JP7222787B2 - Conveying device, position specifying system, structure demolition system, and structure demolition method - Google Patents

Description

The present invention relates to a position specifying system for specifying positions between devices and a structure dismantling method using the same. It also relates to a transport device for use in a localization system.

In demolition of structures, demolition by so-called heavy machines such as crushers is common. In other words, it is a demolition method in which heavy machinery is used to crush at once the ceiling, floor, walls, pillars, and beams of a structure. Structures include concrete and reinforcing bars, but by crushing them all at once using heavy machinery, structures can be dismantled without distinguishing between these materials. In particular, in the case of a structure having multiple stories, it is common to dismantle from the upper stories and drop the crushed objects to the lower stories. However, there has been a problem of safety due to dust generated by crushing and falling crushed materials.

On the other hand, in the demolition work of tunnels and bridges, in order to prevent the generation of dust due to falling crushed objects and to ensure safety, the structure to be dismantled is supported from below by the lifting table of the trolley, and the crushed objects after dismantling are left as they are. A method of unloading with a cart has been proposed (Patent Document 1).

Japanese Patent No. 3023415

However, in the case of a high-rise structure, dismantling from below has to be done from the edge or opening of the structure, and it may be difficult to increase the temporary space around the perimeter of the structure for heavy machinery to work. be. Even in the case of a medium-low-rise structure with a large floor area, there is a problem that work efficiency is poor because it can only be dismantled from the perimeter or floor openings such as elevators. In addition, when attempting to dismantle the structure from above, there is a problem that the position of the trolley arranged below the structure cannot be confirmed, and the crushed materials and dust cannot be collected by the trolley.

An object of the present invention is to provide a position specifying system capable of specifying the position of a device placed under a structure. Another object of the present invention is to provide a dismantling method for efficiently dismantling a structure while specifying the position of a device arranged below the structure.

A position specifying system according to an embodiment of the present invention includes first position detection means for detecting first position information of a first device arranged on the first surface side of a structure; A second position detecting means for detecting second position information of a second device to be placed, and a third position when it is assumed that the first device is placed on the second surface side of the structure based on the first position information Calculating the relative distance between the first device and the second device when they are assumed to be arranged on the second surface side of the structure based on the first processing means for generating information and the second position information and the third position information and a second processing means for.

The first position detection means may be provided in the first device, and the second position detection means may be provided in the second device.

Each of the first position detection means and the second position detection means may include a GPS signal receiver.

The first location information may include the location and orientation of the first device.

The first position information may include the distance between the first device and the first side of the structure.

Further, a control means for controlling the moving means provided in the second device may be included, and the control means may control the moving means so as to reduce the relative distance.

Furthermore, the position or region based on the third position information may be visualized by light irradiation means or projection means provided in the second device.

Furthermore, it includes display means for displaying an image or video imaged by the imaging means provided in the second device, and when the image or video includes a position corresponding to the third position information, the position in the image or video may be displayed.

Also, a structure demolition system according to an embodiment of the present invention may include a position identification system, and the first device may include a liftable bucket.

At least one contact sensor may be provided on the bucket.

A cushioning material may be provided at the opening of the bucket.

The first device may have transportation means.

The second device may include a crusher or crusher capable of crushing the structure.

The second device may be a demolition device having an arm.

A structure dismantling method according to an embodiment of the present invention detects first position information by a first position detection means of a first device disposed on a first surface side of a structure included in the structure, The second position information is detected by the second position detection means of the second device arranged on the second surface side of the structure, and the first device is arranged on the second surface side of the structure based on the first position information. generating third position information assuming that the first device and the second device are assumed to be arranged on the second surface side of the structure based on the second position information and the third position information at least one of the first device and the second device is moved so that the relative distance is reduced, and the position based on the third position information is calculated by the light irradiation means or projection means of the second device Or visualize an area, a second device crushes structures in the visualized location or area, and a bucket on the first device receives the crushed material.

A moving device according to an embodiment of the present invention includes a lifting means, a bucket for storing crushed objects on the second surface side of the structure when the structure is crushed from the first surface side of the structure, and a second It includes first position detection means for acquiring information necessary to specify the position or area of the bucket on the two sides.

According to the present invention, even if the first device cannot be visually confirmed from the second device, the position of the first device can be grasped.

