JP3198403B2 - Slope finishing management system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a construction management system for performing slope finishing using a GPS (positioning system using an artificial satellite) in civil engineering works such as construction works, and more particularly to a remote control bulldozer. The present invention relates to the development of a slope finishing management system that achieves the same or more operability as a manned bulldozer in a type to be used and realizes a slope finishing work efficiently and accurately.

[0002]

2. Description of the Related Art The present inventors have proposed technical means for realizing unmanned construction using construction machines.
That is, an unmanned construction is performed by a construction robot using a GPS positioning system with at least four satellites (Japanese Patent Laid-Open No. Hei 4-296683), or a volumetric survey image of a ground being constructed and a plan. In a system in which images are superimposed and displayed on a display device provided at a monitoring center so that the current formation of the ground can be grasped by comparing it with a plan map (Japanese Patent Laid-Open No. 4-290915), Although it is possible to run an unmanned construction machine or perform some actual work such as excavation, the construction machine is operated so as to perform the original functions of the machine such as excavation, embankment, and embankment. In view of the difficulties, the position and attitude of the unmanned construction machine are monitored in real time by GPS technology and TV cameras. While watching the that monitor screen was the construction machine invented GPS unattended installation system configured to remotely.

According to this GPS unmanned construction system, G
Since the operator operates the remote control panel while viewing multiple pieces of image information and construction information from PS technology and TV cameras, etc., it is almost equivalent to information such as the field of view and sense of balance when the operator performs operations while boarding Or more information content can be obtained, so that easy and reliable remote operation can be ensured, and the essential functions of the construction machine can be fully exhibited, and therefore, Unmanned construction can be realized.

[0004] However, in the case of performing a finishing operation by excavating or pressing a slope by using the construction machine, excavation is performed while the construction machine is running along an inclined slope.
When traveling on a slope, the GPS antenna will also be tilted by the amount that the construction machine is tilted, so when traveling on a flat surface, it is not necessary to consider the tilt of the GPS antenna. If you try to grasp the construction status based on the same idea as above, errors due to the inclination of the GPS antenna will occur, and accurate construction information will not be provided on the monitor screen. This will hinder work.

[0005]

SUMMARY OF THE INVENTION Therefore, the present invention
When finishing a slope section using a remote-controlled bulldozer related to a GPS unmanned construction system, make sure that the bulldozer does not generate an error due to the inclination of a GPS antenna that occurs when the slope runs. Accordingly, it is an object of the present invention to provide a slope finishing management system capable of always providing accurate construction information on a monitor screen, and performing a slope finishing operation efficiently and accurately.

[0006]

That is, in the slope finishing management system according to the present invention, as shown in FIG. 1, a remotely operated bulldozer 2 having a GPS antenna 1 is installed in an unmanned area in a construction area. Then, while viewing the image information 3 of the bulldozer 2 by the television camera and the monitor screen 5 in which the construction information 4 grasped using at least four satellites is displayed in real time, the operator of the manned area other than the unmanned area is operated. 6 is a slope finishing management system for operating the remote control panel to finish the slope on the bulldozer 2 in the unmanned area, wherein the construction information 4 includes the displacement of the electrical center position E of the GPS antenna due to the elapse of a set time. ,
And a bulldozer position / inclination information 7 in which a sectional view of the bulldozer 2 showing the position and inclination of the bulldozer 2 is displayed in real time on a corresponding portion of the monitor screen 5 based on the electric center position E after the displacement, The trajectory of the mechanical center position M of the bulldozer 2 grasped based on the displacement of the electric center position E and the electric center position E after the displacement is provided at a corresponding portion of the monitor screen 5 at predetermined time intervals. Current construction information 8 displayed while updating the information, and construction plan information displayed as a cross-sectional view including a slope end position 9a, a slope position 9b, and a slope line 9c in a section closest to the electrical center position E. 9 is provided.

[0007] In such technical means, the remote-controlled bulldozer 2 can perform operations such as excavation and excavation, which are the essential functions of the bulldozer 2, based on the principle of radio control. If there is, crawler type, or tire type, ripper, ripper is not attached, and the type is not particularly limited, but from the viewpoint of running safely on an inclined slope, underbody is It is preferable to use a crawler type, and from the viewpoint of constructing a harder stratum than soft rock, it is preferable to use a ripper.

