JP7499098B2 - Construction management method - Google Patents

Description

The present invention relates to a construction management method.

The following Patent Document 1 discloses an excavation device for digging a trench for constructing an underground diaphragm wall, which has an excavator that excavates the ground and a ground device that supports the excavator by suspending it with a wire or the like. The operator of the excavator remotely controls the excavator from within an operation room provided in the ground device.

Specifically, a display device is installed in the control room, which displays two-dimensional position information of the excavator when the excavator body is viewed from a plan view. The operator remotely controls the control unit while checking the two-dimensional position information of the excavator displayed on the display device and understanding the condition of the excavator body.

Japanese Patent Application Laid-Open No. 11-61862

In recent years, the number of skilled operators has been decreasing, and there are more opportunities for unskilled operators to remotely operate excavators. However, it is difficult for unskilled operators to grasp the status of the excavator based only on the two-dimensional position information of the excavator displayed on a display device.

The present invention was made in consideration of these circumstances, and its purpose is to assist in understanding the condition of an excavator.

(1) One aspect of the present invention is a construction management method for managing construction by an excavator, the method including: a measurement step for measuring construction information including the position of the excavator performing excavation operation and the attitude of the excavator; and a display step for displaying three-dimensional information including the position and attitude of the excavator in three-dimensional space during excavation operation on a display screen in real time based on the construction information of the excavator measured in the measurement step. The method also includes a completed form generation step for generating a completed form model that is a three-dimensional model of the completed form of the excavation trench excavated by the excavator based on the construction information, the display step displays the completed form model generated in the completed form generation step on a display screen, the display step compares the completed form model generated in the completed form generation step with a design shape that is a pre-designed shape of a trench, and displays an area that is over-excavated with respect to the design shape on the display screen in a first aspect, and displays an area that is not excavated with respect to the design shape in three dimensions on the display screen in a second aspect different from the first aspect, and displays the first aspect and the second aspect on the display screen in different display colors .

(2) In the construction management method of (1) above, the three-dimensional information may include an excavator model that is a three-dimensional model of the excavator during excavation operation, and the display step may associate the excavator model with the excavation depth and display it on a display screen in real time.

( 3 ) In the construction management method according to (1) or (2) above , the display step may display in real time the operation details of the excavator being remotely operated.

( 4 ) The construction management method of (2) above, further comprising a storage step of storing the construction information in a chronological order in a recording medium, and the display step may read the construction information stored in the recording medium and play a video of the excavator model on a display screen along the trajectory of the excavator based on the read construction information.

As described above, the present invention can assist in understanding the condition of the excavator body.

1 is a diagram showing an example of a schematic configuration of a construction management system according to an embodiment of the present invention; 1 is a diagram showing an example of a schematic configuration of a remote control device according to an embodiment of the present invention; FIG. 2 is a schematic diagram of an operation room in the remote control device according to the present embodiment. 2 is a diagram showing a designed excavation position and an actual excavation position on the upper part of the excavator 110 according to the present embodiment. FIG. 2 is a diagram showing a designed excavation position and an actual excavation position under the excavator 110 according to the present embodiment. FIG. FIG. 4 is a diagram showing an example of a display screen of a display device 320 of the present embodiment. FIG. 13 is a diagram showing an example of a display screen of a display device 320 on which a finished model of the present embodiment is displayed.

The construction management method and construction management system according to this embodiment will be explained below with reference to the drawings.

Figure 1 is a diagram showing an example of the schematic configuration of a construction management system 1 according to this embodiment. The construction management system 1 performs excavation work for underground diaphragm walls. However, this is not limited to this, and the construction management system 1 can be applied to construction management of all types of work.

As shown in FIG. 1, the construction management system 1 includes a drilling device 100, a position detection system 200, and a remote control device 300.

The drilling device 100 includes an excavator 110 and a ground device 120.

The excavator 110 excavates the ground. In this embodiment, the excavator 110 is, for example, a horizontal multi-axis type underground diaphragm wall excavator. The excavator 110 excavates using a drum cutter 111 that rotates around a horizontal axis. Specifically, the excavator 110 has two drum cutters 111a, 111b arranged in parallel at its lower end. The excavator 110 is suspended by wires L1, L2 that are reeled out from the ground device 120. As the excavation progresses, the wires L1, L2 are reeled out to form a trench of a predetermined depth.

