JP7138475B2 - CONSTRUCTION MATERIAL TRANSFER METHOD, TRANSFER SUPPORT DEVICE, AND CONSTRUCTION MATERIAL TRANSFER SYSTEM - Google Patents

Description

TECHNICAL FIELD The present disclosure relates to a construction material transfer method for transferring construction materials by a crane, a transfer support device for supporting transfer of a crane, and a construction material transfer system including the transfer support device.

2. Description of the Related Art When constructing a structure such as a building, it is widely practiced to lift and transfer construction materials with a crane. A crane operator operates the crane based on the information viewed through the cab window. However, the information obtained by looking through the cab window is limited. Therefore, a camera is attached to the tip of the jib of the crane, and an image acquired by the camera is displayed on a monitor in the driver's cab (for example, Patent Document 1). A crane operator may operate the crane while viewing the monitor. Also, the crane operator may operate the crane while communicating wirelessly with the slinger.

Japanese Utility Model Publication No. 8-9980

A crane operator operates the crane to guide the crane hook to the material yard where the construction material to be transported is placed. However, it is difficult for a crane operator to identify the next construction material to be transferred among the construction materials placed in the material yard. Therefore, guidance by a guide is required to move the hook to the correct position where the next construction material to be transferred is placed. There is a problem that the operation of the crane by guidance by a guide is not efficient because it requires manpower and takes time.

In view of the circumstances described above, it is an object of at least one embodiment of the present invention to provide a construction material transfer method capable of improving the efficiency of transfer work using a crane.

(1) A construction material transfer method according to at least one embodiment of the present invention comprises:
A construction material transfer method for repeatedly transferring construction materials placed in a material yard from the material yard to respective transfer destinations of the construction materials by a crane,
arranging a construction material lot, which is the construction material for one transfer lot transferred at one time by the crane, at each of a plurality of predetermined addresses of the material yard;
identifying a construction material lot to be transferred, which is the construction material lot to be transferred next by the crane, based on a predetermined construction procedure;
a step of acquiring suspended load position information in which each of the plurality of addresses and the construction material lot placed at each of the plurality of addresses are associated;
a step of identifying a specific address, which is an address where the construction material lot to be transferred is placed, from the plurality of addresses based on the suspended load position information;
and transferring the construction material lot to be transferred placed at the specific address from the material yard to a transfer destination of the construction material lot to be transferred by the crane.

According to the method (1) above, the construction material transfer method includes the steps of arranging a construction material lot at each of a plurality of addresses; identifying the construction material lot to be transferred based on the construction procedure; a step of acquiring load position information associated with each of the addresses and the construction material lots placed at each of the plurality of addresses; and identifying the specific address where it is located. In such a construction material transfer method, one transfer lot of construction materials is arranged at each of a plurality of addresses. There is no need to perform work such as sorting. In addition, since it is possible to quickly identify a specific address or a construction material lot to be transferred placed at a specific address, it is possible to improve the efficiency of transfer work using a crane.

The construction material transfer method further includes the step of transferring the construction material lot to be transferred placed at the specific address from the material yard to the transfer destination of the construction material lot to be transferred by a crane. According to such a construction material transfer method, when a construction material lot to be transferred is transferred by a crane, it is only necessary to move the hook of the crane with a specific address as a target, and it is necessary to guide the hook of the crane by a guide. There is no Therefore, according to the method for transferring construction materials, it is possible to improve the efficiency of the transfer work using a crane.

(2) In some embodiments, in the construction material transfer method described in (1) above, after the transfer of the construction material lot to be transferred from the specific address, based on the construction procedure, the load position is It further comprises a suspended load position information updating step of updating the association between each of the plurality of addresses in the information and the construction material lot.

According to the method (2) above, by updating the association between each of the plurality of addresses in the suspended load position information and the construction material lot, another new Can assign construction material lots. Therefore, by appropriately assigning construction material lots to each of a plurality of addresses, it is possible to effectively utilize the plurality of addresses and to reduce the size of the material yard required when transferring the construction material lots. In addition, even at a construction site with a small material yard, the construction material transfer method described above can be carried out, and the efficiency of the transfer work using a crane can be improved.

(3) In some embodiments, in the construction material transfer method described in (1) or (2) above, whether the construction material lot placed at the specific address is the construction material lot to be transferred It further includes a transfer object determination step of determining whether or not.

According to the above method (3), by determining whether or not the construction material lot placed at the specific address is the construction material lot to be transferred next in the construction procedure, erroneous transportation by the crane is prevented. It can be prevented before it happens. In addition, by making the determination before the crane lifts the construction material lot, the wrong construction material lot is not lifted, so that the efficiency of the transfer operation by the crane can be improved.

(4) In some embodiments, in the construction material transfer method described in (3) above, the transfer object determination step includes performing image processing from an image captured by an imaging device mounted on the crane to identify the a transfer target shape obtaining step for obtaining the shape of the construction material lot placed at the address; the shape of the construction material lot obtained in the transfer target shape obtaining step; and the transfer target construction material lot stored in advance. and a shape determination step for determining whether or not the construction material lot placed at the specific address is the construction material lot to be transferred.

According to the above method (4), in the step of acquiring the shape to be transferred, an image (photographed image) photographed by the photographing device attached to the crane is image-processed to obtain the construction material lot placed at the specific address. shape can be obtained. In the transfer target shape determination step, the construction material lot placed at the specific address is constructed based on the shape of the construction material lot acquired in the transfer target shape acquisition step and the shape of the construction material lot to be transferred which is stored in advance. It can be determined whether or not the lot is the construction material lot to be transferred next in the procedure. By performing the above determination, erroneous transportation by a crane can be prevented.

(5) In some embodiments, in the construction material transfer method described in (3) above, the transfer target determination step includes tag information encoded in a tag attached to the construction material lot, a tag information detection step in which the tag detection device of the crane reads the tag information including the information specifying the construction material lot in a non-contact manner; Based on the information specifying the included construction material lot and the pre-stored information specifying the construction material lot to be transferred, the construction material lot placed at the specific address is the construction material lot to be transferred. and a tag information determination step of determining whether or not it is a material lot.

According to the method (5) above, in the tag information detection step, the tag information encoded in the tag attached to the construction material lot is read by the tag detection device of the crane. The tag information includes information specifying a construction material lot. In the tag information determination step, based on information specifying the construction material lot included in the tag information read by the tag detection device in the tag information detection step and pre-stored information specifying the construction material lot to be transferred. Thus, it can be determined whether or not the construction material lot placed at the specific address is the next transfer object construction material lot scheduled to be transferred in the construction procedure. By performing the above determination, erroneous transportation by a crane can be prevented.

(6) In some embodiments, in the construction material transfer method according to any one of (3) to (5) above, the transfer object determination step is performed by a photographing device mounted on the crane. a photographed image display step of displaying a photographed image, which is an image of a real space, on a display device in real time; and a virtual image display step for displaying on a display device.

According to the method (6) above, the display device displays in real time an image (photographed image) of the real space photographed by the photographing device attached to the crane. A virtual image of a three-dimensional model of the material lot is superimposed on the photographed image and displayed. By visually recognizing the image of the construction material lot in the real space and the virtual image of the construction material lot to be transferred, which are superimposed and displayed on the display device, the construction material lot placed at the specific address is next in the construction procedure. It is possible to determine whether or not the lot is a transfer target construction material lot scheduled to be transferred. By performing the above determination, erroneous transportation by a crane can be prevented.

