TW202317460A - Overall system of construction, overall method of construction and overall program of construction - Google Patents

Abstract

To provide an overall system of construction, an overall method of construction, and an overall program of construction that appropriately support the automatic operation of a crane. The overall system of construction 100 includes: a system control unit 130 that controls the body control system 20 based on the first plan information including at least the installation coordinates of the construction components, and the body control system controls the operation of the crane; the position information acquisition unit 150 acquires position information of construction components attached to the jig attached to the crane; the jig operation judging unit 140 judges whether to operate the jig based on the operation status of the crane notified from the body control system 20, the system control unit 130 controls the fixture control system 30 based on the second plan information containing at least the setting direction of the construction component and the position information of the construction component obtained through the position information acquisition unit 150 when the fixture action determination unit 140 determines that the fixture action is required, the jig control system controls the movement of the jig so that the jig operates.

Description

General construction system, general construction method and general construction program

The invention relates to a general construction system, a general construction method and a general construction program.

In general, in the construction of large buildings, high-rise buildings, high-rise apartments, etc., tower cranes are used to lift building materials, move them horizontally, and the like.

A tower crane is provided with a cab. In the cab, the operator operates a button or a joystick to activate the hoisting device to raise the sling, activate the heave device to raise and lower the boom, or operate the The rotating device operates to rotate the boom.

In addition, in recent years, a tower crane remote operation system that can be operated from a remote place has been developed, even if it is not a cab that the tower crane is equipped with. In this tower crane remote work system, it is possible to reproduce on the ground the same environment as the operation of the operator's cab equipped on the tower crane.

Moreover, the technology related to the automatic operation system of a tower crane which automatically controls a tower crane by a control apparatus etc. is known (for example, refer patent document 1). The automatic operation system of the tower crane described in Patent Document 1 is configured by installing a receiver capable of satellite positioning at all times on the top of the tower, the front end of the boom, and the hook block, so that the respective positional relationship can be located in real time, and the building can be appropriately displayed. The plan view and perspective view of the design drawing, and the control device automatically performs the lifting (including raising) of the boom and the rotation of the rotating body.

prior art literature

Patent Document 1: Japanese Patent Laid-Open No. 2019-112178

However, in the automatic operation system of the tower crane described in Patent Document 1, the operator confirms the plan view and perspective view of the design drawing of the building displayed on the screen, and determines the installation position of the building components (loads). Touch OK to set the location. Then, based on the operator's touch, the control device automatically performs lifting and lowering of the boom and rotation of the rotating body.

In other words, in the automatic operation system of the tower crane described in Patent Document 1, although a part of the automation of the tower crane is realized, there is room for further improvement in the technology related to the automatic operation control of the tower crane. In particular, when a tower crane is used to lift building materials and move them horizontally, it is necessary to ensure the safety of the main body and surrounding conditions, and to move and install them appropriately.

Therefore, an object of the present invention is to provide an overall construction system, an overall construction method, and an overall construction program that appropriately support automatic operation of a crane.

A general construction system according to an aspect of the present invention is a general construction system that manages the automatic operation of a crane, and includes a system control unit that controls a machine body control system based on first plan information including at least installation coordinates of construction components. The system controls the movement of the crane; the position information acquisition unit acquires the position information of the construction parts attached to the jig attached to the crane; and the jig movement judgment unit judges whether to operate the jig based on the movement status of the crane notified from the body control system, The system control unit controls the jig control system based on the second plan information including at least the installation direction of the construction component and the position information of the construction component acquired by the position information acquisition unit when the jig operation determination unit determines that the jig is to be operated, The gripper control system controls the action of the gripper to act the gripper.

According to this aspect, the system control unit controls the machine body control system based on the first plan information, the position information acquisition unit acquires the position information of the construction component attached to the jig attached to the crane, and the jig movement judgment unit based on the position information of the crane notified from the machine body control system Action status, judge whether to make the gripper action. Then, the system control unit controls the gripper control system to operate the gripper based on the second planning information and the position information of the construction component when it is determined by the gripper operation determination unit that the gripper is to be operated. Accordingly, the system control unit can control the gripper control system so that the gripper can be appropriately operated at an appropriate timing based on the operation status of the crane. As a result, automatic operation of the crane including the jig can be appropriately supported.

In the above aspect, the system control unit may control the gripper control system so as to prohibit the movement of the gripper when it is determined by the gripper operation determination unit that the gripper is not to be moved.

