WO2024134982A1 - 建設装置および建設装置の制御方法 - Google Patents

建設装置および建設装置の制御方法 Download PDF

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Publication number
WO2024134982A1
WO2024134982A1 PCT/JP2023/030292 JP2023030292W WO2024134982A1 WO 2024134982 A1 WO2024134982 A1 WO 2024134982A1 JP 2023030292 W JP2023030292 W JP 2023030292W WO 2024134982 A1 WO2024134982 A1 WO 2024134982A1
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WIPO (PCT)
Prior art keywords
main body
imaging
vehicle
ground surface
construction
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2023/030292
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English (en)
French (fr)
Japanese (ja)
Inventor
関口政一
草野正明
小幡博志
三宅隆誠
鈴木一帆
佐藤海里
有江駿
渡邊尚樹
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JDC Corp
Original Assignee
JDC Corp
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Publication date
Application filed by JDC Corp filed Critical JDC Corp
Priority to JP2024565597A priority Critical patent/JPWO2024134982A1/ja
Publication of WO2024134982A1 publication Critical patent/WO2024134982A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • E02F3/64—Buckets cars, i.e. having scraper bowls
    • 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
    • E02F3/64—Buckets cars, i.e. having scraper bowls
    • E02F3/65—Component parts, e.g. drives, control devices

Definitions

  • the present invention relates to a construction device and a control method for the construction device, and to a construction device and a control method for the construction device that can automatically acquire various data.
  • Patent Document 1 describes a scraper vehicle that automatically captures images using an imaging device to determine whether the bowl that contains the material excavated by the scraper is full.
  • Patent Document 1 mentions automatic imaging of the bowl and automatic operation of the towing vehicle that tows the scraper vehicle, further automation of the construction equipment was desired.
  • the present invention aims to provide a construction device and a method for controlling the construction device that can automatically acquire various data.
  • the construction device of the present invention is provided with a first work device that is provided on a main body and performs a first work on a ground surface, and a control device that images the ground surface while the first work device is performing the first work and images related to the main body after the first work device has completed the first work.
  • the method for controlling construction equipment according to the present invention includes the steps of instructing a work device provided in a main body unit to perform work on a ground surface to perform the work, instructing an imaging device that performs imaging to image the ground surface in association with the instruction of the work, and, after imaging the ground surface, instructing imaging related to the main body unit.
  • the control device controls the imaging of the ground surface and the imaging related to the main body, so data related to the ground surface and data related to the main body can be obtained.
  • FIG. 1A and 1B are schematic diagrams showing a towing vehicle and a scraper vehicle according to a first embodiment of the present invention, in which FIG. 1A is a top view and FIG. 1B is a side view.
  • FIG. 2 is a block diagram of the main parts of the towing vehicle, scraper vehicle, and drone of the first embodiment. This is a diagram showing a towing vehicle, a scraper vehicle, and a drone in a construction yard.
  • FIG. 4 is a flowchart showing an operation executed by a first control device of the towing vehicle according to the first embodiment.
  • 5A and 5B are diagrams showing the construction process of the first embodiment, in which FIG. 5(a) shows a scraper vehicle digging and a drone photographing the resulting structure, and FIG. 5(b) shows a drone photographing the excavated material loaded into a bowl after excavation is completed.
  • the vertical direction is defined as the Z direction
  • two axial directions that are orthogonal to each other in a horizontal plane are defined as the X direction and the Y direction.
  • the scraper vehicle 20 is used as a towed vehicle towed by a large truck or other towing vehicle 1.
  • the scraper vehicle 20 is a device that scrapes off soil and sand from a traveling surface such as the ground surface using a blade-like or spatula-like scraper 25 while being towed by the towing vehicle, and stores the scraped soil and sand in a bowl 24 for transport.
  • a UAV Unmanned Aerial Vehicle, hereinafter referred to as a drone 100
  • a drone 100 Unmanned Aerial Vehicle flying in the sky.
  • the scraper vehicle 20 is a construction device that repeats an excavation process, a transport process, a discharge process, and a forwarding process, with one cycle consisting of the excavation process, the transport process, the discharge process, and the forwarding process.
  • Fig. 1 is a schematic diagram showing a towing vehicle 1, which is a driving vehicle of the first embodiment, and a scraper vehicle 20, Fig. 1(a) is a top view, and Fig. 1(b) is a side view.
  • Fig. 2 is a block diagram of the main parts of the towing vehicle 1, the scraper vehicle 20, and the drone 100 of the first embodiment.
