JP2024157703A - Method for excavating and collecting embankment materials, system for excavating and collecting embankment materials, and excavation machine - Google Patents

Abstract

To perform excavation of the designed shape while efficiently and reliably sorting and collecting the banking material.SOLUTION: An excavation/collection method for banking material comprises steps of: creating a composite excavation shape composed of a three-dimensional geological model and a designed excavation shape after not only generating the three-dimensional geological model from three-dimensional terrain data and three-dimensional geology data at the construction site but determining the designed excavation shape that is the three-dimensional designed shape of the excavation shape at the construction sight from the three-dimensional geological model and a preset collection amount per material; calculating a depth of a currently excavated stratum measured from a present position of an excavation machine based on the composite excavation shape and the present position of the excavation machine detected independently; and excavating the stratum based on the depth of the calculated stratum.SELECTED DRAWING: Figure 7

Description

Application for application of Article 30, Paragraph 2 of the Patent Act filed (Publication 1) ▲1▼ Date held October 14, 2022 ▲2▼ Meeting name, venue 2022 Japan Society of Engineering Geology Research Presentation Kansai University Senriyama Campus 100th Anniversary Memorial Hall ・Held online (3-3-35 Yamate-cho, Suita-shi, Osaka) ▲3▼ Disclosed by Nakajima Ryo, Nakasuka Hiroki, Ishihama Shigetaka, Amagi Tetsuo ▲4▼ Disclosed content "Implementation of BIM/CIM using 3D geological and soil models for fill dams" (Publication 2) ▲1▼ Date of issue October 8, 2022 ▲2▼ Publication Proceedings of the 2022 Japan Society of Engineering Geology Research Presentation Conference, pages 99 to 100 General Incorporated Association Japan Society of Engineering Geology ▲3▼ Disclosed by Nakajima Ryo, Nakasuka Hiroki, Shigetaka Ishihama, Tetsuo Amagasaki ▲4▼ Contents of the publication "Implementation of BIM/CIM using 3D geological and soil models for fill dams" (Publication 3) ▲1▼ Date held October 6, 2022 ▲2▼ Meeting name, venue 2022 National Civil Engineering Technology Presentation Kumagai Gumi Co., Ltd. Head Office (Main Conference Room) ・Online (2-1 Tsukudo-cho, Shinjuku-ku, Tokyo) ▲3▼ Distributor Ryo Nakajima ▲4▼ Contents of the publication "Utilization of geological and soil models in the construction of fill dams" (Publication 4) ▲1▼ Issue date September 27, 2022 ▲2▼ Publication 2022 National Civil Engineering Technology Presentation Summary Pages 5 to 8 Kumagai Gumi Co., Ltd. Civil Engineering Division ▲3▼ Distributor Ryo Nakajima ▲4▼ Contents of the publication "Utilization of Geological and Soil Models in the Construction of Fill Dams"

The present invention relates to a method and system for separating, excavating, and extracting embankment materials used in the construction of embankments such as fill dams, and to an excavation machine used to excavate and extract embankment materials.

In order to extract materials suitable for embankment construction in embankment dams and other construction works, appropriate materials are determined for each type of geology, and it is necessary to minimize the mixing of different materials during excavation and the resulting material loss (increase in waste soil) as much as possible.
Therefore, a machine guidance system is used that measures the current position of a construction machine using a position measuring device such as a Global Navigation Satellite System (GNSS) and provides the difference between the design data for excavating and extracting embankments and the current position in real time (see, for example, Patent Documents 1 and 2).
The design data is created using a three-dimensional geological model created from map data of the construction site and geological data including data on the geology, materials, etc., and design shape data of the excavation shape.
With machine guidance, the operator excavates and collects embankment material while checking the position of the bucket and the designed shape on the monitor screen in the cockpit.

JP 2002-81008 A JP 2016-212459 A

However, normal machine guidance only performs excavation based on design data (finished shape). Therefore, when it is necessary to excavate and extract materials for each geology, if excavation is carried out according to the design data, geological boundaries may be crossed, and the extracted materials may be mixed with materials from different geology.
Furthermore, to prevent this, geological engineers would need to frequently check the site during excavation to make judgments, which would require a huge amount of work.

The present invention was made in consideration of the problems of the past, and aims to provide a method for efficiently and reliably separating, excavating, and extracting embankment materials while excavating a designed shape, a system for implementing this method, and an excavation machine used to excavate and extract embankment materials.

