阅读说明：本技术 施工现场管理装置、输出装置及施工现场的管理方法 (Job site management device, output device, and job site management method ) 是由 大西喜之 加纳伸也 黑田恭平 古川章太 大室直之 于 2018-06-27 设计创作，主要内容包括：作业状态确定部确定在施工现场配备的作业机械的各时刻的作业状态和在施工现场行驶的搬运车辆的各时刻的作业状态。时序图生成部基于所确定的作业状态,生成表示作业机械的各时刻的作业状态的时序图和表示搬运车辆的各时刻的作业状态的时序图。输出控制部将各时序图以彼此共用时间轴的方式输出至同一画面上。(The work state determination unit determines a work state at each time of a work machine installed at a construction site and a work state at each time of a transport vehicle traveling at the construction site. The timing chart generating unit generates a timing chart showing the operation state at each time of the working machine and a timing chart showing the operation state at each time of the transport vehicle, based on the determined operation state. The output control unit outputs the time charts to the same screen so as to share the time axis.)

1. A construction site management apparatus, wherein,

The job site management device includes:

A work state determination unit that determines a work state at each time of a work machine installed at a construction site and a work state at each time of a transport vehicle traveling at the construction site;

A time chart generation unit that generates a time chart indicating an operation state at each time of the work machine and a time chart indicating an operation state at each time of the transport vehicle, based on the determined operation state; and

And an output control unit that outputs a time chart indicating an operation state at each time of the work machine and a time chart indicating an operation state at each time of the transport vehicle onto the same screen so as to share a time axis with each other.

2. The job site management apparatus according to claim 1, wherein,

The work state determination unit determines the work state based on position data or orientation data of the plurality of vehicles at each time.

3. The job site management apparatus according to claim 1 or 2, wherein,

The operation state determination unit determines the operation state based on a positional relationship between the positional data of the transport vehicle at each time and the excavation site or the fill site.

4. The job site management apparatus according to any one of claims 1 to 3, wherein,

the work state determination unit determines the work state based on a relationship between a position of the transport vehicle and a position of the work machine.

5. The job site management apparatus according to any one of claims 1 to 4, wherein,

a plurality of transport vehicles and a working machine are equipped in the construction site,

the output control unit outputs the time chart of each of the plurality of transport vehicles and the time chart of the one work machine so as to share a time axis.

6. An output device, wherein,

The output device outputs a time chart showing an operation state at each time of a working machine installed at a construction site and a time chart showing an operation state at each time of a transport vehicle traveling at the construction site to the same screen so as to share a time axis with each other.

7. a method for managing a construction site, wherein,

The management method of the construction site comprises the following steps:

Determining an operation state at each time of a working machine equipped at a construction site and an operation state at each time of a transport vehicle traveling at the construction site;

Generating a time chart indicating an operation state at each time of the transport vehicle and a time chart indicating an operation state at each time of the transport vehicle based on the determined operation state; and

A time chart showing the operation state of the work machine at each time and a time chart showing the operation state of the transport vehicle at each time are output to the same screen so as to share a time axis.

Technical Field

The invention relates to a construction site management device, an output device and a construction site management method.

The present application claims priority based on Japanese application No. 2017-.

Background

Patent document 1 discloses a technique of generating a time chart indicating the progress of travel of a plurality of transport vehicles.

Prior art documents

Patent document

patent document 1: japanese laid-open patent publication No. 2015-535992

Disclosure of Invention

Problems to be solved by the invention

A transport vehicle for transporting sand and a working machine for performing operations such as excavation and filling are installed in a construction site. That is, at a construction site, a so-called vehicle group is formed by a combination of one or more transport vehicles and work machines that perform loading work on the transport vehicles. In a construction site, there is a demand for research on the appropriate number of transport vehicles and work machines in consideration of the efficiency of the entire vehicle group including the transport vehicles and the work machines. Therefore, there is a demand for enabling the operator to easily grasp the work of the transport vehicles and the work machines constituting the vehicle group in consideration of the efficiency of the vehicle group. According to the time chart described in patent document 1, although the travel progress of a plurality of transport vehicles can be displayed, the state of the work machines constituting the vehicle group cannot be recognized, and the overall efficiency of the vehicle group cannot be read from the time chart.

An object of an aspect of the present invention is to provide a construction site management device, an output device, and a construction site management method that can easily grasp an operation state of a vehicle group including a transport vehicle and a work machine.

means for solving the problems

According to a first aspect of the present invention, a job site management apparatus includes: a work state determination unit that determines a work state at each time of a work machine installed at a construction site and a work state at each time of a transport vehicle traveling at the construction site; a time chart generation unit that generates a time chart indicating an operation state at each time of the working machine and a time chart indicating an operation state at each time of the transport vehicle, based on the determined operation state; and an output control unit that outputs a time chart showing an operation state at each time of the work machine and a time chart showing an operation state at each time of the transport vehicle onto the same screen so as to share a time axis with each other.

Effects of the invention

According to the above aspect, the work site management device can easily grasp the work state of the vehicle group including the transport vehicle and the work machine.

Drawings

fig. 1 is a diagram illustrating an example of a construction site as a management target of a work machine management device according to a first embodiment.

Fig. 2 is a flowchart showing an operation of the loading operation by the hydraulic excavator.

Fig. 3 is a flowchart showing the operation of the paving work by the bulldozer.

Fig. 4 is a schematic block diagram showing the configuration of the work machine management device according to the first embodiment.

Fig. 5 is a diagram showing data stored in the time-series storage unit.

Fig. 6 is a flowchart showing an output method of the timing chart of the first embodiment.

Fig. 7 is a flowchart illustrating a method for determining the state of the hydraulic excavator installed in the excavation site according to the first embodiment.

Fig. 8 is a diagram showing an example of a time series of the orientation data of the hydraulic excavator.

