JP7344185B2 - Worker position guidance system that supports construction of heavy machinery - Google Patents

Description

Application of Article 30, Paragraph 2 of the Patent Act Performance evaluation test conducted at the General Technical Center of Japan Basic Technology Co., Ltd. on February 26, 2019

TECHNICAL FIELD The present invention relates to a position guidance system that guides a worker who supports construction of heavy equipment to a predetermined location.

Conventionally, there are pile drivers that drive steel pipe piles into the ground, deep mixing equipment that injects and stirs solidifying material into soft ground to create a cylindrical improved body, as shown in Patent Document 1, and strong compaction of soft ground. Heavy equipment such as a compaction ground improvement pile construction device for creating sand piles is known.

Japanese Patent Application Publication No. 2008-57255 Japanese Patent Application Publication No. 2017-186752

In order to efficiently proceed with the construction using the heavy machinery mentioned above, workers near the heavy machinery may draw a line indicating the direction of movement of the heavy machinery using flags or other markers placed at the planned construction site of the heavy machinery. There was a problem that drawing lines was complicated.

Therefore, a technical problem arises that must be solved in order to easily guide workers who support construction work with heavy machinery to a predetermined location, and the present invention aims to solve this problem.

In order to achieve the above object, a worker position guidance system for supporting the construction of heavy machinery according to the present invention is a worker position guidance system for supporting the construction of heavy machinery, which uses GNSS signals transmitted by GNSS satellites. A GNSS receiver that can receive and obtain current position coordinates that are two-dimensional coordinates of the worker, and a predetermined reference point on the guideline that is set apart from the scheduled construction point of the heavy equipment by an arbitrary offset amount. a storage unit in which reference point coordinates, which are two-dimensional coordinates of The present invention includes a display screen generation section that generates a display screen that displays the current position coordinates and the reference point coordinates on a two-dimensional map, and a display section that displays the display screen and the guidance information.

According to this configuration, a worker can easily draw a line indicating the moving direction of the heavy equipment based on the display screen and guidance information displayed on the display unit.

According to the present invention, a worker can easily draw a line indicating the moving direction of heavy machinery based on the display screen and guidance information displayed on the display unit.

1 is a schematic diagram showing the configuration of a position guidance and construction management system according to an embodiment of the present invention. FIG. 1 is a front view schematically showing the configuration of a deep mixing processing device. Flowchart showing the procedure for position guidance of construction equipment. Position guidance screen when positioning a single-axis auger construction machine. Position guidance screen when positioning a 2-axis auger construction machine. FIG. 2 is a schematic diagram showing a procedure for creating an improved body using a deep mixing processing device. Flowchart showing the procedure of construction management of construction equipment. A schematic diagram showing a construction management screen for a construction machine. A schematic diagram showing a construction management screen for supervisors, etc. A flowchart showing a procedure for guiding a line drawing worker. A schematic diagram showing a procedure for guiding a worker who draws a line.

An embodiment of the present invention will be described based on the drawings. In addition, in the following, when referring to the number, numerical value, amount, range, etc. of constituent elements, the term is limited to that specific number, unless it is specifically specified or it is clearly limited to a specific number in principle. It doesn't matter if it's more than or less than a certain number.

In addition, when referring to the shape or positional relationship of constituent elements, etc., unless it is specifically specified or it is clearly considered that it is not the case in principle, etc., we refer to things that are substantially similar to or similar to the shape, etc. include.

Further, in the drawings, characteristic parts may be enlarged or exaggerated in order to make the features easier to understand, and the dimensional ratios of the constituent elements are not necessarily the same as in reality. Further, in the cross-sectional views, hatching of some components may be omitted in order to make the cross-sectional structure of the components easier to understand.

FIG. 1 is a schematic diagram showing a position guidance and construction management system 1 showing an embodiment of the invention. FIG. 2 is a schematic diagram showing the configuration of a deep mixing device (deep mixing device) that performs position guidance and construction management using the position guidance and construction management system 1. In addition to the deep mixing treatment equipment, the targets for position guidance and construction management using the position guidance and construction management system 1 are soil improvement machines (three-point pile driver, backhoe type), motor graders, asphalt finishers, and tire rollers. , a tire shovel, a bulldozer, a backhoe, etc.