  • a towing vehicle 1 tows a scraper vehicle 20, and is connected (coupled) to the scraper vehicle 20 by a hitch 21 which is a coupling device.
  • the hitch 21 is detachable from the towing vehicle 1 and has a flexible ball joint (not shown) provided at one end on the towing vehicle 1 side.
  • the towing vehicle 1 of the first embodiment is an automatic driving type or a remote driving type without a driver's seat.
  • the towing vehicle 1 is driven (propelled) by a fuel cell 2 (see Fig. 2) instead of an internal combustion engine, and an in-wheel motor 3 (see Fig. 2) provided on each of the two front wheels and the four rear wheels.
  • the in-wheel motor 3 may be provided so as to be coaxially connected to the hubs of the front and rear wheels.
  • the towing vehicle 1 may be a type having a driver's seat, and may use an internal combustion engine.
  • the towing vehicle 1 of this first embodiment also has a hydrogen tank 4 that supplies hydrogen to the fuel cell 2, a storage battery 5, a GNSS 6 (Global Navigation Satellite System), a takeoff and landing section 7, a power transmission device 8, a first communication device 9, a hydraulic unit 10, a speedometer 11, a first memory 12, and a first control device 13.
  • GNSS 6 Global Navigation Satellite System
  • a power transmission device 8 a first communication device 9, a hydraulic unit 10, a speedometer 11, a first memory 12, and a first control device 13.
  • the fuel cell 2 is a power generation device that generates electricity by electrochemically reacting hydrogen and oxygen.
  • the hydrogen tank 4 stores hydrogen compressed to several tens of MPa, and supplies hydrogen to the fuel cell 2 via a hydrogen supply passage (not shown).
  • the storage battery 5 is a secondary battery that stores the electric power generated by the fuel cell 2.
  • the storage battery 5 can supply the stored electric power to the motor 3 and to a storage battery 33 provided in the scraper vehicle 20 via a connector (not shown). Although some parts are omitted from the block diagram of FIG. 2, each unit of the towing vehicle 1 is supplied with power from the fuel cell 2 or the storage battery 5 .
  • the fuel cell 2 and hydrogen tank 4 are preferably placed on the front side (-X direction side) of the towing vehicle 1.
  • an internal combustion engine and a driver's seat have been placed in the front of the towing vehicle 1.
  • the internal combustion engine and driver's seat are omitted, so a large space can be provided in front of the towing vehicle 1, making it possible to place many hydrogen tanks 4 and ensuring freedom in the placement of the fuel cell 2, etc.
  • the GNSS 6 uses artificial satellites to determine the position of the towing vehicle 1.
  • the takeoff and landing section 7 is provided at the top of the towing vehicle 1, and has a flat surface large enough for the drone 100 to take off and land on.
  • the takeoff and landing section 7 may be formed on the top of the bonnet or the like instead of at the top of the towing vehicle 1, and may be large enough for multiple drones 100 to take off and land on.
  • the takeoff and landing section 7 is provided with a power transmission device 8 that supplies power to the power receiving device 103 of the drone 100 by wireless power supply, as shown in FIG. 2.
  • the power transmission device 8 employs wireless power supply.
  • Wireless power supply supplies power to the power receiving device 103 in a non-contact manner, and known methods include magnetic resonance and electromagnetic induction.
  • the power transmission device 8 in the first embodiment includes a power source, a control circuit, and a power transmission coil. This power transmission coil is preferably provided in the takeoff and landing section 7.
  • a contact-type power supply method may be used instead of wireless power supply.
  • metal contacts may be provided on each of the power transmission device 8 and the power receiving device 103, and power may be supplied by mechanically connecting the contacts.
  • the first communication device 9 is a wireless communication unit that accesses the second communication device 40 and the related third communication device 106 described below, as well as wide area networks such as the Internet. Each of the first communication device 9, the second communication device 40, and the third communication device 106 is also capable of communicating with a host computer located away from the civil engineering site. In this first embodiment, the first communication device 9 communicates with the third communication device 106 of the drone 100 to transmit the travel route of the towing vehicle 1, the travel speed of the towing vehicle 1, data related to the scraper vehicle 20 (e.g., the dimensions of the scraper vehicle 20), the flight route of the drone 100, imaging conditions, and the like.
  • the third communication device 106 of the drone 100 to transmit the travel route of the towing vehicle 1, the travel speed of the towing vehicle 1, data related to the scraper vehicle 20 (e.g., the dimensions of the scraper vehicle 20), the flight route of the drone 100, imaging conditions, and the like.
