TW202317460A - Overall system of construction, overall method of construction and overall program of construction - Google Patents
Overall system of construction, overall method of construction and overall program of construction Download PDFInfo
- Publication number
- TW202317460A TW202317460A TW111140931A TW111140931A TW202317460A TW 202317460 A TW202317460 A TW 202317460A TW 111140931 A TW111140931 A TW 111140931A TW 111140931 A TW111140931 A TW 111140931A TW 202317460 A TW202317460 A TW 202317460A
- Authority
- TW
- Taiwan
- Prior art keywords
- construction
- jig
- control system
- crane
- information
- Prior art date
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
- Jib Cranes (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
Abstract
Description
本發明涉及一種施工總系統、施工總方法以及施工總程式。The invention relates to a general construction system, a general construction method and a general construction program.
一般來說,在大型建築物、高層大樓以及高層公寓等的建設中,使用塔式起重機,通過該塔式起重機進行建築材料的起重以及向水平方向的移動等。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.
在塔式起重機中具備駕駛室,在該駕駛室中,通過駕駛員操縱按鈕或操縱桿,使升起裝置動作而升起吊索,使起伏裝置動作而使起重臂升高和降低,或者使旋轉裝置動作而使起重臂旋轉。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.
而且,在近幾年,即使不是塔式起重機所具備的駕駛室,也開發有從遠端場所能夠操縱的塔式起重機遠端作業系統。在該塔式起重機遠端作業系統中,能夠在地面上重現與在塔式起重機所具備的駕駛室的操縱相同的環境。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.
此外,已知通過控制裝置等自動地控制塔式起重機的與塔式起重機的自動運轉系統相關的技術(例如,參照專利文獻1)。專利文獻1所記載的塔式起重機的自動運轉系統構成為在塔的頂部、起重臂前端和吊鉤塊設置能夠始終進行衛星定位的接收器,能夠即時定位各自的位置關係,適當顯示建築物的設計圖的平面圖以及立體圖,並且控制裝置自動地進行起重臂的起伏(也包含升起)以及旋轉體的旋轉。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.
現有技術文獻prior art literature
專利文獻1:日本特開2019-112178號公報Patent Document 1: Japanese Patent Laid-Open No. 2019-112178
然而,在專利文獻1所記載的塔式起重機的自動運轉系統中,操作者確認顯示在畫面上的建築物的設計圖的平面圖以及立體圖,確定建築部件(荷載)的設置位置,在該畫面上觸摸確定的設置位置。然後,基於操作者的觸摸,控制裝置自動地進行起重臂的起伏以及旋轉體的旋轉。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.
換言之,在專利文獻1所記載的塔式起重機的自動運轉系統中,雖然實現了塔式起重機的一部分自動化,但在與塔式起重機的自動運轉控制相關的技術中,存在進一步改進的餘地。尤其是,在通過塔式起重機進行建築材料的起重以及向水平方向的移動等時,必須確保主體或周邊狀況的安全,並且適當地進行移動以及設置。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.
因此,本發明的目的在於,提供適當地支援起重機的自動運轉的施工總系統、施工總方法以及施工總程式。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.
本發明的一方式涉及的施工總系統是管理起重機的自動運轉的施工總系統,具備:系統控制部,基於至少包含施工部件的設置座標的第1計畫資訊控制機體控制系統,所述機體控制系統控制起重機的動作;位置資訊獲取部,獲取安裝於起重機所附屬的夾具的施工部件的位置資訊;以及夾具動作判斷部,基於從機體控制系統通知的起重機的動作狀況,判斷是否使夾具動作,系統控制部在通過夾具動作判斷部判斷為使夾具動作的情況下,基於至少包含施工部件的設置方向的第2計畫資訊以及通過位置資訊獲取部獲取的施工部件的位置資訊控制夾具控制系統,所述夾具控制系統控制夾具的動作以使夾具動作。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.
根據該方式,系統控制部基於第1計畫資訊控制機體控制系統,位置資訊獲取部獲取安裝於起重機所附屬的夾具的施工部件的位置資訊,夾具動作判斷部基於從機體控制系統通知的起重機的動作狀況,判斷是否使夾具動作。然後,系統控制部在通過夾具動作判斷部判斷為使夾具動作的情況下,基於第2計畫資訊以及施工部件的位置資訊控制夾具控制系統使夾具動作。由此,系統控制部基於起重機的動作狀況,能夠控制夾具控制系統使夾具在適當的時機適當地動作。其結果是,能夠適當地支持包含夾具的起重機的自動運轉。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.
在上述方式中,系統控制部也可以在通過夾具動作判斷部判斷為不使夾具動作的情況下,以禁止夾具的動作的方式控制夾具控制系統。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.
根據該方式,由於系統控制部在通過夾具動作判斷部判斷為不使夾具動作的情況下,以禁止夾具的動作的方式控制夾具控制系統,所以能夠減輕與周邊的主體、部件、作業員、作業車輛以及除此之外的建築物衝突等的事故。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.
在上述方式中,夾具動作判斷部也可以在安裝於夾具的施工部件位於安全區域的情況下,判斷為使夾具動作。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.