The remote-controlled bulldozer 2 includes, for example, a normal bulldozer, a scraper dozer, a motor scraper, a tow-type scraper, and the like. Therefore, it is necessary to dispose the GPS antenna 1 behind a portion where an attachment for shaving the ground, such as an earth removal plate, is arranged.

The image information 3 may be any information obtained by capturing the movement of the bulldozer 2 with a television camera. From the viewpoint of improving the operability of the operator,
Preferably, more than one television camera is installed per remote controlled bulldozer to obtain images from multiple directions.

The construction information 4 may be any information as long as the bulldozer position inclination information 7, the construction status information 8, and the construction plan information 9 are superimposed and displayed in real time. From the viewpoint of grasping and easily performing the slope finishing work, a narrow angle between a straight line passing through the slope end position and the mechanical center position M and the slope line, and a distance from the slope end position to the mechanical center position M. It is preferable to include a digging balance display means 10 for calculating the distance h from the mechanical center position M to the slope line and displaying the calculation result indicating the digging balance on a monitor screen in real time, and more efficiently. From the viewpoint of performing the slope finishing work, the horizontal distance A from the mechanical center position M to the slope position 9a and the horizontal distance B from the mechanical center position M to the slope position 9b are calculated and the calculation results are obtained. Preferably includes a horizontal distance display means 11 for displaying on the monitor screen in real time.

In this case, the bulldozer position tilt information 7 includes the displacement of the electric center position E of the GPS antenna due to the elapse of the set time and the cross section of the bulldozer 2 based on the electric center position E after the displacement. It is sufficient that the picture is displayed on the corresponding portion of the monitor screen 5 in real time. However, from the viewpoint of improving the operability of the operator, the cross-sectional picture of the bulldozer 2 is not accurately scaled. Of course, it is preferable to display the inclination accurately.

Here, the set time is an interval time of measurement timing set in advance for the purpose of measuring the displacement of the electric center position E of the GPS antenna to know the inclination of the bulldozer, and is shorter if shorter. Although it is possible to obtain a value (slope of the bulldozer) that approximates the actual value as much as possible, at this moment, the shortest value is 0.1 second.

The electrical center position E is a measurement origin located substantially at the center of the GPS antenna when receiving a radio wave from a GPS satellite, and the mechanical center position M is
It means the intersection of a perpendicular passing through the electrical center position E of the GPS antenna fixed to the bulldozer and a virtual reference plane on which the underbody of the bulldozer is placed.

Further, the monitor screen 5 is only required to be capable of displaying the image information 3 and the construction information 4, and the one monitor screen is divided and displayed as long as the operability of the operator is not hindered. There is no limitation on the type of the monitor, such as a plurality of monitor screens collected in one place and installed in a unit.

Further, as the construction status information 8, the locus of the mechanical center position M of the bulldozer 2 grasped based on the displacement of the electric center position E and the electric center position E after the displacement is displayed on a monitor screen. 5 may be a diagram that is updated and displayed at predetermined time intervals, and the scale must correspond to the other components such as the bulldozer position tilt information 7 and the construction plan information 9. .

Further, as the construction plan information 9, of the cross-sectional views prepared in advance for each measuring point at a predetermined interval, the information of the measuring point closest to the electric center position E is selectively displayed. However, it is necessary that at least the slope position 9a, the slope position 9b, and the slope line 9c be displayed.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail based on an embodiment shown in the accompanying drawings. FIG. 2 is an explanatory diagram showing a construction situation in a case where the embodiment of the slope finishing management system according to the present invention is applied to an unmanned construction site.

In FIG. 1, reference numeral 21 denotes a slope that is currently being finished or is to be finished, 22 is a ground to be cut off, and 23 is a GPS antenna 2.
A radio controlled bulldozer having a 3a and a radio antenna 23b for finishing a slope has a virtual survey line (broken line in the drawing) indicating the transverse direction of the same measuring point on the surface of the planned work. The bulldozer 23 is performing the finishing work of the slope near the measurement point # 1 + 12.

As shown in FIG. 3, the radio controlled bulldozer 23 according to this embodiment has a monitor screen 33 of a single information display monitor 32 fixed on a monitor desk 31 and a monitor screen 33 mounted on the monitor desk 31. A radio control operation unit 37 including a computer 34 having a keyboard 34a, a radio control operation panel 35 arranged in front of a monitor screen 33, and a chair 36 for sitting down to operate the radio control operation panel 35. After being deployed away from the construction location, the operator 38 operates the radio control operation panel 35 while watching the information displayed on the monitor screen 33 while sitting on the chair 36 to perform radio control.

