JP6341629B2 - Embankment quality control system with data linkage function between heavy machinery - Google Patents

Description

  The present invention relates to an embankment quality management system, and more particularly to an embankment quality management system using a data linkage function between heavy machinery.

  Conventional embankment quality management systems include a leveling management system using a bulldozer, which is a heavy machine, and a compaction management system using a vibrating roller, which is also a heavy machine. The bulldozer leveling management system is managed on the premise that construction based on the planned stratum set in advance will be implemented. In addition, the compaction management system using the vibration roller can be operated after leveling with the bulldozer, but wait until there is a signal that the construction with the bulldozer has been completed. It is supposed to start. In addition, a prior art has been proposed in which a yard to be constructed is virtually divided and optimal management is performed according to the progress of construction by heavy machinery. An example of such prior art is disclosed in Patent Document 1, for example.

  The technique disclosed in Patent Document 1 is a plurality of information that is associated with information on a collection unit that collects construction object information and construction machine information, and on the basis of the position coordinates of a three-dimensional block that virtually divides the construction object. Information management means for managing construction object information, 3D terrain information is created based on the information unit, and this 3D terrain information and construction machine information are synthesized and analyzed and displayed on the monitor screen. Information providing means. Then, the information management means updates the information unit on a daily and / or hourly basis based on the progress of the construction, and the information providing means provides on-site engineers with information on daily construction and also provides long-term planning. It presents decision support information for formulation.

JP 2003-253661 A

  However, in the conventional embankment quality control system, the leveling management system by bulldozers is premised on the implementation based on the planned stratum set in advance, and it takes a gradient or becomes a thin layer. It does not match the actual situation at the construction site where construction cannot be performed as planned. Further, the compaction management system using the vibration roller can be operated after the spread by the bulldozer, but it is necessary to wait until there is a signal that the construction by the bulldozer is completed.

  In addition, as described above, there is a mechanism for centrally managing heavy equipment operation data (construction data) at a construction management office by means of communication, but data storage and management form creation are the purpose of use, improving construction efficiency and safety management. The heavy equipment operation monitoring for the purpose is not done enough. In addition, the computerized construction of a single heavy machine is intended to improve the efficiency of only the work that the heavy machine is in charge of, and the cycle time, soil volume, and layer thickness cannot be managed as a whole banking work.

  The present invention has been made in view of the above-described circumstances, and an object of the present invention is to make it possible to realize an efficient leveling work by utilizing heavy equipment operation data.

In order to achieve the above object, the present invention provides a GNSS (Global Navigation Satellite System) signal, a GNSS receiver and a management-side data communication device, which are installed in a management location, and the management-side data. A management computer connected to the communication device, a construction management server connected to the management computer, a mobile GNSS receiver and a mobile data communication device provided in a construction work mobile heavy machine, and the mobile side An embankment quality control system is constructed with a mobile computer connected to the data communication device. This embankment quality control system is configured such that, within a construction work area, wireless communication is performed between a management-side data communication device installed at the management location and a mobile-side data communication device provided in the heavy equipment. When transmitting / receiving data between the heavy equipment, data is transmitted from the mobile side data communication device of the transmission side heavy equipment to the management side computer via the management side data communication device, and the data from the management side computer is transmitted to the management side data communication Data is transmitted from the apparatus to the mobile computer via the mobile data communication apparatus of the receiving heavy machine. As a result, as a communication route, direct communication between the first heavy machine and the second heavy machine does not function, and data is transmitted and received between the first heavy machine and the second heavy machine. It is always performed via the management computer or the construction management server, and the construction management of all heavy equipment can be centrally managed by the management computer and the construction management server. In addition, when the heavy machine is a bulldozer, the mobile computer installed in the bulldozer executes the spread and thickness calculation to generate construction status data by the own bulldozer, while when the heavy machine is a vibrating roller, The moving body side computer provided in the vibration roller executes the rolling pressure count and generates construction status data by the own vibration roller. By storing these construction status data in the construction management server, it is possible to perform construction by data linkage between heavy machinery. Furthermore, when rolling out new soil on the next layer on a roller construction surface with gradients or irregularities, the management computer performs a smoothing process on the construction status data from the vibrating roller. generates a smooth reference data, it sends the bulldozer movable body side computer for smoothing laying the next layer, in the smoothing process manages construction range in a grid (mesh form) at a predetermined size Based on the three types of data expiration date, height threshold value, and variation degree, a threshold value for smoothing or not is set. With regard to the setting of this threshold value, Is an index as to whether or not to include in the smoothing process retroactively, and the “height threshold value” is a predetermined value among the values obtained by subtracting the altitude value and the altitude value after smoothing for each mesh. , `` Variation degree '' is The ratio of the difference value exceeding the height threshold is detected for the mesh. Except for the mesh without the altitude value, the measured (current) altitude value of the mesh that has reached the specified number of rolling times within the construction range. A smoothing process is executed to generate a smoothed surface . This smoothing process provides smooth reference data even when rolling out a new layer of sand on the roller construction surface that has a gradient and has many irregularities, and provides inefficient operation. There can be no leveling work.