根據該方式,由於夾具動作判斷部在安裝於夾具的施工部件位於安全區域的情況下判斷為使夾具動作,所以在適當地確保安全性的基礎上,能夠以使夾具動作的方式控制夾具控制系統。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. .
在上述方式中,夾具動作判斷部也可以基於第1計畫資訊在起重機上升至規定的位置的情況下,判斷為使夾具動作。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.
根據該方式,由於夾具動作判斷部基於第1計畫資訊在起重機上升至規定的位置的情況下,判斷為使夾具動作,在從第1計畫資訊所包含的施工部件的大小或形狀以及建築物的設計圖等更加具體地確保安全性的基礎上,能夠以使夾具動作的方式控制夾具控制系統。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.
在上述方式中,夾具動作判斷部也可以在通過起重機上升,安裝於夾具的施工部件超過施工中的主體的情況下,判斷為使夾具動作。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.
根據該方式,由於夾具動作判斷部在通過起重機上升從而安裝於夾具的施工部件超過施工中的主體的情況下,判斷為使夾具動作,所以能夠減輕施工部件與施工中的主體衝突,在更加具體地確保安全性的基礎上,以使夾具動作的方式控制夾具控制系統。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.
在上述方式中,位置資訊獲取部也可以通過至少兩個感測器獲取與安裝於夾具的施工部件的位置以及方向相關的資訊。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.
根據該方式,由於位置資訊獲取部通過至少兩個感測器獲取與安裝於夾具的施工部件的位置以及方向相關的資訊,所以能夠適當地掌握施工部件的位置以及方向。然後,能夠從該施工部件的位置以及方向算出直到成為施工部件的目標的設置方向為止的旋轉角度,以基於該旋轉角度使夾具動作的方式控制夾具控制系統。其結果是,能夠在適當的位置以及方向上設置施工部件。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.
在上述方式中,至少兩個感測器也可以安裝於夾具。In the above manner, at least two sensors may also be mounted on the fixture.
根據該方式,由於至少兩個感測器安裝於夾具,所以在需要更換懸掛部件的情況或者不使用懸掛部件的情況下,可以無需每次更換感測器,能夠實現作業效率的提高。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.
在上述方式中,至少兩個感測器也可以安裝於設置於夾具與施工部件之間的懸掛部件。In the above manner, at least two sensors may also be installed on the suspension member provided between the jig and the construction member.
根據該方式,由於至少兩個感測器安裝於設置於夾具與施工部件之間的懸掛部件,所以可以無需按每個施工部件每次更換感測器,能夠實現作業效率的提高,此外,如果安裝於靠近施工部件的位置,能夠高精度地獲取該施工部件的位置資訊。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.
在上述方式中,至少兩個感測器也可以安裝於施工部件。In the manner described above, at least two sensors may also be mounted on the construction element.
根據該方式,由於至少兩個感測器安裝於施工部件,所以能夠更加高精度地獲取該施工部件的位置資訊。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.
在上述方式中,還具備:建築資訊獲取部,獲取包含與施工的建築物的設計圖、施工部件以及施工計畫相關的資訊的建築資訊;以及計畫資訊生成部,基於建築資訊,生成至少包含施工部件的設置座標的第1計畫資訊以及至少包含施工部件的設置方向的第2計畫資訊,系統控制部可以基於通過計畫資訊生成部生成的第1計畫資訊控制機體控制系統,基於通過計畫資訊生成部生成的第2計畫資訊以及通過位置資訊獲取部獲取的施工部件的位置資訊控制夾具控制系統。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.
根據該方式,由於還具備獲取建築資訊的建築資訊獲取部和基於建築資訊,生成至少包含施工部件的設置座標的第1計畫資訊以及至少包含施工部件的設置方向的第2計畫資訊的計畫資訊生成部,所以作為施工總系統,包含資訊的管理以及施工計畫的生成,能夠綜合地適當地支持起重機的自動運轉。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.
本發明的一方式涉及的施工總方法是通過管理起重機的自動運轉的施工總系統執行的施工總方法,包含:機體控制步驟,基於至少包含施工部件的設置座標的第1計畫資訊控制機體控制系統,所述機體控制系統控制起重機的動作;位置資訊獲取步驟,獲取安裝於起重機所附屬的夾具的施工部件的位置資訊;夾具動作判斷步驟,基於從機體控制系統通知的起重機的動作狀況判斷是否使夾具動作;以及夾具控制步驟,在夾具動作判斷步驟判斷為使夾具動作的情況下,基於至少包含施工部件的設置方向的第2計畫資訊以及在位置資訊獲取步驟中獲取的施工部件的位置資訊控制夾具控制系統,所述夾具控制系統控制夾具的動作以使夾具動作。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.
