KR101629716B1 - Coordinate Measuring System for Excavating Work and Method Thereof - Google Patents

Abstract

The present invention relates to a boom and an arm and a bucket together with a vehicle body so as to provide a coordinate measurement without the use of a GPS in excavation work of an excavator, A user interface operably installed in a vehicle body of the excavation equipment and having a display function capable of input setting with a screen output; A tilt sensor which is provided for each of the boom, arm and bucket of the excavating equipment and measures the angle of the boom on the vehicle body, the angle between the boom and the arm, and the angle between the arm and the bucket, And a gyro sensor installed on the vehicle body for sensing whether the vehicle body is rotating due to rotational motion of the vehicle body and measuring a rotation angle of the vehicle body; And a display unit for displaying the position of the bucket on the basis of the measurement value inputted from the measurement sensor unit and setting the coordinates of the reference point for the position of the vehicle body, And a position calculation processor that is capable of measuring the new position coordinates of the changed bucket.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coordinate measuring system for excavating work,

The present invention relates to a coordinate measuring system and method for excavation work, and more particularly to a coordinate surveying system for excavating a digging work without a GPS (Global Positioning System) And a method therefor.

In general, excavators are heavy equipment used mainly to carry out soil excavation work, and it is the most widely used earthwork equipment among various construction equipments (excavator, loader, dozer, etc.) and is used for most civil engineering and construction works such as roads, airports, The excavator will be used for earthworks, which is the most basic work going on ahead.

In order to carry out earthworks work interception work (hereinafter referred to as excavation work) from such an excavator, it is necessary to perform survey work for surveying the work position, area and excavation depth to be excavated in the construction site. That is, the excavator is equipped with a driver for driving the excavator together with a driver for driving the excavator, and a surveyor is introduced to guide the digging depth to the driver while confirming the design drawings of the construction site. If you perform a manual survey using the leveler and the surveying rod, the digging operation will proceed.

However, when the surveyor is directly put into the field and the surveying work is carried out by the manual measurement method, the operator of the excavator performs the excavation work by the empirical judgment and it is difficult to perform the accurate excavation work. There is a problem that the overall working time is delayed and the air is lengthened because the surveying work is performed every time.

Recently, an automatic measurement method, which is a method that can be directly monitored by the driver of an excavator by installing a sensor on the excavator and mounting the excavator on a device capable of automatically measuring the displacement due to the excavation work, is developed and used from abroad In fact.

In this type of automatic measurement method, the accuracy of the bucket height is tracked by using a sensor on the excavator, and then a 2D type surveying instrument capable of monitoring the relative height value of the excavator based on the height of the bucket tip , Two GPSs mounted on the excavator, recognizing coordinate information and rotation information, and accurately recognizing the excavator status using sensors and distance values, and then outputting them, and using the 3D type surveying equipment that can be monitored by the excavator operator do.

However, in the case of 2D surveying equipment, relative measurement based on the reference point is performed in order to obtain the height value of the work area. Therefore, the reference value must be reset each time the excavator is moved, The operation is difficult and the construction period is long.

On the other hand, Korean Patent Laid-Open Publication No. 85663 (Nov. 16, 2002) discloses a conventional system disclosed in relation to a working system of an excavator employing the above-described 3D type surveying equipment, in which the position information of the excavator and the position information of the bucket are provided, A GPS receiver disposed above the rotation center of the revolving structure to provide a position of the excavator; Motion sensing means disposed at a rotation center portion of the revolving structure for sensing an amount of motion of the excavator; Rotational angle detecting means disposed at each joint portion for detecting rotational angles of a boom, an arm, and a bucket provided on the rotating body; And a measurement controller for calculating a measurement value output from the motion detection means and the angle detection means in real time to obtain a coordinate value of the bucket tip, wherein the GPS reception antenna simultaneously measures the topography of the work area of the excavator, Since the bucket end coordinate value is obtained from the controller, the excavation work of the planned section can be performed arbitrarily. Therefore, the equipment operation rate is improved and the accurate excavation work can be always performed. A real time operation system of an excavator is known.

However, in the conventional surveillance system for excavation work, the additional equipment such as a GPS device or an antenna for transmitting / receiving GPS signals is added, so that the cost of the equipment for surveying is increased, There is a problem in that it is difficult to perform the surveying work with the obsolete material in the excavation work in the area.

