JP2000230253A - Earth removing method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To smoothen a highly uneven construction surface by setting a reference light emission part for emitting a reference light in parallel to a plan surface in the vicinity of a construction part, providing a sensor part for receiving the reference light and displaying its position on the blade upper part of a working machine, and remotely operating the blade on the basis of this display. SOLUTION: A reference light emission part 22 for emitting a reference light M in parallel to a plan surface is set in the vicinity of a construction part. A bar-like sensor part 23 vertically mounted on the upper edge center of the blade H of a working machine 2 is formed of photo sensors divided into vertical blocks, a level detecting means judges which sensor of the sensor part 23 receives the light and judges the vertical position to the reference light M of the blade H. Display parts 28 laterally provided on the roof part 2a of the working machine 2 selectively light rotating lamps 28a-28e vertically arranged and integrated on the basis of the output of a lighting circuit controlled by a control means 27, and earth removal is remotely performed while estimating the position to the plan surface of the blade H on the basis of this indication.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an earth removal method performed by a working machine, such as a bulldozer or a grader, for smoothing a construction portion at a construction site.

[0002]

2. Description of the Related Art FIGS. 10 and 11 are explanatory views showing a conventional working machine for smoothing out a construction part at a construction site near an active volcano or a disaster area, where 1 is the ground of the construction part, and 2 is the ground. Ground 1
A work machine such as a bulldozer or a grader that smoothes the surface of the work machine, 3 is a base station that controls the work machine 2 by radio, 4 is a base station that runs, and 4 is a run provided in a safe area at the outer edge of the construction section. The road 5 is a GPS device that is installed near the construction section and transmits information on the position and height of the work machine 2 to the base station 3.

The operation of the earth removal process will be described first.
When the operator moves the work machine 2 several times on the base station and the operator remotely operates the work machine 2 at the base station 3 to check the unevenness of the ground 1, the GPS antenna mounted on the work machine 2 Radio waves from artificial satellites are received, the position and height of the work machine 2 are displayed on the monitor of the base station 3 via the GPS device 5, and the operator grasps the condition of the unevenness of the ground 1, and The unevenness is stored in the storage device of the base station 3 as three-dimensional topographic information.

[0004] In order to smooth the irregularities, the soil removal plate H of the working machine 2 is remotely operated to discharge the hills Z of the actual construction surface F, and the soil is discharged forward. By repairing the depression T of the surface F, the unevenness of the construction surface F is leveled and approached to the plan surface S.

After the construction surface F is brought closer to the planning surface S, the work machine 2 is run again on the construction surface F to check the unevenness of the construction surface F. In step 5, the unevenness of the construction surface F is displayed on the monitor of the base station 3 to indicate the position and height, and the fine irregularities are examined. Further, the construction surface F is brought closer to the plan surface S, and is evenly smoothed. It is smooth and smooth.

[0006]

However, the ground 1
It takes time to input the three-dimensional topographical information of the base station 3 into the storage device of the base station 3, and when the bulging portion Z of the planning surface F is to be unloaded and repaired to the depression T, the unloading plate H of the working machine 2 is remotely operated. Since the earth removal and repair are performed, it takes skill to perform the earth removal and repair so that the bulged portion Z and the depression T coincide with the plan surface S, and there is a disadvantage that the construction period becomes longer. Was. In addition,
As a device for smoothing the irregularities of the construction surface F, a laser generator for irradiating a laser in parallel with the planning surface S is provided near the construction part, and a light receiver for receiving this laser is provided on the earth removal plate H of the working machine 2. However, the light receiving range of this light receiver is about 20 cm, and the range in which the earth removal plate H can be controlled is as short as about 20 cm in the vertical direction. It is necessary to adjust the height so that the laser strikes the photodetector when the laser comes off the surface. This adjustment takes a long time and the construction period becomes long, so that it cannot be applied to the construction surface F having large irregularities. Also,
It is known that an automatic tracking total station that transmits light parallel to the planning surface S is provided in the vicinity of the construction unit and a prism that receives this light is provided on the earth removal plate H,
This has the disadvantage that it takes time and effort to input the three-dimensional topographical information of the ground 1 in advance, and the construction period becomes longer. Also, a device that hydraulically controls the earth removal plate H of the work machine 2 with respect to the plan surface S and smoothes the construction surface F is known.
There is a risk that the dumping plate H may move unexpectedly, and the range in which the dumping plate H can be controlled is as short as about 20 cm in the vertical direction, and cannot be applied to the construction surface F having large irregularities.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and has an object to shorten a construction period and to smooth a construction surface having large irregularities.