1 is a block diagram showing the configuration of a position specifying system according to one embodiment of the present invention; FIG. 1 is a schematic diagram of a localization system according to an embodiment of the invention; FIG. 1 is a schematic diagram of a localization system according to an embodiment of the invention; FIG. 1 is a schematic diagram of a localization system according to an embodiment of the invention; FIG. 1 is a schematic diagram of a localization system according to an embodiment of the invention; FIG. 1 is a schematic diagram of a localization system according to an embodiment of the invention; FIG. 1 is a schematic diagram of a localization system according to an embodiment of the invention; FIG. 1 is a schematic diagram of a structure dismantling method using a position specifying system according to an embodiment of the present invention; FIG. 1 is a schematic diagram of a structure dismantling method using a position specifying system according to an embodiment of the present invention; FIG. 1 is a schematic diagram of a structure dismantling method using a position specifying system according to an embodiment of the present invention; FIG. 1 is a schematic diagram of a structure dismantling method using a position specifying system according to an embodiment of the present invention; FIG. 1 is a schematic diagram of a structure dismantling method using a position specifying system according to an embodiment of the present invention; FIG.

Embodiments of the present invention will be described below with reference to the drawings. It should be noted that the embodiment described in this specification is merely an example, and those that can be easily conceived by those skilled in the art by making appropriate modifications while maintaining the gist of the invention are naturally included in the scope of the present invention. be Also, in order to make the description clearer, the drawings may schematically represent the width, thickness, shape, etc. of each part compared to the actual mode. However, the illustrated shape is merely an example and does not limit the interpretation of the present invention.

<First embodiment>
One embodiment of the present invention is a position determination system including first position detection means, second position detection means, first processing means, and second processing means.

The configuration of a position specifying system according to one embodiment of the present invention will be described using the block diagram shown in FIG.

The localization system shown in FIG. 1 includes a first device 10 , a second device 20 and a computing device 30 . The first device 10 is a conveying device that conveys a crushed structure (crushed object), and includes a first position detecting means 11A, a crushed object containing means 11B, and a moving means 11C. That is, the first device 10 stores the crushed objects in the crushed object storage means 11B, and transports the crushed objects to the outside using the moving means 11C. The second device 20 is a device for crushing structures, and includes second position detection means 21A, structure crushing means 21B, and marking means 21C. That is, the second device 20 crushes the structure using the structure crushing means 21B. The computing device 30 is a device that performs information processing, and includes first processing means 31A and second processing means 31B.

Each of the first position detection means 11A and the second position detection means 21A detects the position of the first device 10 (first position) and the position of the second device 20 (second position). Information on the first position (first position information) and information on the second position (second position information) are transmitted to the computing device 30 and processed by the first processing means 31A and the second processing means 31B.

Based on the first position information, the first processing unit 31A arranges the first device 10 on the opposite side (second surface side) of the structure on which the first device 10 is arranged (first surface side) (second surface side). 3 position) is assumed, the process of converting to the third position information is performed. Further, the second processing means 31B performs processing for calculating the relative distance between the second position and the third position based on the second position information and the third position information. The third position information and the relative distance information are transmitted to the second device 20, and based on this information, the marking means 21C is used to allow the second device 20 to visually confirm the third position.

Therefore, according to the position specifying system according to an embodiment of the present invention, when the first device 10 and the second device 20 are separated by a structure and the first device 10 cannot be visually confirmed from the second device 20, However, since the third position can be visually confirmed from the second device 20, it is possible to grasp the position of the first device from the third position.

Next, the position specifying system according to one embodiment of the present invention will be specifically described with reference to FIGS. 2(A) to 2(C).

In the position specifying system shown in FIG. 2A, the first device 10 is arranged on the structure 500A and the second device 20 is arranged on the structure 500B. In other words, the first device 10 is arranged on the side of the first surface 510 of the structure 500B, and the second device is arranged on the side of the second surface 520 of the structure 500B. Structure 500A and structure 500B are part of the structure, and structure 500B is located above structure 500A. However, 500A and 500B do not necessarily limit the vertical relationship of the positions of the structures. In addition, in this specification, structures are referred to as structures 500 when there is no particular need to distinguish them. Furthermore, there are cases in which the reference numerals are omitted and simply described as a structure.

The structure 500 is a house, an apartment, a building, or the like having a plurality of floors, or the floors, ceilings, or walls thereof. : SRC).

The first device 10 is a conveying device that carries out the crushed material after crushing the structure 500, and is, for example, a trolley or a truck. The first device 10 includes first position detecting means 100 , bucket 110 , lifting means 120 and moving means 130 . The lifting means 120 and the moving means 130 are provided on the main body 15 . Also, a control mechanism for the lifting means 120 and the moving means 130 may be provided in the main body 15 . A bucket 110 is provided for containing the crushed material. Also, the bucket 110 can be moved vertically by the lifting means 120 and can come into contact with the first surface 510 of the structure 500B. In FIG. 2A, a pantograph-type elevator is shown as the lifting means 120 of the first device 10, but it is not limited to this. The lifting means 120 may be any device as long as it can move the bucket 110 in the vertical direction. The moving means 130 can move to carry the crushed material out of the structure 500 while bearing the weight of the bucket 110 containing the crushed material, and includes, for example, wheels and caterpillars.