According to this aspect, since the system control unit controls the gripper control system so as to prohibit the movement of the gripper when it is judged by the gripper movement judging unit that the gripper is not to be moved, it is possible to reduce problems with the surrounding bodies, components, operators, and operations. Accidents such as vehicle and other building conflicts.

In the above aspect, the jig operation determination unit may determine to operate the jig when the construction component attached to the jig is located in a safe area.

According to this aspect, since the jig operation determination unit determines that the jig is to be operated when the construction component attached to the jig is located in a safe area, the jig control system can be controlled to operate the jig while appropriately ensuring safety. .

In the above-described aspect, the gripper operation determination unit may determine to operate the gripper when the crane is raised to a predetermined position based on the first plan information.

According to this aspect, since the jig operation judging unit judges that the jig is to be moved when the crane is raised to a predetermined position based on the first plan information, the size and shape of the construction components and the construction components included in the first plan information On the basis of more concretely ensuring safety based on the blueprint of the object, etc., the jig control system can be controlled to move the jig.

In the above aspect, the jig operation determination unit may determine to operate the jig when the construction component attached to the jig exceeds the main body under construction due to the lifting of the crane.

According to this aspect, since the jig movement determination unit judges that the jig is to be moved when the construction component attached to the jig exceeds the main body under construction by lifting the crane, it is possible to reduce the conflict between the construction component and the main body under construction. On the basis of ensuring safety, the gripper control system is controlled in such a way that the gripper moves.

In the above manner, the position information acquisition unit may also acquire information related to the position and direction of the construction component installed on the jig through at least two sensors.

According to this aspect, since the position information acquiring unit acquires information on the position and direction of the construction component attached to the jig using at least two sensors, the position and direction of the construction component can be grasped appropriately. Then, the rotation angle up to the target installation direction of the construction component can be calculated from the position and direction of the construction component, and the jig control system can be controlled so as to operate the jig based on the rotation angle. As a result, construction components can be installed in appropriate positions and directions.

In the above manner, at least two sensors may also be mounted on the fixture.

According to this aspect, since at least two sensors are attached to the jig, it is not necessary to replace the sensors each time when the suspension member needs to be replaced or when the suspension member is not used, and work efficiency can be improved.

In the above manner, at least two sensors may also be installed on the suspension member provided between the jig and the construction member.

According to this aspect, since at least two sensors are attached to the suspension member provided between the jig and the construction member, it is not necessary to replace the sensor every time for each construction member, and the work efficiency can be improved. In addition, if Installed at a position close to the construction component, the location information of the construction component can be acquired with high precision.

In the manner described above, at least two sensors may also be mounted on the construction element.

According to this aspect, since at least two sensors are attached to the construction component, the positional information of the construction component can be obtained with higher accuracy.

In the above method, further comprising: a construction information acquisition unit that acquires construction information including information related to design drawings, construction components, and construction plans of buildings under construction; and a plan information generation unit that generates at least The first plan information including the installation coordinates of the construction parts and the second plan information including at least the installation direction of the construction parts, the system control unit can control the body control system based on the first plan information generated by the plan information generation unit, The jig control system is controlled based on the second plan information generated by the plan information generation unit and the position information of the construction component acquired by the position information acquisition unit.

According to this aspect, since the construction information acquiring unit for obtaining construction information and the plan for generating first plan information including at least installation coordinates of construction parts and second plan information including at least installation directions of construction parts based on the construction information are further provided, The information generation department is drawn, so as the overall construction system, including information management and construction plan generation, it can comprehensively and appropriately support the automatic operation of cranes.

An overall construction method according to an aspect of the present invention is executed by an overall construction system that manages the automatic operation of a crane, and includes a machine body control step of controlling machine body control based on first plan information including at least installation coordinates of construction components. system, the body control system controls the movement of the crane; the position information acquisition step is to obtain the position information of the construction parts attached to the jig attached to the crane; the jig action judgment step is to judge whether the crane is notified from the body control system. actuating the jig; and a jig control step based on the second planning information including at least the installation direction of the construction component and the position of the construction component acquired in the position information acquisition step, when the jig operation judging step determines that the jig is to be actuated The information controls the gripper control system, and the gripper control system controls the action of the gripper to make the gripper move.

According to this aspect, in the machine body control step, the machine body control system is controlled based on the first plan information, in the position information acquisition step, the position information of the construction component attached to the jig attached to the crane is acquired, and in the jig movement determination step, Whether to operate the gripper is determined based on the operation status of the crane notified from the body control system. Then, in the jig control step, when the jig operation judging step determines that the jig is to be operated, the jig control system is controlled so as to operate the jig based on the second plan information and the position information of the construction component. Accordingly, the gripper control system can be controlled so as to appropriately operate the gripper at an appropriate timing based on the operating conditions of the crane. As a result, automatic operation of the crane including the jig can be appropriately supported.