  • the hydraulic unit 10 drives multiple hydraulic cylinders (not shown) provided on the scraper vehicle 20.
  • the hydraulic unit 10 is equipped with a hydraulic pump and a control valve, and adjusts the flow rate, pressure, and direction of the hydraulic pressure supplied to the multiple hydraulic cylinders (not shown) provided on the scraper vehicle 20.
  • the speedometer 11 detects the speed of the towing vehicle 1, and is, for example, a vehicle speed sensor that detects the number of rotations of a shaft connected to the front wheels. Speed detection may also be performed using various sensors, such as a sensor that uses the output of GNSS6. Speed detection using GNSS6 may also use the method that uses the Doppler effect described in JP 2019-22108 A.
  • the first memory 12 is a non-volatile memory (e.g., a flash memory) that stores map information of the civil engineering site (construction yard), a program for automatically driving the towing vehicle 1, a program for driving and controlling the drone 100, and a program for controlling the scraper 25 and hydraulic unit 10 (described below).
  • the first memory 12 also stores various data sent from the scraper vehicle 20 and the drone 100.
  • the first control device 13 is equipped with a CPU and is a control device that controls the towing vehicle 1, the scraper vehicle 20, and the drone 100.
  • the first control device 13 performs automatic driving of the towing vehicle 1 at the civil engineering site, drive control of the drone 100, drive control of the scraper 25 described below, and drive control of multiple hydraulic cylinders (not shown) provided on the scraper vehicle 20.
  • the control by the first control device 13 will be described later using the flowchart of FIG. 4.
  • the scraper vehicle 20 has a frame 23, a bowl 24, a scraper 25, an axle 26, wheels 27, a reference mark 28, and an accelerometer 29 (see FIG. 2) in addition to the hitch 21.
  • the frame 23 and the bowl 24 form a main body 22.
  • the scraper vehicle 20 also has a storage battery 33 (see FIG. 2) which is a secondary battery, a blade 35, and a connection portion 36.
  • the scraper vehicle 20 has a second memory 39 that stores various data, a second communication device 40, and a second control device 41 that controls the entire scraper vehicle 20.
  • the frame 23 is a supporting member made of metal, and in this first embodiment, supports the bowl 24, the axle 26, the blade 35, and the like.
  • the bowl 24 has an open top and receives excavated material such as soil and sand excavated by the scraper 25 through an opening (not shown).
  • the opening (not shown) formed in the bowl 24 is opened and closed by an opening/closing hydraulic cylinder (not shown) using hydraulic pressure from the hydraulic unit 10.
  • the scraper 25 is a blade-like or spatula-like member for scraping off soil and sand from a travel surface such as the ground surface, and in this first embodiment, is provided integrally with the bowl 24 at the bottom of the bowl 24 . Since the bowl 24 and the scraper 25 are provided integrally, the scraper 25 can dig into the ground surface and excavate soil and sand by tilting the bowl 24 toward the ground surface using a hydraulic cylinder for changing the position (not shown). When the bowl 24 is inclined toward the ground surface, the material excavated by the scraper 25 is accommodated in the bowl 24 by opening an opening (not shown) using a hydraulic cylinder for opening and closing (not shown).
  • the bowl 24 When excavation by the scraper 25 is completed, the bowl 24 is tilted toward the ground by a hydraulic cylinder for changing the position (not shown), and the scraper 25 is lifted off the ground. At this time, the opening of the bowl 24 (not shown) is closed by a hydraulic cylinder for opening and closing (not shown).
  • the axle 26 rotates due to the towing force of the towing vehicle 1, and the wheels 27 are connected to both ends of the axle 26 and are a pair of driven wheels that rotate as the axle rotates.
  • the wheels 27 may also be provided at the front and rear of the scraper vehicle 20 to serve as the front and rear wheels.
  • the reference mark 28 is a mark with known dimensions provided on the scraper vehicle 20.
  • the reference mark 28 is provided on the hitch 21 and the connection part 36, and has a reference mark 28a that can be imaged from above by the imaging device 102 of the drone 100, and a reference mark 28b that can be imaged from the side by the imaging device 102 of the drone 100.
  • the reference mark 28 may be provided on either the hitch 21 or the connection part 36.
  • a reference mark 28c is provided behind the connection part 36 as a reference mark 28 for imaging the finished shape after construction such as excavation and compaction has been performed.
  • the reference marks 28a are provided on the upper surface of the hitch 21 and the upper surface of the connection portion 36 so as not to be caught by the excavated material contained in the bowl 24.