(7) In some embodiments, in the construction material transfer method described in (4) or (6) above, the photographing device is provided at the jib tip or hook of the crane.

According to the above method (7), when the construction material lot to be transferred is transferred by the crane, the jib tip or hook of the crane is positioned above the specific address where the construction material lot to be transferred is placed. Therefore, according to the photographing device provided at the tip of the jib or the hook of the crane, it is possible to photograph the construction material lot to be transferred, the specific address, and the vicinity of the specific address.

(8) A transfer support device according to at least one embodiment of the present invention,
A transfer support device for supporting the transfer of a crane that repeatedly transfers construction materials placed in a material yard from the material yard to each transfer destination of the construction materials,
A construction material lot that is arranged at each of a plurality of predetermined addresses of the material yard based on a predetermined construction procedure, and which is the construction material for one transfer lot. a construction material lot identification unit to be transferred, which can identify a construction material lot to be transferred, which is the construction material lot to be transferred next by the crane;
The construction material lot identified by the transfer target construction material lot identification unit based on suspended load position information in which each of the plurality of addresses and the construction material lot placed at each of the plurality of addresses are associated a transfer source address identification unit capable of identifying a specific address, which is the address where the construction material lot to be transferred is placed, from among the plurality of addresses;
A transfer position information management unit capable of transmitting to the crane information on the specific address specified by the transfer source address specifying unit and information on the transfer destination of the construction material lot to be transferred located at the specific address. and have.

According to the above configuration (8), the transfer support device includes a transfer target construction material lot identifying unit capable of specifying a transfer target construction material lot based on the construction procedure, a transfer source address specifying unit capable of specifying a specific address where the construction material lot to be transferred specified by the material lot specifying unit is placed. Since construction materials for one transfer lot are placed at each of a plurality of addresses, such a transfer support device selects, for example, construction materials to be transferred by a crane from among a plurality of construction materials stacked in a material yard. You don't have to do anything like In addition, since it is possible to quickly identify a specific address or a construction material lot to be transferred placed at a specific address, it is possible to improve the efficiency of transfer work using a crane.

Further, the transfer support device provides transfer position information capable of transmitting to the crane information on the specific address specified by the transfer source address specifying unit and information on the transfer destination of the construction material lot to be transferred located at the specific address. and a management department. When a construction material lot to be transferred is transferred by a crane, the crane should move the hook of the crane to the specific address based on the information about the specific address sent from the transfer position information management section. There is no need to have the hook guided by a guide. Therefore, according to the transfer support device, it is possible to improve the efficiency of transfer work by a crane.

(9) A construction material transfer system according to at least one embodiment of the present invention includes the transfer support device according to (8) above, the information about the specific address transmitted from the transfer position information management unit, and the transfer object. and the crane capable of transferring the construction material lot to be transferred located at the specific address based on information on the transfer destination of the construction material lot.

According to the configuration of (9) above, based on the information on the specific address and the information on the transfer destination of the construction material lot to be transferred, which are sent from the transfer position information management unit, the crane is placed at the specific address. The target construction material lot can be transferred to the transfer destination. When a construction material lot to be transferred is transferred by a crane, the crane only needs to move the hook of the crane with a specific address or the above-mentioned transfer destination as a target, and the crane hook does not need to be guided by a guide. Therefore, according to the transfer system for construction materials, it is possible to improve the efficiency of transfer work by a crane.

According to at least one embodiment of the present invention, there is provided a construction material transfer method capable of improving the efficiency of transfer work by a crane.

1 is a flow diagram of a method for transferring construction materials according to one embodiment; FIG. 1 is a schematic configuration diagram schematically showing the configuration of a transfer system capable of executing a construction material transfer method according to an embodiment; FIG. FIG. 4 is a diagram showing an example of a plurality of addresses, and showing a plurality of addresses partitioned with a center marker placed at the center position as a reference point. It is a figure which shows an example of a construction procedure and a data structure of suspended load position information. 3 is a block diagram of the construction material transfer system shown in FIG. 2; FIG. 1 is a flow diagram of a method for conveying construction materials according to one embodiment; FIG. FIG. 4 is a flow chart showing an example of a transfer target determination step, and is a flow chart of the transfer target determination step including a transfer target shape acquisition step and a transfer target shape determination step; FIG. 4 is a flow chart showing an example of a transfer target determination step, and is a flow chart of the transfer target determination step including a tag information detection step and a tag information determination step. FIG. 4 is a flow chart showing an example of a transfer target determination step, and is a flow chart of the transfer target determination step including a photographed image display step and a virtual image display step. FIG. 3 is a schematic diagram schematically showing a state in which a virtual image of a three-dimensional model of a construction material lot to be transferred is superimposed on a photographed image and displayed on a display unit;

Several embodiments of the present invention will now be described with reference to the accompanying drawings. However, the dimensions, materials, shapes, relative arrangements, etc. of the components described as embodiments or shown in the drawings are not intended to limit the scope of the present invention, and are merely illustrative examples. do not have.
For example, expressions denoting relative or absolute arrangements such as "in a direction", "along a direction", "parallel", "perpendicular", "center", "concentric" or "coaxial" are strictly not only represents such an arrangement, but also represents a state of relative displacement with a tolerance or an angle or distance to the extent that the same function can be obtained.
For example, expressions such as "same,""equal," and "homogeneous" that express that things are in the same state not only express the state of being strictly equal, but also have tolerances or differences to the extent that the same function can be obtained. It shall also represent the existing state.
For example, expressions that express shapes such as squares and cylinders do not only represent shapes such as squares and cylinders in a geometrically strict sense, but also include irregularities and chamfers to the extent that the same effect can be obtained. The shape including the part etc. shall also be represented.
On the other hand, the expressions "comprising", "comprising", "having", "including", or "having" one component are not exclusive expressions excluding the presence of other components.
In addition, the same code|symbol may be attached|subjected about the same structure and description may be abbreviate|omitted.

1 to 10, a construction material transfer method 100, a transfer support device 4, and a construction material transfer system 1 including the transfer support device 4 according to several embodiments of the present invention will be described below. FIG. 1 is a flow diagram of a method for transferring construction materials according to one embodiment. FIG. 2 is a schematic configuration diagram schematically showing the configuration of a transfer system capable of executing the construction material transfer method according to one embodiment.

A construction material transfer method 100 according to some embodiments transfers construction materials 13 placed in a material yard 11 from the material yard 11 to respective transfer destinations 16 of the construction materials 13 as shown in FIG. It is a method for transferring with a repeating crane 2 . Here, the construction material 13 includes parts constituting the permanent or temporary structure 15, devices and tools for constructing the permanent or temporary structure 15, and the like. The material yard 11 is a temporary storage place for temporarily storing construction materials 13 . In the embodiment shown in FIG. 2, the material yard 11 is provided on the ground near the structure 15 under construction and the destination 16 is provided on the roof of the structure 15 under construction. The transfer destination 16 may be a position where the construction material 13 transferred by the crane 2 is attached to the structure 15 .

As shown in FIG. 2, the crane 2 includes a body portion 23, a jib 22 configured to be able to turn, extend and retract, and raise and lower with respect to the body portion 23. and a hook 21 configured to allow The crane 2 controls the rotation, expansion and contraction, and undulation of the jib 22, and the hoisting and lowering of the hook 21, so that the construction material 13, which is a load suspended by the hook 21, can be transferred from the material yard 11, which is the transfer source. The construction material 13 is transferred to the transfer destination.