The present invention is a method for excavating and extracting fill material, comprising the steps of: generating a three-dimensional geological model from three-dimensional topographical data and three-dimensional geological data of a construction site; setting a design excavation shape, which is a three-dimensional design shape of the excavation shape of the construction site, from the three-dimensional geological model and a predetermined amount of extraction for each material; creating a composite excavation shape by combining the three-dimensional geological model and the design excavation shape; detecting the current position of an excavation machine; calculating the depth of the geological layer currently being excavated, measured from the current position of the excavation machine, from the current position of the excavation machine and the composite excavation shape; and excavating the geological layer based on the calculated depth.
This allows precise excavation of each layer, so that embankment materials can be efficiently extracted while being separated.
In addition, by using the synthetic excavation shape, excavation can be performed for each layer without switching between the three-dimensional geological model and the designed excavation shape.
In addition, if the actual position of the geological boundary differs from the calculated depth data, the actual results are measured and the data of the three-dimensional geological model is updated. By repeating this cycle, the accuracy of the data can be improved.

The present invention also provides a system for excavating and collecting embankment materials, comprising: an excavating machine for excavating soil and sand at a construction site; a position detection means for detecting the three-dimensional coordinates of the current position of the excavating machine; a three-dimensional geological model generation means for generating a three-dimensional geological model from three-dimensional map data and three-dimensional geological data of the construction site; a design excavation shape setting means for setting a design excavation shape, which is a three-dimensional design shape of the excavation shape at the construction site, from the three-dimensional geological model and a preset amount of each material to be collected; a composite excavation shape creation means for creating a composite excavation shape by combining the three-dimensional geological model and the design excavation shape; and a stratum depth calculation device having a stratum depth calculation means for calculating the depth of the geological layer currently being excavated, measured from the current position of the excavating machine, from the current position of the excavating machine detected by the position detection means and the composite excavation shape.
By adopting such a configuration, it is possible to obtain a system for excavating and collecting embankment materials that can efficiently separate and collect embankment materials while performing excavation of a designed shape.
In addition, a display means for displaying the calculated depth of the geological layer can be provided, allowing the operator to visually confirm the current excavation status, thereby enabling efficient collection and separation of materials.
In addition, the present invention provides an excavation machine for excavating and collecting soil and sand at a construction site, the excavation machine body being equipped with soil and sand excavation and collection means such as a bucket, a position detection means for detecting the three-dimensional coordinates of the current position of the excavation machine, a three-dimensional geological model generation means for generating a three-dimensional geological model from three-dimensional map data and three-dimensional geological data of the construction site, a design excavation shape setting means for setting a design excavation shape, which is a three-dimensional design shape of the excavation shape of the construction site, from the three-dimensional geological model and a preset collection amount for each material, a composite excavation shape creation means for creating a composite excavation shape by combining the three-dimensional geological model and the design excavation shape, a stratum depth calculation means for calculating the depth of the geological layer currently being excavated, measured from the current position of the excavation machine, from the current position of the excavation machine and the composite excavation shape detected by the position detection means, and a display means for displaying the calculated depth of the geological layer, so that the embankment material can be efficiently collected while being separated.

1 is a diagram showing a system for excavating and collecting embankment materials according to an embodiment of the present invention. FIG. 1 is a diagram showing topographical data and a geological/soil model of a construction site before construction begins. FIG. 1 is a diagram showing an example of a voxel model and a designed excavation shape. FIG. 13 is a diagram showing a composite excavation shape obtained by combining a geological boundary surface and a designed excavation shape. FIG. 13 shows a cross-sectional profile of a composite excavation profile. FIG. 13 is a diagram illustrating an example of a display screen of a mobile terminal. 1 is a flowchart showing a method for excavating and extracting fill material according to the present invention.