Korean Patent Publication No. 10-2002-0085663

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and it is an object of the present invention to provide a system for measuring coordinates required for excavation work by only inputting coordinate values for an initial reference point, It is an object of the present invention to provide a coordinate measuring system and method for excavation work which can shorten the construction air while reducing the number of workers by automating the surveying work.

A coordinate surveying system for excavating work proposed by the present invention is a digging work surveying system for supporting an excavating work from a excavating equipment consisting of a boom and an arm and a bucket together with a vehicle body, A user interface operably installed in a vehicle body of the excavating equipment and having a display function capable of input setting together with a screen output; A tilt sensor which is provided for each of the boom, arm and bucket of the excavating equipment and measures the angle of the boom on the vehicle body, the angle between the boom and the arm, and the angle between the arm and the bucket, And a gyro sensor installed on the vehicle body for sensing whether the vehicle body is rotating due to rotational motion of the vehicle body and measuring a rotation angle of the vehicle body; And a display unit for displaying the position of the bucket on the basis of the measurement value inputted from the measurement sensor unit and setting the coordinates of the reference point for the position of the vehicle body, And a position calculation processor which is capable of measuring the new position coordinates of the changed bucket.

The user interface is configured to apply any one of a button operation method and a touch screen method to input and set coordinate values for an initial reference point or coordinate values for expected work positions.

In order to input coordinate values for the initial reference point or coordinate values for the expected position in the user interface, coordinate values for the X-axis direction, the Y-axis direction, and the Z-axis direction are input.

The position calculation processing unit measures the position of the vehicle body from an initial reference point through a fixed length value of each of the boom, arm, and bucket of the excavating equipment and all angle measurement values input from the inclination sensor of the measurement sensor unit, A position storage means for storing coordinate values of the equipment reference point measured by the position calculation means, and a tilt sensor of the measurement sensor portion from the equipment reference point stored on the position storage means And a work coordinate measuring means for calculating a coordinate value of the bucket which has been changed by rotational motion of the vehicle body based on the measured value inputted from the gyro sensor.

And a quantity calculation unit for automatically calculating the quantity related to the excavation work by measuring the current data of the excavation work by the excavation equipment in operation based on the final data of the excavation work inputted through the user interface, It is also possible to construct the system further.

A reference data generation means for outputting coordinate values of a design drawing input to the drawing generation means as data; and a reference data generation means for outputting coordinate values of a design drawing input to the drawing generation means as data, A survey data generation means for measuring in real time the coordinate values of the excavation work status excavated from the survey data and outputting it as surface data; a survey data generation means for generating survey data based on surface data measured by the survey data generation means and data And a comparison calculation means for calculating the remaining work amount.

The surveying data generating means measures and records coordinate values in units of seconds and filters the lowest coordinate values for each position by taking into account the bucket width of the excavating equipment among the record data.

The method of coordinate measurement for excavation proposed in the present invention is a method of excavation work measurement for supporting excavation work from excavation equipment consisting of a boom, an arm and a bucket together with a vehicle body, Measuring the coordinates of the reference point after setting the initial reference point; Placing the bucket end of the excavating equipment at an initial reference point and inputting coordinates for the initial reference point to be surveyed; Calculating coordinates of the equipment reference point from the vehicle body by measuring the angle between the arm and the bucket, the angle between the boom and the arm, and the angle of the boom based on the coordinates of the bucket end located at the initial reference point; Inputting coordinates for a work scheduled position to be excavated; And tracking the coordinates of the end of the bucket by measuring the rotation angle and the length of the position coordinates of the bucket in accordance with the rotational motion of the vehicle body while performing the excavation work while tracking the input planned work position, .

The step of performing the excavating operation may further include the step of measuring the current state of the excavating operation by the excavating equipment in operation in real time based on the data input to the scheduled operation position to automatically calculate the remaining workload related to the excavating operation .

According to the coordinate measuring system and method for excavation work according to the present invention, when only the initial reference point is set and inputted, the coordinates for the equipment reference point and the coordinates for changing the position of the bucket can be uniformly surveyed, It is possible to remarkably reduce the construction cost of the equipment for surveying and to improve the workability of the digging work by the excavator as well as the surveying work according to the coordinate surveying function.