Fig. 9 is a flowchart showing a method for determining the state of the hydraulic excavator installed in the earth-fill site in the first embodiment.

Fig. 10 is a flowchart illustrating a method of determining an operation state of the slope excavator according to the first embodiment.

Fig. 11 is a flowchart showing a method of determining the operating state of the bulldozer according to the first embodiment.

Fig. 12 is a flowchart illustrating a method of determining the operation state of the dump truck in the first embodiment.

Fig. 13 is an example of a sequence chart generated by the construction site management apparatus according to the first embodiment.

Fig. 14 is a flowchart illustrating a method of determining the operation state of the dump truck in the second embodiment.

Detailed Description

(first embodiment >

Construction site

Fig. 1 is a diagram showing an example of a construction site to be managed by a construction site management apparatus according to a first embodiment.

The construction site G of the first embodiment includes a trench G1 and a landfill G2. The excavation site G1 and the landfill site G2 are connected to each other via a travel road G3. The travel road G3 includes a general road connecting the excavation site G1 and the filling site G2, and a transport path prepared for transporting earth and sand in the construction site G. A hydraulic excavator M1 and a bulldozer M2 are provided in the excavation site G1 and the landfill site G2, respectively. The hydraulic excavator M1 and the bulldozer M2 are examples of work machines that perform earth and sand work at the construction site G. Further, the dump trucks M3 travel between the excavation site G1 and the fill site G2. The dump truck M3 is an example of a transport vehicle that transports earth and sand. The hydraulic shovel M1, the bulldozer M2, and the dump truck M3 are examples of the vehicle M. In other embodiments, a plurality of hydraulic excavators M1, a plurality of bulldozers M2, one of a hydraulic excavator M1 and a bulldozer M2, and another vehicle M may be provided in the excavation site G1 and the landfill site G2. The number of transport vehicles equipped in the construction site G is larger than the number of working machines.

Vehicle(s)

The hydraulic excavator M1 equipped in the excavation site G1 excavates earth and sand in the excavation site G1 and loads the earth and sand into the dump truck M3.

Fig. 2 is a flowchart showing an operation of the loading operation by the hydraulic excavator.

The operator of the hydraulic excavator M1 collects in advance the earth and sand excavated in the vicinity of the parking position of the dump truck M3 before the dump truck M3 arrives (step S01). The operator of the hydraulic shovel M1 shovels the hydraulic shovel M1 with earth and sand in advance before the dump truck M3 arrives (step S02). If the operation time is not sufficient, the operations of steps S01 and S02 can be omitted. When the dump truck M3 reaches the predetermined loading area of the excavation site G1, the dump truck stops near the hydraulic shovel M1 (step S03). Next, the operator of the hydraulic excavator M1 drops the scooped soil into the bucket of the dump truck M3 (step S04). The operator of the hydraulic excavator M1 estimates whether the amount of soil and sand loaded into the dump truck M3 is smaller than the loadable capacity of the dump truck M3 (step S05). When the operator of the hydraulic excavator M1 determines that the amount of soil and sand loaded into the dump truck M3 is smaller than the loadable capacity of the dump truck M3 (yes in step S05), the operator turns the upper turning body of the hydraulic excavator M1 in the direction of the collected soil and sand or the soil and sand to be excavated (step S06). The operator of the hydraulic excavator M1 causes the hydraulic excavator M1 to scoop up the collected soil and sand or the excavated soil and sand (step S07). Next, the operator of the hydraulic excavator M1 turns the upper turning body of the hydraulic excavator M1 in the direction of the dump truck M3 (step S08), and returns the process to step S4 to drop the soil. By repeatedly executing the above-described processing, the operator of the hydraulic excavator M1 can load earth and sand up to the loadable capacity of the dump truck M3. When the operator of the hydraulic excavator M1 determines that the amount of soil and sand loaded into the dump truck M3 has reached the loadable capacity of the dump truck M3 (no in step S05), the loading operation by the hydraulic excavator M1 is ended.

Further, the hydraulic excavator M1 installed in the excavation site G1 may form a slope surface in the excavation site G1. The operator of the excavator M1 moves the excavator M1 close to a slope area designed as a slope and forms earth and sand on the surface of the slope area with a bucket while moving the excavator in the direction in which the slope extends. Hereinafter, the hydraulic excavator M1 used for the slope forming work is also referred to as a slope excavator.

a bulldozer M2 equipped in a yard G1 excavates/carries earth and sand in the yard G1. The operator of bulldozer M2 advances bulldozer M2 by aligning the position of the blade of bulldozer M2, thereby enabling bulldozer M2 to dig through the earth and sand. In addition, a bulldozer M2 equipped at a soil excavation site G1 compacts the excavated foundation. The operator of bulldozer M2 can cause bulldozer M2 to compact the ground by driving bulldozer M2 so as to raise the blade of bulldozer M2. The traveling speed of bulldozer M2 during pushing is faster than the traveling speed during digging.

The dump truck M3 delivers the earth and sand loaded in the excavation site G1 to the earth fill site G2. When the dump truck M3 discharges sand from the landfill G2, it moves from the landfill G2 to the excavation G1. The traveling speed of the dump truck M3 is different between the loading time of the soil and the unloading time. The traveling speed of the dump truck M3 is different between when traveling in the landfill G2 or the excavation G1 and when traveling on the off-site travel road G3.

When the dump truck M3 is stopped at the parking position in the excavation site G1 and the landfill site G2, the operator of the dump truck M3 turns the dump truck M3 and travels backward, thereby stopping the dump truck at the parking position.

the hydraulic excavator M1 provided in the landfill G2 deposits the soil and sand unloaded by the dump truck M3 on the landfill G2. At this time, the hydraulic excavator M1 provided in the landfill G2 also repeatedly executes the following processing, similarly to the hydraulic excavator M1 provided in the excavation G1: after the upper revolving body scoops up the soil toward the removed soil, the upper revolving body is revolved to the portion to be scattered and the soil is dropped to the portion to be scattered.