The monitor screen 33 divides and displays one screen to display a plurality of different pieces of information. Specifically, the monitor screen 33 includes an A monitor that displays an image of a distant view of the radio bulldozer 23. , A B monitor that displays a relatively close-up image of the radio controlled bulldozer 23, a C monitor that displays an image from a driver's seat (not shown) of the radio controlled bulldozer 23, and a radio controlled bulldozer 23 using a GPS positioning system and a wireless communication system. Is divided into an E-monitor, which displays the position and inclination, the construction status, and the construction plan on a program stored in the computer 34 in real time as a cross-sectional view and a D-monitor, which displays the previous data of the cross-sectional view. Will be displayed.

As shown in FIG. 4, the E-monitor according to this embodiment has the following features from the viewpoint of the operator 38 performing the radio control operation of the radio control bulldozer 23 efficiently and accurately.
Bulldozer picture 41 for notifying the operator 38 of the position and inclination of the radio controlled bulldozer 23 in real time
And the locus 42 of the mechanical center position M of the radio-controlled bulldozer 23 updated and displayed every second so as to inform the operator 38 of the current construction status in real time, and the Hoshiri related to the survey line 24 closest to the electric center position E. The construction information including the position 43a, the slope position 43b, and the planning line 43 for displaying the slope line 43c is displayed.

The bulldozer picture 41 relating to the E monitor is as follows.
Based on the displacement of the electrical center position E of the GPS antenna 23a with the elapse of the set time measured using the GPS positioning system and the wireless communication system, and the measurement result of the electrical center position E after the displacement, the radio-controlled dozer 23 is used. Is detected on a program of the computer 34, and the detected data is processed on a program of the computer 34 and displayed in real time as a sectional picture at a corresponding portion of the E-monitor. In addition to being displayed as a cross-section, it is displayed as a cross-sectional picture with the same inclination as the actual inclination. In this embodiment, the set time is set as short as 0.1 second and substantially continuous display is performed. Since the same screen can be obtained, the operability of the operator 38 is improved.

The mechanical center position M of the E monitor
Is a time-dependent trajectory of an intersection between a vertical line passing through the electrical center position E of the GPS antenna 24a fixed to the radio-controlled bulldozer 23 and a virtual reference horizontal plane on which the crawler of the radio-controlled bulldozer 23 is mounted. Because it is a trajectory,
Usually, the mechanical center position M is located at substantially the same height as the ground surface immediately after the ground has been scraped off with the blade. May be regarded as indicating the cross-sectional position of the ground surface after the change of the ground, and therefore, according to the trajectory 42, the shape of the ground immediately after the shaving is removed in real time (1 The display is updated on the E-monitor at intervals of second), whereby the operator 38 can easily grasp the positional relationship between the construction status and the construction plan, so that the operability of the radio controlled bulldozer 23 is improved.

Further, a planning line 43 related to the E monitor
Is a plan view of each survey line 24 stored in the memory of the computer 34 in advance after recognizing a planar positional relationship between the electric center position E of the GPS antenna 24a fixed to the radio bulldozer 23 and the survey line 24. Among the cross-sectional views, a cross-sectional view at the survey line 24 closest to the current plane position of the electric center position E is selectively displayed. For example, a planned cross-sectional view of the measurement point # 1 + 12 is currently displayed. Although displayed, the electrical center position E of the GPS antenna 24a related to the radio-controlled bulldozer 23 is the measurement point # 1.
When the measurement point # 1 + 10 comes closer to the measurement line # 1 + 10 than the measurement line # 12, the planned sectional view of the measurement point # 1 + 10 is displayed. Since the correct plan section corresponding to the exact current position is always displayed, it is possible to avoid a situation in which a gap between the section actually being constructed and the plan section occurs, resulting in over-digging, etc. Thus, an accurate finished surface is ensured.

Further, in this embodiment, from the viewpoint of further improving the operability of the operator, two methods for quantitatively indicating the progress of excavation on the E monitor are employed.

As a first method, the narrow angle 45 between the straight line 44 and the slope line 43c that pass through both the bottom edge position 43a and the mechanical center position M at the same time, and the mechanical center position M from the bottom edge position 43a. By calculating the excavation balance h indicating the distance from the mechanical center position M to the slope line 43c from the distance 46 to the display position 47 in real time, the calculation result is displayed. The operator 38 can quantitatively grasp the excavation balance,
The slope finishing work can be performed accurately.