In addition, since the coordinate measuring system and method for excavation according to the present invention can measure only the initial reference point automatically after all coordinates are automatically measured, the number of workers for surveying work can be reduced, There is a very economical effect.

The coordinate measuring system and method for excavation according to the present invention are configured to calculate the remaining work amount for excavation work after measuring the coordinate record in accordance with excavation work in seconds, There is an effect that the work is easier and the construction quality can be improved.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a configuration diagram showing an embodiment of a coordinate measuring system for excavation work according to the present invention; Fig.
2 is a side view showing an embodiment of a coordinate measuring system for excavation work according to the present invention;
3 is a plan view showing an embodiment of a coordinate measuring system for an excavating operation according to the present invention;
4 is a block diagram illustrating one embodiment of a coordinate measuring system for excavating operations in accordance with the present invention;
5 is a block diagram illustrating another embodiment of a coordinate measuring system for excavating operations in accordance with the present invention;
6 is a block diagram showing a quantity calculating unit in another embodiment of a coordinate measuring system for excavating work according to the present invention.
7 is a flow chart illustrating an embodiment of a method of coordinate measurement for excavation work according to the present invention.
8 is a flowchart showing another embodiment of a coordinate measuring method for excavation work according to the present invention.

The present invention relates to an excavating work measuring system for supporting excavation work from an excavating equipment consisting of a boom and an arm and a bucket together with a vehicle body, A user interface having a display function capable of input setting together with a screen output; A tilt sensor which is provided for each of the boom, arm and bucket of the excavating equipment and measures the angle of the boom on the vehicle body, the angle between the boom and the arm, and the angle between the arm and the bucket, And a gyro sensor installed on the vehicle body for sensing whether the vehicle body is rotating due to rotational motion of the vehicle body and measuring a rotation angle of the vehicle body; And a display unit for displaying the position of the bucket on the basis of the measurement value inputted from the measurement sensor unit and setting the coordinates of the reference point for the position of the vehicle body, And a position calculation processing unit which is capable of measuring the new position coordinates of the changed bucket.

Also, the user interface may be a coordinate measuring system for an excavation work to apply either the button operation method or the touch screen method for inputting and setting the coordinate values for the initial reference point or the expected work position It is characterized by the constitution.

In addition, in order to input coordinate values for the initial reference point or coordinate values for the expected work position in the user interface, coordinate values for the X-axis direction, the Y-axis direction, and the Z- The system is characterized by its technical structure.

The position calculation processing unit measures the position of the vehicle body from an initial reference point through a fixed length value of each of the boom, arm, and bucket of the excavation equipment previously stored, and all angle measurement values input from the inclination sensor of the measurement sensor unit, A position storage means for storing coordinate values of the equipment reference point measured by the position calculation means; a position storage means for storing the coordinate values of the equipment reference point measured by the position sensor, And a work coordinate measuring means for calculating a coordinate value of the bucket which has been changed by rotational motion of the vehicle body based on a measurement value input from the gyro sensor, .

The present invention also provides a method for automatically calculating a quantity related to an excavation work by measuring the current state of excavation work by the excavation equipment during operation based on the final data of excavation work input from the outside through the user interface The coordinate measuring system for excavation work further includes a quantity calculating unit.

A reference data generation means for outputting coordinate values of a design drawing input to the drawing generation means as data; and a reference data generation means for outputting coordinate values of a design drawing input to the drawing generation means as data, A survey data generation means for measuring in real time the coordinate values of the excavation work status excavated from the equipment and outputting it as surface data; And a comparison calculation means for calculating the remaining work amount by comparing the data with each other, and a coordinate measuring system for excavation work.

The surveying data generation means measures the coordinate value in units of seconds and records the coordinates of the lowest coordinate value of each excavation equipment in consideration of the bucket width of the excavation equipment among the record data, .

The present invention also relates to a method of surveying an excavation work for supporting an excavation work from an excavation equipment consisting of a boom, an arm and a bucket together with a vehicle body, ; ≪ / RTI > Placing the bucket end of the excavating equipment at an initial reference point and inputting coordinates for the initial reference point to be surveyed; Calculating coordinates of the equipment reference point from the vehicle body by measuring the angle between the arm and the bucket, the angle between the boom and the arm, and the angle of the boom based on the coordinates of the bucket end located at the initial reference point; Inputting coordinates for a work scheduled position to be excavated; And tracking the coordinates of the end of the bucket by measuring the rotation angle and the length of the position coordinates of the bucket in accordance with the rotational motion of the vehicle body while tracking the input expected work position while performing excavation work The coordinate measuring method for the excavation work is characterized by the technical constitution.