FIG. 1 shows an excavation and collection system for embankment material according to this embodiment (hereinafter referred to as collection system 1). Collection system 1 comprises a backhoe 10 as an excavation machine arranged at a construction site 2, a transport vehicle 20, and a stratum depth calculation device 30 installed in a management center 3 provided at a location separate from the construction site 2.
The backhoe 10 comprises a vehicle body 11 , an excavation means 12 , a traveling means 13 , a position acquisition means 14 , a transceiver 15 , a GPS antenna 16 , and a transmitting/receiving antenna 17 .
The excavation means 12 includes a boom 12 a, an arm 12 b, and a bucket 12 c, and is mounted on the vehicle body 11 to excavate and collect embankment materials at the construction site 2.
The traveling means 13 is preferably a type that can travel stably on uneven ground, such as a caterpillar track.
The position acquisition means 14 acquires absolute coordinates of the vehicle body 11 of the backhoe 10 from radio waves from a satellite (not shown) received by the GPS antenna 16, and calculates the position coordinates of the bucket 12c from the relative position of the bucket 12c with respect to the vehicle body 11. Note that it is preferable that the position coordinates of the bucket 12c are those of a coordinate system whose origin is the construction site 2 or a specified point in the vicinity of the construction site 2.
The calculated position coordinates of the bucket 12c are sent to the transmitting/receiving antenna 17 and the layer depth calculation device 30. The transmitting/receiving antenna 17 receives data on the layer depth calculated by the layer depth calculation device 30, as described later.
An operator 40 sits in the driver's seat 18 of the backhoe 10, and while referring to a mobile terminal 19 provided in the driver's seat 18, the operator 40 operates the excavation means 12 and the traveling means 13 to excavate and collect fill material from the construction site 2 and hand it over to the transport vehicle 20.
The mobile terminal 19 is provided with a display screen 19G that allows the operator 40 to visually confirm the current position of the backhoe 10 and the calculated value of the depth of the geological layer.
The transport vehicle 20 includes a traveling means 21 and a loading platform 22, and transports the soil collected by the backhoe 10 to a material storage site (not shown) by loading the soil onto the loading platform 22. Note that an operator of the transport vehicle 20 is omitted in the figure.

The stratum depth calculation device 30 comprises a topographical and geological data acquisition means 31, a geological and soil model creation means 32, a designed excavation shape setting means 33, a composite excavation shape creation means 34, an excavation position acquisition means 35, a stratum depth calculation means 36, a transceiver 37, and an antenna 38. Each of the means from the geological data acquisition means 31 to the stratum depth calculation means 36 is composed of computer software and storage means such as RAM and ROM.
As shown in FIG. 2(a), the topographical and geological data acquisition means 31 first imports three-dimensional topographical data and three-dimensional geological data of the construction site 2 before construction work begins, and arranges a geological cross-section in three-dimensional space.
The three-dimensional topographical data can be obtained by, for example, photogrammetry using a drone or surveying using a 3D laser scanner. The three-dimensional geological data can be obtained by a ground survey using a boring survey conducted in advance.
Three-dimensional topographical data is usually represented as a plan view, as shown in the upper left diagram of Figure 2(a). Since each point on the plan view has elevation information, by combining this with three-dimensional geological data, it is possible to obtain a geological cross-section view in any direction of the construction site 2.
Then, as shown in the lower diagram of FIG. 2(a), by connecting the boundary points of the arranged layers with different geology and soil properties, a three-dimensional geological boundary surface as shown in FIG. 2(b) is created.
In Figures 2(a) and 2(b), the reference characters 2A, 2B, and 2C denote layers of different geology and soil quality, with 2A being the first layer (surface layer), 2B being the second layer, and 2C being the third layer. Also, S12 is the boundary surface between the first layer 2A and the second layer 2B, and S23 is the boundary surface between the second layer 2B and the third layer 2C.
The geological/soil model creation means 32 creates a geological solid model in the space surrounded by the above-mentioned geological boundary surfaces. In this example, a voxel model as shown in FIG. 3(a) is used as the solid model.
A voxel is a 3D pixel that can be represented as a cube k that contains information about the geology, etc. By using this voxel model, the volume of excavated soil can be calculated with high accuracy.
The design excavation shape setting means 33 sets the design excavation shape, which is the planned excavation shape of the construction site 2, taking into consideration various factors such as the geological solid model and the type and amount of fill material that have been set in advance, the dam's water storage capacity, the dam's shape, and the site.
The design excavation shape can be expressed as a two-dimensional excavation plan as shown in Figure 3(b), but since information such as the slope gradient and berm elevation is recorded at each point on the plan, it can easily be made three-dimensional.