As a second method, a horizontal distance 48a from the mechanical center position M to the stump position 43a and a horizontal distance 48b from the mechanical center position M to the steep shoulder position 43b are set.
Is calculated, the calculation result is displayed in real time at the display locations 49a and 49b, whereby the operator 38
The relative position in c can be quantitatively grasped, and the slope finishing work can be performed efficiently.

Next, a control process of the radio controlled bulldozer 23 according to this embodiment will be described with reference to the overall configuration diagram of the slope finishing management system shown in FIG.

First, when image data captured by the first television camera 51, the second television camera 52, and the third television camera 53 are respectively transferred to the wireless relay device 54 in real time, the transfer data is simultaneously transmitted from the wireless relay device 54 to A The data is transferred to the monitor, the B monitor, and the C monitor and displayed.

In this embodiment, since the method using the wireless relay device 54 is employed as a method of transferring image data, it plays a particularly effective role against a communication failure in a mountain area or the like. When the wireless relay device is mounted on, for example, a radio-controlled crawler dump, it is possible to optionally move the wireless relay device to an advantageous place according to the communication state.

On the other hand, the position data and the attitude data of the radio controlled dozer 23 are detected in real time by the GPS positioning system and the wireless communication system 55,
The result of the detection is automatically input into a database of a computer program 56 stored in the computer 34, and the data processing is performed on the program, whereby the position and inclination of the radio-controlled bulldozer 23, the construction status, and the construction plan are determined. While one sectional view is displayed on the E monitor in real time, the previous data of the sectional view is always displayed on the D monitor.

In this manner, in the three areas A to C monitors, image information for mainly grasping the outline of the movement of the radio controlled bulldozer 23, such as preventing contact with other construction machines, is displayed. At the same time, the construction information for performing the slope finishing work efficiently and accurately is displayed in two areas of the D monitor and the E monitor, and the five areas of the A monitor to the E monitor are displayed. By displaying on one monitor screen 33 instead of being separated,
Since the operator 38 is configured to operate the radio control operation panel 35 facing the monitor screen 33,
All of the information displayed in the area will easily be in the operator's field of view.

As a result, since it is possible to effectively appeal to the visual sense of the operator 38, there is a situation in which information such as a field of view and a sense of equilibrium, which should be obtained when the driver gets into the driver's seat, cannot be obtained. The radio control bulldozer 23 can be radio-controlled by operating the radio control operation panel 35 more easily and reliably than in the case of boarding. As a result, the functions of the radio control bulldozer 23 such as original excavation and excavation are sufficient. Will be demonstrated.

In addition, visual information based on the position data and posture data of the radio controlled bulldozer 23 having extremely high accuracy of 1 to 2 cm, that is, the construction status for the construction plan and the positional relationship of the radio controlled bulldozer 23 are updated in real time. Since the data is displayed on the E-monitor, the operation can be performed while operating the radio-controlled operation panel without separately conducting surveying on site as before, so that completely unmanned construction is realized until the final finishing work. Will be.

Thus, the radio controlled bulldozer 23
Is radio controlled by the operator 38,
The image data that fluctuates following the operation of the radio controlled bulldozer 23 is displayed on the A monitor to the C monitor by the first television camera 51 to the third television camera 53 via the wireless relay device 54, and the radio controlled bulldozer 23 is displayed.
The visual information based on the position data and attitude data of the radio controlled bulldozer 23 obtained by grasping the operation of the radio controlled bulldozer 23 by the GPS positioning system and the wireless communication system is also displayed on the D monitor and the E monitor via the computer 34, and this process is repeated. As a result, the slope finishing work will progress.

[0036]

As described above, according to the present invention, a remotely operated bulldozer equipped with a GPS antenna is provided in an unmanned area, and image information of the bulldozer and at least four satellites are used for grasping. While looking at the monitor screen on which the construction information to be displayed is displayed, the operator of the manned area operates the remote control panel to finish the slope of the bulldozer, and the construction information includes the position of the bulldozer and The bulldozer position inclination information in which the inclination is displayed, the construction status information in which the trajectory of the mechanical center position of the bulldozer is sequentially updated and displayed, and the construction plan information are included. The error caused by the inclination of the GPS antenna that occurs at the time of occurrence can be prevented from occurring, so that accurate construction information is always displayed on the monitor screen. Since it is possible to provide, as a result, it is possible to easily and efficiently Homen finishing operations.