[0008]

According to the first aspect of the present invention, a reference light irradiating unit for irradiating a reference light so as to be parallel to a planning plane is installed near a construction unit, and a soil removal plate of a working machine is provided. A light receiving sensor attached to the upper portion so as to extend in the vertical direction and receiving light from the reference light irradiating unit, and a display unit that performs display according to a light receiving position of the light from the reference light irradiating unit, The earth removal is performed by remote control while estimating the position of the earth removal plate with respect to the plan surface based on the display on the display unit.

According to a second aspect of the present invention, the light receiving sensor is formed on the left and right upper portions of the earth discharging plate, and two display portions for performing display according to respective light receiving positions of the light receiving sensor are formed. It was done.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. Embodiment 1 FIG. FIG. 1 is a perspective view showing an example of an earth discharging method according to Embodiment 1 of the present invention. FIG. 2 is a schematic diagram, FIG. 3 is a block diagram, and FIGS. FIG. 6 is a diagram showing an attached state of the display unit,
7 and 8 are explanatory diagrams of the operation, and the same parts as those in FIGS. 10 to 11 are denoted by the same reference numerals. In each of the drawings, reference numeral 21 denotes an elevator tripod installed on the traveling road 4, and reference numeral 22 denotes a reference light M, such as a laser beam, provided on the elevator tripod 21 to the work machine 2 so as to be parallel to the planning surface S. Is a reference light irradiating section for rotating and irradiating the light, 23 is a rod-shaped sensor section for detecting the reference light M from the reference light irradiating section 22, and is formed by photosensors 23a to 23e divided into columns of columns. 24 and the support rods 25, 25 are vertically attached to the center of the upper edge of the earth discharging plate H of the working machine 2. The reference light irradiating unit 22 has an adjusting operation unit for freely adjusting the inclination angle of the reference light M with respect to the horizontal plane. The height and inclination of the reference light M are adjusted based on the operation of the adjusting operation unit and the operation of the elevator tripod 21. Set the corner. In this example, the reference light M is
Set to be parallel to. It is desirable that the difference between the plane formed by the reference light M and the planning plane S is set to be the difference between the lower end of the earth removal plate H of the work machine 2 and the center of the sensor unit 23. 26 is a photo sensor 23a in the sensor unit 23
23e is a level detecting means for determining whether or not any of the sensors is detecting light to determine the upper and lower positions of the earth removal plate H with respect to the reference light M. Is output to the control means 27.
Reference numeral 28 denotes rotating lights 28a to 28e arranged in a column and integrated.
It is a display portion formed in a rod shape, and a roof portion 2a of the work machine 2.
Two rotating lamps 28 a to 28 e are selectively lit based on the output of a lighting circuit 29 controlled by the control means 27.

For example, when the photo sensor 23a detects the reference light M, the control means 27 controls the lighting circuit 29 to turn on the uppermost rotary light 28a, and when the photo sensor 23e detects the reference light M, the control means 27 Reference numeral 27 controls a lighting circuit 29 to turn on the lowermost rotating light 28e.

As shown in FIG. 5, the sensor section 23 as a light receiving sensor for detecting the reference light M has a sensor length of 100 to 100 mm.
The integrated sensor is about 200 cm, and the integrated sensor is divided into five blocks.
The length of each block can be arbitrarily adjusted by remote control. In this case, the sensor unit 23 has a photo sensor 23a in which the length of one block is about 20 to 40 cm.
To 23e. Further, the correspondence between the rotary lamps 28a to 28e to be turned on with respect to the light receiving height of the sensor unit 23 is controlled by a wireless or wired remote control.
7, the correspondence may be changed in advance according to the situation. In this case, when the photo sensors 23a to 23e receive light,
a to 28e are set to light up. Sensor part 2
3 is formed on the four surfaces of the right, left, front, and rear of the support 24.
The support plate 30 is disposed outside the support plate 30, and the upper and lower sides of the support plate 30 are attached to the column 24 with bolts 31, 31. The sensor unit 23 is formed by arranging 100 to 200 photodiodes 32 of about 1 cm in a column on the outside of the support plate 30 and is formed on four surfaces. Can be sensed. On the outer surface of the photodiode 32, a filter material 33 passing 630 to 750 nm, which is the same as the wavelength of the reference light M, is formed so as to pass only the reference light M. When the photodiode 32 receives the reference light M, it is turned on, detected by the level detecting means 26, the lighting circuit 29 is controlled by the control means 27, and the display unit 28 is turned on.