根據該方式,在機體控制步驟中,基於第1計畫資訊控制機體控制系統,在位置資訊獲取步驟中,獲取安裝於起重機所附屬的夾具的施工部件的位置資訊,在夾具動作判斷步驟中,基於從機體控制系統通知的起重機的動作狀況判斷是否使夾具動作。然後,在夾具控制步驟中,在夾具動作判斷步驟判斷為使夾具動作的情況下,基於第2計畫資訊以及施工部件的位置資訊,以使夾具動作的方式控制夾具控制系統。由此,能夠基於起重機的動作狀況,以在適當的時機適當地使夾具動作的方式控制夾具控制系統。其結果是,能夠適當地支持包含夾具的起重機的自動運轉。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.
本發明的一方式涉及的施工總程式是使電腦執行管理起重機的自動運轉的施工總方法的施工總程式,執行如下步驟:機體控制步驟,基於至少包含施工部件的設置座標的第1計畫資訊控制機體控制系統,所述機體控制系統控制起重機的動作;位置資訊獲取步驟,獲取安裝於起重機所附屬的夾具的施工部件的位置資訊;夾具動作判斷步驟,基於從機體控制系統通知的起重機的動作狀況,判斷是否使夾具動作;夾具控制步驟,在夾具動作判斷步驟判斷為使夾具動作的情況下,基於至少包含施工部件的設置方向的第2計畫資訊以及在位置資訊獲取步驟獲取的施工部件的位置資訊控制夾具控制系統,所述夾具控制系統控制夾具的動作以使夾具動作。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.
根據該方式,在機體控制步驟中,基於第1計畫資訊控制機體控制系統,在位置資訊獲取步驟中,獲取安裝於起重機所附屬的夾具的施工部件的位置資訊,在夾具動作判斷步驟中,基於從機體控制系統通知的起重機的動作狀況,判斷是否使夾具動作。然後,在夾具控制步驟中,在夾具動作判斷步驟判斷為使夾具動作的情況下,基於第2計畫資訊以及施工部件的位置資訊控制夾具控制系統使夾具動作。由此,能夠以基於起重機的動作狀況,在適當的時機適當地使夾具動作的方式控制夾具控制系統。其結果是,能夠適當地支持包含夾具的起重機的自動運轉。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.
根據本發明,能夠提供適當地支援起重機的自動運轉的施工總系統、施工總方法以及施工總程式。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.
以下,關於本發明的合適的實施方式,參照附圖具體地說明。此外,為了容易理解說明,在各附圖中對相同的構成要素盡可能標注相同的附圖標記,省略重複的說明。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.
圖1是表示本發明的一實施方式涉及的施工總系統100的概要的系統概要。在圖1中,施工總系統100通過與和該施工總系統100為另一個系統的機體控制系統20以及夾具控制系統30進行資料的發送和接收,控制起重機以及附屬於該起重機的旋轉裝置的動作。FIG. 1 is a system overview showing an overview of a
機體控制系統20控制起重機的動作(自動運轉),施工總系統100經由機體控制系統20支援起重機的動作。機體控制系統20所控制的起重機典型地是塔式起重機,不限定於此,例如也可以是門式起重機、橋式起重機、港灣的集裝箱起重機以及船舶上的駁船起重機等。The machine
夾具控制系統30控制附屬於起重機的夾具的動作(自動運轉),施工總系統100經由夾具控制系統30包含夾具的動作也支援起重機的動作。夾具控制系統30所控制的夾具典型地是附屬於塔式起重機的水平旋轉夾具等的旋轉裝置,但並不限定於此,既可以是其他夾具,也可以是附屬於塔式起重機以外的起重機的夾具等。The
施工總系統100基於包含施工部件的設置座標、設置順序以及設置方向等的施工計畫資訊(第1計畫資訊以及第2計畫資訊),經由Gateway,通過向機體控制系統20發送動作指示使起重機動作,或者通過向夾具控制系統30發送動作指示而使旋轉裝置動作。在此,施工總系統100例如可以使用全球導航衛星系統(Global Navigation Satellite System, GNSS),即時監視起重機的起重臂或施工部件的位置資訊,並且可以進一步設置相機等監視周邊的狀況並向機體控制系統20以及夾具控制系統30發送動作指示。施工總系統100能夠避免衝突或危險,確保安全性,同時傳送施工部件並精度良好地設置在設置座標以及設置方向上。The
此外,施工总系统100既可以例如與建築資訊模型(Building Information Modeling, BIM)或者其他系統協作生成施工計畫信息,也可以獲取而存儲預先生成的施工計畫信息。In addition, the
而且,施工總系統100也可以通過來自機體控制系統20以及夾具控制系統30的操作日誌等掌握起重機以及旋轉裝置的動作狀況,或者作為施工實績向建築資訊模型(BIM)10反映。施工總系統100也能夠通過分析這些資訊管理施工的進展。Furthermore, the
如此,施工總系統100基於施工計畫資訊或位置資訊,向機體控制系統20以及夾具控制系統30發送動作指示,控制起重機以及旋轉裝置的動作,並且基於操作日誌等掌握起重機以及旋轉裝置的動作狀況,管理施工的進展。即,施工總系統100統一與起重機中的施工相關的系統整體。In this way, the
圖2是表示本發明的一實施方式涉及的施工總系統100的各功能的系統框圖。如圖2所示那樣,具備建築資訊獲取部110、計畫資訊生成部120、系統控制部130、夾具動作判斷部140和位置資訊獲取部150。FIG. 2 is a system block diagram showing each function of the
建築資訊獲取部110獲取包含與施工的建築物的設計圖、施工部件以及施工計畫相關的資訊的建築資訊。例如,建築資訊獲取部110從存儲於建築資訊模型(BIM)10的資訊獲取該建築資訊。The building
建築資訊模型(BIM)10一般來說,在與建築物相關而生成的三維數位模型中,按構成該建築物的要素不同,例如附加與施工部件的形狀以及數量相關的資訊等,包含所有資訊。具體來說,包含含有現場基準點以及卸貨位置等的主體模型、施工部件的最外徑8個點、基準點以及標記位置等。而且,也包含與成本、加工以及施工計畫表等相關的資訊,也能夠用於成本以及工程管理。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.