In the embodiment shown in FIG. 2, the crane 2 includes the above-described body portion 23, a swivel base 24 provided on the body portion 23 so as to be capable of horizontal rotation, and the above-described jib 22 provided on the swivel base 24. , a jib 22 configured to be able to rise and fall, a hook 21 suspended from the tip of the jib 22, and a cabin 25 provided on a body portion 23. - 特許庁The base end of the jib 22 is rotatable with respect to the swivel base 24 , and a hydraulic cylinder 26 is bridged between the jib 22 and the jib 22 . Therefore, the jib 22 can be raised and lowered by extending and contracting the hydraulic cylinder 26 by hydraulic pressure. In addition, the jib 22 is formed by stacking steel cylindrical bodies in a nested manner, and is configured to be extendable. Further, inside the cabin 25, there is provided an operation unit for performing operations such as turning, hoisting and extending/contracting of the jib 22, vertical movement of the hook 21, starting and stopping of the engine of the crane 2, and the like.

Also, in the embodiment shown in FIG. 2, a wire 28 is hung from a head 27 attached to the distal end of the jib 22 located away from the proximal end of the jib 22, and the wire 28 hangs down from the head 27. A hook 21 is suspended from the portion where the The hook 21 includes a hook block 211 that is suspended from the wire 28 and that incorporates a movable pulley, and a hook-shaped hook portion 212 that is attached to the lower side of the hook block 211 . A suspended load is hung on the hook portion 212 .

The wire 28 has one end attached to the head 27 and the other end wound around a winch 29 provided on the swivel base 24 . The wire 28 is stretched over a moving pulley built in the hook block 211 in the middle of its length. By rotating the winch 29, the wire 28 can be hoisted and hoisted, and the hook 21 can be moved up and down.

In the embodiment shown in FIG. 2, the crane 2 is configured as a wheeled crane configured to be self-propelled by wheels provided on the body 23, but the crane 2 is not limited to a wheeled crane. Other cranes such as a tower crane in which the body part 23 is supported by a mast erected along the vertical direction may be used.

As shown in FIG. 1, the construction material transfer method 100 described above includes a construction material lot arrangement step S101, a transfer target construction material lot identification step S102, a load position information acquisition step S103, and a specific address identification step S104. and a crane transfer step S105. In the embodiment shown in FIG. 1, the construction material lot placement step S101, the construction material lot identification step S102 to be transferred, the load position information acquisition step S103, the specific address identification step S104, and the crane transfer step S105 are performed in this order. In another embodiment, the suspended load position information acquisition step S103 may be performed before the construction material lot arrangement step S101 and the transfer target construction material lot identification step S102.

In the construction material lot arrangement step S101, as shown in FIG. 2, one transfer lot of construction materials 13 is transferred by the crane 2 at one time to each of a plurality of predetermined addresses 12 of the material yard 11. A construction material lot 14 is arranged. The construction materials 13 are transported to the material yard 11 by trucks or the like. Although it is preferable for work efficiency to place the construction materials 13 in one transfer lot at each of the plurality of addresses 12, it is difficult to transport the construction materials 13 in one transfer lot by a truck or the like. , etc., may be divided and conveyed in smaller quantities than one transfer lot, and may be combined into one transfer lot at each of a plurality of addresses 12 .

In the embodiment shown in FIG. 2, one material yard 11 is provided on the ground adjacent to the structure 15 under construction. Each of the addresses 12 is a rectangular area defined by a boundary line 111 drawn in the material yard 11, as shown in FIG. Note that the material yard 11 may be provided at a plurality of locations. Further, the plurality of addresses 12 are not limited to the rectangular areas described above, and may be circular, elliptical, or polygonal areas. Also, in the embodiment shown in FIG. 2, each of the plurality of addresses 12 is provided adjacent to the other addresses 12, but each of the plurality of addresses 12 is provided at a position distant from the other addresses 12. may be

FIG. 3 is a diagram showing an example of a plurality of addresses, showing a plurality of addresses partitioned with a center marker placed at the center position as a reference point. In the embodiment shown in FIG. 3, each of the plurality of street addresses 12 is a delimited region that includes a central marker 112. In the embodiment shown in FIG. Also, each of the plurality of addresses 12 may be an area having a predetermined radius centered on the center marker 112, as indicated by the chain double-dashed line in FIG. Also, as shown in FIG. 3, each of the plurality of addresses 12 is given an address number 55 (A1 to C4 in FIG. 3) to distinguish it from other addresses 12. FIG. The address number 55 may be written on the ground as a mark when the construction material lot 14 is conveyed or transferred.

In the transfer target construction material lot identification step S102, the transfer target construction material lot 14A, which is the construction material lot 14 to be transferred by the crane 2 next, is identified based on the predetermined construction procedure 51. FIG. FIG. 4 is a diagram showing an example of the construction procedure and the data configuration of the suspended load position information. In the embodiment shown in FIG. 4, the construction procedure 51 includes a construction number 53, which is information indicating the order of the construction material lot to be transferred by the crane 2, and a construction material lot 14, which is information for uniquely identifying the construction material lot 14. Lot number 54 and information relating to. Transfer by the crane 2 is performed in ascending order of construction number 53 . A separate construction material lot number 54 is assigned to each of the plurality of construction material lots 14 . For example, assuming that the transfer by the crane 2 has been completed up to the construction number 53 value of 2, the next construction material lot 14 to be transferred by the crane 2 (construction material lot 14A to be transferred) is the construction material shown in FIG. By referring to the procedure 51 , it is possible to identify the construction material lot 14 corresponding to the value 103 of the construction material lot number 54 associated with the value 3 of the construction number 53 .

FIG. 5 is a block diagram of the construction material transfer system shown in FIG. As shown in FIG. 5 , the crane 2 has a control section 3 for controlling driving of the crane 2 . In the embodiment shown in FIG. 2, the control unit 3 is housed in the cabin 25 of the crane 2. As shown in FIG. Note that the control section 3 may be built in the body section 23 . A control unit 3 of the crane 2 is connected to a transfer support device 4 that supports transfer by the crane 2 so as to be capable of electrical communication such as wireless communication. The execution procedure 51, as shown in FIG. stored in at least one.

In the suspended load position information acquisition step S103, suspended load position information 52 in which each of the plurality of addresses 12 and the construction material lot 14 placed at each of the plurality of addresses 12 is associated is acquired. In the specific address identification step S104, based on the suspended load position information 52, the specific address 12A, which is the address where the construction material lot 14A to be transferred is placed, is identified from the plurality of addresses 12. FIG. The suspended load position information 52 is created in advance before the suspended load position information acquisition step S103. In the embodiment shown in FIG. 4, the suspended load position information 52 includes information that associates the address number 55, which is information for uniquely identifying the address 12, with the construction material lot number 54 described above. A separate street number 55 is assigned to each of the plurality of street addresses 12 . For example, if the value of the construction material lot number 54 corresponding to the construction material lot 14A to be transferred next by the crane 2 is 102, the value B3 of the address number 55 associated with the value 102 of the construction material lot number 54 is It can be specified that the construction material lot 14A to be transferred is placed at the address 12 (specific address 12A) corresponding to .

