating mode is next performed. This excavating mode is a mode in which the earthen hill assigned to each caisson excavator 100 is actually excavated with an excavation locus according to the height of the earthen mountain via the mother computer C0. The end condition of this mode is that the swing angle of the boom 130 is in the vicinity of 0 °.

(4. Soil removing mode)
As shown in FIG. 9, in the earthen pit excavation algorithm according to the present embodiment, the soil removing mode is next performed. In this soil removing mode, after excavating the soil in the excavating mode, the soil is moved to the soil removal position based on the work plan specified by the mother combiner C0, and the bucket attachment 150 is driven to remove the soil in the bucket 152. Soil or load into a berth bucket. The end condition of this mode is that the boom 130 and the bucket 152 take a posture near 0 ° after the soil is discharged. The soil discharge position is a position input to the mother computer C0 via the input device.

(5. Mapping mode)
As shown in FIG. 9, in the earthen hill excavation algorithm according to the present embodiment, the mapping mode is performed again, and the earthen hill to be excavated is recognized again based on the DEM data and the earthen hill information.

(6. Branching condition 1)
As shown in FIG. 9, in the earthen pit excavation algorithm according to the present embodiment, next, when the height of the earthen hill to be excavated is 40 cm or less as the branching condition 1, the next branching condition 2 is determined and the excavation target is performed. If the height of the earthen hill exceeds 40 cm, the mode shifts to the above-mentioned excavating mode, and excavation is performed according to the excavation trajectory according to the height of the earthen hill.

(7. Branching condition 2)
As shown in FIG. 9, the branching condition 2 is whether or not the soil mountain to be excavated next is assigned from the mother computer C0 to the individual computers (C1, ...) Mounted on the caisson excavator 100.

That is, when the earthen mountain to be excavated next is assigned to the individual computer from the mother computer C0, the moving mode is shifted to the above-mentioned moving mode, and the excavating mode and the soil removing mode are repeated again. On the other hand, if the soil mountain to be excavated next is not assigned to the individual computer from the mother computer C0, the mode shifts to the next waiting mode.

(8. Waiting mode)
The waiting mode is a mode in which the mother computer C0 waits without operating until a new earthen pit for excavation is assigned. When the earthen mountain to be excavated next under the branching condition 2 is assigned to the individual computer from the mother computer C0, the moving mode is shifted to as described above, and the excavating mode and the soil removing mode are repeated again.

According to the information sharing system and information sharing method for multiple cooperative work of caisson excavators described above, the excavation plan for the entire work room can be planned by efficiently performing cooperative work while avoiding collisions between multiple caisson excavators. It can be done and the earthen mountain can be moved to the desired place.

The information sharing system and the information sharing method for the multiple cooperative work of the caisson excavator according to the embodiment of the present invention have been described in detail above, but any of the above-mentioned or illustrated embodiments are used in carrying out the present invention. It merely shows one embodiment that has been embodied. Therefore, the technical scope of the present invention should not be construed in a limited manner by these.

1: Caisson 2: Work room 3: Air supply path 4: Travel rails 10, 10': Information sharing system C0: Mother computer (integrated PC)
C1 to C3: Individual computer 11: Automatic sediment loading device 12: Remote control device 13: Ground remote control room 21: Man shaft 22: Man lock 23: Material shaft 24: Material lock 25: Spiral staircase 31: Earth bucket 32: Carrier device 33: Sediment hopper 41: Air supply pipe 42: Air compressor 43: Air purifier 44: Air supply pressure regulator 45: Automatic decompression device 51: Emergency air compressor 53: Hospital lock 100: Caisson excavator (caisson excavation) Machine)
110: Traveling body 111: Traveling frame 113: Traveling roller 121: Swivel frame 130: Boom 131: Base end boom 132: Tip boom 133: Telescopic cylinder 134: Undulating cylinder 150: Bucket attachment 151: Base member 152: Bucket 153: Bucket Cylinder 165: Control unit 165a: Main controller 165b: Traveling body controller 165c: Bucket controller 201: Traveling body position sensor 202: Turning angle sensor 203: Boom undulation angle sensor 204: Boom extension amount sensor 205: Bucket swing angle sensor 206: External sensor 211: Traveling body position measurement unit 212: Bucket position measurement unit 213: DEM data calculation unit 214: Peak determination unit 215: Tsuchiyama boundary determination unit 216: Rest angle calculation unit E1: Excavation equipment E2: Equipment equipment E3: Soil removal equipment E4: Air supply equipment E5: Safety equipment