In addition, the hydraulic excavator M1 equipped in the landfill G2 can form a slope surface in the landfill G2.

the bulldozer M2 equipped in the landfill G2 flattens the soil and sand transported by the dump truck M3 in the landfill G2. Specifically, the bulldozer M2 spreads the soil and sand discharged from the dump truck M3 and the like uniformly over the area to be spread. In the paving work, the operator determines the height to be paved at each time, that is, the height to pile up the terrain compared to before paving, according to the situation of the construction site G. In order to level the discharged earth and sand at a predetermined height, bulldozer M2 sets the blade at the predetermined height and then performs a leveling operation. The paving operation is repeated a plurality of times until the area that should be finally paved reaches the target height.

Fig. 3 is a flowchart showing the operation of the paving work by the bulldozer.

When the operator of the bulldozer M2 spills the soil into the area to be leveled by the dump truck M3, the operator lowers the blade of the bulldozer M2 to an arbitrary height (step S11). The height of the paved sandy soil is determined according to the height of the blade. Next, the operator of the bulldozer M2 advances the bulldozer M2 within the paved area, thereby leveling the sand (step S12). By advancing the bulldozer M2 once, the sand can be laid out to the front at a distance (e.g., about 10 meters). When the bulldozer M2 has advanced a certain distance, the operator of the bulldozer M2 retracts the bulldozer M2 (step S13). The operator of the bulldozer M2 determines whether the entire paved area has been paved by the bulldozer M2 (step S14). In the case where an unpaved portion remains (no in step S14), the operator of the bulldozer M2 moves the blade so as to align the position that includes the unpaved portion and that partially overlaps the already-paved portion (step S15). For example, the operator of the bulldozer M2, at the time of the backward movement in step S13, moves the bulldozer M2 backward diagonally. Also, the process returns to step S12, and the advancing and retreating are repeated until the entire tiled area is tiled. If the operator of the bulldozer M2 determines that the entire paved area has been paved (YES in step S14), it determines whether the leveling height of the paved area has reached the target height (step S16). When it is determined that the flat height of the flattened area has not reached the target height (no in step S16), the process returns to step S12, and the forward and backward are repeated until the flat height of the flattened area reaches the target height. On the other hand, when the operator of the bulldozer M2 determines that the flat height of the flat area has reached the target height (YES in step S16), the operator ends the paving work by the bulldozer M2.

In addition, a bulldozer M2 equipped in a landfill G2 can compact the ground. The operator of bulldozer M2 can compact the ground by the tracks of bulldozer M2 by driving bulldozer M2 with the blade of bulldozer M2 raised. The traveling speed of bulldozer M2 in the dozing state is faster than the traveling speed in the paving state.

Construction site management apparatus Structure

Fig. 4 is a schematic block diagram showing the configuration of the construction site management device according to the first embodiment.

The construction site management apparatus 10 determines the state of each vehicle M at each time in the construction site G, and outputs the state as a sequence chart.

The construction site management apparatus 10 is a computer including a processor 100, a main memory 200, a storage 300, and an interface 400. The storage 300 stores programs. The processor 100 reads the program from the storage 300, expands the program in the main memory 200, and executes the processing according to the program. The work site management apparatus 10 is connected to a network via an interface 400. The work site management device 10 is connected to the input device 500 and the output device 600 via the interface 400. Examples of the input device 500 include a keyboard, a mouse, and a touch panel. Examples of the output device 600 include a monitor, a speaker, and a printer.

Examples of the memory 300 include an HDD (hard Disk drive), an SSD (solid State drive), a magnetic Disk, a magneto-optical Disk, a CD-ROM (compact Disk Read Only memory), a DVD-ROM (digital versatile Disk Read Only memory), and a semiconductor memory. The storage 300 may be an internal medium directly connected to the bus of the work site management device 10, or may be an external medium connected to the work site management device 10 via the interface 400. The storage 300 is a non-transitory tangible storage medium.

The processor 100 functions as a position receiving unit 101, a direction receiving unit 102, a time-series recording unit 103, a work state specifying unit 104, a design topography acquiring unit 105, a time chart generating unit 106, and an output control unit 107 by executing programs.

The processor 100 executes a program to secure a storage area of the time-series storage unit 201 in the main memory 200.

The position receiving unit 101 receives position data of each vehicle M installed in the construction site G at a predetermined time interval. The position data of the vehicle M may be received from a computer provided in the vehicle M or may be received from a computer provided outside the vehicle M. As an example of the computer provided outside the vehicle M, a mobile terminal may be mentioned.

The direction receiving unit 102 receives direction data of each vehicle M installed in the construction site G at a predetermined time. The direction data of the vehicle M may be received from a computer provided in the vehicle M or may be received from a computer brought into the vehicle M. When the computer brought into the vehicle M transmits the bit data, the computer is fixed to the vehicle M in advance so as not to rotate. The azimuth data includes not only output data output from sensors such as an electronic compass and a geomagnetic sensor, but also detection results of a swing lever operation (including PPC pressure), a gyro sensor, and an angle sensor of an upper swing body. That is, the bearing receiving section 102 may determine the bearing of the vehicle M by accumulating the instantaneous change amount of the bearing. The orientation data may also be detected by a sensor provided in the vehicle M or a sensor provided outside the vehicle M. The sensor may detect the orientation data by, for example, a motion sensor or image analysis of a camera.

The time-series recording unit 103 stores the position data received by the position receiving unit 101 and the direction data received by the direction receiving unit 102 in the time-series storage unit 201 in association with the ID and the reception time of the vehicle M. Fig. 5 is a diagram showing data stored in the time-series storage unit. Thus, the time-series storage unit 201 stores a time series of the position data of each vehicle M and a time series of the heading data of each vehicle M. The time series of the position data and the azimuth data may be, for example, a collection of position/azimuth data for each predetermined time as azimuth data at each time, or a collection of position/azimuth data for an irregular time.