That is, in the construction material lot arrangement step S101 described above, the construction material lot 14 is arranged at the address 12 corresponding to the construction material lot 14 based on the suspended load position information 52. FIG. The suspended load position information 52 is stored in at least one of the storage unit 32 of the crane 2 and the storage unit 42 of the transfer support device 4 as shown in FIG.

In the embodiment shown in FIG. 4, one construction material lot number 54 corresponds to one or a plurality of street numbers 55 . In this case, even a construction material lot 14 that does not fit within the area of one address 12 can be arranged across a plurality of addresses 12 .

In addition, in the embodiment shown in FIG. 4, the suspended load position information 52 further includes information that associates the construction material lot number 54 and the interference address number 56 described above. The interfering address number 56 is another address 12 located near the address 12 where the construction material lot 14 corresponding to the construction material lot number 54 is located, and the construction material lot 14 is located at the other address 12 . This is information for uniquely identifying other addresses 12 that may interfere when the construction material lot 14 corresponding to the construction material lot number 54 is transferred by the crane 2. In this case, interference that may occur when the construction material lot 14 is transferred by the crane 2 can be prevented.

In the crane transfer step S105, the construction material lot 14A to be transferred placed at the specific address 12A is transferred by the crane 2 from the material yard 11 to the transfer destination 16 of the construction material lot 14A to be transferred. As shown in FIG. 4, the suspended load position information 52 includes the construction material lot number 54 and the transfer destination number 57, which is information for uniquely identifying the transfer destination 16 of each construction material lot 14. and further includes information associating the . The suspended load position information 52 may include information that associates the values of the address number 55 and the interference address number 56 with information on the positions corresponding to the values of the address number 55 and the interference address number 56 . Here, the position information corresponding to the values of the address number 55 and the interference address number 56 includes the address position (coordinates) such as the coordinates of the four corners of the rectangular area described above and the coordinates of the center marker 112 . It contains information to The suspended load position information 52 may also include information that associates the value of the transfer destination number 57 with the position (coordinates) corresponding to the value of the transfer destination number 57 . For example, if the value of the construction material lot number 54 corresponding to the construction material lot 14A to be transferred is 102, the construction material lot 14A to be transferred is transferred from the specific address 12A corresponding to the value B3 of the address number 55 to the transfer destination. It is transferred to the destination 16 corresponding to the value E1 of the number 57.

In the embodiment shown in FIG. 1, the transfer by the crane 2 is performed until there are no more construction material lots 14 that have not been transferred according to the construction procedure 51 (step S106). That is, if there is a construction material lot 14 that has not been transferred ("NO" in step S106), the above-described transfer target construction material lot identification step S102 to crane transfer step S105 are repeated. If there is no construction material lot 14 that has not been transferred ("YES" in step S106), the transfer by the crane 2 is terminated.

As described above, the construction material transfer method 100 according to some embodiments includes a construction material lot placement step S101, a transfer target construction material lot identification step S102, a load position information acquisition step S103, a specific address identification step S103, and a It has a step S104 and a crane transfer step S105.

According to the above method, the construction material transfer method 100 includes the step of arranging the construction material lot 14 at each of the plurality of addresses 12 (construction material lot arrangement step S101), and The step of specifying the material lot 14A (the transfer target construction material lot specifying step S102), each of the plurality of addresses 12, and the construction material lot 14 placed at each of the plurality of addresses 12 are associated with each other. A step of acquiring load position information 52 (hanging load position information acquisition step S103), and a step of specifying a specific address 12A where the construction material lot 14A to be transferred is placed based on the load position information 52 (specific address specifying step). Step S104) and. In this construction material transfer method 100, since one transfer lot of construction materials 13 is arranged at each of a plurality of addresses 12, for example, a crane 2 can pick up a plurality of construction materials 13 stacked in a material yard 11 from among the plurality of construction materials 13 stacked in the material yard 11. There is no need to perform work such as sorting the construction materials 13 to be transferred. In addition, since the specific address 12A and the construction material lot 14A to be transferred placed at the specific address 12A can be quickly specified, the efficiency of the transfer operation by the crane 2 can be improved.

Further, the construction material transfer method 100 includes a step of transferring the construction material lot 14A to be transferred placed at the specific address 12A from the material yard 11 to the transfer destination 16 of the construction material lot 14A to be transferred by the crane 2 (crane transfer step S105). According to the construction material transfer method 100 as described above, when the construction material lot 14A to be transferred is transferred by the crane 2, the hook 21 of the crane 2 may be moved targeting the specific address 12A. 21 need not be guided by a guide. Therefore, according to the construction material transfer method 100, the efficiency of the transfer operation by the crane 2 can be improved.

FIG. 6 is a flow diagram of a method for conveying construction materials according to one embodiment. In some embodiments, as shown in FIG. 6, the construction material transfer method 100 described above is based on the construction procedure 51 after transferring the construction material lot 14A to be transferred from the specific address 12A. A suspended load position information update step S201 for updating the association between each of the plurality of addresses 12 in the information 52 and the construction material lot 14 is further provided. In the embodiment shown in FIG. 6, the suspended load position information update step S201 is performed after the above-described crane transfer step S105 and before step S106. Further, in the embodiment shown in FIG. 6, if there is a construction material lot 14 that has not been transferred ("NO" in step S106), the steps from construction material lot arrangement step S101 to crane transfer step S105 are performed. is repeated. That is, in the construction material lot arrangement step S101 described above, the construction material lot 14 may be arranged based on the suspended load position information 52 updated in the suspended load position information update step S201.

According to the above method, by updating the association between each of the plurality of addresses 12 in the suspended load position information 52 and the construction material lot 14, a new can be assigned another construction material lot 14 . For example, in the suspended load position information 52 shown in FIG. After the material lot 14 is transferred by the crane 2, A2 and A3 among the address numbers A1 to A3 are associated with the value 104 of the construction material lot number 54. FIG. In this way, by allocating construction material lots 14 appropriately to each of the plurality of addresses 12, the plurality of addresses 12 can be effectively utilized, and the material yard 11 necessary for transporting the construction material lots 14 can be made smaller. I can plan. Further, even in a construction site where the material yard 11 is small, the construction material transfer method 100 can be performed, and the efficiency of the transfer work by the crane 2 can be improved.

In some embodiments, as shown in FIG. 6, the construction material transfer method 100 described above determines whether the construction material lot 14 placed at the specific address 12A is the construction material lot 14A to be transferred. It further includes a transfer target determination step S301 for determination. In the embodiment shown in FIG. 6, the transfer object determination step S301 is performed after the specific address identification step S104 and before the crane transfer step S105. If it is determined in the transfer target determination step S301 that the construction material lot 14 placed at the specific address 12A is the transfer target construction material lot 14A ("YES" in step S301), crane transfer step S105. is done. Further, when it is determined in the transfer object determination step S301 that the construction material lot 14 placed at the specific address 12A is not the construction material lot 14A to be transferred ("NO" in step S301), crane transfer is performed. Without performing step S105, at least one of the display unit 33 provided in the crane 2 and the display unit 43 provided in the transfer support device 4 displays a display indicating that the misplacement has been detected (step S302).

In the transfer object determination step S301, the specific address 12A is determined based on the information acquired by the transfer object detection device 5 capable of acquiring information on the construction material lot 14 placed at the specific address 12A as shown in FIG. is the construction material lot 14A to be transferred. A specific example of determination in the transfer target determination step S301 will be described later.