The general construction program according to one aspect of the present invention is a construction general program that causes a computer to execute a construction general method for managing the automatic operation of a crane, and executes the following steps: a machine body control step based on first plan information including at least installation coordinates of construction components controlling the machine body control system that controls the movement of the crane; the position information acquiring step of acquiring the position information of the construction parts attached to the jig attached to the crane; the jig movement judging step based on the movement of the crane notified from the body control system The status is to determine whether to operate the jig; the jig control step is based on the second plan information including at least the installation direction of the construction component and the construction component acquired in the position information acquisition step when it is determined that the jig is activated in the jig action determination step. The position information controls the clamp control system, and the clamp control system controls the action of the clamp to make the clamp move.

According to this aspect, in the machine body control step, the machine body control system is controlled based on the first plan information, in the position information acquisition step, the position information of the construction component attached to the jig attached to the crane is acquired, and in the jig movement determination step, Based on the operation status of the crane notified from the body control system, it is judged whether to operate the gripper. Then, in the jig control step, when it is judged to operate the jig in the jig operation judging step, the jig control system is controlled based on the second plan information and the position information of the construction components to operate the jig. Accordingly, it is possible to control the gripper control system so that the gripper is appropriately operated at an appropriate timing based on the operating conditions of the crane. As a result, automatic operation of the crane including the jig can be appropriately supported.

According to the present invention, it is possible to provide an overall construction system, an overall construction method, and an overall construction program that appropriately support automatic operation of a crane.

Hereinafter, preferred embodiments of the present invention will be specifically described with reference to the drawings. In addition, for the sake of easy understanding of the description, the same reference numerals are attached to the same components as much as possible in each drawing, and overlapping descriptions are omitted.

FIG. 1 is a system overview showing an overview of a total construction system 100 according to an embodiment of the present invention. In FIG. 1, the total construction system 100 controls the operation of the crane and the rotating device attached to the crane by sending and receiving data with the body control system 20 and the clamp control system 30, which are separate systems from the total construction system 100. .

The machine body control system 20 controls the operation of the crane (automatic operation), and the overall construction system 100 supports the operation of the crane through the machine body control system 20 . The cranes controlled by the body control system 20 are typically tower cranes, but are not limited thereto. For example, they may be gantry cranes, bridge cranes, container cranes in harbors, and barge cranes on ships.

The gripper control system 30 controls the operation (automatic operation) of grippers attached to the crane, and the overall construction system 100 supports the operation of the crane including the gripper operation via the gripper control system 30 . The jig controlled by the jig control system 30 is typically a rotating device such as a horizontal rotating jig attached to a tower crane, but is not limited thereto, and may be other jigs or may be attached to a crane other than the tower crane. Fixtures etc.

The overall construction system 100 sends action instructions to the aircraft control system 20 via the Gateway based on the construction plan information (first plan information and second plan information) including the installation coordinates, installation order, and installation direction of construction components. The crane is operated, or the rotating device is operated by sending an operation instruction to the jig control system 30 . Here, the overall construction system 100 can, for example, use the Global Navigation Satellite System (Global Navigation Satellite System, GNSS) to monitor the location information of the boom of the crane or the construction components in real time, and can further install cameras to monitor the surrounding conditions and report to the machine body. The control system 20 and the gripper control system 30 send action instructions. The overall construction system 100 can avoid conflicts or dangers and ensure safety while transferring construction components and setting them with high precision in the installation coordinates and installation directions.

In addition, the general construction system 100 can cooperate with building information modeling (Building Information Modeling, BIM) or other systems to generate construction plan information, and can also acquire and store pre-generated construction plan information.

Furthermore, the overall construction system 100 can grasp the operation status of the crane and the rotating device through operation logs from the body control system 20 and the jig control system 30 , or reflect it to the building information model (BIM) 10 as construction performance. The overall construction system 100 can also manage the progress of construction by analyzing these information.

In this way, the general construction system 100 sends operation instructions to the machine body control system 20 and the fixture control system 30 based on the construction plan information or location information, controls the operation of the crane and the rotating device, and grasps the operation status of the crane and the rotating device based on the operation log, etc. , to manage the progress of the construction. That is, the overall construction system 100 unifies the entire system related to construction in the crane.

FIG. 2 is a system block diagram showing each function of the total construction system 100 according to the embodiment of the present invention. As shown in FIG. 2 , it includes a construction information acquisition unit 110 , a plan information generation unit 120 , a system control unit 130 , a jig operation determination unit 140 , and a position information acquisition unit 150 .