Several adjuster guides 112 are arranged on the sides of the excavator 110 to apply a reaction force to the ground and correct the excavation direction of the excavator 110.

The adjuster guides 112 are arranged above and below the four sides of the excavator 110, and are extended and retracted horizontally by a hydraulic jack (not shown). The posture of the excavator 110 is corrected by extending the adjuster guides 112. For example, twelve adjuster guides 112 (112-1 to 112-12) are provided on the sides of the excavator 110.

The ground equipment 120 suspends the excavator 110 with wires L1 and L2, and a trench is formed by unwinding the wires L1 and L2. The ground equipment 120 is provided with an operation room 130 for remotely operating the excavator 110. An operator remotely operates the excavator 110 from within the operation room 130.

The position detection system 200 detects the position of the excavator 110 underground on the XY plane and the inclination of the excavator 110. Here, the XY plane is a plane perpendicular to the excavation direction of the excavator 110. As an example of this embodiment, the position detection system 200 includes a position detection device 200a and a position detection device 200b.

The position detection device 200a and the excavator 110 are connected vertically using a wire 210a. That is, one end of the wire 210a is connected to the upper part of the position detection device 200a, and the other end is connected to the excavator 110. The position detection device 200a applies tension to the wire 210a to control the wire 210a so that it does not slacken and is straight in the vertical direction. The connection point between the other end of the wire 210a and the upper part of the excavator 110 is set as a measurement point S1. The position detection device 200a measures the displacement and inclination of the wire 210a to obtain the absolute position (X1, Y1) of the measurement point S1. The position detection device 200a transmits the obtained absolute position (X1, Y1) of the measurement point S1 to the remote control device 300 wirelessly or via wire.

The position detection device 200b and the excavator 110 are connected in the vertical direction using a wire 210b. That is, one end of the wire 210b is connected to the upper part of the position detection device 200b, and the other end is connected to the excavator 110. The position detection device 200b applies tension to the wire 210b to control the wire 210b so that it does not slacken and is straight in the vertical direction. The connection point between the other end of the wire 210b and the upper part of the excavator 110 is set as the measurement point S2. The position detection device 200b measures the displacement and inclination of the wire 210b to obtain the absolute position (X2, Y2) of the measurement point S2. The position detection device 200b transmits the obtained absolute position (X2, Y2) of the measurement point S2 to the remote control device 300 wirelessly or via wire.

The remote control device 300 is disposed in the operation room 130. The remote control device 300 remotely controls the excavator 110. FIG. 2 is a schematic diagram of the remote control device 300 of this embodiment. As shown in FIG. 2, the remote control device 300 includes an operation device 310, a display device 320, and an information processing device 330.

The operating device 310 is operated by an operator. FIG. 3 is a schematic diagram of the inside of the operating room 130. The operator can adjust the excavation direction of the excavator 110 or change the setting value related to the excavation operation by operating the operating device 310. For example, the operating device 310 is an operation panel provided with a plurality of switches (push switches, etc.) for adjusting the excavation direction and an input device for inputting the setting value related to the excavation operation. For example, the setting value is the excavation speed of the excavator 110 in the excavation direction, the rotation speed of the drum cutters 111a and 111b, the rotation direction of the drum cutters 111a and 111b, etc. When the operating device 310 is operated by the operator, it transmits an operation signal corresponding to the operation to the information processing device 330. For example, when a switch is pressed, the operating device 310 outputs an operation signal corresponding to the pressed switch to the information processing device 330. For example, the operating device 310 is provided with switches corresponding to each of the plurality of adjuster guides 112.

The display device 320 displays information from the information processing device 330. For example, the display device 320 displays the excavator 110 in three dimensions during excavation operation in real time. For example, the display device 320 can display the shape of the excavation trench in three dimensions in real time. For example, the display device 320 is a CRT (Cathode Ray Tube) display, a liquid crystal display, or an organic EL (Electro Luminescence) display. Here, in this embodiment, real time refers to a period short enough to realize the responsiveness required for remote control of the excavator 110 during excavation operation, and although it is preferable that it is shorter, it does not need to be completely simultaneous, and includes a time lag due to communication via a network and a time lag due to the processing speed of devices such as the information processing device 330, the position detection system 200, and the excavation device 100.

The information processing device 330 includes a remote control unit 400, an information collection unit 410, a measurement unit 420, a model generation unit 430, a finished product generation unit 440, a storage unit 450, and a display control unit 460.