  In the present invention, a GNSS or an accelerometer is mounted on a full heavy machine, and all construction data is collected in a construction management server installed in a construction management office via a communication device such as a wireless LAN. By performing t (time) management in addition to the three-dimensional coordinates of x, y, and z, it is possible to grasp the planar, three-dimensional, and temporal operation status between heavy machines. In addition, proper layer thickness management is indispensable for construction with the minimum amount of soil, and the standard for spreading the next layer by adding the specified layer thickness based on the rolling completion data by the vibrating roller. Generate data. This is called a smoothing process, and provides a method by simple addition of a specified layer thickness and a processing method that takes into account variations in altitude values of rolling completion data by a vibrating roller. Data variation is determined by “data expiration date / height direction threshold / ratio deviating from threshold”. In order to minimize the cycle time for embankment construction, the leveling work by the bulldozer is completed at the same time as the rolling work by the bulldozer, or the rolling work by the vibrating roller is completed at the same time as the rolling work by the vibrating roller is completed. It is desirable that the work can be performed. Therefore, a method for uploading the finalizing information of the spreading end area and the rolling end area to the server, the vibration roller obtaining the spreading completion information from the server, and the bulldozer appropriately obtaining the rolling completion information from the server. suggest. Heavy equipment position data that can be grasped in real time is processed, and the distance between heavy machines is constantly measured and displayed on the PC of the construction management office to prevent accidents such as contact, and each heavy machine is also contacted.

  According to the present invention, the data centralized management technology based on bidirectional communication between a plurality of heavy machines (for example, bulldozers and vibration rollers) and a management computer can realize advanced safety management and construction efficiency. .

  In addition, when rolling out a new layer of soil on the roller construction surface with a slope and many irregularities, the lower irregularities are used to form the upper layer (bulldozer leveling work). Although the reference data may be adversely affected, smoothing processing as in the present invention results in smooth reference data, and a leveling operation without inefficient operation can be performed.

  In addition, the method of smoothing the roller compaction data and generating the next layer bulldozer laying reference data enables appropriate layer thickness management and construction with an optimum soil amount.

  Further, according to the present invention, an appropriate operating range can be obtained by a method for determining the construction range of the next work by the vibration roller from the bulldozer construction data (or a method for determining the construction range of the next work by the bulldozer from the roller construction data). The work start time can be instructed, the waiting time can be minimized, and unnecessary heavy equipment operation can be prevented. As a result, the cycle time can be shortened and the carbon dioxide emitted can be reduced.

It is a block diagram which shows the structure of the embankment quality management system which concerns on one embodiment of this invention. It is a block diagram which shows the structure of the management side computer system in the construction management office in the said embodiment. It is a figure which shows the flow of the data between the management side computer in the said embodiment, a server, and a heavy machine. It is a flowchart explaining the operation | movement which inquires to a server from the apparatus of the bulldozer and vibration roller side in the said embodiment. It is a flowchart explaining the operation | work of the construction work start by a bulldozer after the present condition grasping | ascertainment operation before the work in the said embodiment is completed. It is a flowchart explaining the operation | movement of the work completion range determination process in the spreading | laying work by the bulldozer in the said embodiment. It is a flowchart explaining the operation | movement of the construction work start by the vibration roller in the said embodiment. It is a flowchart explaining the operation | movement of the work completion range determination process in the compaction work by the vibration roller in the said embodiment. It is a flowchart explaining the outline | summary of the smoothing process after completion of the compaction operation | work by the vibration roller in the said embodiment. The case where smoothing processing in the above embodiment is performed and the case where it is not performed are graph diagrams, (a) is a graph diagram when smoothing processing is performed, and (b) is the case when smoothing processing is not performed. FIG. (A) is a figure showing the rolling pressure data (consolidation data) of the vibration roller actually acquired in the roller compaction work in the above embodiment. (B) is a figure showing the result of having performed the smoothing process of this invention to the rolling pressure data of Fig.11 (a). (A) is a figure showing the rolling pressure data (consolidation data) of the vibration roller actually acquired in the roller compaction work in the above embodiment. (B) is a figure showing the result of having performed the smoothing process of this invention to the rolling pressure data of Fig.12 (a). (A) is a figure showing the result of having taken the difference of the rolling compaction data shown by 12 (a), and the smoothing process data shown by 12 (b). (B) is a figure which shows the result of having added regular layer thickness to the data which performed the smoothing process. It is a figure which shows the example of a display of the management screen of the some heavy machine in the management side computer screen in the said embodiment.

  Next, embodiments and operations of the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 shows a system configuration for realizing the embankment quality management system of the present invention. In FIG. 1, 1 is a construction management office, 2 is a vibration roller as one example of a heavy machine moving around in a construction yard, 3 is a bulldozer as another example of heavy equipment, and 4 is installed near the construction management office 1 The access point 5 serving as a base station for relaying communication between the construction management office 1 and the heavy machinery 2 and 3 is installed in the construction yard and relays radio waves from the base station access point 4 to the heavy machinery 2 and 3. The fixed access point 6 that establishes communication is a mobile access point that is also installed in the construction yard and establishes communication by relaying radio waves from the base station access point 4 to the heavy machinery 2 and 3. As a heavy machine, other than the vibration roller 2 and the bulldozer 3, a civil machine such as a power shovel or a backhoe can be used. The construction management office 1 is provided with a management computer 7 for performing construction management of work, and the bulldozer 3 is equipped with a mobile computer 8 for transmitting and receiving data to and from the PC 7. The mobile computer 8 has a memory for storing the position information and construction status data of the bulldozer 3 itself. The vibrating roller 2 is equipped with a mobile computer 9 for transmitting and receiving data to and from the management computer 7. The mobile computer 9 has a memory for storing position information and construction status data of the vibration roller 2 itself. The construction management office 1 is also provided with a LAN device 10 for performing LAN (Local Area Network) communication and a router 11.