As shown in FIG. 6, the rotating lamp 28 of the display unit 28
A to 28e each have a height of about 10 cm, and four colored acrylic plates 33a to 33e which protrude upward from the roof 2a and are color-coded on the outside for each of the rotary lights 28a to 28e.
It is formed one by one to make it easy to identify the height, and it is possible to reliably confirm which of the rotary lights 28a to 28e is lit even from a distance, The deviation can be easily checked by the operator, and the remote operation of the earth discharging plate H becomes easy.

In operation, as shown in FIG. 7 (a), when a swelling portion Z is formed on the actual construction surface F with respect to the planning surface S, the swelling portion Z is moved forward by the earth discharging plate H. It is necessary to make the work surface F close to the plan surface S by flattening by discharging the soil and leveling.

According to the first embodiment, the reference light M is initially applied to the bottom of the 23e, and is displayed on the display unit 28 by the operation of the control unit 27.
Is turned on. With this, the earth removal plate H
It can be seen that the upper part of the swelling part Z is discharged relatively.

When the soil at the swelling portion Z is discharged forward,
Since the discharging plate H gradually sinks downward, the reference light M
Is detected by the photosensor 23d below the sensor unit 23, and the operation of the control unit 27 turns on the rotating lamp 28d, and the lighting of the display unit 28 shifts upward. By observing the change of the lighting, it can be understood that the discharging is proceeding smoothly.

When the lower edge of the earth removal plate H coincides with the plan surface S, the reference light M is detected by the photo sensor 23c at the center of the sensor unit 23 as shown in FIG. Therefore, the protruding portion Z is discharged by this, and the plan surface S
That is, the construction surface F matches.

On the other hand, as shown in FIG.
On the other hand, when a depression T is formed in front of the actual construction surface F, the soil from the bulging portion Z is discharged into the depression T by the earth removal plate H, and the soil is flattened to plan the construction surface F. It is necessary to approach the surface S.

In this case, the soil from the rising portion Z is removed from the earth removal plate H.
The reference light M is applied to the uppermost photosensor 23a of the sensor section 23 in the process of repairing gradually from the top, and the control means 27 turns on the uppermost rotary lamp 28a of the display section 28. I do. Thus, it can be seen that the earth discharging plate H is located relatively below the depression T.

When the soil from the rising portion Z is further filled and repaired in the depression T, the earth discharging plate H gradually rises upward, so that the reference light M is applied to the photo sensor above the sensor portion 23. The light is detected by 23b and the operation of the control means 27 turns on the rotary lamp 28b, and the lighting of the display unit 28 shifts downward. By looking at this change in lighting, it can be seen that the repair is proceeding smoothly.

When the lower edge of the earth removal plate H coincides with the plan surface S, the reference light M is detected by the photo sensor 23c at the center of the sensor unit 23 as shown in FIG. Therefore, the protruding portion Z is discharged by this, and the plan surface S
The construction surface F coincides with that of the first embodiment, and the entire construction portion can be smoothed and smoothed.

As described above, the reference light irradiating section 22 for irradiating the reference light M parallel to the planning surface S is installed near the working section, and the sensor section 23 for receiving the reference light M is mounted on the earth discharging plate of the working machine 2. H, the display unit 28 is turned on in accordance with the light receiving position, and the earth removal plate H is remotely operated so that the construction surface F coincides with the plan surface S. It is only necessary to remotely control the position of the earth discharging plate H according to the lighting position of 28, and the operation can be performed relatively easily, so that the construction period can be shortened. Length of one block is 20-40c
m, the reference light M is detected by the photosensors 23a to 23e and the dumping plate H is remotely controlled, so that the reference light M can be received within 100 to 200 cm, and even if the construction surface F has large irregularities, the sensor unit The construction surface F can be smoothed without the reference light M deviating from 23.

The case where the sensor unit 23 is divided into five photo sensors 23a to 23e and the five rotary lights 28a to 28e of the display unit 28 are turned on has been described.
The sensor unit 23 may be divided into two or more blocks, and the number of rotating lights corresponding to the blocks may be provided. In addition, not only the rotating light but also a number of lights corresponding to the blocks may be turned on or blinked.

If the construction surface F has irregularities larger than the sensor section 23, for example, 200 cm or more, the sensor section 23 may be displaced upward or downward from the reference light M. Even in this case, the level detecting means 26 has a built-in storage means, and this storage means can store any of the photosensors 23a to 23a.
Since the storage means 23e always stores whether the reference light M is detected, the storage means controls the control means 27 based on the storage information immediately before the detection, and for example, when the reference light M comes off the sensor unit 23, Are turned on, and when they come off, the lower rotating lights 28c to 28c are turned off.
e is turned on. Therefore, even if the sensor unit 23 is deviated from the reference light M, it is possible to reliably recognize whether the construction surface F is raised or depressed.