計畫資訊生成部120基於通過建築資訊獲取部110獲取的建築資訊,生成至少包含施工部件的設置座標的第1計畫資訊。具體來說,在第1計畫資訊中,也可以包含通過起重機設置的施工部件的識別資訊(例如ID等)、設置預定日以及成為目標的設置座標(x,y,z)等。The plan
此外,計畫資訊生成部120既可以直接使用建築資訊獲取部110從建築資訊模型(BIM)10獲取的建築資訊所包含的資訊,也可以根據需要通過適當加工生成第1計畫資訊。此外,計畫資訊生成部120也可以以適合於機體控制系統20的介面的方式生成第1計畫資訊。In addition, the plan
而且,計畫資訊生成部120基於通過建築資訊獲取部110獲取的建築資訊,生成至少包含施工部件的設置方向的第2計畫資訊。具體來說,在第2計畫資訊中,包含由附屬於起重機的夾具控制的施工部件的識別資訊(例如,ID等)以及成為目標的設置方向。Furthermore, the plan
此外,計畫資訊生成部120既可以與第1計畫資訊相同地直接使用建築資訊獲取部110從建築資訊模型(BIM)10獲取的建築資訊所包含的資訊,也可以根據需要通過適當加工而生成第2計畫資訊。此外,計畫資訊生成部120也可以以適合於夾具控制系統30的介面的方式生成第2計畫資訊。In addition, the plan
此外,計畫資訊生成部120也可以以適合於機體控制系統20以及夾具控制系統30的任一個的方式以在第1計畫資訊以及第2計畫資訊中包含相同的資訊的方式生成而生成一種計畫資訊。由此,不需要生成多種計畫資訊,能夠簡化處理並且提高生產效率。In addition, the plan
系統控制部130以基於通過計畫資訊生成部120生成的第1計畫資訊使起重機動作的方式向機體控制系統20發送動作指示。由此,機體控制系統20基於第1計畫資訊所包含的設置的施工部件的各種資訊,計算該施工部件傳送至成為目標的設置座標的路線,按照與該路線、設置預定日以設置順序等相關的資訊控制起重機的動作。The
此外,系統控制部130以基於通過計畫資訊生成部120生成的第2計畫資訊以及施工部件的位置資訊使旋轉裝置動作的方式向夾具控制系統30發送動作指示。由此,夾具制禦系統30以基於第2計畫資訊所包含的設置的施工部件的各種資訊以及施工部件的位置資訊,使該施工部件設置於成為目標的設置方向上的方式控制旋轉裝置的動作。在此,設置方向是指水平面上的朝向(東西南北),而且也可以包含相對於水平面的斜率(傾斜)。另一方面,系統控制部130有時也以禁止旋轉裝置的動作的方式向夾具控制系統30發送動作指示。Furthermore, the
此外,施工部件的位置資訊通過位置資訊獲取部150獲取,後述其詳細情況。In addition, the positional information of construction components is acquired by the positional
夾具動作判斷部140基於起重機的動作狀況,判斷是否使旋轉裝置動作。旋轉裝置典型地是水平旋轉夾具,在下部懸掛有施工部件。例如,施工部件為支柱等,在以橫躺的狀態懸掛的情況下,當水平旋轉時,存在與周邊的主體、部件、作業員、作業車輛以及其他建築物衝突的可能。因此,關於使旋轉裝置動作的時機,必須在確保安全性的基礎上進行控制。The gripper
圖3是表示施工部件傳送至設置位置的路線的一具體例的圖。如圖3所示那樣,以傳送施工部件的起重機的動作不與施工部件施工中的主體衝突的方式使該施工部件移動至安全的位置之後,使旋轉裝置旋轉而傳送至該施工部件的設置位置(成為目標的設置座標)。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).