The building information acquisition unit 110 acquires building information including information on blueprints of buildings under construction, construction components, and construction plans. For example, the building information acquiring unit 110 acquires the building information from information stored in the building information model (BIM) 10 .

Building Information Modeling (BIM) 10 Generally speaking, in a three-dimensional digital model generated related to a building, all the information including the shape and quantity of construction parts are added according to the elements that make up the building, etc. . Specifically, it includes a main body model including on-site reference points and unloading positions, eight points on the outermost diameter of construction components, reference points, and marked positions. In addition, information related to costs, processing, and construction schedules is also included, and can be used for cost and construction management.

The plan information generation unit 120 generates first plan information including at least installation coordinates of construction components based on the construction information acquired by the construction information acquisition unit 110 . Specifically, the first plan information may include identification information (for example, ID, etc.) of construction components installed by a crane, an installation scheduled date, target installation coordinates (x, y, z), and the like.

In addition, the plan information generating unit 120 may directly use the information contained in the building information acquired by the building information acquiring unit 110 from the building information model (BIM) 10 , or generate the first plan information through appropriate processing as necessary. In addition, the plan information generation unit 120 may generate the first plan information in a manner suitable for the interface of the airframe control system 20 .

Furthermore, the plan information generating unit 120 generates second plan information including at least the installation direction of construction components based on the building information acquired by the building information acquiring unit 110 . Specifically, the second plan information includes identification information (for example, ID, etc.) of construction components controlled by a jig attached to a crane and a target installation direction.

In addition, the plan information generating unit 120 may directly use the information contained in the building information acquired from the building information model (BIM) 10 by the building information acquiring unit 110 as in the first plan information, or may process and generate Generate 2nd plan information. In addition, the plan information generating unit 120 may generate the second plan information in a manner suitable for the interface of the jig control system 30 .

In addition, the plan information generating unit 120 may generate the first plan information and the second plan information including the same information in a manner suitable for any one of the body control system 20 and the jig control system 30 . A type of program information. This eliminates the need to generate a variety of planning information, which simplifies processing and improves productivity.

The system control unit 130 sends an operation instruction to the body control system 20 to operate the crane based on the first plan information generated by the plan information generation unit 120 . Thereby, the machine body control system 20 calculates the route by which the construction part is transported to the target installation coordinate based on various information of the installed construction part included in the first plan information, and follows the route, the scheduled installation date, the installation order, etc. The relevant information controls the movement of the crane.

Furthermore, the system control unit 130 sends an operation instruction to the jig control system 30 to operate the rotating device based on the second plan information generated by the plan information generation unit 120 and the position information of the construction components. Thus, the jig control system 30 controls the movement of the rotating device so that the construction component is placed in the target installation direction based on various information on the installed construction component and position information of the construction component included in the second planning information. action. Here, the installation direction refers to an orientation on a horizontal plane (east, west, north, south), and may also include a slope (inclination) with respect to the horizontal plane. On the other hand, the system control unit 130 sometimes sends an operation instruction to the jig control system 30 to prohibit the operation of the rotating device.

In addition, the positional information of construction components is acquired by the positional information acquisition part 150, and the detail will be mentioned later.

The gripper operation determination unit 140 determines whether to operate the rotating device based on the operation status of the crane. The swivel device is typically a horizontal swivel jig with construction components suspended from below. For example, construction components such as pillars may collide with surrounding bodies, components, workers, work vehicles, and other structures when they are suspended in a horizontal position and rotated horizontally. Therefore, it is necessary to control the timing of operating the rotating device while ensuring safety.

Fig. 3 is a diagram showing a specific example of a route for transporting construction components to an installation position. As shown in FIG. 3, after the construction component is moved to a safe position so that the operation of the crane that transports the construction component does not collide with the main body during construction of the construction component, the rotation device is rotated to transport the construction component to the installation position. (become the set coordinates of the target).

When the construction component is transported to the target installation coordinate, the route for transporting the construction component is calculated, and the machine body control system 20 first raises the crane according to the route. Then, for example, when the machine body control system 20 reaches the highest position on the route, it is only necessary to notify the overall construction system 100 of the fact as the operation status of the crane.

The jig operation determination unit 140 in the overall construction system 100 determines to operate the rotation device as a horizontal rotation jig based on the operation status of the crane notified from the body control system 20 . Accordingly, the system control unit 130 sends an operation instruction to the jig control system 30 to operate the rotating device based on the second plan information generated by the plan information generation unit 120 and the position information of the construction components.

