US20230313496A1 - Operation Control Method - Google Patents

Operation Control Method Download PDF

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Publication number
US20230313496A1
US20230313496A1 US18/018,818 US202118018818A US2023313496A1 US 20230313496 A1 US20230313496 A1 US 20230313496A1 US 202118018818 A US202118018818 A US 202118018818A US 2023313496 A1 US2023313496 A1 US 2023313496A1
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United States
Prior art keywords
excavation
construction machine
time
control device
scraper
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Pending
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US18/018,818
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English (en)
Inventor
Hidetoshi Morimoto
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JDC Corp
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JDC Corp
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Publication date
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Priority to US18/018,818 priority Critical patent/US20230313496A1/en
Assigned to JDC CORPORATION reassignment JDC CORPORATION ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: MORIMOTO, HIDETOSHI
Publication of US20230313496A1 publication Critical patent/US20230313496A1/en
Pending legal-status Critical Current

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/7663—Graders with the scraper blade mounted under a frame supported by wheels, or the like
    • E02F3/7672—Graders with the scraper blade mounted under a frame supported by wheels, or the like with the scraper blade being pivotable about a horizontal axis disposed parallel to the blade
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2054—Fleet management
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/80—Component parts
    • E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
    • E02F3/841—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/80—Component parts
    • E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
    • E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F7/00—Equipment for conveying or separating excavated material
    • E02F7/04—Loading devices mounted on a dredger or an excavator hopper dredgers, also equipment for unloading the hopper
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission

Definitions

  • the present invention relates to an operation control method for controlling an operation of a plurality of construction machines that perform excavation while moving.
  • JP Patent Publication No. JP 2016-156193 A describes providing operation support information to an operator with low skill or switching to automatic driving.
  • Patent Publication No. JP 2016-156193 A merely discloses a concept of operation support and is not easy to use in view of an actual site.
  • an object of the present invention is to provide a user-friendly operation control method when a plurality of construction machines are used in a site.
  • An operation control method is an operation control method for controlling an operation of a plurality of construction machines that perform excavation while moving, and the method includes setting a moving speed of a second construction machine at a time of excavation and an excavation time of the second construction machine based on a moving speed of a first construction machine at a time of excavation and an excavation time of the first construction machine.
  • the moving speed of the second construction machine at the time of excavation and the excavation time of the second construction machine are set based on the moving speed of the first construction machine at the time of excavation and the excavation time of the first construction machine, it is possible to realize efficient excavation work with good usability.
  • FIG. 1 is a schematic view illustrating a towed scraper of the present embodiment.
  • FIG. 2 is a diagram illustrating a state in which a plurality of towed scrapers exist in a construction yard.
  • FIG. 3 is a block diagram of a main part of the present embodiment.
  • FIG. 4 is a diagram illustrating a flowchart executed by a control device of the present embodiment.
  • FIG. 5 is a diagram illustrating a flowchart executed by a central control device of the present embodiment.
  • FIG. 6 is a timing chart of the present embodiment.
  • FIG. 7 is a timing chart of a comparative example.
  • FIG. 1 is a schematic view illustrating a towed scraper 100 of the present embodiment.
  • the towed scraper 100 of the present embodiment includes a towing vehicle 1 that is a driving vehicle and a scraper vehicle 20 .
  • the scraper vehicle 20 is used as a towed vehicle towed by a large truck or another towing vehicle 1 .
  • FIG. 2 is a diagram illustrating a state in which a plurality of (three in FIG. 2 ) towed scrapers 100 exist in a construction yard.
  • the towed scraper 100 moves along a traveling path 30 in the arrow direction, performs excavation at an excavated area 31 , and scatters an excavated object obtained by the excavation to a scattered area 32 .
  • the term “towed scraper 100 ” is used in the case of being collectively referred, and in the case of being individually referred to, reference numerals with alphabets are used for description, for example, a towed scraper 100 a , a towed scraper 100 b , and a towed scraper 100 c .
  • the towing vehicle 1 tows the scraper vehicle 20 .
  • the towing vehicle 1 of the present embodiment can adopt a dump truck, and for example, can adopt an articulated dump truck.
  • an articulated dump truck because a function and each component as a vehicle are the same as those in a conventional vehicle, the description thereof will be simplified.