在將施工部件傳送至成為目標的設置座標時,算出傳送該施工部件的路線,機體控制系統20按照該路線,首先使起重機上升。然後,機體控制系統20例如在到達該路線中的最高位置的時點,將該主旨作為該起重機的動作狀況向施工總系統100通知即可。When the construction component is transported to the target installation coordinate, the route for transporting the construction component is calculated, and the machine
施工總系統100中的夾具動作判斷部140基於從機體控制系統20通知的起重機的動作狀況,判斷為使作為水平旋轉夾具的旋轉裝置動作。由此,系統控制部130以基於通過計畫資訊生成部120生成的第2計畫資訊以及施工部件的位置資訊使旋轉裝置動作的方式向夾具控制系統30發送動作指示。The jig
此外,夾具動作判斷部140判斷為使旋轉裝置動作不限定於到達將施工部件傳送至成為目標的設置座標的路線中的最高位置的時點。例如,根據施工中的主體、周邊的主體、部件、作業員、作業車輛以及其他建築物的形狀等的狀況、施工部件的形狀、除此之外天氣等的環境狀況,在起重機上升至規定的位置的時點,如果為即使使施工部件水平移動也安全的狀況,機體控制系統20也可以將該主旨作為該起重機的動作狀況向施工總系統100通知,夾具動作判斷部140判斷為使旋轉裝置動作。In addition, the jig
機體控制系統20也可以在使起重機上升時,或者使起重機上升的途中,如果為即使使施工部件水平移動也安全的狀況,將該主旨作為該起重機的動作狀況向施工總系統100通知,夾具動作判斷部140判斷為使旋轉裝置動作。即,施工總系統100使起重機上升並且使旋轉裝置動作而使施工部件水平移動。此外,同樣地,在傳送至施工部件的設置位置(成為目標的設置座標)時,也可以使旋轉裝置動作而使施工部件水平移動並且使起重機下降。The machine
此外,關於即使使施工部件水平移動也安全的狀況,既可以基於例如將施工部件傳送至成為目標的設置座標的路線、從建築資訊模型(BIM)10等獲取的設計圖或施工計畫、來自機體控制系統20的操作日誌等判斷,而且也可以在起重機、施工中的主體或者周邊設備等具備相機或感測器,基於從它們獲取的周邊狀況判斷。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
另一方面,施工總系統100中的夾具動作判斷部140判斷為不使作為水平旋轉夾具的旋轉裝置動作,直到判斷為使施工部件水平移動到達安全的安全區域為止,系統控制部130以禁止旋轉裝置的動作的方式向夾具控制系統30發送動作指示。On the other hand, the jig
接著,關於系統控制部130向夾具控制系統30發送動作指示時,使該旋轉裝置如何動作具體地說明。Next, how the rotation device is operated when the
圖4是表示施工部件懸掛於夾具的一具體例的圖。如圖4所示那樣,作為在從起重機懸掛的繩索的前端上附屬於起重機的夾具,安裝水平旋轉的旋轉裝置31,從旋轉裝置31經由懸掛部件32用繩索懸掛施工部件40。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
旋轉裝置31是基於來自施工總系統100中的系統控制部130的動作指示水平旋轉的夾具,伴隨著旋轉裝置31水平旋轉,經由懸掛部件32用繩索懸掛的施工部件40水平旋轉。此外,施工部件40例如為預製混凝土部件,為成為建築物的骨架的支柱等。The
懸掛部件32是通過懸掛的施工部件40從平躺的狀態例如使一端上升,另一端下降,使該施工部件40成為垂直地起立的狀態的裝置。The
圖5是表示在懸掛部件32上安裝兩個移動終端(感測器),通過使用GNSS監視施工部件的方向以及位置的一具體例的圖。如圖5的(a)所示那樣,在懸掛部件32的上表面安裝兩個移動終端32A以及32B。而且,也可以在附近設置基準終端(固定終端),利用使用了即時動態定位(Real Time Kinematic, RTK)的定位系統。FIG. 5 is a diagram showing a specific example in which two mobile terminals (sensors) are attached to the
通過兩個移動終端32A以及32B和基準終端,從定位衛星分別接收信號而獲取定位資訊。然後,在兩個移動終端32A以及32B與基準終端之間,進行該定位資訊的交換,能夠通過修正位置偏移掌握更加高精度的位置資訊。此外,基準終端與兩個移動終端32A以及32B例如分別用WiFi(注冊商標)等通信。如果使用即時動態定位(RTK)等的高精度定位系統,則能夠不受逆光以及壞天氣的影響地以幾釐米單位高精度地掌握施工部件的方向以及位置。The two
如此,利用使用了即時動態定位(RTK)的定位系統,施工總系統100中的位置資訊獲取部150能夠通過高精度地掌握兩個移動終端32A以及32B的位置,高精度地掌握懸掛部件32的方向。而且,能夠基於該懸掛部件32的位置以及方向掌握懸掛於該懸掛部件32的施工部件40的位置以及方向。In this way, using the positioning system using real-time kinematic positioning (RTK), the position
位置資訊獲取部150也可以以規定的時間間隔(例如,幾百msec~一千msec)獲取包含施工部件40的位置以及方向的位置資訊,至少獲取以通過系統控制部130使旋轉裝置31動作的方式發送動作指示時的施工部件40的位置資訊。系統控制部130算出從通過位置資訊獲取部150獲取的施工部件40的方向至第2計畫資訊所包含的施工部件40的設置方向的旋轉角度,以基於該旋轉角度使旋轉裝置31動作的方式發送動作指示。The positional