The remote control unit 400 controls the excavation operation of the excavator 110 based on the operation signal transmitted from the operation device 310. When the operation signal transmitted from the operation device 310 is an operation to correct the excavation direction, the remote control unit 400 controls at least one of the multiple adjuster guides 112 to be extended. For example, when the switch corresponding to the adjuster guide 112-1 is operated, the remote control unit 400 controls the adjuster guide 112-1 to be extended. In addition, the remote control unit 400 controls the excavation speed of the excavator 110 based on the setting value of the excavation speed set by the operation device 310. When the operation signal transmitted from the operation device 310 is an operation to change the rotation speed of the drum cutters 111a and 111b, the remote control unit 400 controls the rotation speed of the drum cutters 111a and 111b according to the operation. As the rotating drum cutter 111a and drum cutter 111b excavate the ground, a load is generated on the drum cutter 111a and drum cutter 111b, and the value of the current flowing through the drum cutter 111b increases or decreases. In addition, when the operation signal transmitted from the operating device 310 is an operation to change the rotation direction of the drum cutters 111a and 111b, the remote control unit 400 controls the rotation direction of the drum cutters 111a and 111b according to the operation content.

The information collection unit 410 acquires information on the absolute position (X1, Y1) of the measurement point S1 in real time from the position detection device 200a. The information collection unit 410 acquires information on the absolute position (X2, Y2) of the measurement point S2 in real time from the position detection device 200b.

The measuring unit 420 measures the position information of the upper part of the excavator 110 performing excavation operation (hereinafter referred to as "upper part position information") and the position information of the lower part of the excavator 110 performing excavation operation (hereinafter referred to as "lower part position information") in real time based on the absolute position (X1, Y1) of the measurement point S1 and the absolute position (X2, Y2) of the measurement point S2. The measuring unit 420 measures the inclination of the excavator 110 performing excavation operation in real time. For example, the measuring unit 420 measures the inclination of the excavator 110 based on a signal from an inclinometer (not shown) attached to the excavator 110. The measuring unit 420 measures the depth of the excavator 110 based on the drum diameter of the drum that winds up the wire L1, the rotation speed of the drum, and the tension of the wire L1. The measuring unit 420 measures the current value of each drum cutter. The measuring unit 420 measures the hanging load when the excavator 110 is hung by the wire L1. The measuring unit 420 measures the pumping rate of a submersible pump (not shown) attached to the excavator 110. For example, the measuring unit 420 measures the pumping rate of the submersible pump based on a signal from a flow meter or the like attached to the excavator 100. As an example, the submersible pump is located between the two drum cutters 111a and 111b, and sucks the excavated waste together with the stabilizing liquid from a suction port and pumps it to the ground.

The model generation unit 430 generates an excavator model, which is a three-dimensional model of the excavator 110 during excavation operation, based on the latest construction information measured by the measurement unit 420. The construction information includes at least the position of the excavator 110 performing excavation operation (upper position information, lower position information), the posture of the excavator 110, and depth information. The posture of the excavator 110 includes at least one of the torsion angle and inclination of the excavator 110. As an example of this embodiment, the construction information may include the current value, hanging load, and pumping volume of each drum cutter 111a, 111b.

The method for generating an excavator model is explained below with reference to Figures 4 and 5. Figure 4 is a diagram showing the designed excavation position and the actual excavation position on the upper part of the excavator 110. Figure 5 is a diagram showing the designed excavation position and the actual excavation position on the lower part of the excavator 110.

The model generation unit 430 uses the upper position information and lower position information measured by the measurement unit 420 to calculate the deviation (displacement) of the actual excavation position of the excavator 110 relative to the designed excavation position of the excavator 110.

Specifically, the measurement unit 420 determines the actual center position O' of the upper part of the excavator 110 based on the construction information including the absolute position (X1, Y1) and absolute position (X2, Y2). This center position O' is the current center position of the upper part of the excavator 110 on the XY plane. The center position O' is an example of upper part position information. The measurement unit 420 determines the actual center position O'' of the lower part of the excavator 110 based on the construction information including the absolute position (X1, Y1) and absolute position (X2, Y2). This center position O'' is the current center position of the lower part of the excavator 110 on the XY plane. The center position O'' is an example of lower part position information.