  • Reference marks 28b are also provided on the side of the hitch 21 and the side of the connection portion 36 so as not to be caught by the excavated material contained in the bowl 24.
  • the reference mark 28c is provided below (on the -Z side) of the connection portion 36 to serve as a reference when imaging the finished shape.
  • the ground surface at the civil engineering site where the scraper vehicle 20 is towed is not flat, but may be inclined in the towing direction (e.g., X direction) or in a direction intersecting the towing direction (e.g., Y direction).
  • the scraper vehicle 20 is also subjected to vibrations caused by the towing of the scraper vehicle 20.
  • a reference mark 28 of known dimensions e.g., 15 cm x 15 cm or 30 cm x 30 cm
  • the imaging device 102 when the imaging device 102 detects the load of excavated material stored in the bowl 24 from the side of the scraper vehicle 20 by imaging with the imaging device 102, it images a reference mark 28b with known dimensions (e.g., 15 cm x 15 cm or 30 cm x 30 cm, etc.). In this first embodiment, by imaging from above and from the side, the load of excavated material stored in the bowl 24 can be detected with high accuracy. Note that the detection of the load based on the imaging of the imaging device 102 may be performed by the host computer, the second control device 41, or the UAV control device 108 described below.
  • the imaging device 102 when the imaging device 102 detects the finished shape by imaging when excavating or compacting from the rear of the scraper vehicle 20, it images a reference mark 28c with known dimensions (for example, 15 cm x 15 cm or 30 cm x 30 cm, etc.). Note that, for example, if the first control device 13 or the host computer can detect the finished shape without the reference mark 28c, the reference mark 28c may be omitted.
  • the reference mark 28 is not limited to a square shape, and may be rectangular or circular.
  • the reference mark 28 may be colored to be easily visible from the imaging device 102, and may have a diagonal line.
  • a reflector or reflective sticker may be provided on the reference mark 28 so that the reference mark 28 can be seen even at night. In this case, it is preferable to provide the drone 100 with a light source that irradiates light onto the reference mark 28.
  • the imaging device 102 cannot capture an image of the excavated material contained inside the bowl 24. However, since the volume of the bowl 24 is known, the weight of the excavated material contained inside the bowl 24 can be estimated from the volume of the bowl 24. If a wide-angle lens is used as the lens of the imaging device 102, the reference mark 28 may be omitted and the frame 23, whose dimensions are known, may be used as a reference.
  • the accelerometer 29 detects the acceleration acting on the scraper vehicle 20, and any type of type can be used, such as mechanical, optical, or semiconductor.
  • the accelerometer 29 can be provided, for example, on the frame 23 or the connection portion 36, and detects acceleration in the Z-axis direction, but is not limited to this and may detect acceleration in the X-axis direction or Y-axis direction.
  • the first control device 13 may stop imaging by the imaging device 102 when acceleration exceeding a predetermined value acts on the scraper vehicle 20, or may not use image data captured by the imaging device 102 when acceleration exceeding a predetermined value acts on the scraper vehicle 20.
  • the storage battery 33 stores the electricity generated by the fuel cell 2. The electricity stored in the storage battery 33 is supplied to each unit of the scraper vehicle 20.
  • the blade 35 is a metal mechanical part that discharges the excavated material contained in the bowl 24 at the discharge site during the discharge process.
  • the blade 35 is located in the +X direction of the bowl 24 except during the discharge process, and during the discharge process, it moves in the -X direction of the bowl 24 by a discharge hydraulic cylinder (not shown) to discharge the excavated material.
  • connection part 36 is a metal mechanical part provided at the rear (+X direction) of the frame 23.
  • the connection part 36 is a member that connects the scraper vehicles 20 together.
  • the connection part 36 is a member that connects a pusher such as a bulldozer.
  • the second memory 39 may be any type of memory, and in this first embodiment, a non-volatile semiconductor memory (e.g., flash memory) is used.
  • the second memory 39 stores information such as the acceleration detected by the accelerometer 29, the dimensions of the scraper vehicle 20 (total length, total height, vehicle width), and the position of the scraper 25 relative to the scraper vehicle 20.
  • the second communication device 40 can communicate with the first communication device 9, the third communication device 106, and the host computer, and transmits information such as the dimensions (total length, total height, vehicle width) of the scraper vehicle 20 connected to the towing vehicle 1 and the position of the scraper 25 relative to the scraper vehicle 20, and transmits information that the scraper vehicle 20 has been subjected to acceleration exceeding a predetermined value.