In the step of performing the excavating operation, furthermore, the step of measuring the current data of the excavating operation by the excavating equipment in operation based on the data input to the scheduled operation position in real time and automatically calculating the remaining workload related to the excavating operation The coordinate measuring method for the excavation work is characterized by the technical constitution.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, a preferred embodiment of a coordinate measuring system for excavation according to the present invention will be described in detail with reference to the drawings.

An embodiment of a coordinate measuring system for an excavating operation according to the present invention comprises a boom 5 and an arm 7 together with a vehicle body 3 as shown in Figs. 1 and 2, A digging work measuring system for supporting an excavating operation from an excavating equipment 1 constituted by a bucket 9 comprises a user interface 10, a measuring sensor unit 20, and a position calculating unit 30 .

As shown in FIGS. 1 and 4, the user interface 10 includes a main body 3 of the excavating equipment 1 so that a driver, who operates the excavating equipment 1, And is installed in the driver's seat.

The user interface 10 is configured to have a display function capable of inputting information together with information on the screen. That is, the user interface 10 outputs information on the operation status to perform functions that the driver can monitor, and is also operable by the user who is the user, so that information can be inputted or set, do.

The user interface 10 is configured to input and set coordinate values for an initial reference point P1 for excavation work and coordinate values for a predetermined work position.

The user interface 10 may be configured to input or manipulate various information, but may be configured to apply a button operation type input method having a separate operation button, or may be configured to display the display panel of the user interface 10 on a touch screen It is possible to configure the touch screen type to be applied.

In the user interface 10, coordinate values for the initial reference point P1 or coordinate values for the expected position of work are input to input coordinate values for the X-axis direction, the Y-axis direction, and the Z-axis direction. In other words, when inputting the coordinate values through the user interface 10, the coordinate values for the horizontal, vertical and height of the ground work area are input to perform excavation work, So that coordinate values measured by the arithmetic processing unit 30 can be obtained.

The user interface 10 outputs an image of the ground along with the entire image of the excavation equipment 1, as well as various survey information and excavation statuses as characters or numbers.

2, the measurement sensor unit 20 is installed at each of the nodes of the boom 5, the arm 7, and the bucket 9 of the excavation equipment 1 and includes a tilt sensor And a gyro sensor 23 mounted on the vehicle body 3 for measuring a rotation angle ₄ according to the attitude.

The inclination sensor 21 provides the driver with driving conditions for the boom 5, the arm 7 and the bucket 9 as an aggregate of units for excavation work from the excavation equipment 1, To the position calculation processing unit (30).

The inclination sensor 21 includes a plurality of (three in FIG. 2) angles θ ₁ of the boom 5, which is connected and rotatably connected to the vehicle body 3, An angle? ₂ between the arm 5 and the arm 7 and an angle? ₃ between the arm 7 and the bucket 9, respectively. That is, the inclination sensor 21 is installed at a node where the vehicle body 3 and the boom 5 are connected to each other to measure an angle? ₁ between the vehicle body 3 and the boom 5, The angle? ₂ between the boom 5 and the arm 7 is measured at a node where the arm 7 and the arm 7 are connected to each other and the arm 7 and the bucket 9 are connected to each other And is configured to measure an angle (? ₃ ) between the arm (7) and the bucket (9).

2 and 3, the gyro sensor 23 senses whether the gyro sensor 23 is rotating due to the rotational motion of the vehicle body 3 and detects the rotational angle? ₄ ).

The gyro sensor 23 senses the attitude of the vehicle body 3 rotating in the direction of the true north, that is, on the vertical axis in the vehicle body 3 designed to be rotatably driven by the excavating equipment 1, ₄ ) is measured.

The position calculation processing unit 30 performs a function of measuring a coordinate value for excavation work and displaying the result of the coordinate measurement through the user interface 10. [

The position calculation processing unit 30 is capable of measuring the coordinates of the equipment reference point P2 with respect to the position of the vehicle body 3 based on the measurement value input from the measurement sensor unit 20. [ That is, the position calculation processing unit 30 measures the coordinate of the vehicle body 3 positioned for excavation work, sets the point where the bucket 9 is located to the initial reference point P1, (A), (b), and (c) of the equipment along with the angle θ ₁ (θ ₂ ) (θ ₃ ) input through the inclination sensor 21 of the measurement sensor unit 20 To measure the coordinates of the equipment reference point (P2), which is the fixed position of the vehicle body (3).