The model generating unit 430 compares the design central position _O1 with the actual central position O', and calculates the displacement (x', y') in the X-axis direction and the Y-axis direction from the central position _O1 to the central position O'. The central position _O1 is the design central position at the top of the excavator 110. This x' represents how far the excavation position of the actual excavator 110 has moved in the X-axis direction relative to the excavation position of the designed excavator 110. This y' represents how far the excavation position of the actual excavator 110 has moved in the Y-axis direction relative to the excavation position of the designed excavator 110. The excavation position of the designed excavator 110 is registered in advance in the information processing device 330.

The model generation unit 430 determines the torsion angle α based on the absolute position (X1, Y1) and the absolute position (X2, Y2) using the excavation position of the designed excavator 110 as a reference.

The model generation unit 430 calculates the displacements (x'', y'') in the X-axis and Y-axis directions from the center position _O2 to the center position O'' based on the displacement (x', y'), the inclination of the excavator 110, and the depths of the lower and upper parts of the excavator 110. The center position _O2 is the designed center position of the lower part of the excavator 110. The center position O'' is the actual center position of the lower part of the excavator 110.

The values of x', y', x", and y" may be calculated by the position detection system 200. In this case, the model generation unit 430 obtains the values of x', y', x", and y" from the position detection system 200.

If the side length of the excavator 110 in the X-axis direction is x and the side length in the Y-axis direction is y, the model generation unit 430 calculates the coordinates of points A, B, C, and D at the four corners of the top of the excavator 110 using the following equations (1) to (4).

Point A: (-x × cosα -y × sinα + x', -x × sinα + y × cosα + y') ... (1)
Point B: (x×cosα-y×sinα+x', x×sinα+y×cosα+y') ... (2)
Point C: (x × cosα + y × sinα + x', x × sinα - y × cosα + y') ... (3)
Point D: (-x × cosα -y × sinα + x', -x × sinα -y × cosα + y') ... (4)

The model generation unit 430 also calculates points A', B', C', and D' at the four corners of the bottom of the excavator 110 using (5) to (8) below.

Point A': (-x×cosα-y×sinα+x", -x×sinα+y×cosα+y") ... (5)
Point B': (x×cosα-y×sinα+x”, x×sinα+y×cosα+y”) …(6)
Point C': (x×cosα+y×sinα+x", x×sinα-y×cosα+y") ... (7)
Point D': (-x × cosα-y × sinα + x", -x × sinα-y × cosα + y") ... (8)

The model generation unit 430 creates a three-dimensional model of the excavator 110 during excavation operation in real time based on points A, B, C, and D at the four corners of the upper part of the excavator 110 and points A', B', C', and D' at the four corners of the lower part of the excavator 110. Note that the adjuster guide 112 is also modeled in the excavator model. The three-dimensional model of the adjuster guide 112 is referred to as the "adjuster guide model."

The as-built generation unit 440 generates an as-built model, which is a three-dimensional model of the as-built shape of the excavation trench excavated by the excavator 110, based on the construction information. The as-built generation unit 440 calculates the trajectory of the excavator 110 during excavation operation based on the construction information, and generates the as-built model by combining this trajectory with the excavator model. The as-built generation unit 440 may generate the as-built model in real time, or may generate the as-built model by reading the construction information from the storage unit 450 after the excavation trench is formed.

The storage unit 450 stores the construction information measured by the measurement unit 420 in chronological order. The storage unit 450 may also store the absolute positions (X1, Y1) and (X2, Y2) collected by the information collection unit 410 in chronological order.

The display control unit 460 displays three-dimensional information indicating the position and attitude of the excavator 110 in three-dimensional space during excavation operation on the display screen of the display device 320 in real time based on the construction information of the excavator 110. For example, the display control unit 460 may display three-dimensional information including the position and attitude of the excavator 110 in three-dimensional space during excavation operation as numerical values on the screen of the display device 320. For example, the display control unit 460 may display the center position O', the center position O'', and the depth of the excavator 110 as positions in three-dimensional space, and the tilt and twist angle of the excavator 110 as the attitude of the excavator 110 on the display device 320 in real time.

The display control unit 460 may also display three-dimensional information indicating the position and posture in three-dimensional space of the excavator 110 during excavation operation as a three-dimensional model on the display device 320.