The second device 20 is a dismantling device that crushes the structure 500, such as a crusher or a crusher. The second device 20 includes second position detection means 200 , moving means 210 , arm 220 and light irradiation means 230 . The moving means 210 can be similar to the moving means 130 . The arm 220 has an attachment for crushing the structure 500 at one end thereof, and the second device 20 can crush the structure 500 by operating the arm 220 . Attachments for the arm 220 include large crushers, small crushers, hammers, breakers, cutters, forks, and the like, which can cut steel frames, reinforcing bars, etc., and crush concrete. The light irradiating means 230 may irradiate the second surface 520 of the structure 500B with light that serves as a marker, and may be LED light, laser, or the like, for example. As the light irradiation means 230, one having directivity is preferable, and a laser is particularly preferable.

Each of the first position detection means 100 and the second position detection means 200 is capable of detecting the position of at least the first device 10 and the second device 20 and includes, for example, a GPS signal receiver. Also, each of the first position detection means 100 and the second position detection means 200 can detect the direction of the first device 10 and the second device 20, and includes, for example, a gyro sensor. Furthermore, the first position detection means 100 may measure the height up to the structure 500B, and may include, for example, photoelectric sensors or laser sensors. As for the height up to the structure 500B, a numerical value converted from the extended length of the lifting means 120 of the first device 10 can be used as the height.

The first position detection means 100 acquires first position information including the position, direction, or height to the structure 500B of the first device 10 . On the other hand, the second position detection means 200 acquires second position information including the position or direction of the second device 20 . It is preferable that each of the first position detection means 100 and the second position detection means 200 includes a transmitter such as an antenna and can transmit the first position information and the second position information to the arithmetic device 30 described later.

In some cases, the first device 10 and the second device 20 are covered by the structure 500, and the first position detection means 100 and the second position detection means 200 cannot receive GPS signals. In that case, a receiving unit may be installed in the structure 500 to receive signals from the first position detection means 100 and the second position detection means 200 to detect the position. Therefore, the first position detecting means 100 and the second position detecting means 200 preferably include a transmitting unit for transmitting signals to the receiving unit. Also, the signal is preferably an ultrasonic signal. The receiving unit receives the ultrasonic signal transmitted by the transmitting unit of the first position detecting means 100 or the second position detecting means 200, calculates the direction and distance, and identifies the positions of the first device 10 and the second device 20. do. Additionally, the signals may include infrared signals. In the case of a single receiving unit, the infrared signal can be used to identify whether the signal is from either the first locating means 100 or the second locating means 200 .

FIG. 2B shows a computing device 30 that is part of the position specifying system according to this embodiment. The computing device 30 is a device that includes a first processing means 300 that generates third position information from the first position information and a second processing means 310 that calculates a relative distance from the second position information and the third position information, For example, a computer. The computing device 30 can include a storage unit such as a memory and a communication unit such as an antenna. For example, the first location information, the second location information, and the third location information may be stored in the storage unit, and the first location information and the second location information may be received through the receiver of the communication unit.

In the first processing means 300, based on the first position information acquired by the first position detection means 100 of the first device 10, it is assumed that the first device 10 is arranged on the second surface 520 of the structure 500B. 3 Generate location information. That is, the first processing means 300 converts the first location information into the third location information. The third position information includes third position information reflecting the first position of the first device 10 on the second surface 520 .

The second processing means 310 calculates the relative distance between the position of the second device 20 and the third position from the second position information and the third position information. By moving the second device 20 so as to reduce the relative distance, the second device 20 can be brought closer to the third position, and the structure 500 can be crushed on the bucket 110 of the first device 10. become. Note that the relative distance can also be reduced by moving the first device 10 .

The computing device 30 may be mounted on the first device 10 or may be mounted on the second device 20 . Also, the computing device 30 can be provided in addition to the first device 10 and the second device 20 .

FIG. 2C is a top view of the structure 500B. FIG. 2C shows a projection area 610 obtained by projecting the third position 600 and the bucket 110 included in the third position information onto the second plane 520 in addition to the second device 20 . In FIG. 2C, since the shape of the opening of bucket 110 is rectangular, projected area 610 of bucket 110 is shown as rectangular. The shape of the opening of bucket 110 is not limited to rectangular, and may be polygonal, circular, or elliptical.

The third position 600 is irradiated with light by the light irradiation means 230 of the second device 20 , and the operator can visually recognize the third position 600 . That is, the third position 600 is marked by the light irradiation means 230 . On the other hand, the projection area 610 of the bucket 110 cannot be visually recognized directly, but if the size of the bucket 110 is grasped in advance, the projection area 610 of the bucket 110 can be specified based on the third position 600. is possible. A method for visually recognizing the projection area 610 of the bucket 110 will be described later.