In the above, the initial reference point P1 is set by the operator through the user interface 10 after the coordinates are measured by the operator.

In addition, the position calculation processing unit 30 is provided to measure the new position coordinates of the bucket 9 changed in accordance with the rotational motion of the vehicle body 3. That is, it is possible to measure the positional coordinates with respect to the bucket 9 after the vehicle body 3 is rotationally driven with reference to the equipment reference point P2 for the vehicle body 3 in the excavating equipment 1 .

4, the position calculation processing unit 30 includes a position calculation means 31 for calculating coordinates of the equipment reference point P2 with reference to an initial reference point P1, A position storage means 33 for storing coordinate values of the measured equipment reference point P2 and a work coordinate measuring means 35 for calculating coordinate values of the bucket 9 that has been repositioned with reference to the equipment reference point P2 ).

The position calculation means 31 calculates the position of the vehicle body 3 from the position of the bucket 9 to the position of the vehicle body 3 and the angle θ ₁ and θ ₂ inputted from the inclination sensor 21 θ ₃ ) to calculate the coordinates for the instrument reference point (P2). That is, the position calculating means 31 calculates the lengths (a), (b) and (c) obtained by the fixed length values of the boom 5, the arm 7 and the bucket 9 of the pre- ) with any angle (θ ₁₎ (θ _2), (θ ₃₎ determined for the boom 5 and the arm 7 and the bucket 9, which is inputted from the inclination sensor 21 of the sensor section 20 The position of the vehicle body 3 is measured from an initial reference point P1 at which the bucket 9 is located and the coordinates of the equipment reference point P2 are calculated.

The work coordinate measuring means 35 calculates the coordinate value of the position of the bucket 9 continuously and continuously based on the equipment reference point P2 at which the vehicle body 3 is located. That is, when the rotation of the vehicle body 3 is sensed by the gyro sensor 23, the work coordinate measuring means 35 measures the coordinate value of the bucket 9 changed to the rotational drive of the vehicle body 3 .

The work coordinate measuring means 35 is inputted from the gyro sensor 23 together with the inclination sensor 21 of the measurement sensor portion 20 from the equipment reference point P2 stored on the position memory means 33 And calculates the coordinate value of the bucket 9 that has been repositioned by the rotational motion of the vehicle body 3 based on the measured value.

In the case of the equipment reference point by the position calculating means or the coordinate point of the bucket in the position calculating processor 30, it is calculated through the following Equation 1 and provided to the user interface.

Where a is the length of the boom, b is the length of the arm, c is the length of the bucket, θ ₂ is the angle between the boom and arm, and θ ₃ is the angle between the arm and the bucket.

Another embodiment of the coordinate surveying system for excavation work according to the present invention is shown in FIG. 5 and FIG. 6, which displays the coordinate data on the basis of the final data of excavation work input from outside, And a quantity calculation unit (40) for measuring the current data of the excavating operation by the excavating equipment (1) in operation in real time and automatically calculating the quantity related to excavation work.

As shown in FIG. 6, the quantity calculator 40 is a function that displays, on the user interface 10, work information that allows the driver to grasp the work situation together with the work area, and the drawing generator 41 A reference data generation means 43, a measurement data generation means 45 and a comparison calculation means 47. [

The drawing generating means 41 associates the design drawing inputted from the outside, that is, the drawing to be excavated, to display on the user interface 10.

In order to input the design drawing information to the drawing generating means 41, it is necessary to use a separate external storage device so as to read the information from the drawing generating means 41, It is preferable to configure a connection port (not shown in the drawings) to which the apparatus can be connected.

The user interface 10 preferably includes a connection port to which a USB memory or a memory chip can be connected as an external storage device.

The reference data generating means 43 outputs coordinate values of the design drawing input to the drawing generating means 41 as data.

In the case of the data output by the reference data generating means 43, the data is outputted as an image to the user interface 10 including letters and numbers and displayed.