Figure 6 is an example of a display screen of the display device 320 of this embodiment. As shown in Figure 6, the display area of the display screen is roughly divided into three display areas 510 to 530. The display control unit 460 displays the excavator model generated by the model generation unit 430 in real time in the display area 510. At this time, the display control unit 460 may associate the excavator model with the excavation depth and display it in the display area 510 in real time. The display control unit 460 may also display the current time, the depth of the excavator 110, the inclination and torsion angle of the excavator 110 as numerical values in real time in the display area 510, separately from the excavator model.

As described above, when the display control unit 460 displays the excavator model in real time, for example, the actual posture, position, and depth of the excavator 110 during excavation operation do not need to completely match the three-dimensional information (e.g., the posture and position of the excavator model) displayed on the display device 320 by the display control unit 460, and the three-dimensional information may be displayed with a slight delay depending on the time required for the calculation processing of the three-dimensional information and the display processing of the three-dimensional information. For example, the three-dimensional information (movement (e.g., posture) and depth value of the excavator model) changes in conjunction with the movement and depth of the actual excavator 110 during excavation operation based on the construction information measured sequentially, but the conjunction may include the time lag.

The display control unit 460 may display the operation contents of the remote operation of the excavator 110 on the display device 320 in real time based on the operation signal. For example, when displaying the excavator model on the display device 320, the display control unit 460 displays the adjuster guide model 600 corresponding to the remotely operated adjuster guide 112 among the multiple adjuster guides 112 in the excavator model in a first color, and displays the adjuster guide model 610 corresponding to the non-remotely operated adjuster guide 112 in a second color different from the first color. That is, the expansion/contraction state of the adjuster guide 112 may be expressed by color. Here, being remotely operated means being in an expanded state. Not being remotely operated means being in a non-expanded state. In this way, the display control unit 460 can visualize the expansion/contraction state of the adjuster guide 112 by expressing the expansion/contraction state of the adjuster guide 112 in color on the display device 320.

The display control unit 460 may display the numerical values of the depth of the excavator 110, the current value of the dry cutter, the hanging load, and the pumping volume of the underwater pump in a time series graph in the display area 520. For example, the display control unit 460 may display the construction information measured by the measurement unit 420 in a graph in the display area 520. The items displayed in the display area 520 can be changed as desired by the operator.

The display control unit 460 may display, in real time, in the display area 530, one or more of the following values: the depth of the excavator 110, the current value of the dry cutter, the hanging load, and the pumping volume of the underwater pump. The display control unit 460 may also display excavation information, which is information related to excavation, in the display area 530. For example, the excavation information is information such as the length of the excavation trench and the excavation position.

Figure 7 is an example of the display screen of the display device 320 on which the finished model is displayed. The display control unit 460 can display the finished model generated by the finished model generation unit 440 on the display device 320. The display control unit 460 can display the finished model generated by the finished model generation unit 440 on the display device 320. For example, when displaying the finished model, the display control unit 460 compares the finished model generated by the finished model generation unit 440 with a design shape, which is the shape of a trench designed in advance, and displays areas that are over-excavated relative to the design shape in a first form (e.g., red) on the display screen, and displays areas that are not excavated relative to the design shape in a three-dimensional form on the display device 320 in a second form (e.g., blue) different from the first form.

The display control unit 460 may display the as-built model in the display area 510 in real time, or may display the as-built model in the display area 510 after the excavation trench is formed. The as-built model may be displayed by an operator using a pointing device such as a touch panel, hardware keys such as a keyboard, or a mouse. The display control unit 460 may display the as-built model over the excavator model, or may hide the excavator model and display the as-built model. This setting may be performed by an operator using a pointing device such as a touch panel, hardware keys such as a keyboard, or a mouse.

The display control unit 460 may read the construction information stored in the storage unit 450, and play a video (digging model video) in which the excavator model moves on the display screen of the display device 320 along the trajectory of the excavator 110 based on the read construction information. That is, the display control unit 460 may reproduce the excavation movement of the actual excavator 110 on the display screen of the display device 320 with the excavator model. The operator can move the excavator model on the display screen of the display device 320 by operating a hardware key such as a touch panel or a keyboard, or a pointing device such as a mouse. For example, the display control unit 460 may display a controller including buttons for controlling the playback, stop, frame-by-frame, fast-forward, rewind, etc. of the excavation model video on the display area 530. The operator can play, stop, frame-by-frame, fast-forward, rewind, etc. of the excavation model video by pressing each button on the controller.