  The base station access point 4 includes a router 12 communicatively connected to the router 11 of the construction management office 1, a wireless LAN relay access device 13, a wireless LAN device 14 for performing wireless LAN communication, and a GNSS satellite. A GNSS receiver 16 that receives GNSS data, and a small area wireless device 17 that has a function of transmitting and receiving radio waves for small area wireless communication to the heavy equipment 2 and 3 and that transmits GNSS correction data. Yes. The fixed access point 5 includes a wireless LAN access device 18 installed in a construction yard and a wireless LAN device 19 for performing wireless LAN communication. The mobile access point 6 is mounted on a vehicle or the like that can move within the construction yard, and includes a wireless LAN access device 20 and a wireless LAN device 21 for performing wireless LAN communication. The vibration roller 2, which is a heavy machine, transmits and receives a wireless LAN device 22 for performing wireless LAN communication, a GNSS receiver 23 that receives GNSS data from a GNSS satellite, and radio waves for small area wireless communication. A small area wireless device 24 that has a function and receives GNSS correction data transmitted from the small area wireless device 17 of the base station access point 4. The bulldozer 3 also has a function of transmitting and receiving radio waves for small area wireless communication, a wireless LAN device 25 for performing wireless LAN communication, a GNSS receiver 26 for receiving GNSS data from a GNSS satellite, and the like. And a small area wireless device 27 that receives the GNSS correction data transmitted from the small area wireless device 17 of the possessing base station access point 4.

  From the above, between the heavy equipment (vibrating roller 2 and bulldozer 3 and the like) and the management computer 7, data can be transmitted and received by wireless LAN using the base station access point 4 as an intermediary means, and further data transmission and reception by wireless LAN can be performed. In order to support, a data communication system has been constructed in which a fixed access point 5 and a mobile access point 6 that operate as slave units of the base station access point 4 are installed in a construction yard. In addition, a GNSS transmission / reception system based on small area wireless communication is constructed between the base station access point 4 and the heavy machinery 2 and 3. The vibration roller 2 and the bulldozer 3 (heavy equipment in general) do not transmit / receive data to / from each other, and each is separately managed via the base station access point 4 and the fixed access point 5 or mobile access point 6. A configuration for transmitting and receiving data to and from the computer 7 is adopted.

  FIG. 2 is a block diagram showing a configuration of a management computer system in the construction management office 1. The management computer system includes a CPU 7 (corresponding to the management computer), a construction management server (hereinafter simply referred to as a server) 31 connected to the CPU 7 via a bus 30, and outputs various data as recording media. Printer 32, display 33 for displaying various data images, and communication control unit 34 for controlling the communication operation of CPU 7. The server 31 stores position information sent from heavy equipment such as the vibration roller 2 and the bulldozer 3 and construction status data of the heavy equipment, and information on construction completion / uncompleted range is managed in time series. In the position information, the plane direction position and the altitude position in the construction yard are managed. Further, in the present invention, GNSS and accelerometers are mounted on the full heavy machines 2 and 3 and data relating to the construction status during work is taken into the mobile computers 8 and 9 mounted on the heavy machines. This status data is transmitted to the management computer 7 and the server 31 installed in the construction management office 1 via a communication device such as a wireless LAN, and is integrated and managed. By performing t (time) management in addition to the three-dimensional coordinates of x, y, and z, it is possible to grasp the planar, three-dimensional, and temporal operation status between heavy machines.

  The operation of the embankment quality management system having the above configuration will be described below. The heavy machine such as the vibration roller 2 and the bulldozer 3 and the management computer 7 and the server 31 perform bidirectional communication by wireless LAN via the base station access point 4, the fixed access point 4, and the mobile access point 5. As a communication route, direct communication between the bulldozer 3 and the vibration roller 2 does not function. When data is transmitted and received between the bulldozer 3 and the vibration roller 2, the management computer 7 or the server 31 is always used. To do through. FIG. 3 shows the basic configuration between the management computer 7, the server 31, the bulldozer 3, the vibrating roller 2, the base station access point 4, the fixed access point 5, and the mobile access point 6 under the rules as described above. It is a figure which shows the flow of data. As an example, the positioning of the bulldozer 3 and the vibration roller 2 employs the RTK method (cm-order position measurement) in the GNSS positioning.

Action 1: Grasping current situation before work (data request flow from each heavy machine)
Each operator of the bulldozer 3 and the vibrating roller 2 may encounter a scene in which it is unclear whether the site extending in front of the eyes has already been constructed or whether it will be constructed using its own heavy machinery. Therefore, an operation of inquiring the determination to the server 31 is performed. FIG. 4 is a flowchart for explaining an operation of making an inquiry to the server 31 from the vibration roller 2 and bulldozer 3 side devices. In FIG. 4, heavy equipment A is a heavy equipment that is about to start construction, and may be any one of the vibration roller 2 and the bulldozer 3, or may be a heavy equipment other than the vibration roller 2 and the bulldozer 3. . As shown in FIG. 4, in the heavy equipment A, in order to perform construction from now on, a data request (command transmission) operation is started to the server 31 (step S1), while the current position of the own machine is notified. The coordinate value is transmitted to the server 31 (step S2). The coordinate value representing this position is a three-dimensional position (x, y) and height direction position (z) in a plane in an X, Y, Z orthogonal coordinate system with a predetermined point at the work site as the origin. Represented by data. The reason why the three-dimensional data is used as the coordinate value is that the altitude value of the work section can also be changed by the leveling work by the bulldozer. The server 31 that has received the coordinate value of the heavy machine A determines all the other heavy machines within 200 m square from the heavy machine A, and transfers the request command to the corresponding heavy machine (step S3). Heavy machine B (one or more) that meets the condition that it is within 200 m square receives the request command from server 31 (step S4), and the current construction data (current data) of heavy machine B is automatically sent to server 31. To step S5. The server 31 merges the construction data received from the full heavy equipment B, generates the latest construction data (the construction completion range and the non-construction range), and then transmits the latest construction data to the requesting heavy equipment A. (Step S6). The heavy equipment A receives the construction data transmitted from the server 31 and displays it on the display (step S7).