<Deep mixing processing equipment>
The deep mixing treatment device 2 is for creating an improved body within the original ground g that reaches the solid ground (bottom layer). The deep mixing treatment device 2 includes a construction machine 3 and a slurry plant 4. Note that the number of construction machines 3 whose positions are guided by the position guidance and construction management system 1 may be one or two or more. The construction machine 3 includes a base machine main body 3a, an auger 3b, a stirring shaft 3c, and stirring blades 3d.

A generator 3e that generates and supplies electric power to be used by the construction machine 3 is installed in the base machine body 3a. Note that, if necessary, an air compressor (not shown) that generates compressed air used by the construction machine 3 may be installed.

The auger 3b is provided on the leader 3f so as to be movable up and down. The leader 3f is vertically supported by the base machine main body 3a.

The stirring shaft 3c is connected to the auger 3b via a swivel (not shown) so that it can be driven in forward and reverse directions. Further, the stirring shaft 3c has a double tube structure consisting of an outer tube and an inner tube, and the outer tube and the inner tube can be driven in relatively opposite directions.

A stirring blade 3d is attached to the lower end of the stirring shaft 3c. The stirring blade 3d has a known structure, and forms a cage-like stirring and mixing section consisting of a first stirring blade that rotates together with the inner tube and a second stirring blade that rotates together with the outer tube. are doing. Further, the stirring blade 3d is provided with a solidifying material discharge port (not shown). Note that the stirring shaft 3c is not limited to a double-pipe structure, but may have a single-pipe structure. Further, the construction machine 3 is not limited to a single-shaft type in which one auger 3b and one stirring shaft 3c are provided, but may be one in which two or more augers 3b and two or more stirring shafts 3c each of a single-pipe structure are provided. It doesn't matter if there is.

The slurry plant 4 includes a cement silo 4a, a batcher plant 4b, and a grout pump 4c. The slurry plant 4 mixes cement as a solidification material stored in a cement silo 4a into a slurry, and sends the solidification material (cement slurry) into a tube pipe 4d from a grout pump 4c via a batcher plant 4b. . The solidified material is then supplied to the solidified material discharge port via the inner tube of the stirring shaft 3c. In addition, the code|symbol 4e is a generator which generates and supplies the electric power used by the slurry plant 4.

<Position guidance and construction management system>
The position guidance and construction management system 1 includes a data collection and support device 10 installed on the construction machine 3, a worker terminal 20 held by a worker who draws a line indicating the moving direction of the construction machine 3, and a first and second worker terminal. 2 information terminals 30 and 40.

<Data collection and support equipment>
The data collection and support device 10 includes a GNSS antenna 11 and a GNSS receiver 12. The GNSS receiver 12 receives GNSS signals transmitted from the GNSS satellite 50 at predetermined intervals (for example, every 1 second) via the GNSS antenna 11, and receives the signals from the two GNSS antennas 11 attached to the construction machine 3. Measure each three-dimensional position. In addition to the GPS (Global Positioning System), the GNSS (Global Navigation Satellite System) used for positioning the construction machine 3 may dynamically switch between, for example, GLONASS (GLObal Navigation Satellite System) positioning and GPS positioning. Possible options include a device that uses a combination of GPS and GLONASS for positioning.

As shown in FIG. 2, of the two GNSS antennas 11 installed on the construction machine 3, the front GNSS antenna 11 is attached to the lower part of the leader 3f of the construction machine 3, and the rear GNSS antenna 11 is attached to the lower part of the leader 3f of the construction machine 3. It is attached to the rear cradle of Aircraft 3. The installation positions of the two GNSS antennas 11 are such that the coordinates in the left-right direction (Y-axis: perpendicular to the page of FIG. 2) and the height direction (Z-axis: vertical direction on the page of FIG. The coordinates of the X-axis (left and right direction in the paper of FIG. 2) are different. As a result, for example, when the GNSS antenna 11 is attached to the top of the leader 3f of the construction machine 3, there is a risk that the leader 3f will shake due to wind pressure and the position of the GNSS antenna 11 will not be detected correctly. Even if the position of the GNSS antenna 11 is finely adjusted in the X-axis direction or the reader 3f is tilted, there is a risk that the position detection of the GNSS antenna 11 will not be performed correctly. By doing so, it is possible to reduce the influence of wind pressure, the position adjustment of the auger 3b, and the inclination of the leader 3f.