The measurement data generation means 45 measures the coordinate values of the excavation operation status excavated from the excavation equipment 1 in real time and outputs the measured surface data.

The coordinate values in the measurement data generation means 45 are transmitted to the coordinate calculation means 30 and are displayed in the same manner as the reference data generation means 43, do.

The measurement data generation means 45 measures and records coordinate values in units of seconds. For example, coordinate values are recorded every one second so that the digging operation status can be outputted as data.

In the case of the recording data recorded by the measurement data generation means 45, only the lowest coordinate values for each position are culled in consideration of the bucket width (for example, about 1.3M) of the excavation equipment 1, The coordinate points are created so that they can be output as surface data.

The comparison calculation means 47 compares the surface data measured by the survey data generation means 45 with the data of the design drawing outputted through the reference data generation means 43 to calculate the remaining work amount.

The data information output from the quantity calculation unit 40 to the user interface 10 via the comparison and calculation unit 47 is supplied to the surface data by the survey data generation unit 45 and the reference data generation unit 43, It is also possible to configure the display mode so that only the desired data is separately displayed by setting the mode of the user interface 10.

That is, according to the present invention configured as in the above-described other embodiments, it is possible to calculate the remaining work amount for excavation work after measuring the coordinate record in accordance with excavation work in seconds, so that clear survey information is provided, It is possible to more easily and improve the construction quality.

Next, a preferred embodiment of a coordinate measuring method for excavation work according to the present invention will be described in detail with reference to the drawings.

An embodiment of the coordinate measuring method for excavation according to the present invention is a method for measuring excavation work from an excavation equipment consisting of a boom and an arm and a bucket together with a vehicle body as shown in Fig. (S10) of measuring an initial reference point (P1); a step (S20) of inputting coordinates of a bucket (9) and an initial reference point (P1) A step S30 of calculating coordinates of the equipment reference point P2 from the main body 3, a step S40 of inputting coordinates of the planned position of work, a step of tracking the coordinates of the bucket 9, (S50).

In the step S10 of measuring the initial reference point P1, the position of the initial reference point P1 for the excavation work is set, and then the coordinates of the reference point are measured.

In the step S20 of inputting the coordinates of the initial reference point P1 and the movement of the bucket 9, the operator drives the excavation equipment 1 to move the position of the bucket 9, Is set to the initial reference point P1 and the coordinates of the measured initial reference point P1 are inputted to set the ready state for excavation work.

In the step S30 of calculating the coordinates of the equipment reference point P2 from the vehicle body 3, the distance between the arm 7 and the bucket 9 is calculated on the basis of the coordinates of the end of the bucket 9 located at the initial reference point P1. The angle between the boom 5 and the arm 7 and the angle of the boom 5 to calculate the coordinates of the equipment reference point P2 from the vehicle body 3.

The angle is measured by using an angle sensor for each angle.

In the step S40 of inputting the coordinates for the scheduled work position, coordinate values for the work range to be excavated, that is, coordinate values for the X axis direction, the Y axis direction, and the Z axis direction are inputted.

In step S50 of tracking the coordinates of the bucket 9 and performing excavation work, the excavation work is performed while tracking the inputted planned work position.

In step S50 of tracking the coordinates of the bucket 9, the position of the bucket 9 is measured from the rotational angle and the length, and the coordinates of the end of the bucket 9 are measured Repeatedly track and dig.

In addition, as shown in FIG. 8, in the step of performing the digging operation (S50), the data of the excavation operation by the excavating equipment 1 during the work based on the data inputted to the scheduled work position is measured in real time, (S60) of automatically calculating the remaining workload associated with the workload.

In order to input information to the scheduled work position, it is preferable to input the design drawing and proceed from the driver.

In order to measure the status data, the coordinate values should be measured and recorded in units of seconds, for example, 1 second.

That is, according to the coordinate surveying system for excavating work according to the present invention configured as described above, when only the initial reference point is set and inputted, the coordinates for the equipment reference point and the coordinates for changing the position of the bucket can be uniformly surveyed Therefore, it is possible to greatly reduce the construction cost of the equipment for replacing the existing GPS equipment, to facilitate the surveying work according to the coordinate surveying function, and to improve the workability of excavation work by the excavator.

In addition, since the present invention simply measures the initial reference point and automatically measures all the coordinates thereafter, it is economical to reduce the number of workers for surveying work and lower labor costs as well as equipment construction costs.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. And this is also within the scope of the present invention.