The working state specifying unit 104 specifies the working state of each vehicle M based on the time series of the position data, the time series of the orientation data, and the time series of the travel speed stored in the time series storage unit 201. Examples of the work state of the vehicle M include the type of work performed by the vehicle M, the location where the vehicle M is located, the traveling direction (forward or backward) of the vehicle M, and the like.

The types of work performed by hydraulic excavator M1 include excavation work, loading work, filling work, scattering work, and slope forming work. The excavation work is a work of excavating earth and sand at the construction site G. The loading operation is an operation of loading the excavated soil into the dump truck M3. The earth-filling work is a work of accumulating the earth and sand discharged from the dump truck M3 on the construction site G. The scattering work is a work of scattering the soil discharged from the dump truck M3 at the construction site G. The slope forming work is a forming work for excavating and forming a slope region in the construction site G according to design topographic data.

Examples of the work of bulldozer M2 include excavation and conveyance work, paving work, and compaction work. The excavating and carrying work is a work of excavating and carrying earth and sand at the construction site G by a blade. The leveling operation is an operation of leveling the soil discharged from the dump truck M3 to a predetermined height. The compacting work is a forming work for compacting sand at the construction site G by a crawler.

The types of operations of the dump truck M3 include empty running, loading operation, and discharging operation. The empty travel is an operation of traveling with no soil in the hopper. The loading travel is an operation of traveling with sand and soil in the hopper. The loading work is a work that is on standby while the hydraulic excavator M1 loads the soil into the bucket. The soil discharge work is a work of discharging soil loaded on the hopper.

Further, the working state determination unit 104 determines whether the traveling state of the bulldozer M2 is forward or reverse. The working state determination unit 104 determines whether the traveling state of the dump truck M3 is inside the excavation site G1 or the fill site G2, and whether the dump truck is turning or backing. The traveling state is an example of the operation state.

Design topography acquisition unit 105 acquires design topography data indicating the design topography of construction site G. The design terrain data is three-dimensional data, including position data in a global coordinate system. The design terrain data includes terrain category data showing a category of terrain. The design topography data is made, for example, by three-dimensional CAD.

The time chart generation unit 106 generates a time chart based on the type of the job determined by the job status determination unit 104. The time chart of the first embodiment is a diagram in which the time is set on the horizontal axis, the vehicles M are arranged on the vertical axis, and the work content for each time slot is displayed for each vehicle.

The output control unit 107 outputs the output signal that outputs the timing chart generated by the timing chart generation unit 106 to the output device 600.

method for outputting timing chart

Next, the operation of the construction site management device 10 according to the first embodiment will be described. Fig. 6 is a flowchart showing an output method of the timing chart of the first embodiment.

The construction site management device 10 periodically collects position data and orientation data from each vehicle M in advance during a period of time to be subjected to the time chart, and generates time-series data.

The computer mounted on each vehicle M or the computer carried into each vehicle M (hereinafter referred to as the computer of the vehicle M) measures the position and orientation of the vehicle M at a fixed time. The computer of the vehicle M transmits position data indicating the measured position and orientation data indicating the measured orientation to the construction site management device 10. The position of the vehicle M is determined by a gnss (global Navigation Satellite system) such as a gps (global Positioning system), for example. The direction of the vehicle M is determined by, for example, an electronic compass provided in the vehicle M or a computer of the vehicle M.

The position receiving unit 101 of the construction site management apparatus 10 receives the position data from the computer of the vehicle M (step S101). The direction receiver 102 receives the direction data from the computer of the vehicle M (step S102). The time-series recording unit 103 stores the received position data and orientation data in the time-series storage unit 201 in association with the reception time and the ID of the vehicle M of the computer of the reception source (step S103). The construction site management apparatus 10 determines whether or not the parameter specification processing is started by the operation of the user or the like (step S104).

When the parameter specification processing is not started (no in step S104), the construction site management device 10 repeatedly executes the processing from step S101 to step S103 until the parameter specification processing is started, thereby forming a time series of the position data and the orientation data in the time series storage unit 201.

When the period to be subjected to the time chart ends (yes in step S104), design topography acquiring unit 105 acquires design topography data (step S105). The work state determination unit 104 calculates the travel speed of each vehicle M at each time point based on the time series of the position data of each vehicle M stored in the time series storage unit 201 (step S106). In other words, the work state determination portion 104 generates a time series of the travel speed of each vehicle M. The time series of the traveling speed may be obtained from can (control Area network) data of the vehicle M. Next, the working state determination unit 104 determines the working state of each vehicle M at each time based on the design topography data, and the position data, orientation data, and time series of the travel speed of each vehicle M (step S107). Then, the time chart generation section 106 generates a time chart based on the state determined by the job state determination section 104 (step S108). The output control unit 107 outputs the output signal of the time chart generated by the time chart generation unit 106 to the output device 600 (step S109).

Here, a method of determining the state by the job state determination unit 104 in step S107 will be specifically described.

Method for determining operating state of hydraulic excavator M1 installed in excavation site G1

Fig. 7 is a flowchart illustrating a method for determining the operation state of the hydraulic excavator installed in the excavation site according to the first embodiment. Fig. 8 is a diagram showing an example of a time series of the orientation data of the hydraulic excavator.