According to the present embodiment, even if the position of the first device 10 is hidden behind the structure 500 and cannot be directly confirmed, the third position 600 illuminated on the second surface of the structure 500 can be used as a mark. The position of the first device 10 can be grasped. Further, it is possible to identify the position of the bucket 110 of the first device 10 from the third position 600 and target and crush the structure 500 positioned on the bucket 110 .

Next, a modified example of the first device will be described with reference to FIG.

The first device 11 shown in FIG. 3A has a contact sensor 140 at the opening of the bucket 110 . The contact sensor 140 is, for example, a pressure sensor, and detects changes in pressure when contacting the first surface 510 of the structure 500B. When the contact sensor 140 is a pressure sensor, when the bucket 110 is lifted and the bucket 110 contacts the structure 500B, pressure is applied to the pressure sensor and the pressure sensor reacts. Therefore, the rising of the bucket 110 can be stopped by the reaction of the pressure sensor. Although the pressure sensor has been described as an example, the same applies to other contact sensors. Furthermore, since the contact sensor 140 can stop the lifting of the bucket 110, excessive lifting of the bucket 110 (a state in which the bucket 110 continues to push the structure 500B even after coming into contact with the structure 500B) can be suppressed. . Therefore, it is possible to prevent excessive loads from being applied to the bucket 110, the lifting means 120, and the moving means 130. FIG. Although FIG. 3A shows an example in which two contact sensors 140 are provided, the number of contact sensors 140 may be one, or three or more. When a plurality of contact sensors 140 are provided, the tilt of bucket 110 can be detected based on whether or not each contact sensor 140 reacts. Therefore, when correcting the tilt of bucket 110 , it is preferable to provide a plurality of contact sensors 140 at the opening of bucket 110 .

The first device 12 shown in FIG. 3B has a cushioning material 150 at the opening of the bucket 110 . By providing the cushioning material 150, it is possible to prevent damage caused by the contact of the bucket 110 with the structure 500B. Furthermore, since the sealing property inside the bucket 110 can be improved, it is possible to prevent the scattering of dust in the crushing of the structure 500B. For example, silicone, synthetic resin, urethane, or rubber can be used as the cushioning material 150. Rubber is preferable because it requires a certain level of strength and durability.

According to the modified example of the present embodiment, since the bucket 110 of the first device is in contact with the first surface 510 of the structure 500B and sealed, dust scattering and crushed objects fall when the structure 500 is crushed. It is possible to prevent scattering dust, rubble, etc. from falling.

Furthermore, another modification of the first device will be described with reference to FIG. 4A is a front view of the first device 13, and FIGS. 4B1 and 4B2 are top views of a structure 500B above the first device 13. FIG. 4C is a front view of the first device 14, and FIGS. 4D1 and 4D2 are top views of the structure 500B above the first device 14. FIG. Here, similarly to the above description, the shape of the opening of the bucket 110 is assumed to be rectangular.

In the first device 13 shown in FIG. 4A, a plurality of first position detection means 100A and 100B are provided with a bucket 110 interposed therebetween. When the first position detection means 100A and 100B are arranged on the centerline of the bucket 110, the positional relationship between the third positions 600A and 600B on the second surface 520 of the structure 500B and the projected area 610 of the bucket 110 is as shown in FIG. (B1) is as shown. That is, projected area 610 of bucket 110 is positioned on a straight line connecting third positions 600A and 600B. Therefore, if the size of bucket 110 is known in advance, the position of bucket 110 hidden behind structure 500B can be more easily specified even from the second surface 520 side of structure 500B. Further, when the first position detection means 100A and 100B are arranged on the diagonal line of the bucket 110, the positional relationship between the third positions 600A and 600B on the second surface 520 of the structure 500B and the projection area 610 of the bucket 110 is It becomes as shown in FIG. 4(B2). That is, the projection area 610 of the bucket 110 is positioned within a rectangle whose diagonal is a straight line connecting the third areas 600A and 600B. Therefore, if the size of bucket 110 is known in advance, the position of bucket 110 hidden behind structure 500B can be more easily specified even from the second surface 520 side of structure 500B.

The bucket 110 of the first device 14 shown in FIG. 4(C) is provided with a first position detecting means 100C. The first position detecting means 100C is arranged at the center of the bucket 110. FIG. In this case, the positional relationship between the third position 600C on the second surface 520 of the structure 500B and the projection area 610 of the bucket 110 is as shown in FIG. 4(D1). If the size of bucket 110 is known in advance, the position of bucket 110 hidden behind structure 500B can be easily specified even from the second surface 520 side of structure 500B. Also, two first position detection means can be arranged not at the center of the bucket 110 but at the diagonal corners of the bucket 110 . In this case, as shown in FIG. 4(D2), the positional relationship between the third positions 600D and 600E on the second surface 520 of the structure 500B and the projected area 610 of the bucket 110 is as shown in FIG. 4(D2). Become. That is, a rectangle whose diagonal is a straight line connecting the third positions 600D and 600E is included in the projection area 610 of the bucket 110. FIG. Therefore, if the size of bucket 110 is known in advance, the position of bucket 110 hidden behind structure 500B can be more easily specified even from the second surface 520 side of structure 500B.

According to the modified example of the present embodiment, by adjusting the position and the number of the first position detecting means, the position of the bucket 110 hidden behind the structure 500B can be specified even from the second surface 520 side of the structure 500B. becomes easier.

Next, a modified example of the second device will be described with reference to FIG.

The second device 21 shown in FIG. 5A is provided with projection means 240 instead of the light irradiation means 230 of the second device 20 . The projection means 240 may be any device capable of projecting onto a certain range of the second surface 520 of the structure 500B, such as a projector. It is also possible to scan and project a certain range with a laser. Further, based on the calculated relative distance, when the second device 21 reaches a certain distance, the projection means 240 may be operated to project a certain range. Furthermore, instead of always projecting, projection may be performed at regular time intervals. As described above, the projection area 610 of the bucket 110 can be roughly identified by adjusting the number or positions of the first position detection means 100 . Thus, by using the projection means 240 of the second device 21 it is possible to visualize the projection area 610 of the bucket 110 .

FIG. 5B is a view of the structure 500B viewed from the upper surface (second surface 520) side. Projection from the projection means 240 forms a marking area 620 in the projected area 610 of the bucket 110, making the projected area 610 of the bucket 110 visible. Since the marking area 620 is formed based on the first positional information detected by the first position detecting means of the first device 10, the first positional information is obtained below the marking area 620 by obtaining the first positional information. It can be seen that the bucket 110 of the device 10 is present. Therefore, the worker can crush the structure 500 based on the marking area 620 . Moreover, since the range of the bucket 110 can be recognized by the marking area 620, it is also possible to crush the structure 500B so as to cut (hollow out) according to the size of the bucket 110. FIG.

According to the modified example of the present embodiment, the position of the bucket 110 hidden behind the structure 500B can be recognized even from the second surface 520 side of the structure 500B via the marking area 620 . Moreover, since the structure 500B in the marking area 620, that is, on the bucket 110 can be crushed, scattering of dust generated during crushing can be suppressed.

Further, another modified example of the second device will be described with reference to FIGS. 6 and 7. FIG.

The second device 22 shown in FIG. 6A is provided with imaging means 250 instead of the light irradiation means 230 of the second device 20 . The imaging means 250 is, for example, a camera, a video camera, or an image sensor. FIG. 6B shows the windshield 260 of the driver's seat of the second device 20 . A marking area 630 is displayed on the windshield 260 superimposed on the scenery through the windshield 260 . That is, the windshield 260 is used to realize AR (augmented reality). The imaging means 250 is set so as to be able to capture an image of a range that can be seen from the windshield 260 . When the image or video imaged by the imaging means 250 is analyzed and it is determined that the projection area 610 of the bucket 110 is included, a marking area 630 is displayed on the windshield 260 . Note that these analysis processes can be performed using the arithmetic unit 30 .

FIG. 7 shows a case where an image or video imaged by the imaging means 250 of the second device 22 is displayed on the display device 40 instead of the windshield 260. FIG. The display device 40 is, for example, a computer display or a mobile terminal. The display device 40 can be provided in the driver's seat of the second device 22 or can be provided in a device different from the first device 10 and the second device 22 . In the same manner as described above, the image or video captured by the imaging means 250 is analyzed, and if it is determined that the projection area 610 of the bucket 110 is included, the image or video captured by the imaging means 250 is displayed on the screen 400. , a marking area 640 is displayed.

If the display device 40 is a mobile terminal equipped with the computing device 30, it is also possible to operate the first device 10 and the second device 22 only with the mobile terminal. That is, it is possible to operate the first device 10 and the second device 22 by transmitting commands from the mobile terminal. In this case, the first device 10 and the second device 22 can be unmanned. Furthermore, although not shown, the mobile terminal may be provided with imaging means, and the projection area 610 of the bucket 110 may be found through the imaging means of the mobile terminal. In this case, if it is determined that the projection area 610 of the bucket 110 is included by analyzing the image or video captured by the imaging means of the mobile terminal, the image captured by the imaging means is displayed on the screen 400 of the mobile terminal. Alternatively, the marking area 640 is displayed along with the image. That is, it is also possible to specify the projection area 610 of the bucket 110 with the portable terminal and operate the second device based on the information.

According to the modified example of the present embodiment, the projection area 610 of the bucket 110 is visualized by the imaging means 250 and displayed as a marking area, so that the bucket hidden behind the structure 500B can be detected even from the second surface 520 side of the structure 500B. The position of 110 can be specifically recognized.

As described above, in the present embodiment, including the modified examples, the position of the bucket 110 of the first device hidden behind the structure 500 can be recognized. Therefore, the second device can intentionally crush the structure 500 at the position corresponding to the bucket 110 . In addition, since the crushed material is stored in the bucket 110, it is possible to prevent the generation and scattering of dust due to falling of the crushed material. Moreover, since the position of the bucket 110 can be recognized under various environments, it is possible to make the first device and the second device unmanned.

<Second embodiment>
One embodiment of the present invention is a structure demolition method using a position specifying system including first position detection means, second position detection means, first processing means, and second processing means.

A method for dismantling a structure according to an embodiment of the present invention will be specifically described with reference to FIGS. 8 and 9. FIG.

The structure dismantling method according to the present embodiment comprises (1) a step of transporting a device or equipment necessary for crushing the structure into the structure, (2) a step of positioning the crushing site of the structure, and (3) a structure It includes a step of crushing the object and containing the crushed object, and (4) a step of transporting the crushed object out of the structure.

FIG. 8(A) is a diagram showing the process of transporting the equipment or equipment required for (1) crushing the structure into the structure. In FIG. 8A, devices necessary for dismantling the structure, for example, a mobile cart as the first device 10 and a crusher as the second device 20 are carried into the structure. Therefore, a lift 530 having lifting means is provided around the structure, and the lift 530 can be used to carry the first device 10 and the second device 20 to a predetermined floor of the structure. In FIG. 8A, the first device 10 is brought into the first story with the structure 500A as the floor, and the second device 20 is placed in the second story above the first story with the structure 500B as the floor. being brought in.

FIG. 8(B) is a diagram showing the above (2) step of positioning the crushing location of the structure. Using the lifting means 120 of the first device 10, the bucket 110 is lifted so that the opening of the bucket 110 contacts the first surface 510 of the structure 500B. The first device 10 uses the first position detection means 100 to acquire the position and direction of the first device 10 and the height information (first position information) to the structure 500B. The first position information is transmitted to the arithmetic device 30 (not shown) mounted on the second device 20 . On the other hand, the second device 20 also acquires information on the position and direction of the second device 20 (second position information) using the second position detection means. The second location information is also sent to the computing device 30 .

The computing device 30 receives the first location information and the second location information. Further, the calculation device 30 generates third position information based on the first position information, assuming that the first device 10 is arranged on the second surface 520 side of the structure 500B. Since the third position information includes not only the position of the first device but also direction information, it is possible to identify the orientation of the first device from the third position information.

Furthermore, the arithmetic device 30 calculates the relative distance between the position of the second device 20 and the third position included in the third information from the second position information and the third position information. The second device 20 is moved such that the relative distance is reduced, and the second device is stopped when the arm 220 of the second device 20 overlaps the third position or overlaps the projected area of the bucket 110 . Light is irradiated from the light irradiation means 230 of the second device 20 to the third position, and the operator can determine the third position and the structure even from the second surface 520 side of the structure 500B based on the irradiated light. The position of bucket 110 hidden by object 500B can be confirmed.

FIG. 9(A) is a diagram showing the process of (3) crushing the structure and storing the crushed material. The arm 220 of the second device 20 is operated to crush the structure 500B within the projected area of the bucket 110 . The crushed material is accommodated in bucket 110 . When the crushing of the structure 500B on the bucket 110 is completed, the first device 10 is moved to perform the above positioning step (2), and the second device 20 is used to crush the structure 500B. These steps are repeated, and when a certain amount of crushed material is accommodated in the bucket 110 of the first device 10, the crushing operation of the structure 500B is temporarily stopped.

FIG. 9(B) is a diagram showing the step of (4) transporting the crushed material to the outside of the structure. The first device 10 uses the lifting means 120 of the first device 10 to lower the bucket 110 containing the crushed material. After the bucket 110 returns to the predetermined position, the first device 10 uses the lift 530 to carry the crushed material out of the structure. In addition, it is preferable that a plurality of first devices 10 perform the dismantling work. If there are a plurality of first devices 10, one first device 10 can carry out crushed objects while another first device 10 can store crushed objects. Furthermore, dismantling work can be performed with a plurality of first devices 10 standing by on the first floor. In any case, by performing the demolition work using a plurality of first devices 10, the demolition work can be performed without interrupting the crushing work of the structure 500B by the second device 20. FIG. Therefore, the working efficiency of the dismantling process is improved.

If the crushing of the structure 500B is not completed at once, the above steps (1) to (4) are repeated except for the step of carrying the second device 20 into the structure to demolish the structure. In the demolition process of the structure, the second device 20 crushes the edge of the floor of the lowest story while riding on the lift 530, or the second device 20 crushes the edge of the floor of the upper story remaining from the lowest story. is terminated by crushing the

According to the structure dismantling method according to the present embodiment, since the structure 500B is crushed near the bucket 110, scattering of dust generated during crushing can be suppressed. Moreover, since the crushing can be performed in accordance with the opening of the bucket 110, generation of dust itself can be suppressed. Furthermore, since the crushed objects are directly stored in the bucket 110, the work time required for carrying out the crushed objects can be shortened, and the work efficiency in the dismantling process is improved.

Next, a modification of the dismantling method of the structure will be described with reference to FIG.

In FIG. 10(A), two secondary devices are carried into the structure. That is, the first device 10 and the second device 20B are brought into the first layer, and the second device 20A is brought into the second layer. FIG. 10A shows a state in which a part of the structure 500B is crushed by the second device 20A and a part of the structure 500B is opened by the structure dismantling method according to the present embodiment. there is After that, as shown in FIG. 10(B), the structure 500B is crushed from the first story side using the second device 20B. The second devices 20A and 20B may be devices with the same function, but devices with different functions may also be used. For example, the attachment on the arm 220A of the second device 20A can be fitted with a large crusher, and the attachment on the arm 220B of the second device 20B can be fitted with a cutter. In this case, the concrete of the structure 500B can be pulverized by the second device 20A, and the steel frame and reinforcing bars of the structure 500B can be cut by the second device 20B. When the second device 20B performs work, it is preferable to lower the bucket 110 to facilitate the operation of the arm 220B.

Also in the modified example of the present embodiment, since the structure 500B can be crushed near the bucket 110, scattering of dust generated during crushing can be greatly suppressed. In addition, since the structure 500B can be crushed using a plurality of second devices 20, the work time for crushing the structure 500B can be shortened. Furthermore, since the crushed material is directly stored in the bucket 110, it is possible to shorten the working time when carrying out the crushed material. Therefore, work efficiency in the dismantling process is greatly improved.

Further, another modified example of the dismantling method of the structure will be described with reference to FIGS. 11 and 12. FIG.

FIG. 11 shows a method of further crushing the structure 500B from a state in which a part of the structure 500B is crushed and a part of the structure 500B is opened by the structure dismantling method according to the present embodiment. there is The second device 22 is provided with an imaging means 250 on the arm 220 , and an image or video imaged by the imaging means 250 can be confirmed through a display device (not shown) equipped with the arithmetic device 30 . First position information is acquired from the first position detection means 100 of the first device 10 and second position information is acquired from the second position detection means 200 of the second device 22 . The arithmetic device 30 analyzes the image or video captured by the imaging means 250, and if it can be determined that the projection area of the bucket 110 is included, displays the image or video captured by the imaging means 250 on the screen of the display device. A marking area is displayed along with the image. The operator can confirm the position of the arm 220 on the image or video of the display device, and can confirm the marking area, that is, the crushing location of the structure 500B.

The second device 22 shown in FIG. 11 is arranged in the same layer as the first device 10 . However, since a part of the structure 500B is opened, the second surface 520 of the structure 500B can be imaged by passing the arm 220 through the opening.

FIG. 12 shows a method of crushing the structure 500B after part of the structure 500C located in the upper layer of the structure 500B has been crushed by the structure dismantling method according to the present embodiment. In the second device 22, the arm 220 is provided with the imaging means 250, and a part of the structure 500C is opened. It can be imaged.

According to a modification of the present embodiment, the second device 22 does not necessarily have to be arranged in a floor whose floor is the structure 500B to be crushed. As shown in FIG. 11, from the floor below the floor of the structure to be crushed 500B, and from the floor above the floor of the structure to be crushed 500B as shown in FIG. Structure 500B can be fractured.

As described above, in the present embodiment, including the modified examples, the structure 500 can be crushed near the bucket 110 of the first device, so that the scattering of dust generated during crushing can be greatly suppressed. can. In addition, since the crushed objects are directly stored in the bucket 110 of the first device, it is possible to shorten the work time for carrying out the crushed objects. Therefore, work efficiency in the dismantling process is greatly improved. Furthermore, even if the first device cannot be directly confirmed, the position of the first device can be confirmed from the third position or the marking area, so that the second device can be placed under various environments and the structure can be 500 can be crushed. Therefore, it is possible to deal with the demolition of any structure.

Each of the embodiments described above as embodiments of the present invention can be implemented in combination as appropriate as long as they do not contradict each other. In addition, based on each embodiment, those skilled in the art appropriately add, delete, or change the design of components, or add, omit, or change the conditions of steps, which also include the gist of the present invention. is included in the scope of the present invention as long as

Even if there are other actions and effects different from the actions and effects brought about by each of the above-described embodiments, those that are obvious from the description of the present specification or those that can be easily predicted by those skilled in the art are of course the present invention. It is understood that it is brought about by

10, 11, 12, 13, 14: first device 11A: first position detecting means 11B: crushed object containing means 11C: moving means 15: main body 20, 20A, 20B, 21, 22: second Device 21A: Second position detecting means 21B: Structure crushing means 21C: Marking means 30: Arithmetic device 31A: First processing means 31B: Second processing means 40: Display device 100, 100A, 100B, 100C: first position detecting means 110: bucket 120: lifting means 130: moving means 140: contact sensor 150: cushioning material 200: second position detecting means 210: moving means 220, 220A , 220B: arm, 230: light irradiation means, 240: projection means, 250: imaging means, 260: windshield, 300: first processing means, 310: second processing means, 400: screen, 500, 500A, 500B, 500C: structure 510: first surface 520: second surface 530: lift 600, 600A, 600B, 600C, 600D: third position 610: projection area 620, 530, 640: marking area

Claims (19)

a first position detection means for detecting first position information of a first device arranged on the first surface side of the structure;
a second position detection means for detecting second position information of a second device arranged on the second surface side of the structure;
first processing means for generating third position information based on the first position information, assuming that the first device is arranged on the second surface side of the structure;
A second process of calculating a relative distance between the first device and the second device on the assumption that they are arranged on the second surface side of the structure, based on the second position information and the third position information. Positioning system including means. The first position detection means is provided in the first device,
2. The position specifying system according to claim 1, wherein said second position detecting means is provided in said second device. 3. A position determination system according to claim 1 or claim 2, wherein each of said first position detection means and said second position detection means comprises a GPS signal receiver. 4. The position determination system according to any one of claims 1 to 3, wherein said first position information includes the position and orientation of said first device. 5. The position specifying system according to any one of claims 1 to 4, wherein said first position information includes a distance between said first device and said first surface of said structure. further comprising control means for controlling the movement means provided in the second device,
6. The position specifying system according to any one of claims 1 to 5, wherein said control means controls said moving means so that said relative distance becomes smaller. 7. The position specifying system according to any one of claims 1 to 6, wherein the position or area based on the third position information is further visualized by light irradiation means or projection means provided in the second device. . further comprising display means for displaying an image or video imaged by the imaging means provided in the second device,
7. The position specifying system according to any one of claims 1 to 6, wherein when the position corresponding to the third position information is included in the image or video, the position is displayed in the image or video. . Having the position specifying system according to any one of claims 1 to 8,
The first device is a structure demolition system including a liftable bucket. 10. The structure demolition system of claim 9, wherein the bucket is provided with at least one contact sensor. The structure demolition system according to claim 9 or 10, wherein a cushioning material is provided at the opening of the bucket. 12. The structure demolition system according to any one of claims 9 to 11, wherein said first device has moving means. 13. The structure demolition system according to any one of claims 9 to 12, wherein the second device includes a crusher or a crusher capable of crushing the structure. 13. The structure demolition system according to any one of claims 9 to 12, wherein the second device is a demolition device having an arm. Detecting first position information by a first position detection means of a first device arranged on the first surface side of a structure included in the structure;
Detecting second position information by a second position detecting means of a second device arranged on the second surface side of the structure;
generating third position information based on the first position information, assuming that the first device is placed on the second surface side of the structure;
Based on the second position information and the third position information, calculating the relative distance between the first device and the second device when assumed to be arranged on the second surface side of the structure;
moving at least one of the first device and the second device such that the relative distance is reduced;
Visualizing the position or area based on the third positional information by light irradiation means or projection means of the second device;
said second device fracturing structures at said visualized location or region;
A structure dismantling method in which a bucket provided in the first device accommodates crushed objects. the main body;
a moving means provided on the main body;
elevating means provided on the main body;
a bucket provided on the lifting means;
a first position detection means including a transmission unit that is provided in the main body or the bucket and that transmits a signal to a reception unit installed in a structure ,
The first position information acquired by the first position detecting means includes the position and direction of the transport device and the distance between the transport device and the first surface of the structure. 17. The carrier device of claim 16, wherein said first position detecting means further comprises a GPS signal receiver. 18. Conveyor according to claim 16 or 17 , wherein the bucket is provided with at least one contact sensor. 19. The conveying apparatus according to any one of claims 16 to 18 , wherein a cushioning material is provided at the opening of the bucket.

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