The data collection and support device 10 includes a sensor 13 . The sensor 13 acquires various information during construction by the construction machine 3, and includes, for example, an inclination sensor that measures the inclination of the auger 3b, a rotation speed detector that measures the rotation speed of the auger 3b, and the depth of the lower end of the auger 3b. a speed detector that measures the vertical speed of the auger 3b, a current detector that measures the current value of the motor that rotates the auger 3b, a detector that detects the flow rate of the solidifying material slurry, and the like.

The data collection and support device 10 includes a storage section 14, a control section 15, a display section 16, and a communication section 17.

The storage unit 14 includes a design position coordinate DB 14a and a construction information DB 14b.

The design position coordinate DB 14a stores in advance design position coordinates that are three-dimensional coordinates of a planned construction site where a cylindrical improved body created by the construction machine 3 is to be installed. Note that the design position coordinates may include at least those necessary for positionally guiding the construction machine 3. For example, when guiding the construction machine 3 on a flat surface, the height of the construction machine 3 It does not matter if the direction coordinates are not included.

The construction information DB 14b stores construction information acquired by the sensor 13. Further, the construction information DB 14b stores in advance criteria for determining the construction status based on various data measured by the sensor 13 during construction. The determination criteria include, for example, a bottoming criterion for determining whether the lower end of the auger 3b has reached the bottoming layer, a slurry criterion for determining whether the solidification material slurry flow rate has reached a specified amount, and the like.

The control unit 15 controls each of the constituent elements constituting the data collection and support device 10. The control unit 15 is, for example, a computer, and includes a CPU, memory, and the like. Note that the functions of the control unit 15 may be realized by controlling using software, or may be realized by operating using hardware. The control section 15 includes a calculation section 15a, a guidance information generation section 15b, and a display screen generation section 15c.

The calculation unit 15a calculates current position coordinates, which are three-dimensional coordinates, of the construction machine 3 based on the GNSS signal acquired by the GNSS receiver 12. Note that the current position coordinates of the construction machine 3 mean the coordinates of an arbitrary position within the construction machine 3, from the GNSS signal and GNSS receiver 12 to any part of the construction machine 3 (for example, the lower end of the stirring blade 3d). The coordinates of any part within the construction machine 3 are calculated based on the known offset amount. Further, the current position coordinates may include at least those necessary for positionally guiding the construction machine 3. For example, when guiding the construction machine 3 on a flat surface, the height of the construction machine 3 Directional coordinates do not need to be included.

The guidance information generation unit 15b generates guidance information for guiding the construction machine 3 so that the current position coordinates match the design position coordinates.

The display screen generation unit 15c generates a display screen (position guidance screen) that displays the current position coordinates and the designed position coordinates on a two-dimensional map corresponding to the construction site. Further, the display screen generation unit 15c generates a display screen (a construction management screen for construction machines, a supervisor, etc.) that displays the construction information acquired by the sensor 13.

The display unit 16 is installed in the cabin of the construction machine 3. The display unit 16 is, for example, a liquid crystal display, an organic EL display, or the like.

The communication unit 17 is communicably connected to the first information terminal 30 via a wired or wireless communication line constructed within the construction site. The first information terminal 30 is a tablet terminal or the like held by a worker at the construction site. The first information terminal 30 includes a display section 31 that can display a display screen. Further, the communication unit 17 is communicably connected to the second information terminal 40 via the network 60. The second information terminal 40 is a management computer or the like installed at a remote location. The second information terminal 40 includes a display section 41 that can display a display screen.

The data collection and support device 10 also includes an input unit (not shown) that detects input operations by the operator. The input unit is, for example, a button that is pressed or a touch panel that detects touch input. The data collection and support device 10 also includes an output unit (not shown) that outputs light and sound.