1: excavation equipment 3: vehicle body
5: Boom 7: Cancer
9: Bucket 10: User Interface
20: measuring sensor part 21: inclination sensor
23: Gyro sensor 30: Position calculation processor
31: position calculating means 33: position storing means
35: Work coordinate measuring means 40: Quantity calculating section
41: Drawing generating means 43: Reference data generating means
45: survey data generation means 47: comparison calculation means
a: Boom length b: Arm length c: Bucket length
P1: Initial reference point P2: Equipment reference point
θ ₁ : Angle of boom θ ₂ : Angle between boom and arm
θ ₃ : Angle between the arm and the bucket θ ₄ : Rotation angle of the vehicle body

Claims (9)

An excavation work surveying system for supporting excavation work from excavation equipment consisting of a boom, an arm and a bucket together with a vehicle body,
A user interface operably installed in a vehicle body of the excavation equipment and having a display function capable of input setting with a screen output;
A tilt sensor which is provided for each of the boom, arm and bucket of the excavating equipment and measures the angle of the boom on the vehicle body, the angle between the boom and the arm, and the angle between the arm and the bucket, And a gyro sensor installed on the vehicle body for sensing whether the vehicle body is rotating due to rotational motion of the vehicle body and measuring a rotation angle of the vehicle body;
And a display unit for displaying the position of the bucket on the basis of the measurement value inputted from the measurement sensor unit and setting the coordinates of the reference point for the position of the vehicle body, And a position calculation processing unit that is capable of measuring the new position coordinates of the changed bucket,
And a quantity calculation unit for automatically calculating the quantity related to the excavation work by measuring the current data of the excavation work by the excavation equipment in operation based on the final data of the excavation work inputted through the user interface A coordinate measuring system for excavation work.
The method according to claim 1,
Wherein the user interface is configured to apply any one of a button operation mode and a touch screen mode to input and set coordinate values for an initial reference point or coordinate values for a scheduled work position.
The method according to claim 1,
In order to input coordinate values for the initial reference point or coordinate values for the expected position in the user interface, coordinate values for the X-axis direction, the Y-axis direction, and the Z- .
The method according to claim 1,
The position calculation processing unit measures the position of the vehicle body from an initial reference point through a fixed length value of each of the boom, arm, and bucket of the excavation equipment and all angle measurement values input from the inclination sensor of the measurement sensor unit, A position storage means for storing coordinate values of the equipment reference point measured by the position calculation means; a position storage means for storing the coordinate values of the equipment reference point measured by the position sensor, And a work coordinate measuring means for calculating coordinate values of the bucket that has been changed by rotational motion of the vehicle body based on the measured values inputted from the gyro sensor.
delete The method according to claim 1,
A reference data generation means for outputting coordinate values of a design drawing input to the drawing generation means as data; and a reference data generation means for outputting coordinate values of a design drawing input to the drawing generation means, A survey data generation means for measuring in real time the coordinate values of the excavation work status excavated from the equipment and outputting it as surface data; And a comparison calculation means for calculating the remaining work amount by comparing the data with each other.
The method of claim 6,
Wherein the surveying data generating means measures and measures the coordinate value in seconds and filters the lowest coordinate value per location by taking into account the bucket width of the excavation equipment among the record data.
1. A method of surveying excavation work for supporting excavation work from excavation equipment consisting of a boom, an arm, and a bucket together with a vehicle body,
Measuring the coordinates of the reference point after setting the initial reference point;
Placing the bucket end of the excavating equipment at an initial reference point and inputting coordinates for the initial reference point to be surveyed;
Calculating coordinates of the equipment reference point from the vehicle body by measuring the angle between the arm and the bucket, the angle between the boom and the arm, and the angle of the boom based on the coordinates of the bucket end located at the initial reference point;
Inputting coordinates for a work scheduled position to be excavated;
And tracking the coordinates of the end of the bucket by measuring the rotation angle and the length of the position coordinates of the bucket in accordance with the rotational motion of the vehicle body while tracking the input expected work position while performing excavation work ,
And a step of automatically calculating a remaining work amount related to the excavation work by measuring the current state of the excavation work by the excavation equipment in operation based on the data inputted to the scheduled work position in the excavation work step, Method of coordinate measurement for work.
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