In addition, the jig operation determination unit 140 determines that the operation of the rotating device is not limited to the time point at which the highest position in the route for conveying the construction component to the target installation coordinate is reached. For example, depending on the conditions of the main body under construction, the surrounding main body, components, workers, work vehicles, and other building shapes, the shape of construction components, and other environmental conditions such as weather, when the crane is lifted to a predetermined If the timing of the position is safe even if the construction components are moved horizontally, the body control system 20 may notify the total construction system 100 of the fact as the operation status of the crane, and the jig operation determination unit 140 determines that the rotation device is to be operated. .

The machine body control system 20 may also notify the general construction system 100 of the fact as the operation status of the crane if it is safe to move the construction components horizontally when the crane is raised, or during the process of raising the crane, and the gripper is operated. The determination unit 140 determines to operate the rotating device. That is, the overall construction system 100 raises the crane and operates the rotating device to move the construction components horizontally. In addition, similarly, when transferring to the installation position of the construction components (target installation coordinates), the rotating device may be operated to horizontally move the construction components and lower the crane.

In addition, regarding the safe situation even if the construction components are moved horizontally, it can be based on, for example, a route to transfer the construction components to the target setting coordinates, a design drawing or a construction plan acquired from the building information model (BIM) 10, etc., from Judgments such as the operation log of the machine body control system 20 may be provided with cameras or sensors on cranes, main bodies under construction, peripheral equipment, etc., and judgments may be made based on peripheral conditions acquired from them.

On the other hand, the jig operation determination unit 140 in the overall construction system 100 determines not to operate the rotating device as a horizontal rotating jig until it is determined that the horizontal movement of the construction component reaches a safe safe area, and the system control unit 130 prohibits the rotation. The mode of operation of the device sends an operation instruction to the jig control system 30 .

Next, how the rotation device is operated when the system control unit 130 sends an operation instruction to the jig control system 30 will be specifically described.

Fig. 4 is a diagram showing a specific example in which a construction component is suspended from a jig. As shown in FIG. 4 , as a jig attached to the crane at the tip of the rope suspended from the crane, a horizontally rotating rotation device 31 is attached, and the construction component 40 is suspended from the rotation device 31 via the suspension member 32 by the rope.

The rotating device 31 is a jig that rotates horizontally based on an operation instruction from the system control unit 130 in the overall construction system 100 , and as the rotating device 31 rotates horizontally, the construction member 40 suspended by a rope via the hanging member 32 rotates horizontally. In addition, the construction member 40 is, for example, a precast concrete member, a pillar serving as a skeleton of a building, or the like.

The suspension member 32 is a device that raises, for example, one end of the suspended construction member 40 from a lying state, and lowers the other end, so that the construction member 40 is vertically erected.

FIG. 5 is a diagram showing a specific example in which two mobile terminals (sensors) are attached to the suspension member 32 to monitor the direction and position of the construction member by using GNSS. As shown in FIG. 5( a ), two mobile terminals 32A and 32B are mounted on the upper surface of the suspension member 32 . Furthermore, it is also possible to install a reference terminal (fixed terminal) nearby and use a positioning system using Real Time Kinematic (RTK).

The two mobile terminals 32A and 32B and the reference terminal respectively receive signals from positioning satellites to obtain positioning information. Then, the positioning information is exchanged between the two mobile terminals 32A and 32B and the reference terminal, and more accurate position information can be grasped by correcting the position offset. In addition, the reference terminal communicates with the two mobile terminals 32A and 32B using, for example, WiFi (registered trademark) or the like. If a high-precision positioning system such as real-time kinematic positioning (RTK) is used, the direction and position of construction components can be grasped with high precision in units of a few centimeters without being affected by backlight or bad weather.

In this way, using the positioning system using real-time kinematic positioning (RTK), the position information acquisition unit 150 in the overall construction system 100 can grasp the positions of the two mobile terminals 32A and 32B with high precision and the position of the suspension member 32 with high precision. direction. And based on the position and direction of the suspension member 32, the position and direction of the construction member 40 suspended by the suspension member 32 can be grasped.

The positional information acquisition unit 150 may acquire positional information including the position and direction of the construction component 40 at predetermined time intervals (for example, several hundred msec to one thousand msec), at least the information required to operate the rotating device 31 through the system control unit 130 . The position information of the construction component 40 at the time of sending the operation instruction in the mode. The system control unit 130 calculates the rotation angle from the direction of the construction component 40 acquired by the position information acquisition unit 150 to the installation direction of the construction component 40 included in the second plan information, and operates the rotation device 31 based on the rotation angle. Send action instructions.