  • the second control device 41 is equipped with a CPU (Central Processing Unit) and controls the entire scraper vehicle 20.
  • a CPU Central Processing Unit
  • the second control device 41 transmits an abnormality to at least one of the towing vehicle 1 and the host computer, and requests control of the attitude of the scraper 25 and bowl 24 in the event of the abnormality.
  • the second control device 41 also prohibits the drone 100 from approaching the scraper vehicle 20 in the event of an abnormality.
  • the drone 100 of the first embodiment includes a flight device 101, an imaging device 102, a power receiving device 103, a sensor group 104, a battery 105, a third communication device 106, a third memory 107, a UAV control device 108, and legs 109.
  • the flight device 101 has a motor and multiple propellers (not shown), and generates thrust for lifting the drone 100 in the air and moving it in the air.
  • the imaging device 102 is a digital camera that has a lens, an imaging element, an image processing engine, etc., and captures videos and still images. In this first embodiment, the imaging device 102 captures images of the finished shape excavated or compacted by the scraper vehicle 20 and the excavated material contained in the bowl 24.
  • the lens of the imaging device 102 is attached to the side (front) of the drone 100, but the lens of the imaging device 102 may be attached to the underside of the drone 100, or multiple lenses may be provided on the drone 100.
  • a moving mechanism may be provided to move the lens attached to the side toward the underside.
  • a mechanism may be provided to rotate the imaging device 102 around the Z axis, so that the lens of the imaging device 102 can be positioned at any position around the Z axis.
  • LiDAR Light Detection and Ranging
  • LiDAR is a sensor that scans with an electromagnetic wave, such as an ultraviolet, visible light, or near-infrared pulsed laser, and detects information such as the distance to an object, the shape of the object, the material of the object, and the color of the object based on the emitted light and scattered light.
  • the power receiving device 103 has a power receiving coil and a charging circuit provided on the legs 109 of the drone 100, and charges the battery 105 with power from the power transmitting device 51.
  • the battery 105 is a secondary battery connected to the power receiving device 103, and may be, but is not limited to, a lithium ion secondary battery or a lithium polymer secondary battery.
  • the battery 105 is capable of supplying power to the flight device 101, the imaging device 102, the third communication device 106, the third memory 107, and the UAV control device 108.
  • the sensor group 104 includes a GNSS, an infrared sensor for avoiding collisions between the drone 100 and other devices (e.g., the scraper vehicle 20), a barometric sensor for measuring altitude, a magnetic sensor for detecting orientation, a gyro sensor for detecting the attitude of the drone 100, and an acceleration sensor for detecting the acceleration acting on the drone 100.
  • a GNSS GNSS
  • an infrared sensor for avoiding collisions between the drone 100 and other devices (e.g., the scraper vehicle 20)
  • a barometric sensor for measuring altitude
  • a magnetic sensor for detecting orientation
  • a gyro sensor for detecting the attitude of the drone 100
  • an acceleration sensor for detecting the acceleration acting on the drone 100.
  • the third communication device 106 has a wireless communication unit and accesses a wide area network such as the Internet, and communicates with the first communication device 9, the second communication device 40, and the host computer's communication device.
  • the third communication device 106 transmits image data captured by the imaging device 102 and detection results detected by the sensor group 104 to at least one of the first communication device 9 and the host computer's communication device, and transmits flight commands from the first communication device 9 or the host computer's communication device to the UAV control device 108.
  • the third memory 107 is a non-volatile memory (e.g., a flash memory) that stores various data and programs for flying the drone 100, as well as image data captured by the imaging device 102 and detection results detected by the sensor group 104.
  • a non-volatile memory e.g., a flash memory
  • the UAV control device 108 includes a CPU, an attitude control circuit, a flight control circuit, and the like, and controls the entire drone 100.
  • the UAV control device 108 also determines the timing of charging at the takeoff and landing section based on the remaining charge of the battery 105, and controls the imaging position, angle of view, frame rate, etc. of the imaging device 102.
  • the legs 109 are metal members that support the drone 100 when the drone 100 lands on the takeoff and landing section 7. In addition, the legs 109 are provided with the power receiving device 103 as described above.
  • FIG. 3 is a diagram showing the towing vehicle 1, scraper vehicle 20, and drone 100 in the construction yard.
  • the towing vehicle 1 and scraper vehicle 20 move counterclockwise as shown by the arrow in FIG. 3, perform excavation in the excavation area 31, and discharge the excavated material to the spreading area 32.
  • the movement from the excavation area 31 to the spreading area 32 is the transportation process, and the movement from the spreading area 32 to the excavation area 31 is the transfer process.
  • the bowl 24 Before the scraper vehicle 20 enters the excavation area 31, the bowl 24 is empty. When the scraper vehicle 20 starts excavating in the excavation area 31, the excavated material is stored in the bowl 24, and by the time the scraper vehicle 20 leaves the excavation area 31, the bowl 24 is fully loaded with excavated material. Depending on the size of the bowl 24, when the bowl 24 goes from empty to fully loaded, the bowl 24 will contain several tens of tons (e.g., 15 to 30 tons) of excavated material.
  • the towing vehicle 1 may slow down.
  • the scraper 25 digs into the ground surface, and the excavation creates resistance on the towing vehicle 1, causing the towing vehicle 1 to slow down.
  • the towing vehicle 1 may slow down due to the automatic driving program stored in the first memory 12 and the control of the first control device 13.
  • the first control device 13 transmits speed information of the towing vehicle 1 to the drone 100. This makes it possible to more reliably prevent contact or collision between the drone 100 and the scraper vehicle 20 when the drone 100 flies at low altitude during and before and after imaging the finished product.
  • the flowchart in Fig. 4 is assumed to start when the towing vehicle 1, towing the scraper vehicle 20, heads toward the excavation area 31 of the civil engineering site.
  • the state of the construction yard has been imaged by the imaging device 102 of the drone 100 in advance of construction, and that the image data has been transmitted to the first control device 13 or the host computer.
  • the drone 100 has landed on the takeoff and landing section 7 after this image capture, and that the battery 105 has been charged by the power transmitting device 8 and the power receiving device 103.
  • the first control device 13 determines whether the towing vehicle 1 has entered the vicinity of the excavation area 31 (for example, several tens of meters to 100 meters away) from the output of the GNSS 6 (step S1). The first control device 13 proceeds to step S2 if the towing vehicle 1 is in the vicinity of the excavation area 31, and repeats step S1 if the towing vehicle 1 is not in the vicinity of the excavation area 31. Here, the first control device 13 proceeds to step S2 assuming that the towing vehicle 1 is in the vicinity of the excavation area 31.
  • the first control device 13 instructs the UAV control device 108 of the drone 100 that has landed on the takeoff and landing section 7 to fly (step S2).
  • the first control device 13 also transmits to the UAV control device 108 related information such as the travel route of the towing vehicle 1, i.e., the travel route of the scraper vehicle 20, the travel speed of the towing vehicle 1, and the dimensions of the scraper vehicle 20.
  • FIG. 3 shows the state immediately after the drone 100 starts flying.
  • the drone 100 flies at a speed faster than the travel speed of the towing vehicle 1 received from the first control device 13 until it flies to the rear side (+X side) of the scraper vehicle 20.
  • the drone 100 when the drone 100 is located behind the scraper vehicle 20 (+X direction side), it flies in the -X direction at a flight speed according to the travel speed of the towing vehicle 1 received from the first control device 13.
  • the first control device 13 judges whether to start excavation in the excavation area 31 (step S3). Based on the map information of the civil engineering site (construction yard) stored in the first memory 12 and the positioning data of the towing vehicle 1 measured by the GNSS 6, the first control device 13 starts excavation if the scraper vehicle 20 approaches the excavation area 31, and repeats the judgment of step S3 if the scraper vehicle 20 has not approached the excavation area 31. Here, it is assumed that the scraper vehicle 20 is approaching the excavation area 31, and the process proceeds to step S4. Note that the first control device 13 may start excavation if the scraper 25 approaches the excavation area 31 based on the position information of the scraper 25 when making the judgment of step S3.
  • the first control device 13 controls the hydraulic cylinder for changing the attitude (not shown) by the hydraulic unit 10 to make the scraper 25 penetrate into the ground surface and start excavation, and opens the opening of the bowl 24 (not shown) by the hydraulic cylinder for opening and closing (not shown).
  • the first control device 13 also instructs the drone 100 to take an image of the finished shape (step S4).
  • Figure 5 shows the construction process of the first embodiment, where Figure 5(a) shows the scraper vehicle 20 digging and the drone 100 taking an image of the finished product, and Figure 5(b) shows the drone 100 taking an image of the excavated material loaded into the bowl 24 after excavation is complete.
  • the first control device 13 performs excavation by controlling the amount of penetration of the scraper 25 into the ground surface while moving the towing vehicle 1 in the -X direction.
  • the excavated material is stored in the bowl 24 through an opening (not shown).
  • the first control device 13 performs flight control so that the drone 100 follows the scraper vehicle 20 from near the ground surface behind the scraper vehicle 20 (+X direction side).
  • flight control of the drone 100 may be performed by the UAV control device 108, or may be performed by cooperative control between the first control device 13 and the UAV control device 108.
  • the drone 100 flies along the -X direction so as not to collide with the scraper vehicle 20, using the travel speed of the towing vehicle 1 received from the first control device 13 and the infrared sensor of the sensor group 104.
  • the drone 100 uses the imaging device 102 to capture an image of the ground surface after the scraper 25 has excavated, together with the reference mark 28c, in order to obtain data on the completed shape.
  • the image data of the completed shape captured by the imaging device 102 is stored in the third memory 107 and is also transmitted to the towing vehicle 1 and the host computer by the third communication device 106.
  • the host computer calculates the completed shape due to excavation based on the data of the completed shape of the excavation area 31 captured in advance prior to construction and the image data of the completed shape captured by the imaging device 102 in step S4.
  • the first control device 13 determines whether or not to end excavation (step S5).
  • the first control device 13 judges whether the scraper vehicle 20 has left the excavation area 31 based on the positioning data of the towing vehicle 1 measured by the GNSS 6. If the scraper vehicle 20 is in the excavation area 31, the first control device 13 repeats step S4 to continue excavation and imaging of the completed shape, and if the scraper vehicle 20 has left the excavation area 31, ends excavation and proceeds to step S6. Here, it is assumed that the scraper vehicle 20 has left the excavation area 31 and proceeds to step S6.
  • the first control device 13 controls the hydraulic cylinder for changing attitude (not shown) by the hydraulic unit 10 to drive the scraper 25 to a position away from the ground surface, and closes the opening of the bowl 24 (not shown) by the hydraulic cylinder for opening and closing (not shown).
  • the first control device 13 also instructs the drone 100 to move the bowl 24 upward.
  • the first control device 13 controls the movement to the spreading area 32 without stopping the towing vehicle 1.
  • the first control device 13 captures an image of the excavated material contained in the bowl 24 to detect the load amount (step S6). As shown in FIG. 5(b), the first control device 13 captures an image of the excavated material contained in the bowl 24 from above the bowl 24 using the imaging device 102 of the drone 100. In order to capture an image of the excavated material contained in the bowl 24 from the side (Y direction side), the first control device 13 moves the drone 100 to the side of the bowl 24 and captures an image using the imaging device 102.
  • the first control device 13 can reduce the effects of rolling, pitching, and yawing of the scraper vehicle 20 by capturing an image of the reference mark 28 when capturing an image of the excavated material using the imaging device 102.
  • the image of the excavated material may be captured either from above or from the side.
  • capturing the other image may be omitted.
  • the image data of the excavated material captured by the imaging device 102 is stored in the third memory 107 and is also transmitted to the towing vehicle 1 and the host computer by the third communication device 106.
  • the host computer calculates the load of the excavated material from the image data of the excavated material transmitted by the third communication device 106.
  • the host computer may also calculate the load of the excavated material using image data of the finished shape. This is because the amount of material excavated by the scraper 25 can be estimated from the image data of the finished shape.
  • the first control device 13 may leave the control that does not require real-time performance or control that involves a large amount of calculation to the host computer, and leave the control that requires real-time performance or control that involves a small amount of calculation to the first control device 13, the second control device 41, or the UAV control device 108.
  • the first control device 13 determines whether charging of the drone 100 is necessary (step S7). This is because the transportation process by the towing vehicle 1 takes several minutes depending on the size of the construction yard, and it takes several minutes for the drone 100 to capture an image of the excavated material and then capture an image of the discharging area 32. In addition, advances in rapid charging technology mean that the drone 100 can be charged in a few minutes.
  • the first control device 13 proceeds to step S8 if charging is to be performed based on the remaining charge of the battery 105 of the drone 100, and proceeds to step S9 if charging is not to be performed. In this example, it is assumed that charging is to be performed and proceeds to step S8.
  • the first control device 13 After landing the drone 100 on the takeoff and landing section 7, the first control device 13 supplies power to the battery 105 using the power transmission device 8 and the power receiving device 103 (step S8). Note that although one drone 100 is illustrated in Figs. 1, 3, and 5, there may be multiple drones 100, and the first control device 13 may determine in step S8 whether to replace the drone 100 based on the remaining charge of the battery 105.
  • the first control device 13 determines whether to perform compaction in the spreading area 32 (step S9).