  In this way, heavy machinery A can grasp the current construction status of other heavy machinery within 200 m square from itself. This function is executed and executed between the bulldozer and the bulldozer, between the vibration roller and the vibration roller, between the bulldozer and the vibration roller, or between other heavy machinery. It should be noted that there is a case where heavy equipment B is under construction (the construction has not been completed) at the time when the data request is made immediately before heavy equipment A starts construction. Even in such a state, if there is a data request from heavy equipment A, heavy equipment B transmits the latest construction data to server 31 at that time. As described above, the server 31 extracts the construction data of the heavy equipment B within the range of 200 m centered on the position of the heavy equipment A from its own storage unit, and transmits the construction data of the heavy equipment B to the heavy equipment A. In this case, when a request is made from the heavy equipment A, the server 31 creates a file of the daily latest construction status of each heavy equipment in order to reduce the generation time for sending the latest construction data to the heavy equipment A. Yes. As a result, the construction data search time and the amount of communication data are reduced.

Operation 2: Spreading Work by Bulldozer FIG. 5 is a flowchart for explaining the operation of starting the construction work by the bulldozer after the above-described current state grasping operation before the work is completed. Also in FIG. 5, the relationship between the bulldozer 3 (data requesting side) corresponding to the heavy equipment A and the heavy equipment B (data providing side) is the same as that described with reference to FIG. As shown in FIG. 5, in heavy machinery A, construction start instruction processing is performed to start construction from now on (step S11), and further, embankment material selection processing is performed in heavy machinery A (step S12). Next, the heavy machine A transmits the coordinate value (three-dimensional data) to the server 31 in order to notify the current position of the own machine (step S13). The server 31 that has received the coordinate value of the heavy equipment A checks whether or not there is a data request (command transmission) from the heavy equipment A to the server 31 (step S14). Construction data (current data) for heavy equipment A transmission is generated from the stored construction data file (step S15). And plan height is calculated | required by the smoothing process from the said construction data and material information, and these data are transmitted to the heavy machinery A (step S16). Receiving this data, heavy equipment A starts the construction operation (step S17).

  When the server 31 determines that there is a data request from the heavy equipment A in the process of step S14, it determines all the other heavy equipments within 200 m square from the heavy equipment A and transfers the request command to the corresponding heavy equipment ( Step S18). Heavy machine B corresponding to the condition that it is within 200 m square receives the request command from server 31 and automatically returns the current construction data (current data) of heavy machine B to server 31 (step S19). The server 31 executes a smoothing process from the construction data and material information received from the full heavy machine B, obtains the planned height, and transmits the result to the heavy machine A that is the request source (step S16). Here, with the planned height, the heavy equipment A receives the construction data transmitted from the server 31 and starts the construction operation (step S17). In the leveling work by the bulldozer 3 performed in the above procedure, the reference data for leveling is based on the compaction completion data by the vibration roller, which is the previous work. The reference data for the next layer is obtained by adding the thickness of one layer to the compaction completion data. This reference data is determined through a smoothing process. When the spread is completed by the machine control, the bulldozer 3 confirms the construction range and transmits the spread data to the server according to the “work completion range determination processing flow” shown in FIG. To continue the work after the transmission, the data request described above with reference to FIG. 4 is performed to grasp the current state, and the work is started.

  Here, the work completion range determination process in the leveling work by the bulldozer 3 will be described. FIG. 6 is a flowchart for explaining the operation of the work completion range determination process. Also in FIG. 6, the relationship between the bulldozer 3 (data requesting side) corresponding to the heavy equipment A and the heavy equipment B (data providing side) is the same as the case described with reference to FIGS. As shown in FIG. 6, in heavy machinery A, when the construction is completed, the construction completion point is clicked and polygonization is performed (step S <b> 21). Next, the heavy equipment A checks whether or not the construction by the bulldozer 3 is continued (step S22). When the construction is continued, the construction completion range determination flag is set (step S23), and the data file is transmitted via the wireless LAN. Then, the data is transferred to the server 31 (step S24). On the other hand, if it is determined in step S22 that the construction by the bulldozer 3 is not continued, a construction end flag is set (step S25), and the data file is transferred to the server 31 via the wireless LAN (step S24). The server 31 that has received the data file from the heavy equipment A registers and saves this data file in the storage unit (step S26). On the other hand, in heavy equipment A, after transferring the data file, it is checked whether or not the construction completion flag is on (step S27). If it is on, construction completion processing is performed (step S28). If it is determined that the construction completion flag is not ON, it is checked whether or not to re-select the embankment material (step S29). If the embedding material is not re-selected, whether or not to request data from the server 31. Is checked (step S30).