The composite excavation shape creation means 34 combines the geological boundary surfaces represented by the surface models M(2A), M(2B), and M(2C) for each layer shown in Figure 4(a) with the design excavation shape shown in Figure 4(b) to create a composite excavation shape that combines the design excavation shape and the geological boundary surfaces as shown in Figure 4(c).
Here, surface model M(2A) is the ground surface at the excavation site, M(2B) is the boundary surface S12 between the first layer 2A and the second layer 2B, and M(2C) is the boundary surface S23 between the second layer 2B and the third layer 2C. Therefore, by superimposing the designed excavation shape on a model in which these surface models M(2A), M(2B), and M(2C) are arranged vertically from the top in the order of M(2A), M(2B), and M(2C), a composite excavation shape, which is the material extraction line for each layer, can be obtained.
Fig. 5 is a diagram showing an example of the cross-sectional shape of the composite excavation shape, and in this example, the geological layers are three layers, the first layer 2A, the second layer 2B, and the third layer 2C. In addition, the thin dashed dotted line in the figure indicates the geological boundary, the thick dashed dotted line indicates the design excavation shape, and the thick solid line indicates the composite excavation shape (material collection line).
In the figure, the design excavation shape of the first layer 2A and the composite excavation shape are shown as being misaligned, but it goes without saying that the design excavation shape of the first layer 2A and the composite excavation shape are the same.
In addition, in the figure, only the material collection lines for the first layer 2A are shown, but the material collection lines for the second layer 2B and the third layer 2C can also be drawn in the same manner.
In this way, by using the composite excavation shape to excavate and collect embankment materials, the embankment materials can be efficiently excavated and collected for each collected material.

The excavation position acquisition means 35 acquires the position coordinates of the bucket 12c calculated by the position acquisition means 14 of the backhoe 10. Specifically, data on the position coordinates of the bucket 12c sent from the GPS antenna 16 is sent to the excavation position acquisition means 35 via the transmitting/receiving antenna 17.
The stratum depth calculation means 36 calculates the stratum depth D, which is the distance between the position of the bucket 12c and the boundary surface between the layer currently being excavated and the layer below it, from the position coordinate data of the bucket 12c and the composite excavation shape created by the composite excavation shape creation means 34.
The calculated stratum depth D is sent from the transceiver 37 via the antenna 38 to the portable terminal 19 mounted on the vehicle body 11 of the backhoe 10 .
Figures 6(a) and (b) show an example of the display screen 19G of a mobile terminal 19, where (a) shows the screen immediately after drilling has started, and (b) shows the screen during drilling of the first layer 2A, where 2A is the stratum (first layer) currently being drilled, and the shaded area Bp indicates the designed drilling shape.
The display screen 19G is equipped with a position display section 19a which displays the current position (x, y) of the backhoe 10 when viewed from above, and a depth display section 19b which displays the bucket position of the backhoe 10 and the stratum depth D (see Figure 1), which is the distance from the geological boundary surface S12 between the first layer 2A and the second layer 2B.
The operator 40 can excavate and collect embankment material while looking at the display screen 19G of the mobile terminal 19, thereby appropriately adjusting the amount of embankment material to be collected (digging depth).

Next, the method for excavating and extracting banking materials according to the present invention will be described with reference to the flow chart of FIG.
First, three-dimensional topographical data and three-dimensional geological data of the construction site are acquired (step S10), and a geological/soil model, which is a three-dimensional geological model, is created (step S11).
Next, a design excavation shape, which is a three-dimensional design shape of the excavation shape, is set from the geology/soil model and the previously set collection volume for each geology/soil type (step S12), and then a composite excavation shape is created by combining the geology/soil model and the design excavation shape (step S13).
In step S14, the GPS, which is one of the GNSS, is used to detect the current position of the backhoe 10. Note that a GNSS other than the GPS, such as GLONASS, may also be used.
Furthermore, the current position of the backhoe 10 may be detected in parallel with the processing of steps S10 to S13.
Next, the depth D of the geological layer currently being excavated, measured from the current position of the backhoe 10, is calculated from the current position of the backhoe 10 and the composite excavation shape (step S15), and the data on the calculated depth of the layer is sent to the mobile terminal 19 (step S16).
The operator 40 excavates and collects embankment materials based on the depth D of the geological layer displayed on the front screen 19G of the mobile terminal 19 (step S17).
The operations of steps S14 to S17 continue until the excavation and collection of the currently excavated stratum is completed (here, the time when the excavation and collection of the currently excavated stratum is completed is defined as END).
This allows careful excavation near geological boundaries, preventing the mixing of different materials.