  • the first control device 13 determines from the output of the GNSS 6 that the towing vehicle 1 is approaching the spreading area 32 and whether to perform compaction using the wheels 27 of the scraper vehicle 20. Here, it is assumed that compaction using the wheels 27 of the scraper vehicle 20 will be performed, and the process proceeds to step S10.
  • the first control device 13 controls a number of hydraulic cylinders (not shown) (hydraulic cylinders for opening and closing, hydraulic cylinders for changing position, and hydraulic cylinders for discharging) using the hydraulic unit 10 in the spreading area 32 to tilt the bowl 24 so that it leans forward, and discharges the excavated material from the opening of the bowl 24.
  • hydraulic cylinders not shown
  • the first control device 13 discharges the excavated material from the opening of the bowl 24 in the spreading area 32 as described above, and performs compaction with the wheels 27, and takes an image of the finished shape (step S10).
  • the first control device 13 issues a flight command to the drone 100 that has landed on the takeoff and landing section 7, and performs flight control so that the drone 100 follows the scraper vehicle 20 from near the ground surface on the rear side (-X direction side) of the scraper vehicle 20.
  • the first control device 13 causes the imaging device 102 to capture an image of the ground surface after the wheels 27 have compacted it.
  • the first control device 13 transmits speed information of the towing vehicle 1 to the drone 100. This is because, in the spreading area 32, the bowl 24 goes from a full load to an empty state, so the weight of the scraper vehicle 20 becomes lighter and the speed of the towing vehicle 1 is more likely to increase.
  • the image data of the finished shape captured by the imaging device 102 is stored in the third memory 107 and is also transmitted to the towing vehicle 1 and the host computer by the third communication device 106.
  • the host computer calculates the finished shape after compaction based on the data of the finished shape of the spreading area 32 captured in advance prior to construction and the image data of the finished shape captured by the imaging device 102 in step S10.
  • the first control device 13 When the first control device 13 has completed the compaction and imaging of the finished shape in step S10, it carries out the transfer process, which is the movement from the spreading area 32 to the excavation area 31 (step S11). In this case as well, the first control device 13 carries out the transfer process without stopping the towing vehicle 1.
  • the first control device 13 determines whether construction using the scraper vehicle 20 has been completed during the forwarding process (step S12). If the planned load amount has been excavated, the first control device 13 determines that construction has been completed and ends this flowchart. On the other hand, if the planned load amount has not been excavated, the first control device 13 determines that construction has not been completed and repeats steps S1 and onward.
  • data on the finished shape of the ground surface and data on the excavated material contained in the bowl 24 that constitutes the main body 22 can be obtained, thereby realizing a construction device that is easy to use.
  • the imaging device 102 of the drone 100 is used to capture images of the finished product and the excavated material contained in the bowl 24, so images of the finished product and the excavated material contained in the bowl 24 can be captured without being affected by vibrations acting on the scraper vehicle 20.
  • the first embodiment described above can be modified in various ways and functions can be added, which will be described below.
  • the imaging of the finished shape and the excavated material contained in the bowl 24 may be performed by an imaging device provided in the scraper vehicle 20 instead of the imaging device 102 of the drone 100.
  • a pole extending in the +Z direction from the main body 22 or the connection part 36 may be provided, and an imaging device may be mounted on this pole.
  • a damper or a vibration-isolating member made of resin e.g., vibration-isolating rubber
  • the imaging device may stop capturing images, or the image data captured by the imaging device may not be used.
  • a gyro sensor may also be used in place of or in combination with the accelerometer 29.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
PCT/JP2023/030292 2022-12-20 2023-08-23 建設装置および建設装置の制御方法 Ceased WO2024134982A1 (ja)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022118516A1 (ja) * 2020-12-04 2022-06-09 日本国土開発株式会社 トレイン式スクレーパ車両および移動機械
JP7159491B2 (ja) * 2020-10-08 2022-10-24 日本国土開発株式会社 建設機械
WO2022239303A1 (ja) * 2021-05-14 2022-11-17 日本国土開発株式会社 建設機械、掘削物測定方法ならびに無人飛行体

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7159491B2 (ja) * 2020-10-08 2022-10-24 日本国土開発株式会社 建設機械
WO2022118516A1 (ja) * 2020-12-04 2022-06-09 日本国土開発株式会社 トレイン式スクレーパ車両および移動機械
WO2022239303A1 (ja) * 2021-05-14 2022-11-17 日本国土開発株式会社 建設機械、掘削物測定方法ならびに無人飛行体

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