此外,系統控制部130也可以算出使旋轉裝置31旋轉的旋轉速度。例如,優選為在如圖3所示的水平移動中完成旋轉裝置31的旋轉動作,旋轉裝置31的旋轉速度根據起重機沿水平移動的速度以及旋轉裝置31的旋轉角度算出即可。In addition, the
此外,由於安裝於懸掛部件32的移動終端32A以及32B從定位衛星分別接收信號,所以優選在移動終端的上方不遮住電波,在如圖5的(a)所示的一具體例中,在懸掛部件32的上表面上安裝移動終端32A以及32B,但不限定於此。In addition, since the
例如,如圖5的(b)所示那樣,也可以為使用固定件在懸掛部件32的外側安裝移動終端32A以及32B的構成。For example, as shown in FIG. 5( b ), the
而且,安裝於懸掛部件32的移動終端的數量不限定為兩個(移動終端32A以及32B),也可以為三個以上,例如,移動終端也可以安裝於懸掛部件32的四個角。通過安裝數量較多的移動終端,能夠更加高精度地掌握施工部件40的位置以及方向。Furthermore, the number of mobile terminals mounted on the
此外,在此,作為掌握施工部件40的方向以及位置的定位系統,列舉出即時動態定位(RTK),但不限定於此,如果能夠掌握施工部件40的方向以及位置,也可以使用其他的定位系統。In addition, here, real-time kinematic positioning (RTK) is listed as a positioning system for grasping the direction and position of the
接著,關於管理起重機的自動運轉的施工總系統100所執行的施工總方法,具體地詳細說明。Next, the overall construction method executed by the
圖6是表示通過本發明的一實施方式涉及的施工總系統100執行的施工總方法M100的處理流程的流程圖。在圖6中,施工總方法M100包含通過施工總系統100所包含的處理器執行的步驟S110~S150。FIG. 6 is a flowchart showing the processing flow of the overall construction method M100 executed by the
在步驟S110中,施工總系統100基於至少包含施工部件40的設置座標的第1計畫資訊控制機體控制系統20(機體控制步驟)。作為具體例,施工總系統100中的系統控制部130基於第1計畫資訊將使起重機動作的動作指示發送至機體控制系統20。例如,施工總系統100中的建築資訊獲取部110從存儲於建築資訊模型(BIM)10的資訊獲取建築資訊(建築資訊獲取步驟)、計畫資訊生成部120也可以基於在建築資訊獲取步驟中獲取的建築資訊生成第1計畫資訊(第1計畫資訊生成步驟)。In step S110 , the
在步驟S120中,施工總系統100獲取安裝於起重機所附屬的夾具的施工部件40的位置資訊(位置資訊獲取步驟)。作為具體例,施工總系統100中的位置資訊獲取部150利用使用了即時動態定位(RTK)的定位系統,基於安裝於懸掛部件32的移動終端32A以及32B,掌握施工部件40的位置以及方向。此外,位置資訊獲取部150也可以以規定的時間持續地獲取施工部件40的位置資訊。In step S120, the
在步驟S130中,施工總系統100基於從機體控制系統20通知的起重機的動作狀況,判斷是否使夾具動作(夾具動作判斷步驟)。作為具體例,施工總系統100中的夾具動作判斷部140基於來自機體控制系統20的起重機上升至規定的位置(例如,起重機的移動路線中的最高位置)的主旨的通知,判斷為使旋轉裝置31動作(步驟S130的是)。另一方面,施工總系統100中的夾具動作判斷部140判斷為不使旋轉裝置31動作,直到接收來自機體控制系統20的起重機上升至規定的位置的主旨的通知為止(步驟S130的否)。In step S130 , the
在步驟S140(步驟S130的是)中,施工總系統100以基於至少包含施工部件40的設置方向的第2計畫資訊以及在步驟S120中獲取的施工部件40的位置資訊使夾具動作的方式控制夾具控制系統30(夾具控制步驟)。作為具體例,施工總系統100中的系統控制部130從施工部件40的位置資訊(方向)算出直到成為第2計畫資訊所包含的施工部件40的目標的設置方向為止的旋轉角度,基於該旋轉角度以不使旋轉裝置31動作的方式向夾具控制系統30發送動作指示。In step S140 (Yes in step S130), the
在步驟S150(步驟S130的否)中,施工總系統100以禁止夾具的動作的方式控制夾具控制系統30(夾具控制步驟)。作為具體例,施工總系統100中的系統控制部130以不使旋轉裝置31動作的方式向夾具控制系統30發送動作指示。In step S150 (No in step S130 ), the
換言之,施工總系統100中的系統控制部130以不使旋轉裝置31動作的方式控制夾具控制系統30,直到在步驟S130中判斷為使旋轉裝置31動作為止。In other words, the
如以上那樣,根據本發明的一實施方式涉及的施工總系統100以及施工總方法M100,系統控制部130基於第1計畫資訊控制機體控制系統20,位置資訊獲取部150獲取安裝於旋轉裝置31的施工部件40的位置資訊,夾具動作判斷部140基於從機體控制系統20通知的起重機的動作狀況判斷是否使旋轉裝置31動作。然後,系統控制部130在判斷為通過夾具動作判斷部140使旋轉裝置31動作的情況下,從通過位置資訊獲取部150獲取的施工部件40的位置資訊(方向)算出直到成為第2計畫資訊所包含的施工部件40的目標的設置方向為止的旋轉角度,以基於該旋轉角度使旋轉裝置31動作的方式控制夾具控制系統30。由此,系統制禦部130能夠基於起重機的動作狀況,以在適當的時機適當地使旋轉裝置31動作的方式控制夾具控制系統30。其結果是,能夠適當地支持包含夾具的起重機的自動運轉。As described above, according to the