In addition, the system control unit 130 may calculate the rotation speed at which the rotation device 31 is rotated. For example, it is preferable to complete the rotation of the rotation device 31 during the horizontal movement as shown in FIG.

In addition, since the mobile terminals 32A and 32B installed on the suspension member 32 receive signals from the positioning satellites respectively, it is preferable not to block radio waves above the mobile terminals. In a specific example shown in (a) of FIG. The mobile terminals 32A and 32B are mounted on the upper surface of the suspension member 32, but the present invention is not limited thereto.

For example, as shown in FIG. 5( b ), the mobile terminals 32A and 32B may be attached to the outside of the suspension member 32 using a fixture.

Furthermore, the number of mobile terminals mounted on the suspension member 32 is not limited to two (mobile terminals 32A and 32B), but may be more than three. For example, mobile terminals may be mounted on four corners of the suspension member 32 . By installing a large number of mobile terminals, the position and direction of the construction component 40 can be grasped with higher precision.

In addition, here, real-time kinematic positioning (RTK) is listed as a positioning system for grasping the direction and position of the construction component 40, but it is not limited thereto. If the direction and position of the construction component 40 can be grasped, other positioning systems can also be used. system.

Next, the overall construction method executed by the overall construction system 100 that manages the automatic operation of the crane will be specifically described in detail.

FIG. 6 is a flowchart showing the processing flow of the overall construction method M100 executed by the overall construction system 100 according to the embodiment of the present invention. In FIG. 6 , the overall construction method M100 includes steps S110 to S150 executed by a processor included in the overall construction system 100 .

In step S110 , the overall construction system 100 controls the machine body control system 20 based on the first plan information including at least the installation coordinates of the construction components 40 (machine body control step). As a specific example, the system control unit 130 in the overall construction system 100 transmits an operation instruction to operate a crane to the machine body control system 20 based on the first plan information. For example, the building information acquiring unit 110 in the overall construction system 100 acquires building information from the information stored in the building information model (BIM) 10 (building information acquiring step), and the planning information generating unit 120 can also be based on the building information acquiring step The first plan information is generated from the acquired building information (first plan information generation step).

In step S120, the overall construction system 100 acquires the position information of the construction component 40 attached to the jig attached to the crane (position information acquisition step). As a specific example, the location information acquisition unit 150 in the overall construction system 100 grasps the position and direction of the construction component 40 based on the mobile terminals 32A and 32B installed on the suspension component 32 using a positioning system using real-time kinematic positioning (RTK). In addition, the positional information acquiring unit 150 may continuously acquire the positional information of the construction component 40 for a predetermined period of time.

In step S130 , the overall construction system 100 determines whether to operate the gripper based on the operation status of the crane notified from the body control system 20 (a gripper operation determination step). As a specific example, the gripper operation determination unit 140 in the overall construction system 100 determines that the rotating device should be moved based on the notification from the body control system 20 that the crane has been raised to a predetermined position (for example, the highest position in the crane's movement route). 31 Action (Yes in step S130). On the other hand, the jig operation determination unit 140 in the overall construction system 100 determines not to operate the rotating device 31 until receiving a notification from the body control system 20 that the crane is raised to a predetermined position (No in step S130).

In step S140 (Yes in step S130), the total construction system 100 is controlled to operate the jig based on the second plan information including at least the installation direction of the construction component 40 and the position information of the construction component 40 acquired in step S120. Clamp control system 30 (clamp control step). As a specific example, the system control unit 130 in the overall construction system 100 calculates the rotation angle up to the target installation direction of the construction component 40 included in the second plan information from the position information (direction) of the construction component 40, and based on this The rotation angle sends an operation instruction to the jig control system 30 so as not to operate the rotation device 31 .

In step S150 (No in step S130 ), the overall construction system 100 controls the jig control system 30 to prohibit the operation of the jig (jig control step). As a specific example, the system control unit 130 in the overall construction system 100 sends an operation instruction to the jig control system 30 so as not to operate the rotating device 31 .

In other words, the system control unit 130 in the overall construction system 100 controls the jig control system 30 so as not to operate the rotating device 31 until it is determined in step S130 to operate the rotating device 31 .