The working state determination unit 104 determines a time zone in which the hydraulic excavator M1 disposed in the excavation site G1 is positioned within a predetermined distance from the dump truck M3 and the hydraulic excavator M1 and the dump truck M3 are stopped, based on the time series of the position data and the time series of the travel speed (step S107a 1). The "stop" of the vehicle M means a working state in which the vehicle M is not running. In other words, a state in which the vehicle does not travel but performs work such as excavation, turning, raising and lowering of the boom is also referred to as "stopped" of the vehicle M. On the other hand, the operation state in which the vehicle M does not travel and does not perform other operations is also referred to as "parking" of the vehicle M. Next, based on the time series of the orientation data, the working state determination unit 104 determines that the working state (type of work) of the hydraulic excavator M1 is the loading working state for the time period during which the hydraulic excavator M1 repeatedly swings in the determined time period (step S107a 2). For example, in the case where the swing in which the orientation of hydraulic excavator M1 changes continuously in the same direction at an angle equal to or greater than a predetermined angle (e.g., 10 degrees) is repeated a predetermined number of times or more in the left-right direction during the specified time period, work state specification unit 104 can determine that the swing is repeated. This is because the loop operation from step S04 to step S08 shown in fig. 2 appears as a change in the repetitive orientation of the hydraulic excavator M1 as shown in fig. 8. In fig. 8, the grid section indicates a time zone in which the distance between the hydraulic shovel M1 and the dump truck M3 is within a predetermined distance. As shown in fig. 8, the working state determination unit 104 determines the working state of the hydraulic excavator M1 as the loading working state during a time period in which the distance between the hydraulic excavator M1 and the dump truck M3 is within a predetermined distance and the repeated turning is completed.

Next, in a time period in which the working state of hydraulic excavator M1 is not determined, working state determination unit 104 determines that the working state of hydraulic excavator M1 is the other working state for a time period in which hydraulic excavator M1 is traveling or the orientation of hydraulic excavator M1 is changed (step S107 A3). The other work states include excavation work, work for collecting earth and sand for loading, and the like.

Next, the working state determination unit 104 determines that the working state of the hydraulic excavator M1 is the stopped state for a period of time for which the working state of the hydraulic excavator M1 is not determined (step S107a 4).

method for determining operating state of hydraulic excavator M1 installed in landfill G2

Fig. 9 is a flowchart illustrating a method for determining the operation state of the hydraulic excavator provided in the landfill G2 in the first embodiment.

The working state determination unit 104 determines the time at which the hydraulic shovel M1 disposed in the landfill G2 is positioned within the predetermined distance from the dump truck M3 and the hydraulic shovel M1 and the dump truck M3 are stopped, based on the time series of the position data and the time series of the travel speed (step S107B 1). Next, the work state determination unit 104 determines at least the timing at which the hydraulic excavator M1 is stopped, with the determined timing as a starting point (step S107B 2). The reason why the position data of the dump truck M3 is not used after the start point is that when the dump truck M3 finishes discharging the soil and sand in the bucket, the dump truck moves to the excavation site G1 regardless of the operation state of the hydraulic excavator M1. Next, based on the time series of the orientation data, the working state determination unit 104 determines that the working state (type of work) of the hydraulic excavator M1 is a scattering work for the time period during which the hydraulic excavator M1 repeatedly turns in the determined time period (step S107B 3).

Thereafter, the working state determination part 104 performs the processing from step S107B4 to step S107B5, and determines whether the working state of the hydraulic excavator M1 is the other working state or the stopped state for the period of time for which the working state of the hydraulic excavator M1 is not determined. The processing from step S107B4 to step S107B5 is the same as the processing from step S107A3 to step S107a 4.

Method for determining operation state of slope excavator

Fig. 10 is a flowchart illustrating a method of determining an operation state of the slope excavator according to the first embodiment. The slope excavator is a hydraulic excavator M1 that performs an operation of forming a slope.

The operation state determination unit 104 determines, for the slope excavator, a time zone in which the slope excavator is located within a predetermined distance of the slope area of the design terrain data, based on the time series of the position data and the design terrain data acquired by the design terrain acquisition unit 105 (step S107C 1). The operation state determination unit 104 determines that the operation state (type of operation) of the slope excavator is the slope forming operation, for the time zone in which the slope excavator moves in the direction in which the slope excavator extends or the azimuth of the slope excavator turns, in the determined time zone (step S107C 2). The slope forming work is a work for excavating a slope excavator according to design topographic data to form a slope region in a construction site.

Next, the operation state determination unit 104 determines that the operation state of the slope excavator is the other operation state for a time slot in which the operation state of the slope excavator is not determined, that is, for a time slot in which the slope excavator is traveling or in which the orientation of the slope excavator changes, in a time slot in which the operation state of the slope excavator is not located within the predetermined distance of the slope area (step S107C 3). Next, the working state determination unit 104 determines that the working state of the slope excavator is the stopped state for a time period in which the working state of the slope excavator is not determined (step S107C 4).

Method for determining operating state of bulldozer M2

Fig. 11 is a flowchart showing a method of determining the operating state of the bulldozer according to the first embodiment.

The work state determination unit 104 determines, for the bulldozer M2, that the bulldozer M2 repeats forward and backward repeatedly, and that the speed at the time of forward movement is a time period of a prescribed speed (e.g., 5 km/hour) or less, based on the time series of the position data and the time series of the travel speed (step S107D 1). Next, the work state determination unit 104 determines whether the bulldozer M2 is mounted on the excavation site G1 or the fill site G2 based on the time series of the position data (step S107D 2). In the case where the bulldozer M2 is mounted on the excavation site G1 (step S107D 2: excavation site), the work state determination section 104 determines the work state (type of work) of the bulldozer M2 as the excavation conveyance work for the determined time period (step S107D 3). On the other hand, when the bulldozer M2 is located at the yard G2 (step S107D 2: yard), the work state determination unit 104 determines that the work state (type of work) of the bulldozer M2 is a paving work for the determined time zone (step S107D 4).

Next, the work state determination portion 104 determines that the work state (type of work) of the bulldozer M2 is a compaction work for a time zone in which the bulldozer M2 is a predetermined distance (for example, 8 meters) or less and forward and backward are repeated, among the time zones in which the work state of the bulldozer M2 is not determined (step S107D 5).