<Worker terminal>
The worker terminal 20 includes a GNSS antenna 21 and a GNSS receiver 22.

The GNSS receiver 22 receives GNSS signals transmitted from the GNSS satellite 50 at predetermined intervals (for example, every second) via the GNSS antenna 21, and receives the three-dimensional signal from the GNSS antenna 21 attached to the worker terminal 20. Measure each position. In addition to the GPS (Global Positioning System), the GNSS (Global Navigation Satellite System) used for positioning the worker terminal 20 can dynamically perform positioning by, for example, GLONASS (GLObal Navigation Satellite System) and GPS. Possible options include those that switch, and those that combine GPS and GLONASS for positioning.

The worker terminal 20 includes a control section 23, a display section 24, and a communication section 25.

The control unit 23 controls each of the constituent elements constituting the worker terminal 20. The control unit 23 is, for example, a computer, and includes a CPU, memory, and the like. Note that the functions of the control unit 23 may be realized by controlling using software, or may be realized by operating using hardware.

The display unit 24 is, for example, a liquid crystal display, an organic EL display, or the like. The communication unit 25 is communicably connected to the communication unit 17 of the data collection and support device 10 via a wired or wireless communication line constructed within the construction site.

Further, the worker terminal 20 may include an input section (not shown) that detects input operations by the worker. The input unit is, for example, a button that is pressed or a touch panel that detects touch input. The worker terminal 20 also includes a storage unit (not shown) that temporarily stores the positioning data acquired by the GNSS receiver 22, and an output unit (not shown) that outputs light and sound. Note that the worker terminal 20 is not limited to one that includes the function of measuring coordinates and the function of displaying a display screen, and may be divided functionally.

<Position guidance>
Next, position guidance by the construction machine position guidance and construction management system 1 will be explained based on FIG. 3. FIG. 3 is a flowchart showing a procedure for positionally guiding the construction machine 3.

First, before construction by the construction machine 3, the design position coordinates of all the improved structures scheduled to be piled in the construction site are stored in the design position coordinate DB 14a (step S1).

Next, the GNSS receiver 12 receives the GNSS signal via the GNSS antenna 11 (step S2).

Next, the calculation unit 15a calculates the current position coordinates of the construction machine 3 (construction machine current position coordinates) based on the GNSS signal (step S3). Specifically, the coordinates of an arbitrary position can be calculated by considering the known offset amount from the two GNSS antennas 11 to an arbitrary position within the construction machine 3 (for example, the lower end of the stirring blade). .

Further, the guidance information generation unit 15b generates construction machine guidance information for guiding the construction machine 3 so that the construction machine current position coordinates match the design position coordinates of the planned pile-making position (step S4). The guidance information for the construction machine is, for example, a direction and a distance (1 m to the north, 2 m to the east, etc.) representing the relative positional relationship of the current position coordinates to the design position coordinates.

In addition, the display screen generating unit 15c generates a position guidance screen for the construction machine that displays the current position coordinates of the construction machine and the designed position coordinates on a two-dimensional map corresponding to the construction site (step S5).

Next, the control unit 15 causes the display unit 16 to display guidance information for the construction machine and a position guidance screen for the construction machine (step S6).

FIG. 4 is an example of construction machine guidance information and a construction machine position guidance screen displayed on the display unit 16 when guiding the construction machine 3 equipped with a single-axis auger. Figure 4 (1) shows the position guidance screen for the construction machine set in the head-up mode in which the screen is displayed so as to match the direction of movement of the construction machine 3. The orientation of the aircraft position guidance screen is set to north-up mode, which displays the orientation to match the north direction. Note that the orientation of the position guidance screen for the construction machine can be switched arbitrarily.

In addition, on the position guidance screen for construction machines, for example, the design position coordinates are displayed as an icon representing a pile, and this icon is determined according to the construction status of each pile based on the construction information stored in the construction information DB 15b. It is preferable to display it as possible. On the position guidance screen shown in Figures 4 (1) and (2), icons representing piles are displayed so that they can be distinguished as "pastly constructed piles," "today's constructed piles," "target piles," and "unconstructed piles." has been done. "Previously constructed pile" means an improved structure constructed on or before the previous day, "Today's constructed pile" means an improved structure constructed on the same day, and "target pile" means an improved structure constructed on the previous day. The term "unconstructed pile" refers to an improved pile that is scheduled to be constructed after the target pile. Note that the guidance information in FIG. 4 is set to the direction and distance representing the relative positional relationship of the rotation center of the stirring blade 3d with respect to the pile core.