In this way, according to the present invention, the mixing of different materials during excavation and the resulting material loss (amount of waste soil) can be minimized, so that embankment materials can be efficiently collected and separated while excavating to the designed shape.
If the actual location of the geological boundary differs from the calculated depth data, it is preferable to measure the actual results as needed and correct/update the data of the geology/soil model. This allows the geological boundary surface to be corrected, improving the accuracy of subsequent excavation.

The present invention has been described above using an embodiment, but the technical scope of the present invention is not limited to the scope described in the above embodiment. It is clear to those skilled in the art that various modifications and improvements can be made to the above embodiment. It is clear from the claims that forms with such modifications or improvements can also be included in the technical scope of the present invention.

For example, in the above embodiment, the backhoe 10 is used as the excavating machine, but other excavating machines such as a power shovel or a bulldozer may also be used.
In the above embodiment, the geological layer depth calculation device 30 is provided in the management center 3 provided at a location separate from the construction site 2 , but the geological layer depth calculation device 30 may be mounted on the backhoe 10 .

1. Embankment material excavation and collection system, 2. Construction site, 3. Management center,
10 Backhoe, 11 Vehicle body, 12 Excavation means, 12a Boom,
12b arm, 12c bucket, 13 travel means, 14 position acquisition means,
15 Transmitter/receiver, 16 GPS antenna, 17 Transmitting/receiving antenna, 18 Driver's seat,
19 Mobile terminal, 19G display screen,
20 Transport vehicle, 21 Travel means, 22 Cargo platform,
30 geological layer depth calculation device, 31 topographical and geological data acquisition means,
32 Geological/soil model creation means, 33 Design excavation shape setting means,
34 synthetic excavation shape creation means, 35 excavation position acquisition means, 36 stratum depth calculation means,
37 transceiver, 38 antenna.

Claims (5)

generating a three-dimensional geological model from the three-dimensional topographical data and the three-dimensional geological data of the construction site;
A step of setting a design excavation shape, which is a three-dimensional design shape of an excavation shape at the construction site, based on the three-dimensional geological model and a preset collection amount for each material;
creating a composite excavation shape by combining the three-dimensional geological model and the design excavation shape;
Detecting a current position of an excavation machine;
calculating a depth of the geological layer currently being excavated, measured from the current position of the excavation machine, based on the current position of the excavation machine and the composite excavation shape;
excavating the geological layer based on the calculated depth;
A method for excavating and extracting embankment materials comprising: The method for excavating and extracting embankment material described in claim 1, characterized in that if the actual position of the geological boundary differs from the calculated depth data, the actual results are measured and the data of the three-dimensional geological model is updated. An excavation machine for excavating soil and sand at a construction site;
a position detection means for detecting three-dimensional coordinates of a current position of the excavation machine;
A system for excavating and extracting embankment materials, comprising: a three-dimensional geological model generating means for generating a three-dimensional geological model from three-dimensional map data and three-dimensional geological data of the construction site; a designed excavation shape setting means for setting a designed excavation shape, which is a three-dimensional design shape of the excavation shape of the construction site, from the three-dimensional geological model and a predetermined extraction amount for each material; a composite excavation shape creating means for creating a composite excavation shape by combining the three-dimensional geological model and the designed excavation shape; and a stratum depth calculation device having a stratum depth calculation means for calculating the depth of the geological layer currently being excavated, measured from the current position of the excavation machine, from the current position of the excavation machine detected by the position detection means and the composite excavation shape. The system for excavating and extracting embankment materials according to claim 3, further comprising a display means for displaying the calculated depth of the geological layer. An excavation machine for excavating and collecting soil and sand at a construction site,
An excavation machine body equipped with means for excavating and collecting soil and sand;
a position detection means for detecting three-dimensional coordinates of a current position of the excavation machine;
a three-dimensional geological model generating means for generating a three-dimensional geological model from the three-dimensional map data and the three-dimensional geological data of the construction site; and a design excavation shape setting means for setting a design excavation shape, which is a three-dimensional design shape of the excavation shape of the construction site, from the three-dimensional geological model and a preset amount of each material to be extracted.
a synthetic excavation shape creating means for creating a synthetic excavation shape by synthesizing the three-dimensional geological model and the designed excavation shape;
a stratum depth calculation means for calculating the depth of the geological layer currently being excavated, measured from the current position of the excavation machine, based on the current position of the excavation machine detected by the position detection means and the composite excavation shape;
a display means for displaying the calculated geological layer depth;
A drilling machine equipped with

Images