Next, the working condition determining unit 104 determines that the working condition of the bulldozer M2 is the travel condition for a time zone in which the travel speed of the bulldozer M2 is equal to or greater than a predetermined value, out of the time zones in which the working condition of the bulldozer M2 is not determined (step S107D 6).

Next, the working status determination portion 104 determines that the working status of the bulldozer M2 is the stopped state for the time period in which the working status of the bulldozer M2 is not determined (step S107D 7).

The work state determination unit 104 of the first embodiment determines whether the type of work is excavation conveyance work or paving work based on the travel speed of the bulldozer M2, but is not limited to this. For example, in another embodiment, the work state determination unit 104 determines whether the type of work is excavation conveyance work or paving work based on either or both of the repeated travel distance and the travel speed of the bulldozer M2.

The work state determination unit 104 of the first embodiment determines whether or not the type of work is compaction work based on the repeated travel distance of the bulldozer M2, but is not limited to this. For example, in another embodiment, the work state determination unit 104 may determine whether the type of work is compaction work based on either or both of the repeated travel distance and the travel speed of the bulldozer M2.

In general, the travel speed in the excavation and conveyance work and the paving work is slower than the travel speed in the compacting work. In general, the travel distance in the excavation and conveyance work and the paving work is longer than the travel distance in the compacting work.

Method for determining operating state of dump truck M3

Fig. 12 is a flowchart illustrating a method of determining the operation state of the dump truck in the first embodiment.

The working state determination unit 104 determines a time zone in which the hydraulic excavator M1 disposed in the excavation site G1 is positioned within a predetermined distance from the dump truck M3 and the hydraulic excavator M1 and the dump truck M3 are stopped, based on the time series of the position data and the time series of the travel speed (step S107E 1). Next, the working state specifying unit 104 specifies the working state (type of work) of the dump truck M3 located within a predetermined distance from the hydraulic shovel M1 as the loading working state for the time zone in which the hydraulic shovel M1 repeatedly swings in the specified time zone based on the time series of the orientation data (step S107E 2).

The working state specifying unit 104 specifies the time at which the hydraulic shovel M1 disposed in the landfill G2 is positioned within the predetermined distance from the dump truck M3 and the hydraulic shovel M1 and the dump truck M3 are stopped, based on the time series of the position data and the time series of the travel speed (step S107E 3). Next, the working state determination section 104 determines the working state (type of work) of the dump truck M3 as the discharging working state at least for the time period in which the dump truck M3 is stopped, with the determined time as a starting point (step S107E 4).

The work state determination portion 104 determines, for the dump truck M3, a time period from the end time of the loading work to the start time of the discharging work, from among the time periods in which the loading work is not determined in step S107E2 and the discharging work is not determined in step S107E4 (step S107E 5). The working state determination unit 104 determines that the working state (type of work) of the dump truck M3 is the loading travel for the time zone in which the dump truck M3 is traveling in the determined time zone based on the time series of the travel speed (step S107E 6). Further, the job status determination section 104 determines, with respect to the dump truck M3, that the loading job is not determined in step S107E2 and that the period from the end time of the discharging job to the start time of the loading job is not determined in step S107E4 among the discharging job periods (step S107E 7). The working state determination part 104 determines that the working state (type of work) of the dump truck M3 is idle running for the time zone in which the dump truck M3 is running in the determined time zone based on the time series of the running speed (step S107E 8). In another embodiment, the operating state determining unit 104 may further determine that the operating state of the dump truck M3 before the loading operating state or the dumping operating state is one of the turning travel, the reverse travel, and the travel in the yard based on the travel speed, the travel direction, and the like of the dump truck M3. For example, when the travel speed is low, the working state determination unit 104 may determine that the working state of the dump truck M3 is traveling in the field. For example, when the traveling direction is rearward, the working state determination unit 104 may determine that the working state of the dump truck M3 is reverse traveling.

Next, the working state determination part 104 determines that the working state of the dump truck M3 is the parking state for the time period for which the working state of the dump truck M3 is not determined (step S107E 9).

Fig. 13 is an example of a sequence diagram screen generated by the construction site management apparatus according to the first embodiment.

When the work state determination unit 104 determines the state of each time of each vehicle M by the processing of step S107 described above, the time chart generation unit 106 generates a time chart screen in which the vehicles M in the vehicle group are arranged on the vertical axis with the horizontal axis as the time axis, as shown in fig. 13. The vehicles M arranged on the vertical axis of the time chart screen include different individuals of the same type, and the individuals can be identified by displaying the identification numbers of the vehicles M, for example. The time chart screen shown in fig. 13 is a screen on which, for example, a time chart showing the time-classified states of one hydraulic excavator M1 installed in the excavation site G1 and eight dump trucks M3 that accumulate sand and soil by the hydraulic excavator M1 and transport the sand and soil between the excavation site G1 and the filling site G2 are displayed on the same screen in common with the time axis. That is, in the construction site G, one hydraulic excavator M1 and eight dump trucks M3 form a vehicle group. The "same screen" includes the same paper surface when the output device is a printer.