The information sharing system for the multiple cooperative work of the Kason excavator according to claim 1 is an information sharing system for the multiple cooperative work of the Kason excavator when the excavation work is performed by the plurality of Kason excavators in automatic operation. A plurality of individual computers mounted on each of the plurality of Kason excavators and generating at least an excavation trajectory during automatic operation of each Kason excavator, and at least the position / orientation information of the Kason excavator from these plurality of individual computers. In addition to aggregating , the position of each cason excavator of the plurality of cason excavators is specified from the aggregated position and orientation information, mapped consistently with the position information in the work room of the cason, and redistributed to each individual computer. An integrated PC for transmitting an action plan of each cason excavator is provided, and the integrated PC and the individual computer are configured to be able to communicate with each other by wire or wirelessly, and each cason excavator of the plurality of cason excavators is configured. Is equipped with a distance sensor and maps to the storage device of either the integrated PC or the individual computer by the integrated PC based on the distance information from each Kason excavator obtained from the distance sensor to the excavated ground. Ground information regarding the shape of the excavated ground that has been integrated is stored, and the ground information can be accessed from the integrated PC and the individual computer , and the individual computer is adjacent to the earthen mountain based on the distance information. It consists of three-dimensional information consisting of height information and position information of the apex, which is a point higher than the specified point, and boundary height information and position information in which the difference in height from the adjacent point of the earthen mountain is equal to or less than the predetermined reference value . The soil mountain information including at least the three-dimensional information and the information of the rest angle θ of the soil mountain is calculated, and the storage device stores the soil mountain information obtained from the plurality of individual computers in addition to the ground information . It is characterized by.

The information sharing system for multiple cooperative work of the caisson excavator according to claim 2 is the information sharing system for multiple cooperative work of the caisson excavator according to claim 1, wherein the integrated PC is the plurality of individual computers. It is characterized in that it is also used as one of the above.

The information sharing system for the multiple cooperative work of the Kason excavator according to claim 3 is the information sharing system for the multiple cooperative work of the Kason excavator according to claim 1 or 2 , wherein the integrated PC or the individual computer is used. Is characterized in that the distance information obtained from the distance sensor is converted into DEM data, the soil is recognized, and the information is stored in the storage device as the soil information.

The information sharing method for the multiple cooperative work of the Kason excavator according to claim 4 is an information sharing method for the multiple cooperative work of the Kason excavator when excavation work is performed by a plurality of Kason excavators in automatic operation. The information is aggregated from a plurality of individual computers mounted on each of the plurality of Kason excavators and at least generating an excavation trajectory during automatic operation of each Kason excavator, and the aggregated information. To identify the position of each cason excavator of the plurality of cason excavators, map it consistently with the position information in the work room of the cason, redistribute it to each individual computer, and convey the action plan of each cason excavator. An integrated PC is provided, the integrated PC and the individual computer are configured to be able to communicate with each other by wire or wirelessly, and a distance sensor is mounted on each cason excavator of the plurality of cason excavators, and the integrated PC is provided. And the ground regarding the shape of the excavated ground that is mapped and integrated by the integrated PC based on the distance information from each cason excavator to the excavated ground obtained from the distance sensor in the storage device of any of the individual computers. Information is stored, and the ground information can be accessed from the integrated PC and the individual computer. Based on the distance information, the height of the apex, which is a point higher than the adjacent point of the earthen hill, is obtained by the individual computer. Three-dimensional information consisting of information and position information, three-dimensional information consisting of boundary height information and position information where the difference in height from the adjacent point of the earthen mountain is less than a predetermined reference value, information on the rest angle θ of the earthen mountain. The integrated PC or the individual computer is characterized in that the earth and mountain information including at least is calculated, and the earth and mountain information obtained from a plurality of the individual computers is added to the ground information and shared .

The information sharing method for the multiple cooperative work of the caisson excavator according to claim 5 is the information sharing method for the multiple cooperative work of the caisson excavator according to claim 4 , wherein the integrated PC or the individual computer is the same. The feature is that the distance information obtained from the distance sensor is converted into DEM data, the earth and mountain are recognized, and the earth and mountain information is added to the ground information and shared.

According to the inventions according to claims 1 to 5 , it is possible to efficiently carry out collaborative work while avoiding collisions between a plurality of caisson excavators, execute an excavation plan for the entire work room, and move the earth and mountain to a target location. Can be done.

In particular, according to the invention according to claim 3 and the invention according to claim 5 , without using a huge amount of data for machine learning and the like, after recognizing the earthen hill, collaborative work is performed by a plurality of cason excavators. The excavation plan for the entire work room can be executed, and the soil can be moved to the desired location.

Claims (8)

An information sharing system for multiple collaborative work of caisson excavators.
It is equipped with multiple individual computers mounted on each of multiple caisson excavators, and an integrated PC that aggregates information from these multiple individual computers and redistributes it to each individual computer.
The integrated PC and the individual computer are configured to be able to communicate with each other by wire or wirelessly.
The storage device of either the integrated PC or the individual computer stores ground information which is information about the shape of the excavated ground, and the ground information can be accessed from the integrated PC and the individual computer. An information sharing system for multiple collaborative work of Kason excavators. The plurality of Kason excavators according to claim 1, wherein the ground information includes at least three-dimensional information on the top of the earthen mountain, three-dimensional information on the boundary of the earthen mountain, and information on the rest angle θ. Information sharing system for work. The information sharing system for a plurality of collaborative work of a caisson excavator according to claim 1 or 2, wherein the integrated PC is also used by any of the plurality of individual computers. The caisson excavator is equipped with a distance sensor.
2. An information sharing system for multiple collaborative work of the described Kason excavators. The integrated PC or the individual computer is characterized in that the distance information obtained from the distance sensor is converted into DEM data, the soil is recognized, and the information is stored in the storage device as the soil information. An information sharing system for multiple collaborative work of the Kason excavator according to 4. An information sharing method for multiple collaborative work of caisson excavators.
A plurality of individual computers mounted on each of a plurality of caisson excavators and an integrated PC that aggregates information from these multiple individual computers and redistributes them to each individual computer by mapping are provided.
The integrated PC and the individual computer are configured to be able to communicate with each other by wire or wirelessly.
Cason excavation characterized in that ground information, which is information on the shape of the excavated ground, is stored in a storage device of either the integrated PC or the individual computer, and the ground information is shared by the integrated PC and the individual computer. Information sharing method for multiple collaborative work of machines. The caisson excavator is equipped with a distance sensor.
The plurality of caisson excavators according to claim 6, wherein the integrated PC or the individual computer recognizes the earthen hill based on the distance information obtained from the distance sensor and shares it as the ground information. Information sharing method for work. The integrated PC or the individual computer converts the distance information obtained from the distance sensor into DEM data, recognizes the earthen hill, and uses the ground information as three-dimensional information on the top of the earthen mountain and three-dimensional information on the boundary of the earthen mountain. The information sharing method for a plurality of collaborative work of a Kason excavator according to claim 7, wherein the information and the soil mountain information including at least the information of the rest angle θ are added and shared.

Images