Next, we will explain the operation of the construction management system 1 of this embodiment.

The operator operates the operating device 310 installed in the operation room 130 to start the excavation operation of the excavator 110. When the excavation operation of the excavator 110 is started, the information processing device 330 sequentially measures the position of the excavator 110 performing the excavation operation and construction information including the attitude of the excavator 110. Then, based on this construction information, the information processing device 330 displays three-dimensional information including the position and attitude in three-dimensional space of the excavator 110 during the excavation operation on one screen, for example, in real time. In this way, for example, the display control unit 460 sequentially measures the construction information and sequentially displays the latest three-dimensional information of the excavator 110 on the display device 320 based on the construction information.

As an example, the information processing device 330 generates an excavator model, which is a three-dimensional model of the excavator 110 during excavation operation, based on the latest measured construction information. Then, the information processing device 330 associates the generated excavator model with the measured depth of the excavator 110 and displays it on the display device 320 in real time. As a result, the display device 320 displays the excavator model together with the current depth, so that the operator can grasp the current state of the excavator 110, such as the attitude, by checking the display screen of the display device 320. For example, when the attitude of the actual excavator 110 changes from the first attitude to the second attitude, the attitude of the excavator model displayed on the display device 320 also changes from the first attitude to the second attitude. As a result, the operator can grasp the current attitude of the excavator 110 in real time by checking the display screen of the display device 320. Then, the operator controls the excavation operation of the excavator 110 so as to form an excavation trench as designed by operating the operation device 310 while checking the excavator model displayed on the display device 320. When the operator operates the operation device 310, the information processing device 330 may display the operation details in real time on the screen on which the excavator model is displayed.

The above describes an embodiment of the present invention in detail with reference to the drawings, but the specific configuration is not limited to this embodiment, and includes designs that do not deviate from the gist of the present invention.

(Variation 1) In the construction management system 1 of this embodiment, the position of the excavator 110 is measured using wires 210a and 210b, but this is not limited to this. The construction management system 1 may measure the position of the excavator 110 using a gyro, or may measure the position of the excavator 110 using an inclinometer.

(Variation 2) The information processing device 330 of this embodiment may output the created excavator model and finished model on paper or electronic data, or may output the excavator model and finished model as three-dimensional or two-dimensional drawings on paper or electronic data. Outputting the finished shape of the excavation trench as a three-dimensional model makes it possible to improve the efficiency of work subsequent to the excavation work (for example, open cut work if used as an earth retaining wall). Examples include use of the three-dimensional model to calculate the amount of internal excavated soil, checking whether there is interference between the output three-dimensional model and internal structures using design drawings, determining the shape of earth retaining supports using the three-dimensional model, and determining the use of temporary materials such as scaffolding and supports using the three-dimensional model.

(Variation 3) The display device 320 does not have to be provided in the operation room 130, and may be, for example, a display device provided in a smartphone, tablet, or wearable device. This makes it possible to check the construction status in real time even in a remote location, so that not only the operator of the excavator 110 but also the construction manager can grasp the construction status, enabling accurate management and supervision.

As described above, the construction management system 1 of this embodiment is a construction management method for managing construction by an excavator 110, and measures construction information including the position of the excavator 110 performing excavation operations and the posture of the excavator 110. Then, based on the measured construction information of the excavator 110, the construction management system 1 displays three-dimensional information including the position and posture in three-dimensional space of the excavator 110 during excavation operations on the display screen in real time.

This configuration makes it easier for the operator to understand the condition of the excavator 110. Therefore, the construction management system 1 can assist in understanding the condition of the excavator 110.

At present, it is common to use an ultrasonic measuring device to measure the finished shape of an excavated trench. When using an ultrasonic measuring device, it is necessary to set the measuring device directly above the trench to be measured and insert the sensor unit in the ultrasonic measuring device into the trench. In addition, when measuring, it is necessary to measure from the top to the bottom of the trench at the same speed, so the deeper the trench, the longer the measurement time required. At that time, if the excavator is in the trench, it will hinder the ultrasonic measurement. Therefore, when measuring the finished shape using an ultrasonic measuring device, the excavator must be taken out of the trench. In other words, with current technology, excavation work and confirmation of the finished shape cannot be performed in parallel, and the excavator must be left on standby, which has a significant impact on the process. For example, after the excavator finishes its work, it is taken out of the trench and the movement of the muddy water in the trench subsides, and then the trench is measured using an ultrasonic measuring device. However, if the measurement result shows that the finished shape is insufficient compared to the design, the excavator must be re-excavated, so the excavator must be left on standby until the measurement result is available. As a result, the waiting excavator cannot prepare for or perform excavation work on another trench, and if excavation needs to be performed again, it must move, prepare for excavation, and perform excavation work, reducing work efficiency and affecting the process.