It is understood that a certain dump truck M3 is also loaded during the time period in which the hydraulic excavator M1 is being loaded. When the next dump truck M3 has not reached the loading area after the loading of a certain dump truck M3 is completed, the hydraulic excavator M1 performs another operation. That is, the hydraulic excavator M1 performs, as another work, so-called accumulation in which earth and sand to be excavated is excavated in advance and accumulated in the vicinity of the hydraulic excavator M1 (step S01 in fig. 2). Thus, the hydraulic excavator M1 can efficiently perform the loading operation when the dump truck M3 arrives. In the example of fig. 13, after the loading operation into the eight dump trucks M3(a to F) is completed for the first time, the hydraulic excavator M1 performs another operation for a predetermined period. On the other hand, since there is sufficient time until the next dump truck M3A arrives, the hydraulic shovel M1 is in a stopped state for a long time. Thus, by additionally installing the dump truck M3 on the construction site G, the time for which the hydraulic excavator M1 is in the stopped state can be shortened, and the overall efficiency effect can be achieved.

action/Effect

As described above, according to the first embodiment, the construction site management apparatus 10 specifies the state of the vehicle M at each time, and outputs the time chart indicating the specified state at each time to the same screen of the output apparatus 600. Thus, the manager of the construction site G can easily grasp the work state of the vehicle group including the transport vehicle and the work machine without switching the screen. The manager of the construction site G can recognize the overall efficiency of the fleet by viewing the outputted sequence chart. For example, in the example shown in fig. 13, since the hydraulic excavator M1 of the excavation site G1 is seen to be stopped for a long time, the manager may increase the dump truck M3 so that the loading work can be performed at that time, and may cause the hydraulic excavator M1 to perform the work such as the slope forming work at that time.

Further, according to the first embodiment, the construction site management device 10 specifies the work type of a certain vehicle M (for example, the hydraulic shovel M1) based on the relationship between the position of the certain vehicle M and the position of another vehicle M (for example, the dump truck M3). Thus, the job site management device 10 can specify the work type of the vehicle M with high accuracy.

Further, according to the first embodiment, the construction site management device 10 determines the traveling speed of the vehicle M in the corresponding state based on the time series of the position data of the vehicle M for each state (forward, backward, work type) of the vehicle M. Thus, the construction site management device 10 can specify the traveling speed in each state even when the vehicle M does not output the state and the traveling speed by communication.

The construction site management device 10 according to the first embodiment specifies the work state of the vehicle M based on the GNSS-derived positional relationship between the vehicle M and another vehicle M, but is not limited to this. For example, the construction site management device 10 according to another embodiment may determine the work state of the vehicle M using the positional relationship between the vehicles M based on the inter-vehicle communication.

In the first embodiment, the vehicles M constituting the vehicle group are arranged on the vertical axis with the horizontal axis as the time axis, and the time chart screen in which the time charts of the respective vehicles M are arranged is generated with the time axis shared. For example, in another embodiment, if the time axes of the vehicles M are aligned, the time axis may be vertical, or the time-series screen may be generated in another manner.

< second embodiment >

Next, a second embodiment will be explained. The construction site management device 10 according to the first embodiment determines that the dump truck M3 is in the loaded travel mode when traveling after the loading operation and before the discharging operation, and determines that the dump truck is in the empty travel mode when traveling after the discharging operation and before the loading operation. In contrast, in the second embodiment, the state of the dump truck M3 is determined based on the position information of the dump truck M3.

The work state of the dump truck M3 determined by the construction site management device 10 according to the second embodiment is off-site loading travel in which the dump truck travels on the travel road G3 in a loaded state, off-site idling travel in which the dump truck travels on the travel road G3 in an unloaded state, turning travel in a turning area provided in the excavation ground G1 or the landfill G2, backward travel in a backward area provided in the excavation ground G1 or the landfill G2, on-site loading travel in which the dump truck travels in a loaded state in the excavation ground G1 or the landfill G2, and off-site idling travel in normal travel in which the dump truck travels in a loaded state in the excavation ground G1 or the landfill G2. The earth moving G1, the fill G2, the turning area, and the retreating area are designated in advance as geo-fences, for example. In this case, the working state determination section 104 determines the working state of the dump truck M3 based on whether or not the position indicated by the position data of the dump truck M3 is within the geo-fence.

Fig. 14 is a flowchart illustrating a method of determining the state of the dump truck in the second embodiment.

The working state determination unit 104 determines a time zone in which the hydraulic excavator M1 disposed in the excavation site G1 is positioned within a predetermined distance from the dump truck M3 and the hydraulic excavator M1 and the dump truck M3 are stopped, based on the time series of the position data and the time series of the travel speed (step S107F 1). Next, the working state specifying unit 104 specifies the working state (type of work) of the dump truck M3 located within a predetermined distance from the hydraulic shovel M1 as the loading working state for the time zone in which the hydraulic shovel M1 repeatedly swings in the specified time zone based on the time series of the orientation data (step S107F 2).

The working state specifying unit 104 specifies the time at which the hydraulic shovel M1 disposed in the landfill G2 is positioned within the predetermined distance from the dump truck M3 and the hydraulic shovel M1 and the dump truck M3 are stopped, based on the time series of the position data and the time series of the travel speed (step S107F 3). Next, the working state determination section 104 determines the working state (type of work) of the dump truck M3 as the discharging working state at least for the time period in which the dump truck M3 is stopped, with the determined time as a starting point (step S107F 4).

The working state determination part 104 determines that the working state of the dump truck M3 is the parking state for a time period in which the travel speed of the dump truck M3 is less than a predetermined value, out of the time periods in which the working state of the dump truck M3 is not determined (step S107F 5).

The working state determination part 104 determines that the working state of the dump truck M3 is the turning travel for a time period in which the dump truck M3 is located in the turning region, of the time periods in which the working state of the dump truck M3 is not determined (step S107F 6). Further, the working state determination unit 104 determines that the working state of the dump truck M3 is the reverse travel for a time period in which the dump truck M3 is located in the reverse region, out of the time periods in which the working state of the dump truck M3 is not determined (step S107F 7).