According to the above method, by determining whether or not the construction material lot 14 placed at the specific address 12A is the next transfer target construction material lot 14A scheduled to be transferred in the construction procedure 51, an error by the crane 2 can be eliminated. Conveyance can be prevented. Further, by making the above determination before the crane 2 lifts the construction material lot 14, the wrong construction material lot 14 is not lifted, so the efficiency of the transfer work by the crane 2 can be improved.

FIG. 7 is a flow chart showing an example of a transfer target determination step, and is a flow chart of the transfer target determination step including a transfer target shape acquisition step and a transfer target shape determination step. In some embodiments, as shown in FIG. 7, the transfer object determination step S301 described above is placed at the specific address 12A by image processing from the image captured by the imaging device 6 mounted on the crane 2. Transfer object shape acquisition step S401 for acquiring the shape of the construction material lot 14; Based on this, a transfer target shape determination step S402 is included for determining whether or not the construction material lot 14 placed at the specific address 12A is the transfer target construction material lot 14A.

The transfer object detection device 5 described above includes a photographing device 6 mounted on a head 27 attached to the tip of the jib 22 as shown in FIG. Note that the photographing device 6 may be attached to the hook block 211 of the hook 21 . In the transfer target shape acquisition step S401, the photographing device 6 photographs the downward direction in the vertical direction, as shown in FIG. The image captured by the imaging device 6 includes the construction material lot 14 placed at the specific address 12A. Therefore, by subjecting the photographed image to image processing such as contour detection, the shape of the construction material lot 14 placed at the specific address 12A can be obtained.

In the transfer target shape determination step S402 described above, the shape of the construction material lot 14 acquired in the transfer target shape acquisition step S401 is stored in advance in at least one of the storage unit 32 of the crane 2 and the storage unit 42 of the transfer support device 4. When the matching rate is equal to or higher than a predetermined value when comparing the shape of the construction material lot 14A to be transferred, the construction material lot 14 placed at the specific address 12A is the construction material lot 14A to be transferred. I judge. If the matching rate is less than the predetermined value, it is determined that the construction material lot 14 placed at the specific address 12A is not the construction material lot 14A to be transferred.

According to the above method, in the transfer target shape acquisition step S401, the image (photographed image) photographed by the photographing device 6 attached to the crane 2 is image-processed to obtain the construction material placed at the specific address 12A. The shape of lot 14 can be obtained. In the transfer target shape determination step S402, based on the shape of the construction material lot 14 acquired in the transfer target shape acquisition step S401 and the shape of the transfer target construction material lot 14A stored in advance, it is placed at the specific address 12A. It is possible to determine whether or not the construction material lot 14 is the next transfer target construction material lot 14A scheduled to be transferred in the construction procedure 51 . By performing the above determination, erroneous transportation by the crane 2 can be prevented.

FIG. 8 is a flow chart showing an example of the transfer target determination step, and is a flow chart of the transfer target determination step including a tag information detection step and a tag information determination step. In some embodiments, as shown in FIG. 8, the transfer target determination step S301 described above includes the tag information 71 encoded in the tag 7 attached to the construction material lot 14. The tag information detection step S501 that the tag information detection device 8 of the crane 2 reads the tag information 71 including the information to be specified without contact, and the tag information 71 read by the tag information detection device 8 in the tag information detection step S501. Based on the information specifying the contained construction material lot 14 and the information specifying the construction material lot 14A to be transferred which is stored in advance, the construction material lot 14 placed at the specific address 12A is the construction material to be transferred. and a tag information determination step S502 for determining whether or not it is lot 14A.

The transfer object detection device 5 described above includes tags 7 attached to each of a plurality of construction material lots 14 as shown in FIG. contains. In the embodiment shown in FIG. 2, the tag 7 includes an electronic tag (RF tag) having individual identification information as the tag information 71, and the tag information detection device 8 detects the tag from the tag 7 by wireless communication using radio waves or the like. It is configured to be able to acquire the tag information 71 . The electronic tag may or may not contain a battery. In other embodiments, the tag 7 may include a barcode, QR code (registered trademark), AR marker, etc., and the tag information detection device 8 is the above-described imaging device 6 capable of imaging the tag 7. may

In the above-described tag information determination step S502, if the information specifying the construction material lot 14 included in the tag information 71 matches the pre-stored information specifying the construction material lot 14A to be transferred, the specified It is determined that the construction material lot 14 placed at the address 12A is the construction material lot 14A to be transferred. If the information specifying the construction material lot 14 included in the tag information 71 does not match the pre-stored information specifying the construction material lot 14A to be transferred, the construction material placed at the specific address 12A It is determined that the lot 14 is not the construction material lot 14A to be transferred. Here, the information specifying the construction material lot 14 included in the tag information 71 and the pre-stored information specifying the construction material lot 14A to be transferred include the construction material lot number 54 described above.

According to the above method, in the tag information detection step S501, the tag information 71 encoded in the tag 7 attached to the construction material lot 14 is read by the tag information detection device 8 of the crane 2. FIG. The tag information 71 includes information identifying the construction material lot 14 . In the tag information determination step S502, the information identifying the construction material lot 14 included in the tag information 71 read by the tag information detection device 8 in the tag information detection step S501 and the prestored transfer target construction material lot 14A are determined. It is possible to determine whether or not the construction material lot 14 placed at the specific address 12A is the construction material lot 14A to be transferred next in the construction procedure 51, based on the identifying information. By performing the above determination, erroneous transportation by the crane 2 can be prevented.

FIG. 9 is a flow chart showing an example of the transfer target determination step, and is a flow chart of the transfer target determination step including a photographed image display step and a virtual image display step. FIG. 10 is a schematic diagram schematically showing a state in which a virtual image of a three-dimensional model of a construction material lot to be transferred is superimposed on a photographed image and displayed on the display unit. In some embodiments, as shown in FIG. 9, the transfer target determination step S301 described above displays the captured image CI, which is the image of the real space captured by the imaging device 6 attached to the crane 2, on the display device ( A photographed image display step S601 for real-time display on the display units 33, 43) and a pre-stored virtual image VI of a three-dimensional model of the construction material lot 14A to be transferred are superimposed on the photographed image CI and displayed on the display device (display unit). and a virtual image display step S602 for displaying on the unit 33, 43).

As described above, the imaging device 6 is attached to the head 27 attached to the tip of the jib 22, as shown in FIG. Note that the photographing device 6 may be attached to the hook block 211 of the hook 21 . In the photographed image display step S601, the photographing device 6 photographs downward in the vertical direction, as shown in FIG. The photographed image CI photographed by the photographing device 6 includes the construction material lot 14 placed at the specific address 12A, as shown in FIG. In the virtual image display step S602, as shown in FIG. 10, a three-dimensional image of the construction material lot 14A to be transferred, which is stored in advance in at least one of the storage unit 32 of the crane 2 and the storage unit 42 of the transfer support device 4, is displayed. A virtual image VI representing the model viewed from above is displayed superimposed on the above-described photographed image CI.