[Brief description of the drawings]

FIG. 1 is an explanatory view schematically showing a slope construction management system according to the present invention.

FIG. 2 is an explanatory diagram showing a construction status when an embodiment of a slope construction management system according to the present invention is applied.

FIG. 3 is an explanatory diagram showing a configuration of a radio control operation unit used in an embodiment of a slope construction management system according to the present invention.

FIG. 4 is an explanatory diagram showing a display configuration of a monitor screen used in an embodiment of a slope construction management system according to the present invention.

FIG. 5 is an explanatory diagram showing a control process of a radio controlled bulldozer used in an embodiment of a slope construction management system according to the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... GPS antenna 2 ... Remote control bulldozer 3 ... Image information 4 ... Construction information 5 ... Monitor screen 6 ... Operator 7 ... Build-dose position inclination information 8 ... Construction state information 9 ... Construction plan information 9a ... Hoshiri position 9b ... Position 9c ... Slope line 10 ... Excavation balance display means 11 ... Horizontal distance display means 21 ... Slope 22 ... Street mountain 23 ... Radio bulldozer 23a ... GPS antenna 23b ... Wireless antenna 24 ... Measurement line 31 ... Monitor desk 32 ... Information display monitor 33 monitor screen 34 computer 35 radio control panel 36 chair 37 radio control unit 38 operator 41 bulldozer picture 42 trajectory 43 planning line 43 a slope position 43 b slope position 43 c slope line 51 … First TV camera 54… Wireless relay device 55… GPS positioning system Temu and wireless communication system 56 ... Computer program E ... electrical center position M ... mechanical central position

Continuation of the front page (56) References JP-A-7-260482 (JP, A) JP-A-3-39525 (JP, A) JP-A 1-312408 (JP, A) JP-A-7-71960 (JP) , A) JP-A-7-150597 (JP, A) JP-A-8-152322 (JP, A) JP-A-10-88624 (JP, A) Table 8-8-506870 (JP, A) Completion of Unmanned Construction at Unzen Fugendake-Test Field System No. 1-", Mechanization of Design, Japan Construction Mechanization Association, August 1994, Vol. 3-29 (58) Field surveyed (Int. Cl. ⁷ , DB name) E02F 3/42-3/43 E02F 3/84-3/85 E02F 9/20-9/22 G01C 15/00 G01S 5 / 00-5/14 G09B 9/00

Claims (3)

(57) [Claims] 1. A remotely operated bulldozer (2) having a GPS antenna (1) is provided in an unmanned area of a construction area, and image information (3) of the bulldozer (2) by a television camera, and at least An operator (6) in a manned area other than the unmanned area operates the remote control panel while watching the monitor screen (5) in which construction information (4) grasped using four satellites is displayed in real time. In a slope finishing system for finishing a slope on the bulldozer (2) in an area, the construction information (4) includes a displacement of an electrical center position (E) of a GPS antenna (1) due to a lapse of a set time, and A cross-sectional view of the bulldozer (2) showing the position and inclination of the bulldozer (2) obtained from the electric center position (E) after the displacement is real at a corresponding portion of the monitor screen (5). And the mechanical center position of the bulldozer (2) obtained from the displacement of the electric center position (E) and the electric center position (E) after the displacement (7). Construction status information (8) in which the locus of M) is displayed while being updated at predetermined time intervals on the corresponding portion of the monitor screen (5), and the electrical center position (E)
And construction plan information (9) displayed as a cross-sectional view including a slope end position (9a), a slope position (9b), and a slope line (9c) in a section closest to. Slope finishing management system. 2. The construction information (4) includes:
a) and the angle between the straight line passing through the mechanical center position (M) and the slope line (9c), and the distance from the slope end position (9a) to the mechanical center position (M), the mechanical center position ( M) calculating a distance (h) from the slope line (9c) to the slope line (9c), and including a digging balance display means (10) for displaying the calculation result indicating the digging balance on a monitor screen (5) in real time. The slope finishing management system according to claim 1. 3. The construction information (4) includes: a horizontal distance (A) from a mechanical center position (M) to a butt position (9a);
A horizontal distance display means (11) for calculating a horizontal distance (B) from the mechanical center position (M) to the shoulder position (9b) and displaying the calculation result on a monitor screen (5) in real time.
The slope finishing management system according to claim 1 or 2, characterized by comprising: