WO2024154649A1 - Système de gestion de chantier et procédé de gestion de chantier - Google Patents

Système de gestion de chantier et procédé de gestion de chantier Download PDF

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Publication number
WO2024154649A1
WO2024154649A1 PCT/JP2024/000521 JP2024000521W WO2024154649A1 WO 2024154649 A1 WO2024154649 A1 WO 2024154649A1 JP 2024000521 W JP2024000521 W JP 2024000521W WO 2024154649 A1 WO2024154649 A1 WO 2024154649A1
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WIPO (PCT)
Prior art keywords
work site
travel
shovel
slope
data
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PCT/JP2024/000521
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English (en)
Japanese (ja)
Inventor
晋 中野
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株式会社小松製作所
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Application filed by 株式会社小松製作所 filed Critical 株式会社小松製作所
Publication of WO2024154649A1 publication Critical patent/WO2024154649A1/fr

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    • 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

Definitions

  • This disclosure relates to a work site management system and a work site management method.
  • Unmanned dump trucks may be used at work sites. There may be a need to set up driving areas at work sites where unmanned dump trucks can travel. There is a demand for technology that can set driving areas efficiently.
  • the purpose of this disclosure is to set up a driving area at a work site where an unmanned dump truck can travel.
  • a work site management system includes a command sending unit that sends a survey start command to a shovel operating at the work site to set a travel area at the work site in which an unmanned dump truck can travel, a data receiving unit that receives survey data indicating the positions of linear portions of the work site detected by the shovel based on the survey start command, and a travel area setting unit that sets edge lines of the travel area based on the survey data.
  • FIG. 1 is a diagram illustrating a work site management system according to an embodiment.
  • FIG. 2 is a diagram illustrating a schematic diagram of an excavator and an unmanned dump truck according to the embodiment.
  • FIG. 3 is a diagram illustrating a shovel according to an embodiment.
  • FIG. 4 is a diagram illustrating the operation of the shovel according to the embodiment.
  • FIG. 5 is a functional block diagram showing a management system according to the embodiment.
  • FIG. 6 is a block diagram illustrating a computer system according to an embodiment.
  • FIG. 7 is a flowchart showing a work site management method according to the embodiment.
  • FIG. 8 is a diagram showing display data displayed on the display device according to the embodiment.
  • FIG. 9 is a diagram showing display data displayed on the display device according to the embodiment.
  • FIG. 1 is a diagram illustrating a work site management system according to an embodiment.
  • FIG. 2 is a diagram illustrating a schematic diagram of an excavator and an unmanned dump truck according to
  • FIG. 10 is a diagram showing display data displayed on the display device according to the embodiment.
  • FIG. 11 is a diagram showing display data displayed on the display device according to the embodiment.
  • FIG. 12 is a diagram showing display data displayed on the display device according to the embodiment.
  • FIG. 13 is a diagram for explaining a method for determining an excavation state in the height direction according to the embodiment.
  • FIG. 14 is a diagram for explaining a method for determining an excavation state in the depth direction according to the embodiment.
  • FIG. 15 is a diagram showing display data displayed on the display device according to the embodiment.
  • FIG. 1 is a diagram illustrating a schematic diagram of a work site management system 1 according to an embodiment.
  • the management system 1 manages an excavator 2 and an unmanned dump truck 3 that operate at the work site.
  • the excavator 2 is remotely operated by a remote operation device 4.
  • the remote operation device 4 is disposed outside the excavator 2.
  • the remote operation device 4 is disposed in a remote operation room 9 provided at a remote operation site outside the excavator 2.
  • the management system 1 includes the remote operation device 4, a display device 5, an input device 6, a remote controller 7, and a management controller 30.
  • the remote control device 4 is operated by an operator in a remote control room 9.
  • the operator can operate the remote control device 4 while seated in the control seat 8.
  • the display device 5 is arranged in the remote control room 9.
  • the display device 5 includes a flat panel display such as a liquid crystal display (LCD) or an organic electroluminescence display (OLED).
  • the display device 5 displays an image of the work site.
  • the image of the work site includes a peripheral image that is an image of the periphery of the shovel 2.
  • the peripheral image of the shovel 2 includes an image of the object to be excavated by the shovel 2 and an image of the unmanned dump truck 3.
  • the operator operates the remote control device 4 while viewing the image of the work site displayed on the display device 5.
  • the input device 6 is arranged in the remote control room 9.
  • Examples of the input device 6 include a touch panel, a computer keyboard, or a computer mouse.
  • the input device 6 is operated by the operator.
  • input data is generated in the input device 6.
  • the remote controller 7 is arranged in the remote control room 9.
  • the remote controller 7 and the control server 10 communicate via a first communication system 11.
  • Examples of the first communication system 11 include the Internet, a mobile phone communication network, and a satellite communication network.
  • the unmanned dump truck 3 operates autonomously without being driven by a driver.
  • the unmanned dump truck 3 is operated by an administrator from the management controller 30.
  • the unmanned dump truck 3 travels autonomously through a work site and transports cargo.
  • An example of the cargo transported by the unmanned dump truck 3 is excavated material excavated at the work site.
  • the management system 1 has a control server 10 provided at the work site.
  • the control server 10 is located outside each of the shovel 2 and the unmanned dump truck 3.
  • the control server 10 is installed in a control facility at the work site.
  • the control server 10 manages data on vehicles equipped with the work site management system. An administrator is present at the control facility.
  • the control server 10 manages each of the shovel 2 and the unmanned dump truck 3.
  • the control server 10, the shovel 2, and the unmanned dump truck 3 communicate with each other via a second communication system 12.
  • An example of the second communication system 12 is a local area network (LAN: Local Area Network).
  • FIG. 1 is a diagram showing a schematic diagram of an excavator 2 and an unmanned dump truck 3 according to an embodiment.
  • the excavator 2 is a hydraulic excavator.
  • the excavator 2 has a running body 13, a rotating body 14 supported by the running body 13, a working machine 15 supported by the rotating body 14, and a hydraulic cylinder 16 that drives the working machine 15.
  • the running body 13 runs on a work site while supporting the rotating body 14.
  • the running body 13 has a pair of tracks 13A.
  • the excavator 2 runs by the rotation of the tracks.
  • the rotating body 14 can rotate while being supported by the running body 13.
  • the working machine 15 includes a boom 15A connected to the rotating body 14, an arm 15B connected to the boom 15A, and a bucket 15C connected to the arm 15B.
  • the hydraulic cylinder 16 includes a boom cylinder 16A that drives the boom 15A, an arm cylinder 16B that drives the arm 15B, and a bucket cylinder 16C that drives the bucket 15C.
  • the bucket 15C has a cutting edge 15D.
  • the unmanned dump truck 3 has a traveling device 17, a vehicle body 18, and a dump body 19.
  • the traveling device 17 travels around the work site while supporting the vehicle body 18.
  • the traveling device 17 includes wheels, tires attached to the wheels, an engine, a brake device, and a steering device.
  • the unmanned dump truck 3 travels as the tires rotate.
  • the vehicle body 18 supports the dump body 19.
  • the dump body 19 is a member into which cargo is loaded.
  • a work site includes a slope 100, a first running surface 103 connected to an upper end 101 of the slope 100, and a second running surface 104 connected to a lower end 102 of the slope 100.
  • the slope 100 is a slope.
  • the upper end 101 is the top of the slope.
  • the lower end 102 is the toe of the slope.
  • the shovel 2 excavates the slope 100 with at least a part of the running body 13 of the shovel 2 positioned on the first running surface 103, and loads the excavated material onto an unmanned dump truck 3 located on the second running surface 104.
  • FIG. 3 is a schematic diagram of a shovel 2 according to an embodiment.
  • the shovel 2 has a position sensor 20, an attitude sensor 21, an angle sensor 22, and a camera 23.
  • the position sensor 20 detects the position of the shovel 2.
  • the position of the shovel 2 is detected using a global navigation satellite system (GNSS).
  • the global navigation satellite system includes a global positioning system (GPS).
  • GPS global positioning system
  • the global navigation satellite system detects the position of a global coordinate system defined by coordinate data of latitude, longitude, and altitude.
  • the global coordinate system refers to a coordinate system fixed to the earth.
  • the position sensor 20 includes a GNSS receiver and detects the position of the shovel 2 in the global coordinate system.
  • at least two position sensors 20 are provided on the rotating body 14.
  • the orientation of the rotating body 14 is calculated based on the detection data of each of the two position sensors 20.
  • the attitude sensor 21 detects the inclination of the revolving body 14.
  • the attitude sensor 21 detects the inclination angle of the revolving body 14 with respect to the horizontal plane.
  • the attitude sensor 21 includes an inertial measurement unit (IMU).
  • the attitude sensor 21 is disposed on the revolving body 14.
  • the angle sensor 22 detects the angle of the working machine 15.
  • the angle sensor 22 includes a boom angle sensor 22A that detects the angle of the boom 15A with respect to the revolving body 14, an arm angle sensor 22B that detects the angle of the arm 15B with respect to the boom 15A, and a bucket angle sensor 22C that detects the angle of the bucket 15C with respect to the arm 15B.
  • the angle sensor 22 may be a stroke sensor that detects the stroke of the hydraulic cylinder 16, a potentiometer that detects the angle of the working machine 15, or a working machine IMU that detects the attitude of the working machine 15.
  • the mounting position of the angle sensor 22 is appropriately changed when the sensor is selected.
  • the camera 23 captures an image of the surroundings of the excavator 2. Although one camera 23 is shown in FIG. 3, multiple cameras 23 may be provided on the rotating body 14.
  • the camera 23 may be a stereo camera capable of measuring the three-dimensional shape of the imaged object, or may be an overhead camera capable of capturing images for generating an overhead image of the shovel 2.
  • the management system 1 uses the shovel 2 to set a travel area in which the unmanned dump truck 3 can travel at the work site.
  • the management system 1 uses the shovel 2 to set an edge line 24 of the travel area.
  • the edge line 24 of the travel area is set so as to coincide with the lower end 102 of the slope 100.
  • the shovel 2 detects survey data for setting the edge line 24 using the cutting edge 15D of the bucket 15C.
  • the management system 1 sets a travel stop line 25 of the shovel 2 based on the edge line 24.
  • the travel stop line 25 is set closer to the first travel surface 103 than the upper end 101 of the slope 100.
  • the shovel 2 travels on the first travel surface 103 without exceeding the travel stop line 25.
  • the shovel 2 is prevented from traveling on the slope 100 or the second travel surface 104.
  • FIG. 5 is a functional block diagram showing the management system 1 according to the embodiment. As shown in Fig. 5, the excavator 2 has an on-vehicle controller 26. The unmanned dump truck 3 has an on-vehicle controller 27.
  • the computer system 1000 includes a processor 1001 such as a CPU (Central Processing Unit), a main memory 1002 including a non-volatile memory such as a ROM (Read Only Memory) and a volatile memory such as a RAM (Random Access Memory), a storage 1003, and an interface 1004 including an input/output circuit.
  • the functions of the in-vehicle controller 26, the remote controller 7, the management server 10, and the in-vehicle controller 27 are stored in the storage 1003 as computer programs.
  • the processor 1001 reads the computer program from the storage 1003, expands it in the main memory 1002, and executes the above-mentioned processing according to the program.
  • the computer program may be distributed to the computer system 1000 via a network.
  • the remote controller 7 has a data receiving unit 7A, a command transmitting unit 7B, a data transmitting unit 7C, and a display control unit 7D.
  • the data receiving unit 7A receives detection data and image data from the shovel 2 via the control server 10.
  • the command transmitting unit 7B transmits operation commands from the remote operation device 4 to the shovel 2 via the control server 10.
  • the command transmitting unit 7B also transmits a survey start command to the shovel 2 operating at the work site via the control server 10, in order to set a travel area at the work site in which the unmanned dump truck 3 can travel.
  • the data transmitting unit 7C transmits input data generated by operating the input device 6 to the shovel 2 via the control server 10.
  • the display control unit 7D causes the display device 5 and the input device 6 to display the display data.
  • the control controller 30 has a data receiving unit 30A and a command transmitting unit 30B.
  • the data receiving unit 30A receives detection data and image data from the shovel 2 via the control server 10.
  • the command transmitting unit 30B transmits operation commands from the control controller 30 to the shovel 2 via the control server 10.
  • the on-board controller 26 of the excavator 2 has a command receiving unit 26A, a calculation unit 26B, a control unit 26C, a data transmission unit 26D, a travel area setting unit 26E, a travel data generation unit 26F, and a travel stop line setting unit 26G.
  • the command receiving unit 26A receives an operation command transmitted from the remote controller 7 via the control server 10.
  • the command receiving unit 26A also receives a survey start command transmitted from the remote controller 7 via the control server 10.
  • the calculation unit 26B calculates the relative position between the reference position Om of the rotating body 14 and the cutting edge 15D based on the detection data of the angle sensor 22 and the dimensional data of the work machine 15, which is known data. As shown in FIG.
  • the reference position Om may be set to a position that coincides with the rotation axis RX of the rotating body 14, or the connection part between the boom 15A and the rotating body 14 may be set to any position.
  • the calculation unit 26B can calculate the position of the cutting edge 15D in the global coordinate system based on the relative position between the reference position Om and the cutting edge 15D, the position data of the position sensor 20, and the detection data of the attitude sensor 21.
  • the control unit 26C outputs a control command to control each of the traveling body 13 and the hydraulic cylinder 16 based on the operation command.
  • the data transmission unit 26D transmits survey data indicating the position of the linear portion of the work site detected by the shovel 2 based on the survey start command to the remote controller 7 via the control server 10.
  • the travel area setting unit 26E sets the edge line 24 of the travel area based on the survey data.
  • the travel data generation unit 26F generates travel data of the unmanned dump truck 3.
  • the travel data generation unit 26F generates the travel data so that the unmanned dump truck 3 does not exceed the edge line 24.
  • the travel data includes a plurality of travel points and a travel path connecting the plurality of travel points.
  • a target travel speed and a target orientation of the unmanned dump truck 3 are specified for each of the plurality of travel points.
  • the travel stop line setting unit 26G sets a travel stop line 25 for the shovel 2 based on the edge line 24.
  • the travel stop line setting unit 26G sets the travel stop line 25 at a position shifted a predetermined distance from the edge line 24 to the outside of the travel area (the first travel surface 103 side).
  • the control server 10 has a data receiving unit 10A, a data transmitting unit 10B, a command receiving unit 10C, a command transmitting unit 10D, and a data holding unit 10E.
  • the data receiving unit 10A receives survey data from the shovel 2.
  • the data transmitting unit 10B transmits traveling data to the shovel 2, the unmanned dump truck 3, the remote controller 7, and the management controller 30.
  • the command receiving unit 10C receives commands from the remote controller 7.
  • the command transmitting unit 10D transmits operation commands and survey start commands received from the command transmitting unit 7B to the shovel 2.
  • the data holding unit 10E holds the survey data and traveling data, and transmits them to the request source when a request is received from the shovel 2, the unmanned dump truck 3, the remote controller 7, or the management controller 30.
  • the on-board controller 27 of the unmanned dump truck 3 has a data receiving unit 27A and a control unit 27B.
  • the data receiving unit 27A receives driving data from the management controller 30 via the control server 10.
  • the control unit 27B controls the driving device 17 based on the driving data.
  • the control unit 27B controls the driving device 17 so that the unmanned dump truck 3 drives according to the driving path.
  • FIG. 7 is a flowchart showing a method for managing a work site according to the embodiment.
  • Fig. 7 is a flowchart showing a procedure for setting an edge line 24 and a travel stop line 25 at a work site.
  • Figs. 8, 9, 10, and 11 are diagrams showing display data displayed on the display device 5 according to the embodiment.
  • Figs. 8, 9, 10, and 11 show display data displayed on the display device 5 when setting an edge line 24 and a travel stop line 25 at a work site.
  • an overhead image of the excavator 2 and the unmanned dump truck 3 is displayed on the display device 5.
  • the input device 6 functions as a touch panel.
  • a menu screen is displayed on part of the display screen of the input device 6.
  • the operator in the remote control room 9 operates the remote control device 4 while checking the display device 5 so that the cutting edge 15D of the bucket 15C is positioned at the survey start point 28.
  • the survey start point 28 defines one end of the edge line 24.
  • the survey start point 28 is arbitrarily determined by the operator. In the embodiment, the survey start point 28 is set at a part of the lower end 102 of the slope 100.
  • the operator touches the first button 6A indicating "Survey Start” on the menu screen of the input device 6.
  • the command transmission unit 7B generates a survey start command based on the input data from the first button 6A (step SA1) and transmits it to the in-vehicle controller 26 via the control server 10 (step SB1).
  • the calculation unit 26B acquires the GNSS position and the cutting edge position based on the survey start command (step SC1). That is, the calculation unit 26B starts acquiring the GNSS position and the cutting edge position triggered by the survey start command from the remote controller 7.
  • the GNSS position refers to the absolute position of the rotating body 14 detected by the position sensor 20.
  • the cutting edge position refers to the relative position of the cutting edge 15D with respect to the reference position Om.
  • the calculation unit 26B can calculate the relative position of the cutting edge 15D with respect to the reference position Om of the rotating body 14 based on the detection data of the angle sensor 22 and the dimensional data of the work machine 15, which is known data.
  • the operator operates the remote control device 4 so that the cutting edge 15D moves along the lower end 102 of the slope 100 to be set.
  • the linear movement trajectory of the cutting edge 15D is set to the edge line 24.
  • the linear portion extends substantially horizontally.
  • the operator When setting the edge line 24 so that the lower end 102 of the slope 100 coincides with the edge line 24, the operator operates the remote control device 4 to trace the lower end 102 with the cutting edge 15D, as shown in FIG. 9.
  • the calculation unit 26B continues to acquire the GNSS position and cutting edge position at a predetermined time interval during the period in which the cutting edge 15D moves along the lower end 102.
  • the operator touches the second button 6B indicating "Survey End” on the menu screen of the input device 6.
  • the command transmission unit 7B generates a survey end command based on the input data from the second button 6B (step SA2) and transmits it to the in-vehicle controller 26 via the control server 10 (step SB2).
  • the calculation unit 26B ends the acquisition of the GNSS position and the cutting edge position based on the survey end command. In other words, the calculation unit 26B ends the acquisition of the GNSS position and the cutting edge position based on the survey end command from the remote controller 7 as a trigger.
  • the calculation unit 26B calculates survey data indicating the position of the linear portion of the work site based on the GNSS positions and cutting edge positions acquired at a specified time interval.
  • the survey data is the absolute position of the movement trajectory of the cutting edge 15D between the survey start point 28 and the survey end point 29.
  • the survey data is a collection of the absolute positions of each of the multiple positions of the movement trajectory of the cutting edge 15D. In other words, the survey data indicates the position of the edge line 24 to be set.
  • the survey data is detected by the cutting edge 15D of the bucket 15C.
  • the display control unit 7D displays a data input screen on the input device 6.
  • the operator touches the third button 6C indicating "data input”
  • the operator inputs input data for setting the travel stop line 25 into the input device 6.
  • the travel stop line 25 is set at a position shifted a predetermined distance from the edge line 24 to the outside of the travel area.
  • the operator can input any predetermined distance.
  • the operator also inputs the height from the lower end 102 to the upper end 101 and the inclination angle of the slope 100.
  • the height from the lower end 102 to the upper end 101 and the inclination angle of the slope 100 are both known data that have been measured in advance.
  • the height may be calculated based on the position of the cutting edge when the cutting edge 15D is positioned at each of the lower end 102 and the upper end 101.
  • the inclination angle of the slope 100 may be calculated based on the position of the cutting edge when the cutting edge 15D is moved along the slope 100.
  • the data receiving unit 7A receives input data from the input device 6 (step SA3).
  • the data transmitting unit 7C transmits the input data to the control server 10 (step SA4), and the data transmitting unit 7C transmits the input data to the in-vehicle controller 26 via the control server 10 (step SB3).
  • the driving area setting unit 26E sets the edge line 24 of the driving area based on the detected survey data.
  • the driving area setting unit 26E sets the edge line 24 so that it matches the movement trajectory of the cutting edge 15D.
  • the driving stop line setting unit 26G sets the driving stop line 25 based on the survey data and the input data.
  • the driving stop line setting unit 26G sets the edge line and the driving stop line 25 based on a predetermined distance input from the input device 6 (step SC2).
  • the travel stop line setting unit 26G can determine whether the specified distance input from the input device 6 is appropriate based on the height from the lower end 102 to the upper end 101 and the inclination angle of the slope 100. As described above, the operator can input any numerical value for the specified distance. If the edge line 24 is set along the lower end 102, if the specified distance is short, the travel stop line 25 may be set, for example, on the slope 100. The travel stop line setting unit 26G determines whether the travel stop line 25 will be set closer to the first travel surface 103 than the upper end 101 based on the specified distance input from the input device 6 based on the height from the lower end 102 to the upper end 101 and the inclination angle of the slope 100.
  • the travel stop line setting unit 26G determines that the travel stop line 25 is set closer to the slope 100 than the upper end 101 based on the predetermined distance input from the input device 6 and that the predetermined distance is inappropriate, the travel stop line setting unit 26G transmits warning data to the input device 6 via the control server 10.
  • the display control unit 7D causes the display device 5 to display display data indicating that the predetermined distance input to the input device 6 is inappropriate. This allows the operator to re-input an appropriate predetermined distance.
  • the travel stop line setting unit 26G can set the travel stop line 25 of the excavator 2 on the first travel surface 103.
  • the data transmission unit 26D transmits the set edge line 24 and driving stop line 25 to the control server 10 (step SC3).
  • the data transmission unit 26D transmits the data to the remote controller 7 via the control server 10 (steps SB4 and SB6).
  • the set edge line 24 and driving stop line 25 are stored in the control server 10 (step SB5).
  • the display control unit 7D causes the display device 5 to display the edge lines 24 and the travel stop lines 25 (step SA5).
  • the display control unit 7D causes the edge lines 24 and the travel stop lines 25 to be displayed so as to be superimposed on the overhead image of the work site generated based on the image data of the camera 23.
  • the driving data generating unit 26F generates driving data for the unmanned dump truck 3 based on the edge lines 24 of the driving area.
  • the driving data generating unit 26F generates driving data so that the unmanned dump truck 3 does not go outside the driving area.
  • the unmanned dump truck 3 drives through the work site based on the driving data.
  • the excavated material is loaded onto an unmanned dump truck 3 located on the second travel surface 104.
  • the operator operates the remote control device 4 so that the shovel 2 does not cross the travel stop line 25. If the shovel 2 crosses the travel stop line 25, warning data may be displayed on the display device 5 or a warning sound may be emitted. If the travel body 13 includes an automatic braking function, the automatic brakes may be activated when the shovel 2 crosses the travel stop line 25.
  • Fig. 12 is a diagram showing display data displayed on the display device 5 according to the embodiment.
  • Fig. 12 shows display data displayed on the display device 5 as the excavation work on the slope 100 progresses.
  • the travel stop line setting unit 26G updates the travel stop line 25 based on the excavation state of the slope 100.
  • the travel stop line setting unit 26G determines the excavation state of the slope 100 based on the position of the bucket 15C when the slope 100 is being excavated.
  • the calculation unit 26B calculates the cutting edge position when the work machine 15 is excavating the slope 100. As shown in FIG. 13, when the cutting edge position moves toward the first running surface 103 side (near side) from the edge line 24, and as shown in FIG. 14, when the cutting edge position moves downward by a threshold D from the ground contact surface of the track 13A that contacts the first running surface 103, the travel stop line setting unit 26G determines that the slope 100 has been excavated, and updates the travel stop line 25 so that the travel stop line 25 shifts by a distance equivalent to the amount of excavation of the slope 100. In this way, the travel stop line 25 is automatically updated based on the cutting edge position.
  • the edge line 24 is not automatically updated.
  • the travel area setting unit 26E updates the edge line 24 based on input data from the input device 6.
  • the operator checks the situation of the work site displayed on the display device 5, confirms that the edge line 24 may be updated, and then operates the input device 6 to update the edge line 24.
  • excavation work may cause an embankment to be formed on a part of the second travel surface 104, or the slope 100 to pile up with soil and sand.
  • the edge line 24 is automatically updated when the second travel surface 104 or the slope 100 is not sufficiently leveled, the unmanned dump truck 3 approaching the updated edge line 24 may run over the embankment or interfere with the soil and sand. Therefore, while checking the situation of the work site displayed on the display device 5, the operator levels the second travel surface 104 or the slope 100, confirms that the edge line 24 may be updated, and then operates the input device 6 to update the edge line 24.
  • FIG. 15 is a diagram showing display data displayed on the display device 5 according to the embodiment.
  • FIG. 15 shows display data displayed on the display device 5 when updating the edge line 24.
  • the operator operates the fourth button 6D for "updating" the edge line 24.
  • the input data generated by operating the fourth button 6D is transmitted to the driving area setting unit 26E.
  • the driving area setting unit 26E updates the edge line 24 based on the input data.
  • the driving area setting unit 26E updates the edge line 24 so that the edge line 24 approaches the driving stop line 25.
  • the driving stop line setting unit 26G may shift the driving stop line 25 to approach the edge line 24 by a predetermined distance determined to be appropriate in the above-mentioned step SC2, for example.
  • the work site management system 1 includes a command sending unit 7B that sends a survey start command to the shovel 2 operating at the work site for setting a travel area in which the unmanned dump truck 3 can travel at the work site, a data receiving unit 7A that receives survey data indicating the positions of linear portions of the work site detected by the shovel 2 based on the survey start command, and a travel area setting unit 26E that sets the edge line 24 of the travel area based on the survey data.
  • the travel area in which the unmanned dump truck 3 can travel at the work site is efficiently set.
  • the functions of the in-vehicle controller 26 may be provided in at least one of the remote controller 7, the control controller 30, the control server 10, and the in-vehicle controller 27.
  • the remote controller 7 may have not only the functions of the data receiving unit 7A and the command transmitting unit 7B, but also the functions of the travel area setting unit 26E and the travel stop line setting unit 26G.
  • the control server 10 may have not only the functions of the data receiving unit 10A and the data transmitting unit 10B, but also the functions of the travel area setting unit 26E and the travel stop line setting unit 26G.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

Ce système de gestion de chantier comprend : une unité de transmission d'instruction qui transmet, à une pelle actionnée dans un chantier, une instruction de démarrage de levé pour définir, dans le chantier, une zone de déplacement dans laquelle un camion-benne sans pilote peut se déplacer ; une unité de réception de données qui reçoit des données de levé du chantier détectées par la pelle sur la base de l'instruction de démarrage de levé ; une unité de définition de zone de déplacement qui définit une ligne de bord de la zone de déplacement sur la base des données de levé ; et une unité de définition de ligne d'arrêt de déplacement.
PCT/JP2024/000521 2023-01-19 2024-01-12 Système de gestion de chantier et procédé de gestion de chantier WO2024154649A1 (fr)

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JP2023-006624 2023-01-19
JP2023006624A JP2024102615A (ja) 2023-01-19 2023-01-19 作業現場の管理システム及び作業現場の管理方法

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WO2024154649A1 true WO2024154649A1 (fr) 2024-07-25

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020033836A (ja) * 2018-08-31 2020-03-05 株式会社小松製作所 作業機械の制御装置および制御方法
JP2022075200A (ja) * 2020-11-06 2022-05-18 日立建機株式会社 車両管理システム

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020033836A (ja) * 2018-08-31 2020-03-05 株式会社小松製作所 作業機械の制御装置および制御方法
JP2022075200A (ja) * 2020-11-06 2022-05-18 日立建機株式会社 車両管理システム

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