When the work is divided several times, or when the work area is large and the work is not completed in one day, the reference light irradiating section 22 is re-installed and the reference light M is made parallel to the plan surface S. You need to set it again. In this case, the sensor unit 23
The two work machines 2 provided with are moved to different points in the work area where the work has already been completed and the level is reached. The working machine 2 is adjusted in advance so that the heights of the respective earthing plates H are the same, the reference light M passes through the center of each sensor unit 23, and the respective rotating lamps 23c are lit. The reference light irradiator 22 is adjusted so as to perform the operation. By doing so, the reference light irradiation unit 2
The second reference light M can be adjusted so as to be easily parallel to the planning plane S.

Embodiment 2 FIG. In the first embodiment, the case where one sensor unit 23 is provided on the upper edge of the earth discharging plate H has been described. In the second embodiment, as shown in FIG. Form sensor parts 23, 23 on the upper right edge,
The respective detection positions may be displayed on the left and right display units 28, 28. By doing so, the earth discharging plate H
Can be displayed on the left and right sides, and the construction surface F can be discharged in a state where the earth removal plate H is tilted left and right and tilted. Can be made to match the planning plane S and smoothed.

In the present embodiment, the display unit 28
Has been described in the work machine 2, but a display unit may be formed in the base station 3, and the height of the received light may be transmitted from the work machine 2 wirelessly or by wire to be displayed on the display unit. . This display unit is not limited to the rotating lights 28a to 28e, and may turn on or blink the same number of lights as the rotating lights 28a to 28e. Also, which rotating light 2
Whether or not 8a to 28e are lit may be displayed by digital numbers, for example, 1 to 5 or 0, ± 1, ± 2, and the like. Further, the photosensors 23a to 23c receiving the reference light M
The height of 23e may be displayed as a digital number, for example, 0 to 200 or 0 to ± 100.

[0028]

As described above, according to the first aspect of the present invention, the reference light irradiating section for irradiating the reference light so as to be parallel to the plan plane is installed near the construction section, and the earth removal plate of the working machine is provided. A light-receiving sensor that is attached to the upper part of the device so as to extend in the vertical direction and receives light from the reference light irradiation unit; and a display unit that performs display according to the light receiving position of the light from the reference light irradiation unit. Since the earth removal is performed by remote control while estimating the position of the earth removal plate with respect to the plan surface based on the display of the display unit, the construction period can be shortened, and the construction surface with large irregularities can be smoothed. it can.

According to the second aspect of the present invention, the light receiving sensor is formed on the upper left and right sides of the earth discharging plate, and two display portions for performing display according to respective light receiving positions of the light receiving sensor are formed. Therefore, the construction period can be shortened, and the construction surface having large irregularities can be smoothed.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention.

FIG. 2 is a top view showing an embodiment of the present invention.

FIG. 3 is a block diagram showing one embodiment of the present invention.

FIG. 4 is a front view showing an embodiment of the present invention.

FIG. 5 is a front view showing an embodiment of the present invention.

FIG. 6 is a sectional view showing an embodiment of the present invention.

FIG. 7 is an operation explanatory view showing an embodiment of the present invention.

FIG. 8 is an operation explanatory view showing one embodiment of the present invention.

FIG. 9 is a front view showing an embodiment of the present invention.

FIG. 10 is a top view showing a conventional example.

FIG. 11 is an operation explanatory diagram showing an operation of a conventional example.

[Explanation of symbols]

1 ground, 2 work machines, 3 base stations, 4 running roads,
22 Reference light irradiation unit, 23 Sensor unit, 23a to 23e
Photo sensor, 28 display part, 28a-28e rotating light, S planning surface, F construction surface, Z rising part, T depression, M reference light, H earth removal plate.

Claims (2)

[Claims] 1. A reference light irradiating unit for irradiating reference light so as to be parallel to a planning plane is installed near a construction unit, and is attached to an upper part of a soil removal plate of a working machine so as to extend in a vertical direction, and the reference light is applied. A light-receiving sensor that receives light from the light irradiating unit, and a display unit that performs display according to the light receiving position of the light from the reference light irradiating unit, An earth removal method, wherein the earth removal is performed by remote control while estimating a position with respect to a planning surface. 2. The light receiving sensor according to claim 1, wherein said light receiving sensor is formed on an upper portion on a left side and a right upper side of said earth discharging plate, and two display portions are provided for performing display according to respective light receiving positions of said light receiving sensor. Item 1. The earth removal treatment method according to Item 1.