  • FIG. 3 is a block diagram of a main part of the present embodiment, and in the following, the description of the configuration of the towing vehicle 1 continues with reference to FIG. 3 . Note that, in order to simplify the block diagram of FIG. 3 , a towing vehicle 1 a and a towing vehicle 1 b are illustrated in FIG. 3 , both having the same configuration, and therefore the towing vehicle 1 a will be described.
  • the towing vehicle 1 a includes an operation unit 2 a , a speedometer 3 a , a hydraulic unit 4 a , a communication device 5 a , a memory 6 a , a time-measuring instrument 7 a , and a control device 8 a.
  • the operation unit 2 a is a generic term for well-known configurations such as a handle, a gear shift lever, a blinker, a wiper, an accelerator, and a brake.
  • the speedometer 3 a detects the speed of the towing vehicle 1 a , and various sensors such as a vehicle speed sensor that detects the rotation speed of the shaft and a sensor using the output of a global navigation satellite system (GNSS) can be applied to the speedometer 3 a.
  • GNSS global navigation satellite system
  • the hydraulic unit 4 a transmits fluid with a high pressure generated inside a cylinder (not illustrated) to a power drive through a pipe or the like, and the fluid is supplied to a first hydraulic cylinder 26 a and a second hydraulic cylinder 27 a of a scraper vehicle 20 a in the present embodiment.
  • the communication device 5 a is a wireless communication unit that accesses a central control device 50 or a wide area network such as the Internet, and transmits a detection result of the speedometer 3 a , a detection result of the time-measuring instrument 7 a , and the like to the central control device 50 in the present embodiment.
  • the memory 6 a is a nonvolatile memory (for example, a flash memory), and stores the detection result of the speedometer 3 a , the detection result of the time-measuring instrument 7 a , and various data for driving the towing vehicle 1 a .
  • the memory 6 a stores a program for driving the towing vehicle 1 a and various programs related to, for example, a flowchart of FIG. 4 described later.
  • the time-measuring instrument 7 a measures a time (e.g., a time required) for each process of excavation, transportation, discharging, and redirection of the scraper vehicle 20 a described later. Note that the time-measuring instrument 7 a may be provided in the scraper vehicle 20 a instead of the towing vehicle 1 a.
  • the control device 8 a includes a CPU and controls the towing vehicle 1 a and the scraper vehicle 20 a .
  • the towing vehicle 1 a is a reference vehicle, and the towing vehicle 1 b and the subsequent vehicles are controlled based on the driving state of the towing vehicle 1 a (details will be described later).
  • the towing vehicle 1 a may be driven by a person (operator), and the towing vehicle 1 b and the subsequent vehicles may be automatically driven, being not driven by a person.
  • a skilled person (operator) drives the towing vehicle 1 a.
  • the scraper vehicle 20 is connected to the towing vehicle 1 by a hitch 21 that is a connection device.
  • the hitch 21 is detachable from the towing vehicle 1 , and the scraper vehicle 20 includes a flexible ball joint 22 provided at one end on the towing vehicle 1 side and a flexible ball joint (not illustrated) provided at the other end of the hitch 21 on the scraper vehicle 20 side.
  • the scraper vehicle 20 includes a frame 23 , a bowl 24 , a scraper 25 , a first hydraulic cylinder 26 , and a second hydraulic cylinder 27 .
  • the frame 23 is a metal frame that supports a structure such as the bowl 24 , and the bowl 24 has an opening on the lower surface side and has an open upper surface, and accommodates an excavated object, such as sediment excavated by the scraper 25 , through the opening.
  • the scraper 25 is a blade-shaped or spatula-shaped member for scraping sediment on a traveling surface such as the ground surface.
  • the scraper 25 is provided integrally with the bowl 24 at the bottom of the bowl 24 in the present embodiment.
  • the scraper 25 can dig into the ground surface and excavate sediment when the first hydraulic cylinder 26 tilts the bowl 24 toward the ground surface.
  • the bowl 24 is provided with the opening (not illustrated), and an excavated object excavated by the scraper 25 is accommodated in the bowl 24 from the opening (not illustrated) when the bowl 24 is inclined toward the ground surface.
  • the first hydraulic cylinder 26 tilts the bowl 24 toward the ground, so that the scraper 25 is separated from the ground surface.
  • the first hydraulic cylinder 26 is connected to the hydraulic unit 4 .
  • the first hydraulic cylinder 26 brings the scraper 25 into a state in which the scraper 25 is allowed to dig into the ground surface and excavate sediment and a state in which the scraper 25 is separated from the ground surface as described above.
  • the second hydraulic cylinder 27 is connected to the hydraulic unit 4 and is provided on the rear end side of the bowl 24 .
  • the second hydraulic cylinder 27 is in a shortened state when the scraper vehicle 20 performs excavation, so that an excavated object is accommodated in the bowl 24 .
  • the second hydraulic cylinder 27 extends and discharges the excavated object from the opening of the bowl 24 .
  • a control device including a CPU, a communication device capable of communicating with the towing vehicle 1 , the central control device 50 , and the like.
  • the central control device 50 includes a CPU, a communication device, and a time-measuring instrument, and controls the plurality of towed scrapers 100 .
  • the central control device 50 applies an operation by a person driving the towing vehicle 1 a , as the reference, to the control of the towing vehicle 1 b and the subsequent vehicles.
  • the central control device 50 detects the time of each process of excavation, transportation, discharging, and redirection of the towing vehicle 1 a and the moving speed of the towing vehicle 1 a in each process, and applies the detected results to the operation control of the towing vehicle 1 b and the subsequent vehicles.
  • FIG. 4 is a diagram illustrating a flowchart executed by the control device 8 a of the present embodiment
  • FIG. 5 is a diagram illustrating a flowchart executed by the central control device 50 of the present embodiment
  • FIG. 6 is a timing chart of the present embodiment.
  • the excavation in the timing chart of FIG. 6 is the excavation at the excavated area 31 of FIG. 2
  • the transportation in the timing chart is the transportation of the excavated object from the excavated area 31 to the scattered area 32 (also call a moving process).
  • the discharging in the timing chart is the discharging of the excavated object at the scattered area 32 (also called a discharging process), and the redirection in the timing chart is the movement from the scattered area 32 to the excavated area 31 (also called a redirection process).
  • the towed scraper 100 a continuously moves from the excavation to the redirection. The towed scraper 100 a does not stop until a series of operations is completed.
  • the length in the lateral direction schematically indicates the length of time. It is assumed that the flowchart of FIG. 4 starts from the time point when the towed scraper 100 a arrives at the excavated area 31 .
  • the control device 8 a determines whether excavation at the excavated area 31 has started (Step S 1 ).
  • the control device 8 a determines that the excavation starts when the hydraulic unit 4 a supplies hydraulic pressure to the first hydraulic cylinder 26 a in accordance with an operation by the operator.
  • the control device 8 a repeats Step S 1 until the hydraulic unit 4 a supplies hydraulic pressure to the first hydraulic cylinder 26 a .
  • the control device 8 a detects the speed of the towing vehicle 1 a by the speedometer 3 a as the flowchart is started.
  • Step S 2 the control device 8 a starts time measurement of an excavation time by the time-measuring instrument 7 a (Step S 2 ).
  • the control device 8 a may store the operation status of the hydraulic unit 4 a due to an operation by the operator, in the memory 6 a .
  • the control device 8 a can recognize the amount by which a scraper 25 a digs into the ground surface.
  • the control device 8 a may store the operation status of the hydraulic unit 4 a in the memory 6 a every predetermined time (for example, several seconds), or may store in the memory 6 a when the hydraulic pressure of the first hydraulic cylinder 26 a changes.
  • the control device 8 a determines whether the excavation has completed (Step S 3 ).
  • the control device 8 a determines that the excavation has completed when the hydraulic unit 4 a stops the supply of hydraulic pressure to the first hydraulic cylinder 26 a in accordance with an operation by the operator.
  • the control device 8 a repeats Step S 3 until the hydraulic unit 4 a stops the supply of hydraulic pressure to the first hydraulic cylinder 26 a . Note that it is preferable to stop the supply of hydraulic pressure to the first hydraulic cylinder 26 a and maintain the height (in Z-axis direction) of the towed scraper 100 a even during excavation in accordance with the digging amount of the towed scraper 100 a .
  • control device 8 a may determine that the excavation has completed, when the control to shorten the first hydraulic cylinder 26 a is performed, instead of determining that the excavation has completed, when the hydraulic unit 4 a stops the supply of hydraulic pressure to the first hydraulic cylinder 26 a by in accordance with an operation by the operator.
  • the control device 8 a completes the time measurement of the excavation time by the time-measuring instrument 7 a and transmits data of the excavation time to the central control device 50 by the communication device 5 a (Step S 4 ). In addition, the control device 8 a transmits data of the speed (for example, average speed) of the towing vehicle 1 a detected by the speedometer 3 a from the start of excavation to the completion of excavation to the central control device 50 .
  • the speed for example, average speed
  • the control device 8 a determines whether the towed scraper 100 a has started conveyance (Step S 5 ). As described above, because the towed scraper 100 a does not stop until the series of operations is completed, the control device 8 a determines that the towed scraper 100 a has started the conveyance when the hydraulic unit 4 a stops the supply of the hydraulic pressure to the first hydraulic cylinder 26 a . The control device 8 a proceeds to Step S 6 .
  • Step S 6 the control device 8 a starts time measurement of a conveyance time by the time-measuring instrument 7 a (Step S 6 ).
  • the control device 8 a detects the speed of the towing vehicle 1 a that is conveying by the speedometer 3 a as the conveyance is started.
  • the control device 8 a determines whether the conveyance has completed (Step S 7 ).
  • the control device 8 a determines that the conveyance has completed when the hydraulic unit 4 a supplies hydraulic pressure to the second hydraulic cylinder 27 a in accordance with an operation by the operator. Alternatively, when the GNSS detects arrival at the scattered area 32 the control device 8 a may determine that the conveyance has completed.
  • the control device 8 a completes the time measurement of the transportation time by the time-measuring instrument 7 a and transmits data of the transportation time to the central control device 50 by the communication device 5 a (Step S 8 ). In addition, the control device 8 a transmits data of the speed (for example, average speed) of the towing vehicle 1 a detected by the speedometer 3 a from the start of transportation to the completion of transportation to the central control device 50 .
  • the speed for example, average speed
  • the control device 8 a determines whether the discharging by the second hydraulic cylinder 27 a has started (Step S 9 ). The control device 8 a determines that the carrying-out has started when the hydraulic unit 4 a supplies hydraulic pressure to the second hydraulic cylinder 27 a in accordance with an operation by the operator. The control device 8 a repeats Step S 9 until the hydraulic unit 4 a supplies hydraulic pressure to the second hydraulic cylinder 27 a.
  • Step S 10 the control device 8 a starts time measurement of a discharging time by the time-measuring instrument 7 a (Step S 10 ).
  • the control device 8 a detects the speed of the towing vehicle 1 a that is discharging by the speedometer 3 a as the discharging is started.
  • the control device 8 a determines whether the discharging has completed (Step S 11 ).
  • the control device 8 a determines that the discharging has completed, when the hydraulic unit 4 a stops the supply of the hydraulic pressure to the second hydraulic cylinder 27 a .
  • the control device 8 a may determine that the discharging has completed. Note that the control device 8 a may determine that the excavation completes, when the control to shorten the first hydraulic cylinder 26 a is performed, instead of determining that the excavation has completed, when the hydraulic unit 4 a stops the supply of hydraulic pressure to the first hydraulic cylinder 26 a by in accordance with an operation by the operator.
  • Step S 11 the control device 8 a completes time measurement of the discharging time by the time-measuring instrument 7 a and transmits data of the discharging time to the central control device 50 by the communication device 5 a (Step S 12 ).
  • the control device 8 a transmits data of the speed (for example, average speed) of the towing vehicle 1 a detected by the speedometer 3 a from the start of discharging to the completion of discharging to the central control device 50 .
  • the control device 8 a determines whether the redirection has started (Step S 13 ). The control device 8 a determines that the redirection starts when the hydraulic unit 4 a stops the supply of hydraulic pressure to the second hydraulic cylinder 27 a in accordance with an operation by the operator. The control device 8 a repeats Step S 13 until the hydraulic unit 4 a stops the supply of hydraulic pressure to the second hydraulic cylinder 27 a.
  • Step S 14 the control device 8 a starts time measurement of a redirection time by the time-measuring instrument 7 a (Step S 14 ).
  • the control device 8 a detects the speed of the towing vehicle 1 a that is being redirected, by the speedometer 3 a as the redirection is started.
  • the control device 8 a determines whether the redirection has completed (Step S 15 ). The control device 8 a determines that the redirection has completed, when the hydraulic unit 4 a supplies the hydraulic pressure to the first hydraulic cylinder 26 a . Alternatively, when the GNSS detects arrival at the excavated area 31 , the control device 8 a may determine that the redirection has completed.
  • Step S 15 the control device 8 a completes the time measurement of the redirection time by the time-measuring instrument 7 a and transmits data of the redirection time to the central control device 50 by the communication device 5 a (Step S 16 ).
  • the control device 8 a transmits data of the speed (for example, average speed) of the towing vehicle 1 a detected by the speedometer 3 a from the start of redirection to the completion of redirection to the central control device 50 and completes this flowchart.
  • the second and subsequent series of processes may be performed without completing this flowchart. Whether to perform the second and subsequent processes may be determined by an operator or may be determined by the central control device 50 .
  • control device 8 a may transmit the operation status of the hydraulic unit 4 a stored in the memory 6 a , that is, the amount by which the scraper 25 a digs into the ground surface, to the central control device 50 via the communication device 5 a.
  • the flowchart executed by the central control device 50 will be described with reference to FIG. 5 .
  • the flowchart of FIG. 5 is started when the data of the excavation time and the data of the speed of the towing vehicle 1 a are received at Step S 4 in the flowchart of FIG. 4 .
  • the central control device 50 sets N to 1 as an N value representing the unit number (the towed scraper 100 a is referred to as the unit 1 , the towed scraper 100 b is referred to as the unit 2 , . . . , a towed scraper 100 g is referred to as the unit 7 ) of the towed scraper 100 (Step S 101 ).
  • the central control device 50 determines whether the unit 1 (the towed scraper 100 a ) has completed excavation (Step S 102 ). As described above, the central control device 50 has received the data of the excavation time and the data of the speed of the towing vehicle 1 a , and therefore proceeds to Step S 103 .
  • the central control device 50 adds 1 to the N value, representing the unit number of the towed scraper 100 , so that the N value is 2 (Step S 103 ). As a result, the control target device of the central control device 50 is switched to the towed scraper 100 b as the unit 2 .
  • the central control device 50 instructs the towed scraper 100 b as the unit 2 to perform excavation (Step S 104 ) and starts the time measurement of the excavation time (Step S 105 ).
  • the central control device 50 transmits an excavation instruction and a moving speed to a control device 8 b via a communication device 5 b of the towing vehicle 1 b .
  • the central control device 50 may transmit the operation status of the hydraulic unit 4 a to the control device 8 b and transmit the amount by which a scraper 25 b digs into the ground surface to the control device 8 b.
  • the control device 8 b causes a hydraulic unit 4 b to supply hydraulic pressure to a first hydraulic cylinder 26 b almost simultaneously with the completion of excavation by the towed scraper 100 a , and the control device 8 b starts excavation by the scraper 25 b .
  • the control device 8 b can make the amount by which the scraper 25 b digs into the ground surface the same as the amount by which the scraper 25 a digs into the ground surface by making the amount of pressurized hydraulic fluid to be supplied to the first hydraulic cylinder 26 b the same as the amount of pressurized hydraulic fluid supplied by the first hydraulic cylinder 26 a.
  • control device 8 b drives the towing vehicle 1 b based on the received moving speed.
  • the control device 8 b performs speed control based on the speed detected by a speedometer 3 b and the average speed of the towing vehicle 1 a at the time of excavation such that the average speed of the towing vehicle 1 b at the time of excavation is the same as the average speed of the towing vehicle 1 a at the time of excavation.
  • Step S 105 is performed on the central control device 50 in the present embodiment, but the time measurement may be performed by a time-measuring instrument 7 b of the towing vehicle 1 b.
  • the central control device 50 determines whether predetermined time has elapsed since excavation was started (Step S 106 ).
  • the predetermined time is a time during which the scraper 25 a of the scraper vehicle 20 a performed excavation.
  • the predetermined time may be transmitted to the control device 8 b via the communication device 5 b , and the control device 8 b may determine whether the predetermined time has elapsed.
  • the central control device 50 repeats Step S 106 until the predetermined time elapses.