  When it is determined in step S29 that the embankment material is selected again, the material selection screen is displayed, and after selecting the embankment material, the process proceeds to the determination operation in step S30. If it is determined in step S30 that no data is requested from the server 31, it is checked whether or not the embedding material has been changed (step S31). If the embedding material has not been changed, an uncompleted portion is constructed. The process proceeds to step S32. If it is determined in step S30 that data is requested, the data request processing is performed from the heavy equipment A to the server 31 (step S33). The server 31 that has received the data request from the heavy equipment A determines all the other heavy equipment within 200 m square from the heavy equipment A, and transfers the data request command to the corresponding heavy equipment (step S34). When the heavy equipment B (one or more) that meets the condition of being within 200 m square receives the request command from the server 31, the current construction data (current data) of the heavy equipment B is transmitted to the server 31 (step S35). . The server 31 merges the construction data received from the full heavy equipment B to extract the current status data (step S36), and transmits the extracted current status data to the heavy equipment A that is the data request source (step S6). The heavy machine A that has received the current data checks whether or not the material has been changed (step S31). When it is determined that the material has been changed in this check operation, this material change fact is notified to the server 31, and the server 31 performs smoothing processing from the elevation data of the vibrating roller to generate planned height data ( In step S37), the next generated planned height data is transmitted to heavy equipment A. Then, the heavy equipment A shifts to a process for constructing an incomplete portion based on the generated planned height data (step S32). The range constructed by the bulldozer 3 is determined as described above.

Operation 3: Compaction Work by Vibration Roller FIG. 7 is a flowchart for explaining the operation of starting the construction work by the vibration roller 2. Even in this case, if it is necessary to grasp the construction situation around the own machine (vibrating roller), the current situation grasping operation before work is performed according to the flowchart shown in FIG. Also in FIG. 7, the relationship between the vibrating roller 2 (data requesting side) corresponding to the heavy machine A and the heavy machine B (data providing side) is the same as that described with reference to FIGS. As shown in FIG. 7, in heavy equipment A, construction start instruction processing is performed to start construction from now on (step S41). Next, in heavy equipment A, its coordinates are used to notify the current position of the self equipment. The value (three-dimensional data) is transmitted to the server 31 (step S42). The server 31 that has received the coordinate value of the heavy equipment A checks whether or not there is a data request (command transmission) from the heavy equipment A to the server 31 (step S43). Construction data for transmission of heavy equipment A (current data) is generated from the stored construction data file, and this data is transmitted to heavy equipment A (step S44). Receiving this data, heavy equipment A starts the construction operation (step S45).

  When the server 31 determines that there is a data request from the heavy equipment A in the process of step S43, it determines all the other heavy equipments within 200 m square from the heavy equipment A and transfers the request command to the corresponding heavy equipment ( Step S46). The heavy equipment B corresponding to the condition that it is within 200 m square receives the request command from the server 31, and automatically returns the current status data of the heavy equipment B to the server 31 (step S47). The server 31 generates the latest current status data in comparison with the data received from the target heavy machine. If the work completion range is determined, the server 31 sets the unfinished state and transmits it to the heavy machine A (step S48). Receiving this data, heavy equipment A starts the construction operation (step S45).

  In the compacting operation by the vibration roller 2 performed in the above procedure, when the predetermined number of times of compaction is completed by machine control, the vibration roller 2 is constructed according to the “work completion range determination processing flow” shown in FIG. Determine the range and send compaction data to the server. After the compaction data is transmitted, in order for the vibration roller 2 to continue the work, the data request described above with reference to FIG. 4 is performed to grasp the current state, and the work is started.

  Here, the work completion range determination process in the compacting work by the vibration roller 2 will be described. FIG. 8 is a flowchart for explaining the operation of the work completion range determination process. In FIG. 8, the relationship between the vibration roller 2 (data requesting side) corresponding to the heavy machine A and the heavy machine B (data providing side) is the same as that described with reference to FIGS. As shown in FIG. 8, in heavy machinery A, when the construction is completed, the construction completion point is clicked and polygonization is performed (step S <b> 51). Next, the heavy equipment A checks whether or not the construction by the vibration roller 2 is continued (step S52). When the construction is continued, a construction completion range determination flag is set (step S53), and the data file is transferred to the wireless LAN. Then, the data is transferred to the server 31 (step S54). On the other hand, if it is determined in step S52 that the construction by the vibration roller 2 is not continued, a construction end flag is set (step S55), and the data file is transferred to the server 31 via the wireless LAN (step S54). The server 31 that has received the data file from the heavy equipment A registers and saves this data file in the storage unit (step S56). On the other hand, in heavy equipment A, after transferring the data file, it is checked whether or not the construction end flag is on (step S57), and if it is on, construction completion processing is performed (step S58). If it is determined that the construction end flag is not ON, it is checked whether or not to request data from the server 31 (step S59).