此外,在本實施方式中,與建築資訊模型(BIM)10協作而通過建築資訊獲取部110獲取建築資訊,通過計畫資訊生成部120生成施工計畫資訊(第1計畫資訊以及第2計畫資訊),但建築資訊模型(BIM)10既可以構成為包含於施工總系統100,也可以為作為外部系統與施工總系統100協作的構成。In addition, in this embodiment, in cooperation with the building information model (BIM) 10, building information is acquired by the building
此外,施工總系統100包含除了建築資訊模型(BIM)10以外的系統或者與之協作,建築資訊獲取部110也可以從它們獲取建築資訊。而且,也可以在施工總系統100中不生成施工計畫資訊的全部或者一部分,獲取並存儲預先生成的施工計畫資訊。In addition, the
在本實施方式中,為了掌握施工部件40的位置以及方向,移動終端32A以及32B安裝於懸掛部件32,但安裝移動終端32A以及32B的部位不限定於此。In this embodiment, the
例如,存在與懸掛的施工部件40、施工部件40的設置位置或者其他狀況相應地使用與在圖4中所示的懸掛部件32不同的懸掛部件的情況。For example, depending on the hanging
圖7是表示施工部件懸掛於夾具的其他具體例的圖。如圖7所示那樣,作為在從起重機懸掛的繩索的前端附屬於起重機的夾具,安裝水平旋轉的旋轉裝置31,從旋轉裝置31經由懸掛部件33用繩索懸掛施工部件40。懸掛部件33為橫長的大致長方體形狀或者大致棒形狀等,與如圖4所示的大致立方體形狀的懸掛部件32不同。使用了懸掛部件33的情況也相同,在該懸掛部件33的上表面,或者使用固定件在懸掛部件33的外側安裝移動終端32A以及32B即可。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
此外,在需要像這樣更換懸掛部件的情況或者不使用懸掛部件的情況下,移動終端32A以及32B也可以是安裝於旋轉裝置31的構成。也可以無需每次更換移動終端32A以及32B,能夠實現作業效率的提高。In addition, when it is necessary to replace the suspension member in this way or when the suspension member is not used, the
此外,例如,移動終端32A以及32B也可以安裝於施工部件40。通過直接安裝於施工部件40,能夠精度良好地獲取該施工部件40的位置以及方向。In addition, for example, the
此外,在本實施方式中,從機體控制系統20向施工總系統100通知的起重機的動作狀況是指例如為使施工部件水平移動也安全的狀況,施工總系統100以基於該起重機的動作狀況使旋轉裝置動作/不動作的方式控制夾具制禦系統30。另外,也可以在起重機的動作狀況中包含例如與異常或緊急停止相關的資訊。也可以包含在起重機中發生了異常的情況、未預期的事故發生的情況、大風或暴雨、地震等發生的情況、受其他外部環境的影響需要停止施工的情況等的緊急停止狀況。施工總系統100也可以以基於來自機體控制系統20的緊急停止狀況,使旋轉裝置停止的方式控制夾具控制系統30。In addition, in the present embodiment, the operation status of the crane notified from the machine
此外,從這樣的機體控制系統20向施工總系統100通知的起重機的動作狀況既可以包含於操作日誌,也可以作為與通常的操作日誌不同的通知。In addition, the operation status of the crane notified from such machine
以上,進行關於本發明的各實施方式的具體的說明,但為只作為實施方式的說明。上述說明是為了便於理解本發明,並不限制地解釋本發明。本發明的範圍不限於各實施方式,在本領域技術人員能夠掌握的範圍內廣義地解釋。實施方式所具備的各要素以及其配置、材料、條件、形狀以及尺寸等不限於例示並且能夠適當變更。此外,也能夠部分置換或者組合在不同的實施方式所示的構成彼此。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:建築資訊模型
20:機體控制系統
30:夾具控制系統
31:旋轉裝置
32:懸掛部件
32A、32B:移動終端
33:懸掛部件
40:施工部件
100:施工總系統
110:建築資訊獲取部
120:計畫資訊生成部
130:系統控制部
140:夾具動作判斷部
150:位置資訊獲取部
M100:施工總方法
S110~S150:施工總方法M100的各步驟
10: Building Information Modeling
20: Body control system
30: Fixture control system
31: Rotating device
32:
圖1是表示本發明的一實施方式涉及的施工總系統的概要的系統概要。FIG. 1 is a system overview showing an overview of a general construction system according to an embodiment of the present invention.
圖2是表示本發明的一實施方式涉及的施工總系統的各功能的系統框圖。FIG. 2 is a system block diagram showing each function of the overall construction system according to the embodiment of the present invention.
圖3是表示施工部件傳送至設置位置的路線的一具體例的圖。Fig. 3 is a diagram showing a specific example of a route for transporting construction components to an installation position.
圖4是表示施工部件懸掛於夾具的一具體例的圖。Fig. 4 is a diagram showing a specific example in which a construction component is suspended from a jig.
圖5是表示在施工部件上安裝兩個移動終端(感測器),通過使用GNSS監視施工部件的方向以及位置的一具體例的圖。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.
圖6是表示通過本發明的一實施方式涉及的施工總系統執行的施工總方法的處理流程的流程圖。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.
圖7是表示施工部件懸掛於夾具的其他具體例的圖。Fig. 7 is a diagram showing another specific example in which a construction component is suspended from a jig.
10:建築資訊模型 10: Building Information Modeling
20:機體控制系統 20: Body control system
30:夾具控制系統 30: Fixture control system
100:施工總系統 100: Total Construction System
110:建築資訊獲取部 110: Construction Information Acquisition Department
120:計畫資訊生成部 120:Plan information generation department
130:系統控制部 130: System Control Department
140:夾具動作判斷部 140: Fixture Action Judgment Department
150:位置資訊獲取部 150:Location Information Acquisition Department
Claims (12)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2021177116 | 2021-10-29 | ||
JP2021-177116 | 2021-10-29 |
Publications (1)
Publication Number | Publication Date |
---|---|
TW202317460A true TW202317460A (en) | 2023-05-01 |
Family
ID=86159911
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
TW111140931A TW202317460A (en) | 2021-10-29 | 2022-10-27 | Overall system of construction, overall method of construction and overall program of construction |
Country Status (3)
Country | Link |
---|---|
JP (1) | JPWO2023074585A1 (en) |
TW (1) | TW202317460A (en) |
WO (1) | WO2023074585A1 (en) |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3222298B2 (en) * | 1993-12-24 | 2001-10-22 | 株式会社福島製作所 | Automatic swing positioning method and hanging tool with automatic swing positioning device |
JP3671042B2 (en) * | 2002-02-08 | 2005-07-13 | 三菱重工業株式会社 | crane |
JP6132148B2 (en) * | 2013-06-06 | 2017-05-24 | 清水建設株式会社 | Construction support system, member information reading device, crane, construction support method, member information reading method and program |
JP6540467B2 (en) * | 2015-11-11 | 2019-07-10 | Jfeスチール株式会社 | Automatic operation device and method of indoor crane |
JP6966935B2 (en) * | 2017-12-22 | 2021-11-17 | 戸田建設株式会社 | Automatic operation system for tower cranes |
-
2022
- 2022-10-21 WO PCT/JP2022/039368 patent/WO2023074585A1/en active Application Filing
- 2022-10-21 JP JP2023556408A patent/JPWO2023074585A1/ja active Pending
- 2022-10-27 TW TW111140931A patent/TW202317460A/en unknown
Also Published As
Publication number | Publication date |
---|---|
JPWO2023074585A1 (en) | 2023-05-04 |
WO2023074585A1 (en) | 2023-05-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US11599092B2 (en) | Construction machine, in particular a crane, and method for the control thereof | |
JP6966935B2 (en) | Automatic operation system for tower cranes | |
CN107140538B (en) | Odometer GNSS component buildings construction crane machine and lifting fixed point setting-out system | |
US6826452B1 (en) | Cable array robot for material handling | |
WO2022113385A1 (en) | Construction information integration system, construction information integration method, and construction information integration program | |
CN109467010B (en) | Method for moving a load by means of a crane | |
CN111801294B (en) | Remote operation terminal and mobile crane provided with same | |
CN111819148B (en) | Crane and control method thereof | |
US20220063965A1 (en) | Crane | |
JP6925731B2 (en) | Cargo handling system, cargo handling device, and cargo handling method | |
WO2022176783A1 (en) | Shovel and information processing device | |
CN111801293A (en) | Remote operation terminal and work vehicle provided with same | |
CN105152038A (en) | Tower crane positioning device and method | |
TW202317460A (en) | Overall system of construction, overall method of construction and overall program of construction | |
CN112912332A (en) | Crane device | |
JP7091931B2 (en) | Automatic operation device and automatic operation method for indoor cranes | |
CN112399959A (en) | Crane and control method thereof | |
CN111836775B (en) | Remote operation terminal and work vehicle provided with same | |
JP2022155628A (en) | Display device and route display program | |
US20240012417A1 (en) | Crane inspection system, inspection system, non-transitory computer readable medium storing route setting program, and information terminal | |
US20230238785A1 (en) | Overhead cable utilization system and overhead cable utilization method | |
JP2024142641A (en) | CRANE CONTROL SYSTEM AND POSITION ADJUSTMENT METHOD | |
JP2024093498A (en) | Method of flight of mobile body, flight setting device and program | |
JP2003002579A (en) | Method of controlling cable crane automatically, and program | |
JPS6327392A (en) | Operation control system of crane |