As described above, according to the total construction system 100 and the total construction method M100 according to an embodiment of the present invention, the system control unit 130 controls the machine body control system 20 based on the first plan information, and the position information acquisition unit 150 acquires Based on the position information of the construction component 40 , the jig operation determination unit 140 determines whether to operate the rotating device 31 based on the operation status of the crane notified from the body control system 20 . Then, when the system control unit 130 determines that the rotating device 31 is operated by the jig operation determination unit 140 , it calculates from the position information (direction) of the construction component 40 acquired by the position information acquisition unit 150 until it becomes the second planning information. The included rotation angle up to the target installation direction of the construction component 40 is controlled by the jig control system 30 so that the rotation device 31 is operated based on the rotation angle. Accordingly, the system control unit 130 can control the gripper control system 30 so as to appropriately operate the rotating device 31 at an appropriate timing based on the operation status of the crane. As a result, automatic operation of the crane including the jig can be appropriately supported.

In addition, in this embodiment, in cooperation with the building information model (BIM) 10, building information is acquired by the building information acquisition unit 110, and construction plan information (first plan information and second plan information) is generated by the plan information generation unit 120. drawing information), but the building information model (BIM) 10 may be included in the overall construction system 100, or may be configured to cooperate with the overall construction system 100 as an external system.

In addition, the overall construction system 100 includes or cooperates with systems other than the building information model (BIM) 10, and the building information acquisition unit 110 can also acquire building information from them. Furthermore, it is also possible to acquire and store pre-generated construction plan information without generating all or part of the construction plan information in the overall construction system 100 .

In this embodiment, the mobile terminals 32A and 32B are attached to the suspension member 32 in order to grasp the position and direction of the construction member 40, but the places where the mobile terminals 32A and 32B are attached are not limited thereto.

For example, depending on the hanging construction member 40 , the installation position of the construction member 40 , or other conditions, a suspension member different from the suspension member 32 shown in FIG. 4 may be used.

Fig. 7 is a diagram showing another specific example in which a construction component is suspended from a jig. As shown in FIG. 7 , as a jig attached to the crane at the tip of the rope suspended from the crane, a horizontally rotating rotation device 31 is attached, and the construction component 40 is suspended from the rotation device 31 via the suspension member 33 by the rope. The suspension member 33 has a horizontally long substantially rectangular parallelepiped shape or a substantially rod shape, and is different from the substantially cube-shaped suspension member 32 shown in FIG. 4 . The same applies to the case where the suspension member 33 is used, and the mobile terminals 32A and 32B may be mounted on the upper surface of the suspension member 33 or on the outside of the suspension member 33 using a fixture.

In addition, when it is necessary to replace the suspension member in this way or when the suspension member is not used, the mobile terminals 32A and 32B may be configured to be attached to the rotation device 31 . It is not necessary to replace the mobile terminals 32A and 32B every time, and it is possible to improve work efficiency.

In addition, for example, the mobile terminals 32A and 32B may be attached to the construction component 40 . By directly attaching to the construction member 40, the position and direction of the construction member 40 can be acquired with high precision.

In addition, in the present embodiment, the operation status of the crane notified from the machine body control system 20 to the overall construction system 100 is, for example, a status that is safe to move construction components horizontally. The action/non-action mode of the rotating device controls the fixture control system 30 . In addition, the operation status of the crane may include, for example, information on an abnormality or an emergency stop. Emergency stop conditions such as abnormalities occurring in the crane, unexpected accidents, strong winds, rainstorms, earthquakes, etc., and other external environments that require stoppage of construction may be included. The overall construction system 100 may control the jig control system 30 so as to stop the rotating device based on the emergency stop situation from the machine control system 20 .

In addition, the operation status of the crane notified from such machine body control system 20 to the general construction system 100 may be included in the operation log, or may be a notification different from the normal operation log.

As mentioned above, although specific description was given about each embodiment of this invention, it is description as an embodiment only. The above description is for the convenience of understanding the present invention, and does not limit the interpretation of the present invention. The scope of the present invention is not limited to the respective embodiments, and should be broadly interpreted within the range that can be grasped by those skilled in the art. Each element included in the embodiment and its arrangement, material, condition, shape, size, etc. are not limited to examples and can be changed appropriately. In addition, it is also possible to partially replace or combine the configurations shown in different embodiments.

10: Building Information Modeling 20: Body control system 30: Fixture control system 31: Rotating device 32: Suspension parts 32A, 32B: mobile terminal 33: Suspension parts 40: Construction Parts 100: Total Construction System 110: Construction Information Acquisition Department 120:Plan information generation department 130: System Control Department 140: Fixture Action Judgment Department 150:Location Information Acquisition Department M100: General Method of Construction S110～S150: each step of the general construction method M100

FIG. 1 is a system overview showing an overview of a general construction system according to an embodiment of the present invention.