  If it is determined in step S59 that no data is requested from the server 31, the process proceeds to a process for constructing an incomplete portion (step S60). If it is determined in step S59 that a data request is made, a data request process is performed from the heavy equipment A to the server 31 (step S61). The server 31 that has received the data request from the heavy equipment A determines all the other heavy equipments within 200 m square from the heavy equipment A, and transfers the data request command to the relevant heavy equipment (step S62). When the heavy equipment B (one or a plurality of equipment) corresponding to the condition that it is within 200 m square receives the request command from the server 31, the current construction data (current data) of the heavy equipment B is transmitted to the server 31 (step S63). . The server 31 generates the latest current status data in comparison with the data received from the target heavy machine. If the work completion range has been determined, the server 31 sets the unfinished state and transmits it to the heavy machine A (step S64). Receiving this data, the heavy equipment A shifts to a process of constructing an incomplete portion based on the received current data (step S60). As described above, the construction range is determined by the vibration roller 2, and compaction data is transmitted from the vibration roller 2 which is the heavy equipment A to the server 31.

  In order to minimize the cycle time of the embankment construction, in each of the above-described operations and processing operations, the rolling operation by the vibrating roller 2 or the rolling operation by the vibrating roller 2 is performed simultaneously with the completion of the leveling operation by the bulldozer 3. It is desirable that the leveling work by the bulldozer 3 can be immediately executed through the soil at the same time as the end. Therefore, in the present invention, the finalization information of the spreading end area and the rolling end area is uploaded to the server 31, and the vibration roller 2 acquires spreading completion information from the server 31, while the bulldozer 3 receives the rolling completion information. Is appropriately acquired from the server 31. In addition, the position data of the heavy machinery 2 and 3 that can be grasped in real time is processed, and the distance between the heavy machinery 2 and 3 is always measured and displayed on the management computer 7 of the construction management office 1 to prevent accidents such as contact. At the same time, contact each heavy machine.

In addition, the data linkage between the heavy machinery enables counting of the number of times of rolling by adding the results of a plurality of vibration rollers as to how to hold the data of the number of times of rolling. That is, for example, when yesterday's vibration roller 2 of No. 1 machine was pressed four times, today's No. 1 vibratory roller 2 was pressed three times, and today No. 2 machine's vibration roller 2 was pressed twice, it was accumulated in the server 31. From the data, the number of rolling times at that position is
4 + 3 + 2 = 9
Can be calculated as times. This is a measure against over-compression that has been overlooked so far. In this case, yesterday's vibration roller 2 of No. 1 unit 4 is transmitted to today's No. 1 unit vibration roller 2 to save today's rolling operation by No. 1 unit vibration roller 2. Measures are taken. In order to take such measures, in the system on the vibration roller 2 side, the number of times of rolling at the start of construction is stored in the memory in the heavy machinery, and the processing is subtracted when the construction is completed. For example, if the number of times of rolling by the vibration roller 2 of the first machine of today is 8 and the number of times of rolling at the start of construction is 5,
8-5 = 3
Are registered in the server 31 as the work by the vibration roller 2 of today's No. 1 machine.

Operation 4: Smoothing Process Next, the above-described smoothing process will be described. Appropriate layer thickness management is indispensable to perform leveling work with the bulldozer 3 and compaction work with the vibration roller 2 with a minimum amount of soil. The reference data for leveling the next layer is generated by adding the thickness. This is called a smoothing process. FIG. 9 is a flowchart for explaining an outline of the smoothing process after the compacting operation by the vibration roller 2 is completed. The smoothing process is performed by the management computer 7 receiving the compacting work data from the vibration roller 2. In FIG. 9, the management-side computer 7 identifies a mesh that has reached the specified number of times within a range of 10 m × 10 m (step S71), next determines an expiration date, and then performs a smoothing process (step S72). In this smoothing process, a threshold is determined (step S73), thereby generating a planned height (step S74). Completion of compaction instead of the method of simply adding the specified layer thickness to the data of the embankment surface when generating the standardization data for instructing the bulldozer 3 for the next layer spread thickness This is a method of adding the specified layer thickness after smoothing (homogenizing) the data of the embankment surface. Based on the experimental results, condition settings for smoothing are shown.

a) The range to be smoothed is selected from, for example, 2.5 m, 5.0 m, 10.0 m, 15.0 m, 20.0 m, and 50.0 m.
b) Except for the mesh having no elevation value, smoothing processing is executed once with the actually measured (current) elevation value of the mesh that has reached the specified number of rolling pressures within the range to generate a smoothed surface.
c) Set a threshold value for smoothing or not smoothing. There are three types of threshold values: an expiration date of data, a height threshold value, and a degree of variation.
d) An index indicating how many days in the past are included in the smoothing process is set as an “expiration date”.
e) A difference between each mesh elevation value and the post-smoothing elevation value corresponding to the position is detected, and a ratio of the variation exceeding ± 5 cm is detected. This ratio is defined as “variation degree”, and ± 5 cm is defined as “height threshold”. The height threshold of ± 5 cm is an example, and may be ± 3 cm, or ± 8 cm or ± 10 cm. The height threshold and the degree of variation are set according to the measured data because they vary depending on the local form at the work site and the embankment conditions such as rock mass and sand.
f) When the degree of variation is less than a predetermined set value (for example, 50%), an altitude value after smoothing is adopted, and an altitude data group obtained by simply adding a specified layer thickness to this is used as the altitude data group of the next layer. It is set as reference data for spreading the bulldozer 3.
g) When the degree of variation is equal to or greater than the above set value, each mesh elevation value (data based on smoothing) is adopted, and the elevation data group obtained by simply adding the specified layer thickness to this is used as the next layer The standard data for leveling the bulldozer 3 is used.
h) As an exceptional measure, when the construction efficiency is significantly reduced, the data processing range can be determined even if the specified number of rolling times is not reached. Thereby, it is possible to form a bank with a smoother shape on the average, regardless of the finished surface (unevenness) of the bank surface that has been compacted.

In the smoothing process, H = a + bX + cY using a mesh elevation value (hereinafter referred to as H) and a mesh center point (X, Y) within the validity period of the mesh group corresponding to the range determination.
This is the process to solve the regression plane equation.
In the case of thin thickness resulting from the characteristics of the banking construction stacked on the layer, the smoothing function is invalidated, and banking of an arbitrary dimension (vertical, horizontal, thickness) called the adjustment layer is added on the data. As a result, proper layer thickness management can be performed, and construction with an optimum minimum amount becomes possible.
The smoothing process is performed using H = a + bX + cY using the mesh elevation value H and the mesh center point (X, Y) within the validity period of the mesh group corresponding to the range determination.
Solve the regression plane equation. Here, a is an intercept, and b and c are partial regression coefficients.
In the solution of the above regression plane equation,
The variance (Sx2, Sy2, Sh2) and covariance (Sxy, Shy, Sxh) of (X, Y, H) are obtained.
In addition, to obtain b and c,
Sx2b + Sxhc = Sxy
Sxyb + Sh2c = Shy
Solve the simultaneous equations.
By substituting b and c obtained above into the regression plane equation, a is obtained.
Once each coefficient is determined, the smooth surface height can be obtained by substituting this equation mesh center (X, Y) for each management mesh size. As described above, an equation is obtained for each smoothing range, and the reference height for each mesh is calculated.

  As described above, there are provided a method of executing the smoothing process by simple addition of the specified layer thickness and a method of executing the process in consideration of the variation in the elevation value of the rolling pressure completion data by the vibration roller. Data variation is determined by “data expiration date / height direction threshold / ratio deviating from threshold”.

  FIG. 10 is a graph showing a case where smoothing processing is performed and a case where smoothing processing is not performed. FIG. 10A is a graph when smoothing processing is performed, and FIG. 10B is a graph when smoothing processing is not performed. 10 (a) and 10 (b), the graph line c represents the compaction elevation by the vibrating roller, and the graph line d represents the value obtained by smoothing the roller compaction elevation. A graph line e represents the bulldozer planned height. In FIG. 10A, a process of adding the thickness to the smoothed value (graph line d) is performed. On the other hand, in FIG. 10B, the smoothing process is not performed and the process of adding the thickness to the raw elevation value (graph line c) is performed.

  11 to 13 are diagrams illustrating examples of smoothing processing results. FIG. 11A is a diagram showing rolling pressure data (consolidation data) of the vibration roller 2 actually obtained in the roller compaction operation. FIG.11 (b) is a figure showing the result of having performed the smoothing process of this invention to the rolling pressure data of Fig.11 (a). FIG. 12A is a diagram showing the rolling pressure data (consolidation data) of the vibration roller 2 actually obtained in the roller compaction operation. FIG. 12B is a diagram showing a result of applying the smoothing process of the present invention to the rolling pressure data of FIG. FIG. 13A is a diagram illustrating a result of taking a difference between the rolling pressure data and the smoothing process data.

  As described above, when the degree of variation is set to ± 0.05 m as the threshold value, almost the entire work area uses the smoothing processing result, but FIG. 11A, FIG. 12A, and FIG. In the area of the lower left part of a), a numerical value exceeding the above threshold value appears, and this part is not subjected to smoothing processing. In actual construction, the specified layer thickness is added to the data subjected to the smoothing process. The result of adding the prescribed layer thickness is shown in FIG. As shown in the above figure, by performing the smoothing process, the rolling surface with many irregularities is generated as smooth surface data and is inherited by the next layer covering standard data, and the bulldozer 3 is smooth. Construction is possible based on surface data.

Action 5: Heavy equipment monitoring, proximity alarm The threshold value is returned to each heavy equipment together with the coordinates sent from all heavy equipment in operation in real time, and the heavy equipment side calculates the distance between the current position and other heavy equipment, and from that threshold In addition, the position and direction of the closest heavy machine is displayed on the management computer (server) screen and the PC screen mounted on the heavy machine as a warning. FIG. 14 is a diagram showing a display example of a management screen of a plurality of construction yards and heavy equipment operating in the work site on the management computer screen.

  According to the embankment quality management support system for civil engineering work according to the present invention, it is possible to realize advanced safety management and efficiency of construction by centralized data management by bidirectional communication of a plurality of heavy machinery. In addition, when rolling out a new layer of sand on the roller construction surface with a gradient and many irregularities, the lower layer irregularities will not adversely affect the reference data for shaping the upper layer. Smooth reference data is generated by performing a smoothing process, and an efficient leveling operation can be performed, which is useful.

DESCRIPTION OF SYMBOLS 1 Construction management office 2 Vibrating roller 3 Bulldozer 4 Base station access point 5 Fixed access point 6 Mobile access point 7 Management side computer 8, 9 Mobile side computer 10 LAN device 11, 12 Router 13 LAN relay access device 14, 19 , 21, 22, 25 Wireless LAN devices 16, 23, 26 GNSS receivers 17, 24, 27 Small area wireless devices 18, 20 Wireless LAN access device 30 Bus 31 Construction management server 32 Printer 33 Display 34 Communication control unit

Claims (8)

A GNSS receiving device and a management-side data communication device that receive a GNSS signal, installed in a management location;
A management computer connected to the management data communication device;
A construction management server connected to the management computer;
A mobile unit-side GNSS receiver and a mobile unit-side data communication device provided to a plurality of bulldozers and vibration rollers , which are heavy machines that perform mobile work for construction work;
A mobile computer connected to the mobile data communication device,
In the construction work area, it is configured such that wireless communication is performed between the management-side data communication device installed in the management place and the mobile-side data communication device provided in the heavy machinery,
When transmitting and receiving data between the plurality of heavy equipment, data is transmitted from the mobile data communication device of the transmission-side heavy equipment to the management computer via the management data communication device, and the data from the management computer is sent to the management data In this transmission operation, data is transmitted from the communication device to the mobile computer via the mobile data communication device of the receiving heavy machine.
When the heavy machine is a bulldozer, the mobile computer installed in the bulldozer performs spreading and thickness calculation to generate construction status data by the own bulldozer, while when the heavy machine is a vibration roller, the vibration roller The computer on the mobile side installed in the machine executes the rolling pressure count to generate construction status data by its own vibration roller,
When a new layer of soil is spread on a roller construction surface with a gradient or unevenness, the management computer performs a smooth standard by smoothing the construction status data by the vibrating roller. data to generate and send to the bulldozer movable body side computer for smoothing laying the next layer,
In the smoothing process, the construction range is managed in a lattice shape (mesh shape) with predetermined dimensions,
Based on the three types of data expiration date, height threshold, and degree of variation, set a threshold whether to smooth or not,
The “expiration date” is an index indicating how many days in the past are included in the smoothing process, and the “height threshold” is obtained by subtracting the altitude value and the altitude value after smoothing for each mesh. It is a predetermined value among the obtained values, "variation degree" is a detection of the proportion of the difference value exceeding the height threshold for all meshes,
Except for meshes without altitude values, smoothing processing is performed on the measured (current) altitude values of meshes that have reached the specified number of rolling pressures within the construction range, and a smoothed surface is generated.
An embankment quality control system characterized by that. The management computer receives the position data of the heavy machinery and the construction status data by the heavy machinery obtained from the mobile GNSS receiver from each heavy machinery, accumulates them in the construction management server, and performs centralized data management. The embankment quality control system according to claim 1 . If the degree of variability is less than the preset value, the post-smoothing altitude value is used, and the altitude data group obtained by simply adding the specified layer thickness to this is the reference data for bulldozer laying of the next layer While
When the degree of variation is equal to or greater than the set value, the altitude value of each mesh is adopted, and the altitude data group obtained by simply adding the specified layer thickness to this is used as reference data for bulldozer laying of the next layer. The embankment quality control system according to claim 1, wherein: The smoothing process uses the mesh elevation value (H) and the mesh center point (X, Y) within the expiration date among the mesh group corresponding to the range determination,
H = a + bX + cY
Where a is an intercept, b and c are partial regression coefficients,
It is done by solving the regression plane equation of
In solving the regression plane equation,
The variance (Sx2, Sy2, Sh2) and covariance (Sxy, Shy, Sxh) of (X, Y, H) are obtained, and
Sx2b + Sxhc = Sxy
Sxyb + Sh2c = Shy
To solve for the simultaneous equations of
Substituting the obtained b and c into the regression plane equation to obtain a,
Once the coefficients are determined, the smooth center height is obtained by substituting the mesh center (X, Y) into the regression plane equation for each management mesh size.
The embankment quality control system according to claim 1 , wherein the embankment quality control system is executed . When the construction completion range is determined by the completion of work by the heavy equipment, the mobile computer installed in the heavy equipment automatically transmits the data of construction completed on that day within the range of a certain distance from the current position of its own equipment to the server. The embankment quality control system according to claim 1 . A GNSS receiving device and a management-side data communication device that receive a GNSS signal, installed in a management location;
A management computer connected to the management data communication device;
A construction management server connected to the management computer;
A mobile unit-side GNSS receiver and a mobile unit-side data communication device provided in a plurality of heavy machines that perform mobile work for construction work;
A mobile computer connected to the mobile data communication device,
In the construction work area, it is configured such that wireless communication is performed between the management-side data communication device installed in the management place and the mobile-side data communication device provided in the heavy machinery,
When transmitting and receiving data between the heavy machines, data is transmitted from the mobile data communication device of the heavy machine on the transmission side to the management computer via the management data communication apparatus, and the data from the management computer is transmitted to the management data communication apparatus In this transmission operation, data is transmitted to the mobile computer via the mobile data communication device of the receiving heavy machine.
When a heavy machine starts work, it receives data from a construction management server installed at a management location for data within a certain distance range centered on the position of the heavy machine, and when the heavy machine starts construction, In order to confirm the current position and construction status from the heavy machinery to other heavy machinery at a certain distance, send a “data request” to the management computer and within a certain distance from the heavy machinery by the management computer and construction management server. Determine all the heavy equipment, and send a data request command to the corresponding heavy equipment,
Sheng soil quality management system that is characterized in that. The heavy machinery that received the data request sends the current position and construction status data to the server, and the server merged the data received from all heavy machinery to generate the latest construction data (construction completion range and unconstructed range). 2. The embankment quality management system according to claim 1 , wherein the data is transmitted to a heavy machine which is a data request source . 2. The embankment quality control system according to claim 1 , wherein the mobile computer provided in each heavy machine makes a file of the latest daily construction state and stores it in a storage unit .