According to the above method, the display device (display units 33 and 43) displays in real time the image of the real space (captured image CI) photographed by the photographing device 6 mounted on the crane 2. The stored virtual image VI of the three-dimensional model of the construction material lot 14A to be transferred is superimposed on the photographed image CI and displayed. By visually recognizing the image of the construction material lot 14 in the real space and the virtual image VI of the construction material lot 14A to be transferred, which are superimposed and displayed on the display device (display units 33 and 43), the construction material lot placed at the specific address 12A can be viewed. It is possible to determine whether or not the construction material lot 14 currently being transferred is the construction material lot 14A to be transferred which is scheduled to be transferred next in the construction procedure 51 or not. By performing the above determination, erroneous transportation by the crane 2 can be prevented.

In some embodiments, the transfer target determination step S301 includes the transfer target shape acquisition step S401, the transfer target shape determination step S402, the captured image display step S601, and the virtual image display step S601. and step S602. In some other embodiments, the above-described transfer target determination step S301 includes the above-described tag information detection step S501, the above-described tag information determination step S502, the above-described captured image display step S601, and the above-described virtual image display step S601. and an image display step S602. To improve determination accuracy by determining whether or not the construction material lot 14 placed at the specific address 12A is the construction material lot 14A to be transferred next in the construction procedure 51 by a plurality of means. can be done.

In some embodiments, as shown in FIG. 10, the determination results in the transfer target shape determination step S402 and the tag information determination step S502 are displayed on the display units 33 and 43. FIG. Further, as shown in FIG. 10, the display units 33 and 43 display information specifying the construction material lot 14A to be transferred, such as the construction material lot number 54, information specifying the specific address 12A, such as the address number 55, and information identifying the destination 16 such as the destination number 57 may be displayed. According to the above method, the workability of the crane 2 can be improved by visualizing the information regarding the transfer of the crane 2 .

As described above, in some embodiments, the imaging device 6 described above is provided at the tip of the jib 22 or hook 21 of the crane 2 . When the construction material lot 14A to be transferred is transferred by the crane 2, the tip of the jib 22 and the hook 21 of the crane 2 are positioned above the specific address 12A where the construction material lot 14A to be transferred is placed. Therefore, according to the photographing device 6 provided at the tip of the jib 22 or the hook 21 of the crane 2, the construction material lot 14A to be transferred, the specific address 12A, and the vicinity of the specific address 12A can be photographed.

As shown in FIG. 5, the transfer support device 4 according to some embodiments repeatedly transfers the construction materials 13 placed in the material yard 11 from the material yard 11 to the respective transfer destinations 16 of the construction materials 13. It is a device that assists the transfer of the crane 2 to carry out. 5, the transfer support device 4 includes a transfer target construction material lot identification unit 45, a transfer source address identification unit 46, and a transfer position information management unit 47. As shown in FIG.

The construction material lot identification unit 45 to be transferred is a construction material lot 14 arranged at each of a plurality of predetermined addresses 12 of the material yard 11 based on a predetermined construction procedure 51. The construction material lot 14A to be transferred, which is the construction material lot 14 to be transferred by the crane 2 next, can be specified from among the construction material lots 14, which are the construction materials 13 for the lot. That is, the transfer target construction material lot identification unit 45 can execute the above-described transfer target construction material lot identification step S102.

The transfer source address identification unit 46 identifies the construction material to be transferred based on the suspended load position information 52 in which each of the plurality of addresses 12 and the construction material lot 14 placed at each of the plurality of addresses 12 are associated. The specific address 12A, which is the address 12 where the construction material lot 14A to be transferred specified by the lot specifying unit 45 is placed, can be specified from among the plurality of addresses 12. FIG. That is, the transfer source address identification unit 46 can execute the above-described specific address identification step S104.

The transfer position information management unit 47 sends information on the specific address 12A specified by the transfer source address specifying unit 46 and information on the transfer destination 16 of the construction material lot 14A to be transferred placed at the specific address 12A to the crane 2. configured to be able to send to Here, the information about the specific address 12A includes the position (coordinates) of the specific address 12A and the address number 55 of the specific address 12A. The information on the transfer destination 16 of the construction material lot 14A to be transferred includes the position (coordinates) of the transfer destination 16 of the construction material lot 14A to be transferred and the transfer destination number 57 of the transfer destination 16 of the construction material lot 14A to be transferred. be The crane 2 to which the above-described information has been transmitted from the transfer position information management unit 47 can execute the above-described crane transfer step S105.

The transfer support device 4 is installed in the vicinity of the crane 2 or at a remote location. As shown in FIG. 5, the transfer support device 4 includes an input/output unit 41 (input/output interface, communication device), the above-described storage unit 42 (ROM, RAM), a display unit 43 (display), and a computing unit. 44, but the general configuration and control will be omitted as appropriate. Input/output unit 41 , storage unit 42 , display unit 43 and computing unit 44 are each electrically connected to bus 40 . "Electrically connected" includes not only physical connection by wire but also communication by radio, and is configured to enable transmission and reception of signals, data, information, etc. between connected devices. It means that there is

The input/output unit 41 receives various information from each component such as the crane 2 and the transfer target detection device 5 (the photographing device 6 and the tag information detection device 8) used in the construction material transfer system 1, and Various types of information based on the calculation results and the like are output to the respective components described above. The input/output unit 41 includes a keyboard, a mouse, a wireless communication device, and the like, and can transmit and receive signals, data, and information to and from the communication unit 31 of the control unit 3 . The storage unit 42 is configured to be able to store various types of input information, various programs required for control execution, calculation results, and the like. The calculation unit 44 performs calculation processing based on the various types of information described above. The display unit 43 displays information such as the input various information and the calculation result by the calculation unit 44 described above.

The construction material lot identification unit 45 to be transferred, the transfer source address identification unit 46, and the transfer position information management unit 47 are stored in the storage unit 42 and operated by the calculation unit 44 by being installed in the transfer support device 4. It may be a program.

According to the above-described configuration, the transfer support device 4 uses the transfer target construction material lot identification unit 45 that can identify the transfer target construction material lot 14A based on the above-described construction procedure 51, and the above-described suspended load position information 52. and a transfer source address identification unit 46 capable of identifying the specific address 12A where the construction material lot 14A to be transferred identified by the construction material lot identification unit 45 to be transferred is placed. Since one transfer lot of construction materials 13 is placed at each of a plurality of addresses 12, such a transfer support device 4 transfers from among a plurality of construction materials 13 stacked in the material yard 11 by the crane 2, for example. There is no need to perform work such as sorting out the construction materials 13 to be used. In addition, since the specific address 12A and the construction material lot 14A to be transferred placed at the specific address 12A can be quickly specified, the efficiency of the transfer operation by the crane 2 can be improved.

In addition, the transfer support device 4 sends the information on the specific address 12A specified by the transfer source address specifying unit 46 and the information on the transfer destination 16 of the transfer target construction material lot 14A placed at the specific address 12A to the crane 2. and a transfer position information management unit 47 capable of transmitting to. When the crane 2 transfers the construction material lot 14A to be transferred, the crane 2 pulls the hook 21 of the crane 2 toward the specific address 12A based on the information about the specific address 12A sent from the transfer position information management unit 47. It is only necessary to move the crane 2, and there is no need to guide the hook 21 of the crane 2 by a guide. Therefore, according to the transfer support device 4 described above, the efficiency of the transfer work by the crane 2 can be improved.