Meanwhile, the information processing device 330 of this embodiment measures the finished form from the trajectory information of the excavator model. Specifically, the information processing device 330 generates a finished form model based on the construction information and displays the generated finished form model on the display screen. With this configuration, the finished form can be measured without using an ultrasonic measuring device, so there is no need to spend time on finished form measurement, and the process can proceed without reducing work efficiency.

In addition, traditionally, construction information was not recorded, and no records of excavation work were kept, so when any trouble occurred, objective feedback was not available, and construction continued without appropriate countermeasures being taken, which could lead to similar troubles occurring again and making construction less efficient.

On the other hand, the information processing device 330 of this embodiment records construction information, so objective feedback can be provided when any trouble occurs. In addition, it is possible to reproduce the excavation work and excavation trench. Therefore, after excavation is completed, it is possible to confirm the pass/fail judgment of the finished shape against the excavation trench design by reproducing it. In addition, if the operator is replaced during excavation, the information can be easily handed over. Furthermore, by reproducing the construction information when a malfunction occurs, it is possible to accurately take measures to prevent the malfunction from recurring.

In addition, the information processing device 330 of this embodiment can display construction information in real time on the same screen in graphs, etc., allowing for an integrated understanding of the construction status, enabling efficient excavation.

The information processing device 330 may be realized in whole or in part by a computer. In this case, the computer may include a processor such as a CPU or a GPU, and a computer-readable recording medium. The information processing device 330 may be realized by recording a program for realizing all or in part of the functions of the information processing device 330 by a computer in the computer-readable recording medium, and reading and executing the program recorded in the recording medium into the processor. Here, the "computer-readable recording medium" refers to a portable medium such as a flexible disk, an optical magnetic disk, a ROM, a CD-ROM, and a storage device such as a hard disk built into a computer system. Furthermore, the "computer-readable recording medium" may also include a medium that dynamically holds a program for a short period of time, such as a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line, and a medium that holds a program for a certain period of time, such as a volatile memory inside a computer system that is a server or client in that case. The program may be for realizing part of the functions described above, or may be a program that can realize the functions described above in combination with a program already recorded in the computer system, or may be a program that is realized using a programmable logic device such as an FPGA.

1...construction management system, 100...drilling equipment, 110...excavator, 120...ground equipment, 200...position detection system, 300...remote control device

Claims (4)

A construction management method for managing construction using an excavator, comprising:
a measuring step of measuring construction information including a position of an excavator performing an excavation operation and an attitude of the excavator;
a display step of displaying, on a display screen in real time, three-dimensional information including a position and an attitude of the excavator in a three-dimensional space during an excavation operation, based on the construction information of the excavator measured in the measurement step by the computer;
Including,
A completed form generation step of generating a completed form model which is a three-dimensional model of the completed form of the excavation trench excavated by the excavator based on the construction information,
The display step displays the completed model generated in the completed model generating step on a display screen,
The display step compares the completed model generated in the completed model generation step with a design shape, which is a shape of a trench designed in advance, and displays an area that is over-excavated with respect to the design shape on the display screen in a first manner, and displays an area that is not excavated with respect to the design shape in a three-dimensional manner on the display screen in a second manner different from the first manner;
A construction management method in which the first aspect and the second aspect are displayed on the display screen in different display colors . the three-dimensional information includes an excavator model that is a three-dimensional model of the excavator during an excavation operation;
The display step displays the excavator model on a display screen in real time in association with an excavation depth.
The construction management method according to claim 1. The display step displays in real time the operation content of the excavator being remotely operated.
The construction management method according to claim 1 or 2. A storage step of storing the construction information in a recording medium in chronological order,
The display step includes reading the construction information stored in the recording medium, and playing a video of the excavator model on a display screen along a trajectory of the excavator based on the read construction information.
The construction management method according to claim 2.

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