FIG. 5 is an example of construction machine guidance information and a construction machine position guidance screen displayed on the display unit 16 when guiding the construction machine 3 equipped with a two-axis auger. Figure 5 (1) shows the position guidance screen for the construction machine set in the head-up mode in which the direction is displayed to match the direction of movement of the construction machine 3. The orientation of the aircraft position guidance screen is set to north-up mode, which displays the orientation to match the north direction. Note that the orientation of the position guidance screen for the construction machine can be switched arbitrarily. The guidance information for the construction machine includes the direction and distance representing the relative positional relationship from each rotation axis (right axis, left axis) of the two-axis auger to the pile core of the left and right improved body constructed by each rotation axis, and This is the inclination between the straight line connecting the rotation axes of the two-shaft auger and the straight line connecting the pile cores of the left and right sets of improved bodies.

Further, the display screen generation unit 15c may enlarge the area around the scheduled construction site on the position guidance screen for the construction machine as the construction machine 3 approaches the scheduled construction site. Thereby, the operator of the construction machine 3 can visually sense the approach to the planned construction site.

In this way, the operator of the construction machine 3 can intuitively understand the relative positional relationship between the construction machine 3 and the planned pile-making position on the construction machine position guidance screen displayed on the display unit 16. can. Further, the operator of the construction machine 3 can smoothly move the construction machine 3 by displaying the guidance information for the construction machine on the display unit 16. Furthermore, by setting the direction of the construction machine position guidance screen displayed on the display unit 16 to the head-up mode shown in FIGS. 4(1) and 5(1), the operator of the construction machine 3 can It is possible to more intuitively understand the relative positional relationship between No. 3 and the planned construction location.

Note that, depending on the movement status of the construction machine 3, the display screen generation unit 15c may output a text message on the position guidance screen to prompt the operator of the construction machine 3 to confirm the guidance information (step S7). Note that the message may be text, graphics, audio, or a combination thereof. In this case, a location guidance screen including a text message is displayed on the display unit 16 (step S8).

Further, guidance information for the construction machine and a position guidance screen for the construction machine are sent to the first information terminal 30 and the second information terminal 40 via the communication unit 17 (steps S9 and S10), and the display unit 31, 41, guidance information for the construction machine and a position guidance screen for the construction machine are displayed (step S11). Note that if the users of the first information terminal 30 and the second information terminal 40 do not need the guidance information for the construction machine, at least the position guidance screen for the construction machine is displayed on the first information terminal 30 and the second information terminal 40. It is sufficient if it is sent to the terminal 40.

This allows supervisors and the like located at the construction site or in remote locations to share the guidance information for the construction machine and the position guidance screen via the display units 31 and 41. Furthermore, the orientation of the construction machine position guidance screen displayed on the display units 31 and 41 can be switched for each of the first information terminal 30 and the second information terminal 40, but the orientation shown in FIG. It is preferable to set to the north-up mode shown in 5(2).

<Construction management>
Next, construction management by the construction machine position guidance and construction management system 1 will be explained based on the drawings.

First, the procedure for ground improvement using the construction machine 3 will be explained based on FIG. 6. Start driving piles. Specifically, first, as shown in (1) in FIG. 6, the stirring blade 3d provided at the lower end of the stirring shaft 3c is set at a predetermined planned construction position. Next, the auger 3b is activated to rotate the stirring shaft 3c.

Then, as shown in (2) in FIG. 6, the stirring blade 3d penetrates into the original ground g, and the solidifying material is discharged from the solidifying material discharge port. As the stirring blade 3d penetrates into the original ground g, a vertical hole 5 is excavated in the original ground g, and a mixed soil 6 formed by stirring the excavated soil and solidification material in the vertical hole 5 is sequentially created. I'm going to be done. The initial penetration speed of the stirring shaft 3c is set, for example, to 0.5 m/min.

As shown in (3) in FIG. 6, when the lower end of the stirring shaft 3c reaches the solid ground (bottom layer), that is, when the stirring shaft 3c reaches the bottom, the penetration speed of the stirring shaft 3c decreases and the stirring shaft The motor current value of the auger 3b that rotates the auger 3c and the stirring blade 3d increases. This is caused by the rotational resistance of the stirring blade 3d increasing when the stirring blade 3d reaches solid ground. Note that whether or not the stirring blade 3d has landed on the bottom is determined by whether the penetration speed of the stirring shaft 3c continues for 1 to 3 minutes or more at a penetration speed of 0.2 to 0.3 m/min, and/or whether the auger 3b motor Generally, judgment is made based on whether the current value remains at a predetermined value (approximately 250 to 400 A, depending on the motor specification, type, etc.) for more than one minute. If the criteria are met, it is determined that the stirring blade 3d has landed on the bottom.

Next, as shown in (4) and (5) in FIG. 6, when the lower end of the stirring shaft 3c reaches the bottom, a doubling process is performed in which the stirring shaft 3c is raised once and then lowered to solid ground. Thereby, the mixed soil 6 near the lower end of the improved body can be sufficiently mixed.

Then, as shown in (6) and (7) in FIG. 6, by pulling out while rotating the stirring shaft 3c, the mixed soil 6 is mixed again and a cylindrical improved body 7 is created in the vertical hole 5. do.

In this way, the deep mixing treatment device 2 can create an improved body 7 that reaches solid ground within the original ground g. Note that the deep mixing device 2 is not limited to creating an improved body 7 that reaches the bottom layer; for example, it can create an improved body 7 that reaches a predetermined design depth without reaching the bottom layer. I don't mind.

Next, construction management performed in parallel with construction by the above-mentioned construction machine 3 will be explained based on FIG. 7.

First, the sensor 13 measures various information (construction information such as the inclination of the auger 3b, the rotation speed of the auger 3b, the depth of the lower end of the auger 3b, the lifting speed of the auger 3b, and the current value of the motor that rotates the auger 3b) (step S20). The construction information acquired by the sensor 13 is stored in the construction information DB 14b (step S21).

Next, the display screen generation unit 15c generates a display screen (a construction management screen for construction machines, a construction management screen for supervisors, etc.) that displays construction information (step S22). The construction management screen for construction machines is a display screen that includes construction information necessary for the operator of the construction machine 3 to understand the construction status, and the construction management screen for supervisors, etc. This is a display screen that includes construction information necessary for a supervisor or the like holding the information terminals 30 and 40 of No. 2 to understand the progress of construction.

An example of the construction management screen for construction machines is shown in FIG. The construction management screen for the construction machine shown in FIG. 8 includes a depth item which is an instantaneous value indicating the target depth and the current depth, an interval value indicating the penetration speed of the stirring shaft 3c per unit depth, and an instantaneous value indicating the current penetration speed. Included speed items, interval values indicating the number of rotations of the stirring blade 3d per unit depth, and crossing number items including instantaneous values indicating the current number of rotations, target value and current value of the inflow amount of solidifying material per unit depth. , an instantaneous flow rate item that includes instantaneous values that indicate the target value and current value of the amount of inflow of solidifying material per last 1 m, an integrated flow rate item that includes the total amount of solidifying material, and auger 3b. The graph includes current items including instantaneous values that are the maximum value and current value of the motor current value, and a graph showing the depth of the stirring blade 3d on the vertical axis and the motor current value on the horizontal axis.

Further, an example of the construction management screen for supervisors etc. is shown in FIG. The construction management screen for supervisors, etc. shown in Figure 9 includes the X and Y coordinates of the pile, ground height (GL), driving depth of the lower end of the auger, maximum current value of the motor, and information on when the motor reaches the maximum current value. It includes graphs showing changes over time in the depth of the lower end of the auger, the current slurry flow rate, the design value of the slurry flow rate, the rotation speed of the stirring shaft 3c, and the Z coordinate of the auger tip from the start of construction to the present. Note that the graph showing the change over time in the Z coordinate of the auger tip may be omitted as appropriate.