As shown in FIG. 2, the construction material transfer system 1 according to some embodiments includes the transfer support device 4 described above and the specific address transmitted from the transfer position information management unit 47 of the transfer support device 4 described above. the above-described crane 2 capable of transferring the construction material lot 14A to be transferred placed at the specific address 12A based on the information about the construction material lot 12A and the information about the transfer destination 16 of the construction material lot 14A to be transferred. there is

The control unit 3 of the crane 2, as shown in FIG. However, the general configuration and control will be omitted as appropriate. Communication unit 31 , storage unit 32 , display unit 33 and calculation unit 34 are each electrically connected to bus 30 . "Electrically connected" includes not only physical connection by wire but also communication by radio, and is configured to enable transmission and reception of signals, data, information, etc. between connected devices. It means that there is

The communication unit 31 includes a wireless communication device and the like, and can transmit and receive signals, data, information, etc. to and from the input/output unit 41 of the transport support device 4 . The communication unit 31 receives various information from the transfer support device 4 and outputs various information to the transfer support device 4 based on calculation results and the like. The storage unit 32 is configured to be able to store various types of input information, various programs required for control execution, calculation results, and the like. The calculation unit 34 performs calculation processing based on the various types of information described above. The display unit 33 displays information such as the input various information and the calculation result by the calculation unit 34 described above.

According to the above configuration, the crane 2 is placed at the specific address 12A based on the information about the specific address 12A sent from the transfer position information management unit 47 and the information about the transfer destination 16 of the construction material lot 14A to be transferred. The construction material lot 14A to be transferred can be transferred to the transfer destination 16 of the construction material lot 14A to be transferred. When the construction material lot 14A to be transferred is transferred by the crane 2, the crane 2 may move the hook 21 of the crane 2 targeting the specific address 12A or the transfer destination 16. does not need to be induced by Therefore, according to the construction material transfer system 1 described above, the efficiency of the transfer work by the crane 2 can be improved.

In some embodiments, the transfer support device 4 described above further includes a suspended cargo position information updater 48 as shown in FIG. The suspended load position information update unit 48 is configured to be able to update the association between each of the plurality of addresses 12 in the suspended load position information 52 and the construction material lot 14 based on the construction procedure 51 . That is, the suspended load position information update unit 48 can execute the above-described suspended load position information update step S201. Then, the suspended load position information update unit 48 receives a signal indicating that the transfer support device 4 has transferred from the specific address 12A sent from the crane 2 after the transfer of the construction material lot 14A to be transferred from the specific address 12A. The suspended load position information 52 is updated. The suspended load position information update unit 48 may be a program that is stored in the storage unit 42 and operated by the calculation unit 44 by being installed in the transfer support device 4 .

In some embodiments, the construction material transfer system 1 described above further comprises the imaging device 6 described above, as shown in FIG. Further, the transfer support device 4 described above further includes an image processing section 49 as shown in FIG. As shown in FIG. 5, the photographing device 6 includes a photographing unit 61 capable of photographing a photographed image CI, and a communication unit 62 connected to the input/output unit 41 of the transportation support device 4 so as to be capable of electrical communication such as wireless communication. and a communication unit 62 capable of transmitting the photographed image CI to the transport support device 4 . The image processing unit 49 is configured to be able to acquire the shape of the construction material lot 14 by performing image processing such as contour detection on the captured image CI sent from the imaging device 6 via the communication unit 62 and the input/output unit 41. It is In other words, the transfer target shape acquisition step S401 can be executed by the transfer support device 4 having the image processing unit 49 and the photographing device 6 .

Also, the display unit 33 of the crane 2 and the display unit 43 of the transfer support device 4 can display the captured image CI. That is, the photographed image display step S601 can be executed by the crane 2, the transfer support device 4, and the photographing device 6. FIG. Further, when the three-dimensional model of the construction material lot to be transferred is stored in the storage unit 32 or 42, the display unit 33 of the crane 2 or the display unit 43 of the transfer support device 4 displays the virtual image VI as the photographed image CI. can be superimposed and displayed. In other words, the virtual image display step S602 can be executed by the crane 2, the transfer support device 4, and the photographing device 6. FIG. Note that when the crane 2 is operated unmanned, there is no need to display the captured image CI and the virtual image VI on the display unit 33 of the crane 2 . In this case, the transport support device 4 and the photographing device 6 can execute the photographed image display step S601 and the virtual image display step S602.

In some embodiments, the transfer support device 4 described above further includes a transfer target determination unit 50 as shown in FIG. The transfer object determination unit 50 determines the shape of the construction material lot 14 acquired by the image processing unit 49 and the transfer object stored in advance in at least one of the storage unit 32 of the crane 2 and the storage unit 42 of the transfer support device 4. Based on the shape of the target construction material lot 14A, it is possible to determine whether or not the construction material lot 14 placed at the specific address 12A is the transfer target construction material lot 14A. That is, the transfer target determination unit 50 can execute the transfer target shape determination step S402 described above.

In some embodiments, the construction material transfer system 1 described above further comprises the tag 7 described above and the tag information detection device 8 described above, as shown in FIG. The tag information detection device 8 is connected to the tag information detection unit 81 configured to be able to read the tag information 71 of the tag 7 without contact, and to the input/output unit 41 of the transportation support device 4 so as to be capable of electrical communication such as wireless communication. and a communication unit 82 capable of transmitting the tag information 71 read by the tag information detection unit 81 to the transfer support device 4 . That is, the tag 7 and the tag information detection device 8 can execute the tag information detection step S501 described above.

Then, the above-described transfer object determination unit 50 stores the information specifying the construction material lot 14 included in the tag information 71 read by the tag information detection unit 81 and the storage unit 32 of the crane 2 or the storage unit of the transfer support device 4. 42, and information specifying the construction material lot 14A to be transferred, which is stored in advance in at least one of 42, and whether or not the construction material lot 14 placed at the specific address 12A is the construction material lot 14A to be transferred. It is configured to be able to determine whether In other words, the transfer object determination unit 50 can execute the tag information determination step S502 described above.

In some embodiments, the control section 3 of the crane 2 described above further comprises an automatic transfer control section 35, as shown in FIG. The automatic transfer control unit 35 mechanically controls the transfer of the hook 21 of the crane 2 from the address 12 to the transfer destination 16 using the position (coordinates) of the address 12 as the transfer source and the position (coordinates) of the transfer destination 16 as input values. It is configured to be executable by In other words, the crane 2 equipped with the automatic transfer control unit 35 can transfer the hook 21 from the address 12 to the transfer destination 16 without human operation. Labor saving and unmanned operation can be achieved. The transfer position information management unit 47 described above can output the position (coordinates) of the address 12 which is the transfer source and the position (coordinates) of the transfer destination 16 as output values. can be easily linked. In other words, the transfer position information management unit 47 described above can be easily adapted to automation of the crane 2 and introduced into the construction material transfer system 1 having the automated crane 2 .

In some embodiments, the construction procedure 51 and the suspended load position information 52 described above are created based on the result of executing a construction simulation of the structure 15 including the time axis. In the construction simulation of the structure 15, three-dimensional models such as the crane 2 and the construction material lot 14 constituting the construction material transfer system 1 are moved in virtual space, and the construction material lot 14 is transferred by the crane 2 in the virtual space. and structure 15 are constructed. In this case, the construction procedure 51 and the suspended load position information 52 are created so that the transfer by the crane 2 is safe and efficient. The transfer by the crane 2 based on the construction procedure 51 and the load position information 52 is safe and efficient.