  • the central control device 50 proceeds to Step S 107 when the predetermined time elapses.
  • the central control device 50 instructs the unit 2 to complete excavation and gives instructions for the transportation and subsequent processes (Step S 107 ).
  • the central control device 50 determines whether the N value, representing the unit number of the towed scraper 100 , is 7 (Step S 108 ). Here, because the N value is 2, the central control device 50 returns to Step S 102 , confirms that excavation by the unit 2 has been completed, and at subsequent Step S 103 , adds 1 to the N value, representing the unit number of the towed scraper 100 , so that the N value is 3 (Step S 103 ). The central control device 50 performs Step S 104 and subsequent steps, and the central control device 50 repeats this flowchart until the N value reaches 7.
  • the seven towed scrapers 100 can construct the construction yard by referring the excavation time, the transportation time, the discharging time, and the redirection time of the towed scraper 100 a as the unit 1 , as the references.
  • FIG. 7 is a timing chart of a comparative example, and the excavation time is different for each unit.
  • the productivity is lower than that in a case where the construction is performed by the seven towed scrapers 100 .
  • the excavation time, the transportation time, the discharging time, and the redirection time of the towed scraper 100 a as the unit 1 are matched with those of the towed scrapers 100 b to 100 g as the other units, but the present invention is not limited thereto.
  • the excavation time of the towed scraper 100 a as the unit 1 may be matched with the excavation time of the towed scrapers 100 b to 100 g as the other units, and the total time of the transportation time, the discharging time, and the redirection time of the towed scraper 100 a as the unit 1 may be matched with the total time of the transportation time, the discharging time, and the redirection time of the towed scrapers 100 b to 100 g as the other units.
  • the towed scraper 100 a as the unit 1 may be replaced with another towed scraper 100 when the towed scraper 100 a is being redirected after the first excavation, transportation, and discharging are completed.
  • the other towed scraper 100 may be operated in an unmanned manner.
  • the towed scraper 100 a as the unit 1 may be replaced with another towed scraper 100 when the towed scraper 100 a is being redirected after the n-th (n is a natural number greater than or equal to 2) excavation, transportation, and discharging are completed.
  • the towed scraper 100 a as the unit 1 may perform data collection for excavation, transportation, discharging, and redirection; and on the second and subsequent days, the plurality of towed scrapers 100 may be operated in an unmanned manner based on the data acquired on the first day.
  • the central control device 50 may correct the data acquired on the first day on the basis of environmental conditions such as weather and wind speed.
  • the central control device 50 may perform control to decelerate the average moving speed of the towed scraper 100 by about 5 to 10%.
  • the central control device 50 may also extend the moving time of the towed scraper 100 by about 5 to 10%.
  • the central control device 50 may control the plurality of towed scrapers 100 in a construction yard B different from a construction yard A based on data acquired in the construction yard A.
  • the central control device 50 may start construction in the construction yard B at a time point when the first excavation, transportation, discharging, and redirection in the construction yard A are completed.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)
US18/018,818 2020-08-24 2021-06-16 Operation Control Method Pending US20230313496A1 (en)

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PCT/JP2021/022883 WO2022044499A1 (fr) 2020-08-24 2021-06-16 Procédé de commande de fonctionnement
US18/018,818 US20230313496A1 (en) 2020-08-24 2021-06-16 Operation Control Method

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JP3240450B2 (ja) * 1993-11-25 2001-12-17 株式会社間組 重機車両の遠隔操縦方法
FI120191B (fi) * 2005-10-03 2009-07-31 Sandvik Tamrock Oy Menetelmä kaivosajoneuvojen ajamiseksi kaivoksessa ja kuljetusjärjestelmä
JP6343573B2 (ja) 2015-02-25 2018-06-13 株式会社日立製作所 操作支援システムおよび操作支援システムを備えた作業機械
WO2019017159A1 (fr) * 2017-07-18 2019-01-24 株式会社小松製作所 Dispositif d'identification de paramètre, dispositif de simulation et procédé d'identification de paramètre
KR102575200B1 (ko) 2017-08-08 2023-09-05 스미토모 겐키 가부시키가이샤 쇼벨 및 쇼벨의 지원장치
JP2020155014A (ja) * 2019-03-22 2020-09-24 株式会社小松製作所 作業機械の制御方法および制御システム

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