The working state determination unit 104 determines that the working state of the dump truck M3 is on-site loading travel for a time period from the end time of the loading work in the yard G1 to the time of exiting the yard G1, or a time period from the time of entering the yard G2 to the time of entering the turning area of the yard G2, out of the time periods in which the working state of the dump truck M3 is not determined (step S107F 8). Further, the working state determination unit 104 determines that the working state of the dump truck M3 is in the on-board no-load travel for a time period from the end time of the discharging work in the yard G2 to the time of exiting the yard G2, or a time period from the time of entering the yard G1 to the time of entering the turning region of the yard G1, out of the time periods in which the working state of the dump truck M3 is not determined (step S107F 9). In other words, even when the dump truck M3 is located in the excavation site G1 or the landfill site G2, when the dump truck M3 is located in the turning region or the retreating region in the excavation site G1 or the landfill site G2, the operation state of the dump truck M3 is not set to the on-site loading travel or the on-site no-load travel.

the working state determination portion 104 determines a time period from a time outside the excavation site G1 until a time inside the fill site G2 (step S107F 10). The working state determination unit 104 determines that the working state of the dump truck M3 is off-board loading travel for the time period for which the working state of the dump truck M3 has not been determined, of the time periods determined in step S107F10 (step S107F 11).

In addition, the state determination portion 104 determines a time period from the time outside the outfall G2 to the time inside the excavation G1 (step S107F 12). The state determination unit 104 determines that the operation state of the dump truck M3 is off-board idling for the time period for which the operation state of the dump truck M3 has not been determined, of the time periods determined in step S107F12 (step S107F 13).

In other words, the construction site management device 10 of the second embodiment determines the state of the vehicle M based on the position of the vehicle M, whether the vehicle M is present in a predetermined area, whether the vehicle M enters the area, or whether the vehicle M is outside the area.

(other embodiment >

While one embodiment has been described in detail with reference to the drawings, the specific configuration is not limited to the above configuration, and various design changes and the like can be made.

For example, the timing chart shown in fig. 13 represents the states of the hydraulic excavator M1 and the dump truck M3. That is, the hydraulic excavator M1 is an example of a work machine, and the dump truck M3 is an example of a transport vehicle. On the other hand, the sequence chart generated by the construction site management device 10 according to the other embodiment is not limited to showing the relationship between the hydraulic shovel M1 and the dump truck M3. For example, in another embodiment, when the earth-fill G2 is equipped with the bulldozer M2 and the dump truck M3 carries sand from the earth-fill G1 to the earth-fill G2, the construction site management apparatus 10 may generate a sequence chart showing the relationship between the bulldozer M2 and the dump truck M3. In this case, the bulldozer M2 is an example of a work machine, and the dump truck M3 is an example of a transport vehicle. In another embodiment, for example, when the hydraulic excavator M1 and the bulldozer M2 are provided in the landfill G2 and the bulldozer M2 carries the earth and sand excavated by the hydraulic excavator M1 in the landfill G2, the construction site management device 10 may generate a time chart showing the relationship between the hydraulic excavator M1 and the bulldozer M2. In this case, the hydraulic excavator M1 is an example of a work machine, and the bulldozer M2 is an example of a transport vehicle.

In the above-described embodiment, the construction site management device 10 specifies the operation state of each vehicle M at each time or at each predetermined time, and generates the time chart based on the specified operation state, but the present invention is not limited to this. For example, in another embodiment, the construction site management apparatus 10 may determine an irregular time operation state of each vehicle M as an operation state at each time and generate a time chart based on the operation state, or the construction site management apparatus 10 may determine a start time and an end time of each operation state as an operation state at each time and generate a time chart based on the operation state.

in the above-described embodiment, the hydraulic shovel M1, the bulldozer M2, and the dump truck M3 have been described as examples of the vehicle M, but the present invention is not limited to this. For example, the construction site management device 10 may check the state of a wheel loader or a road roller and generate a sequence chart. The state of the wheel loader and the road roller can be determined by the same method as the state of the bulldozer M2.

In addition, the hydraulic excavator M1 of the other embodiment may be formed with a groove. The operation state and parameters of the hydraulic excavator M1 having the trough can be obtained by the same method as those of the slope excavator. The parameters relating to the amount of work in the groove excavation work include the distance of the groove excavated and formed per hour, the area of the groove, and the amount of soil in the groove. The groove excavation work is an example of the forming work.

Further, the hydraulic excavator M1 according to the other embodiment may perform the excavation work without being incorporated. For example, the hydraulic shovel M1 may excavate earth and sand to be excavated, and discharge the excavated earth and sand to the vicinity of the loading shovel to facilitate excavation of earth and sand by another loading shovel. In this case, the determination of the excavation work is performed by determining the time period during which hydraulic excavator M1 is stopped and repeatedly swivels. In the judgment of the excavation work, the condition that the hydraulic excavator M1 approaches the dump truck M3 may not be considered. The parameters of the excavation work in this case can be obtained by the same method as the parameters of the loading work of the hydraulic excavator M1.

In the construction site management device 10 according to the above-described embodiment, the case where the program is stored in the memory 300 has been described, but the present invention is not limited to this. For example, in other embodiments, the program may be distributed to the job site management apparatus 10 through a communication line. In this case, the job site management apparatus 10 that has received the assignment expands the program in the main memory 200 and executes the above-described processing.

In addition, the program may be used to realize a part of the above-described functions. For example, the program may realize the above-described functions by being combined with other programs already stored in the storage 300 or being combined with other programs installed in other devices.

The construction site management apparatus 10 may include a pld (programmable Logic device) in addition to or instead of the above configuration. Examples of PLDs include PAL (Programmable Array Logic), GAL (generic Array Logic), CPLD (Complex Programmable Logic device), FPGA (field Programmable Gate Array). In this case, a part of the functions implemented by the processor 100 may be implemented by the PLD.

Industrial applicability

the construction site management device can easily grasp the work state of a vehicle fleet including a transport vehicle and a work machine.

Description of reference numerals:

10 job site management device

100 processor

200 main memory

300 storage

400 interface

500 input device

600 output device

101 position receiving part

102 azimuth receiving part

103 time-series recording unit

104 state determination unit

105 design topography acquisition unit

106 timing chart generating section

107 output control unit

201 time series storage unit

G construction site

G1 excavation field

G2 landfill

M vehicle

M1 hydraulic excavator

M2 bulldozer

M3 tipper.