The present invention is not limited to the above-described embodiments, and includes modifications of the above-described embodiments and modes in which these modes are combined as appropriate. For example, the transfer support device 4 described above may be built in the crane 2 .

1 Construction material transfer system 2 Crane 4 Transfer support device 5 Transfer object detection device 6 Photographing device 7 Tag 8 Tag information detection device 11 Material yard 12 Address 12A Specific address 13 Construction material 14 Construction material lot 14A Construction material lot to be transferred 15 Structure Object 16 Destination 21 Hook 22 Jib 23 Body 24 Swivel base 25 Cabin 26 Hydraulic cylinder 27 Head 28 Wire 29 Winch 30, 40 Bus 31 Communication unit 32, 42 Storage unit 33, 43 Display unit 34, 44 Operation unit 35 Automatic transfer Control unit 41 Input/output unit 45 Transfer target construction material lot identification unit 46 Transfer source address identification unit 47 Transfer position information management unit 48 Lifted load position information update unit 49 Image processing unit 50 Transfer target determination unit 51 Construction procedure 52 Lifted load position information 53 Construction number 54 Construction material lot number 55 Address number 56 Interference address number 57 Transfer destination number 61 Photographing unit 62 Communication unit 71 Tag information 81 Tag information detection unit 82 Communication unit 100 Construction material transfer method S101 Construction material lot arrangement step S102 Transfer Target construction material lot identification step S103 Lifted load position information acquisition step S104 Specific address identification step S105 Crane transfer step S201 Lifted load position information update step S301 Transfer target determination step S401 Transfer target shape acquisition step S402 Transfer target shape determination step S501 Tag information detection Step S502 Tag information determination step S601 Captured image display step S602 Virtual image display step

Claims (9)

A construction material transfer method for repeatedly transferring construction materials placed in a material yard from the material yard to respective transfer destinations of the construction materials by a crane,
an arrangement step of arranging, at each of a plurality of predetermined addresses of the material yard, a construction material lot that is the construction material for one transfer lot that is transferred by the crane at one time;
a storage step of storing, in a storage unit, the construction material lot placed at each of the plurality of addresses in the placement step, and suspended load position information associated with each of the plurality of addresses;
identifying a construction material lot to be transferred, which is the construction material lot to be transferred next by the crane, based on a predetermined construction procedure;
a step of identifying a specific address, which is an address where the construction material lot to be transferred is placed, from the plurality of addresses based on the suspended load position information stored in the storage unit;
a step of transferring the construction material lot to be transferred placed at the specific address from the material yard to a transfer destination of the construction material lot to be transferred by the crane;
A method of transporting construction materials comprising: Updating load position information for updating association between each of the plurality of addresses in the load position information and the construction material lot based on the construction procedure after the construction material lot to be transferred is transferred from the specific address. The method of transferring construction material according to claim 1, further comprising the steps of: 3. The construction material transfer method according to claim 1, further comprising a transfer target determination step of determining whether or not said construction material lot placed at said specific address is said transfer target construction material lot. A construction material transfer method for repeatedly transferring construction materials placed in a material yard from the material yard to respective transfer destinations of the construction materials by a crane,
arranging a construction material lot, which is the construction material for one transfer lot transferred by the crane at one time, at each of a plurality of predetermined addresses of the material yard;
identifying a construction material lot to be transferred, which is the construction material lot to be transferred next by the crane, based on a predetermined construction procedure;
a step of acquiring suspended load position information in which each of the plurality of addresses and the construction material lot placed at each of the plurality of addresses are associated;
a step of identifying, from the plurality of addresses, a specific address where the construction material lot to be transferred is placed based on the suspended load position information;
a step of transferring the construction material lot to be transferred placed at the specific address from the material yard to a transfer destination of the construction material lot to be transferred by the crane;
with
further comprising a transfer target determination step of determining whether or not the construction material lot placed at the specific address is the transfer target construction material lot,
The transfer target determination step includes:
A transfer target shape acquisition step of acquiring the shape of the construction material lot placed at the specific address by image processing from the image captured by the imaging device mounted on the crane;
Based on the shape of the construction material lot acquired in the transfer target shape acquisition step and the pre-stored shape of the construction material lot to be transferred, the construction material lot placed at the specific address is a transfer object shape determination step of determining whether or not the lot is a transfer object construction material lot. The transfer target determination step includes:
a tag information detection step in which a tag detection device of the crane reads tag information encoded in a tag attached to the construction material lot, the tag information including information identifying the construction material lot, in a non-contact manner. ,
Based on the information specifying the construction material lot included in the tag information read by the tag detection device in the tag information detection step and the pre-stored information specifying the construction material lot to be transferred 4. The method of transferring construction materials according to claim 3, further comprising a tag information determination step of determining whether or not said construction material lot placed at said specific address is said construction material lot to be transferred. A construction material transfer method for repeatedly transferring construction materials placed in a material yard from the material yard to respective transfer destinations of the construction materials by a crane,
arranging a construction material lot, which is the construction material for one transfer lot transferred by the crane at one time, at each of a plurality of predetermined addresses of the material yard;
identifying a construction material lot to be transferred, which is the construction material lot to be transferred next by the crane, based on a predetermined construction procedure;
a step of acquiring suspended load position information in which each of the plurality of addresses and the construction material lot placed at each of the plurality of addresses are associated;
a step of identifying, from the plurality of addresses, a specific address where the construction material lot to be transferred is placed based on the suspended load position information;
a step of transferring the construction material lot to be transferred placed at the specific address from the material yard to a transfer destination of the construction material lot to be transferred by the crane;
with
further comprising a transfer target determination step of determining whether or not the construction material lot placed at the specific address is the transfer target construction material lot,
The transfer target determination step includes:
a photographed image display step of displaying a photographed image, which is an image of a real space photographed by a photographing device mounted on the crane, on a display device in real time;
and a virtual image display step of superimposing a pre-stored virtual image of a three-dimensional model of the construction material lot to be transferred on the photographed image and causing the display device to display the virtual image. The method of transferring construction materials according to claim 4 or 6, wherein the photographing device is provided at a tip of a jib or a hook of the crane. A transport support device for assisting transport of a crane that repeatedly transports construction materials placed in a material yard from the material yard to each transport destination of the construction materials ,
A construction material lot arranged at each of a plurality of predetermined addresses of the material yard based on a predetermined construction procedure, the construction material lot being one transfer lot of the construction material. a transfer target construction material lot specifying unit capable of specifying a transfer target construction material lot, which is the construction material lot to be transferred next by the crane, from among them ;
a storage unit that stores suspended load position information in which the construction material lot arranged at each of the plurality of addresses and each of the plurality of addresses are associated;
Based on the suspended load position information stored in the storage unit, a specific address, which is an address where the construction material lot to be transferred identified by the construction material lot identification unit to be transferred is placed, is set to the plurality of addresses. a transfer source address identification part that can be identified from among
A transfer position information management unit capable of transmitting to the crane information on the specific address specified by the transfer source address specifying unit and information on the transfer destination of the construction material lot to be transferred located at the specific address. and a transport assistance device. a transfer support device according to claim 8;
The construction material lot to be transferred placed at the specific address can be transferred based on the information on the specific address and the information on the transfer destination of the construction material lot to be transferred transmitted from the transfer position information management unit. and a construction material transfer system.

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