Next, the control unit 15 causes the display unit 16 to display a construction management screen for supervisors, etc. (step S23).

Note that, depending on the progress of the construction, the display screen generation unit 15c outputs a text message on the construction management screen for supervisors, etc., prompting the operator of the construction machine 3 to confirm the suitability of the construction details (step S24). A construction management screen including a text message is displayed on the display unit 16 (step S25). For example, if it is estimated that the lower end of the stirring blade 3d has reached the bottom layer based on pre-stored bottom landing criteria, a message to that effect may be output. Note that the message may be text, graphics, audio, or a combination thereof.

Further, a construction management screen for supervisors, etc. is sent to the first information terminal 30 and second information terminal 40 via the communication unit 17 (steps S26, S27), and the display units 31 and 41 display a construction management screen for supervisors, etc. A construction management screen for personnel is displayed (step S28).

Thereby, supervisors and the like located at the construction site or in remote locations can share the construction management screen for supervisors and the like via the display units 31 and 41.

<Worker guidance>
Next, how the position guidance and construction management system 1 assists the worker in drawing a line indicating the moving direction of the construction machine 3 will be explained based on FIG. 10. FIG. 10 is a flowchart showing a procedure for supporting line drawing by a worker. Note that the line drawing by the worker is performed before the position guidance of the construction machine 3 described above.

First, before construction by the construction machine 3, reference point coordinates, which are two-dimensional coordinates of the starting point and end point of a guideline that serves as a reference for the moving direction of the construction machine 3 at the construction site, are stored in the design position coordinate DB 31a (step S30 ). Note that the guideline is set at an arbitrary offset distance from a straight line connecting a plurality of design position coordinates, and indicates the direction of movement of the construction machine 3.

Next, the GNSS receiver 22 receives the GNSS signal via the GNSS antenna 21 (step S31), and the GNSS signal is sent to the data collection and support device 10 via the communication units 17 and 25 (steps S32 and S33). ).

Next, the calculation unit 15a calculates the current position coordinates of the worker terminal 20 (worker current position coordinates) based on the GNSS signal (step S34).

Further, the guidance information generation unit 15b generates guidance information for the worker to guide the worker so that the worker's current position coordinates match the reference point coordinates of the starting point and end point of the guideline (step S35). Note that the guidance information for the worker is, for example, the direction and distance (1 m north, 2 m east, etc.) representing the relative positional relationship of the worker's current position coordinates with respect to the starting point and end point of the guideline.

Furthermore, the display screen generation unit 15c generates a position guidance screen for the worker that displays the worker's current position coordinates and the designed position coordinates on a two-dimensional map corresponding to the construction site (step S36).

Further, guidance information for workers and a location guidance screen for workers are sent to the worker terminal 20 via the communication units 25 and 17 (steps S37 and S38).

Next, the control unit 23 causes the display unit 24 to display guidance information for the worker and a position guidance screen for the worker (step S39).

FIG. 11 shows an example of a position guidance screen for workers to guide the worker to the starting point of the guideline L. On the position guidance screen shown in FIG. 11, the design position coordinates are displayed as an icon representing a stake. Further, the guidance information for the worker shown in FIG. 11 is set, for example, to the direction and distance representing the relative positional relationship of the worker's current position coordinates with respect to the starting point S of the guideline L. In FIG. 11, the case where the worker is guided to the starting point S has been described as an example, but the same applies to the case where the worker is guided to the ending point F. Further, in FIG. 11, the planned movement position of the construction machine 3 is shown by a broken line for reference, but it is omitted in the actual position guidance screen for workers.

In this way, the worker marks the starting point S and ending point F of the guided guideline L and draws a line such as a white line to connect them, so that the operator of the construction machine 3 can see the adjacent improved parts. It is possible to easily obtain a mark indicating the direction of movement of the construction machine 3 when constructing the construction machine 3 in succession, or when laying a steel plate that will serve as a foothold when the construction machine 3 travels with a forklift or the like.

Note that the distance between the design position coordinates and the guideline L is set to be approximately equal to the distance from the center of the caterpillar of the construction machine 3 to the lower end of the stirring blade 3d, for example.