FIG. 2 is a system block diagram showing each function of the overall construction system according to the embodiment of the present invention.

Fig. 3 is a diagram showing a specific example of a route for transporting construction components to an installation position.

Fig. 4 is a diagram showing a specific example in which a construction component is suspended from a jig.

FIG. 5 is a diagram showing a specific example in which two mobile terminals (sensors) are mounted on a construction component to monitor the direction and position of the construction component by using GNSS.

FIG. 6 is a flowchart showing a processing flow of a general construction method executed by the general construction system according to the embodiment of the present invention.

Fig. 7 is a diagram showing another specific example in which a construction component is suspended from a jig.

10: Building Information Modeling

20: Body control system

30: Fixture control system

100: Total Construction System

110: Construction Information Acquisition Department

120:Plan information generation department

130: System Control Department

140: Fixture Action Judgment Department

150:Location Information Acquisition Department

Claims (12)

A total construction system that manages the automatic operation of cranes, having: a system control unit controlling a body control system based on first plan information including at least installation coordinates of construction components, the body control system controlling the movement of the crane; a location information acquisition unit that acquires location information of a construction component attached to a jig attached to the crane; and a gripper operation judging unit that judges whether to operate the gripper based on the operation status of the crane notified from the body control system, The system control unit, when it is determined by the jig operation judging unit that the jig is to be operated, based on the second plan information including at least the installation direction of the construction component and the position information acquired by the position information acquiring unit. The position information of the construction component controls the clamp control system, and the clamp control system controls the action of the clamp to make the clamp move. The overall construction system according to claim 1, wherein the system control unit controls the jig so as to prohibit the movement of the jig when it is determined by the jig operation judging unit that the jig is not to be operated. Control System. The overall construction system according to claim 1 or 2, wherein the jig operation judging unit operates the jig when it determines that a construction component attached to the jig is located in a safe area. The overall construction system according to any one of Claims 1 to 3, wherein the jig movement judging unit judges based on the first plan information that when the crane is raised to a predetermined position, the Fixture action. The overall construction system according to claim 4, wherein the jig operation judging unit operates the jig when it is judged that the construction component attached to the jig is lifted by the crane and exceeds the main body under construction. The overall construction system according to any one of claims 1 to 5, wherein the position information acquisition unit acquires information related to the position and direction of the construction components installed on the fixture through at least two sensors. The overall construction system as claimed in claim 6, wherein the at least two sensors are installed on the fixture. The total construction system according to claim 6, wherein the at least two sensors are installed on a suspension part provided between the clamp and the construction part. The total construction system as claimed in claim 6, wherein the at least two sensors are installed on the construction components. The overall construction system as described in any one of claims 1 to 9 also has: Construction Information Acquisition Division, which acquires construction information including information related to design drawings, construction parts, and construction plans of buildings to be constructed; and The plan information generation unit generates, based on the building information, first plan information including at least installation coordinates of construction components and second plan information including at least installation directions of construction components; The system control unit controls the aircraft control system based on the first plan information generated by the plan information generating unit, and controls the airframe control system based on the second plan information generated by the plan information generating unit and the location information. The location information of the construction component acquired by the acquisition unit controls the clamp control system. A general method of construction performed by a general construction system that manages the automatic operation of cranes, comprising: A body control step of controlling a body control system based on the first plan information including at least installation coordinates of construction components, the body control system controlling the movement of the crane; The location information obtaining step is to obtain the location information of the construction parts installed on the fixture attached to the crane; a gripper operation judging step of judging whether to actuate the gripper based on the operation status of the crane notified from the body control system; and The jig control step is based on the second plan information including at least the installation direction of construction components and the position information acquired in the position information acquisition step when it is determined to operate the jig in the jig operation judging step. The position information of the construction component controls the clamp control system, and the clamp control system controls the action of the clamp to make the clamp move. A general construction program, which enables a computer to implement a general construction method for managing the automatic operation of a crane, and performs the following steps: A body control step of controlling a body control system based on the first plan information including at least installation coordinates of construction components, the body control system controlling the movement of the crane; The location information obtaining step is to obtain the location information of the construction parts installed on the fixture attached to the crane; A gripper operation judging step of judging whether to actuate the gripper based on the operation status of the crane notified from the body control system; and The jig control step is based on the second plan information including at least the installation direction of the construction components and the second planning information acquired in the position information acquisition step when it is determined in the jig operation determination step that the jig is to be operated. The position information of the construction component controls the clamp control system, and the clamp control system controls the action of the clamp to make the clamp move.

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