Further, guidance information for workers and a location guidance screen for workers are sent to the first information terminal 30 and the second information terminal 40 via the communication unit 17 (steps S37, S40), and the display unit 31, 41, guidance information for workers and a location guidance screen for workers are displayed (step S41). Note that if the users of the first information terminal 30 and the second information terminal 40 do not need guidance information for workers, only the position guidance screen for workers is displayed on the first information terminal 30 and the second information terminal 40. It may also be sent to the terminal 40.

Thereby, supervisors and the like at the construction site or in remote locations can share the guidance information for workers and the location guidance screen for workers via the display units 31 and 41.

As described above, instead of the worker drawing a line while checking the worker guidance information and the worker position guidance screen via the display unit 24, the supervisor holding the first information terminal 30 draws the line. , the worker may be guided based on the worker guidance information and the worker position guidance screen displayed on the display unit 31, and the worker may draw the line based on the instructions.

In this way, the position guidance and construction management system 1 according to the embodiment of the present invention can receive the GNSS signal transmitted by the GNSS satellite 50 and obtain the worker's current position coordinates, which are the two-dimensional coordinates of the worker. A design in which reference point coordinates, which are two-dimensional coordinates of a starting point S and an ending point F on a guideline L that is set apart from the scheduled construction point of the construction machine 3 by an arbitrary offset amount, are stored in advance. A position coordinate DB 14a, a guidance information generation unit 15b that generates guidance information for the worker to guide the worker so that the worker's current position coordinate matches the reference point coordinates of the start point S and the end point F, and the worker's current position. A display screen generation unit 15c that generates a display screen for workers that displays the coordinates and reference point coordinates of the start point S and the end point F on a two-dimensional map, and a display unit that displays the display screen for workers and guidance information for the workers. 24.

According to this configuration, the worker easily draws a line indicating the moving direction of the construction machine 3 along the guideline L based on the worker display screen and the worker guidance information displayed on the display unit 24. be able to.

It should be noted that the present invention can be modified in various ways other than the configuration described above as long as it does not depart from the spirit of the invention, and it goes without saying that the present invention extends to such modifications.

For example, the above-described position guidance and construction management system 1 has a configuration that serves both to guide the position of the construction machine 3 and to manage the construction of ground improvement by the construction machine 3, but these may be divided into functions.

1: Position guidance and construction management system 2: Deep mixing equipment 3: Construction machine 3a: Base machine body 3b: Auger 3c: Stirring shaft 3d: Stirring blade 3e: Generator 3f: Leader 4: Slurry plant 4a: Cement silo 4b : Batcher plant 4c : Grout pump 4d : Tube pipe 4e : Generator 5 : Vertical hole 6 : Mixed soil 7 : Improved body 10 : Data collection and support device 11 : GNSS antenna 12 : GNSS receiver 13 : Sensor 14 : Memory Part 14a: Design position coordinate DB
14b: Construction information DB
15: Control section 15a: Calculation section 15b: Guidance information generation section 15c: Display screen generation section 16: Display section 17: Communication section 20: Worker terminal 21: GNSS antenna 22: GNSS receiver 23: Control section 24: Display section 25: Communication department 30: First information terminal 31: Display section 40: Second information terminal 41: Display section 50: GNSS satellite 60: Network g: Original ground

Claims (1)

A worker position guidance system that supports construction of heavy machinery,
a GNSS receiver capable of receiving a GNSS signal transmitted by a GNSS satellite and acquiring current position coordinates that are two-dimensional coordinates of the worker;
a storage unit in which reference point coordinates, which are two-dimensional coordinates of a predetermined reference point on a guideline set apart from the planned construction site of the heavy equipment by an arbitrary offset amount, are stored in advance;
a guidance information generation unit that generates guidance information for guiding the worker so that the current position coordinates match the reference point coordinates;
a display screen generation unit that generates a display screen that displays the current position coordinates and the reference point coordinates on a two-dimensional map;
a display unit that displays the display screen and the guidance information;
A worker position guidance system that supports construction of heavy machinery, characterized by being equipped with.