JPH04285214A - Automatic control system for blade of bulldozer - Google Patents
Automatic control system for blade of bulldozerInfo
- Publication number
- JPH04285214A JPH04285214A JP5123791A JP5123791A JPH04285214A JP H04285214 A JPH04285214 A JP H04285214A JP 5123791 A JP5123791 A JP 5123791A JP 5123791 A JP5123791 A JP 5123791A JP H04285214 A JPH04285214 A JP H04285214A
- Authority
- JP
- Japan
- Prior art keywords
- bulldozer
- removal plate
- laser
- earth removal
- height
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims abstract description 6
- 239000002689 soil Substances 0.000 claims abstract 3
- 238000010586 diagram Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
Landscapes
- Operation Control Of Excavators (AREA)
Abstract
Description
【０００１】0001
【産業上の利用分野】本発明はブルドーザの排土板で整
地作業や敷均し作業を無人で行う排土板の自動制御シス
テムに関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic control system for a bulldozer which performs ground leveling and leveling work unmanned.
【０００２】0002
【従来の技術】従来はレーザ水平器によるレーザ光線の
基準面に対し、排土板に取付けたレーザ受光器の高低差
の情報によって排土板の高さを自動制御している。2. Description of the Related Art Conventionally, the height of an earth removal plate is automatically controlled based on information on the height difference of a laser receiver attached to the earth removal plate with respect to a reference plane of a laser beam from a laser level.
【０００３】0003
【発明が解決しようとする課題】前述の従来技術には次
のような問題点がある。従来の自動制御方法の場合、レ
ーザ水平器は３６０°回転する為、レーザ受光器がレー
ザを受光するのにレーザ水平器の１回転に要する時間及
び受光してから、受光位置をデジタル信号で出力するま
での処理時間がかかる。SUMMARY OF THE INVENTION The above-mentioned prior art has the following problems. In the case of the conventional automatic control method, the laser level rotates 360 degrees, so the time required for one rotation of the laser level for the laser receiver to receive the laser beam and the light receiving position are output as digital signals after the laser receiver receives the laser beam. It takes some processing time.
【０００４】このように受光器が制御装置にデータを出
力する応答性の影響により、地盤が起伏している場合、
起伏の変化点においてブルドーザの姿勢（傾斜角）が急
に変った場合、排土板の上下動作が追いつかず、地盤を
計画高以上に掘削し、又は計画高に掘削しない等の不工
合が発生する。本発明は、ブルドーザにより整地・敷均
し作業を行う場合に、地盤の起伏によるブルドーザの縦
揺れを検知し、縦揺れによる影響を受けることなく所定
の作業を行うブルドーザの排土板自動制御システムを提
供することを目的とする。[0004] When the ground is undulating due to the responsiveness of the light receiver outputting data to the control device,
If the attitude (inclination angle) of the bulldozer suddenly changes at a change point in the undulation, the up and down movement of the earth removal plate cannot keep up, resulting in defects such as excavating the ground above the planned height or not excavating to the planned height. do. The present invention is an automatic control system for a bulldozer's earth removal plate that detects the pitching of the bulldozer due to the undulations of the ground and performs the prescribed work without being affected by the pitching when performing ground leveling and leveling work using a bulldozer. The purpose is to provide
【０００５】[0005]
【課題を解決するための手段】ブルドーザにより整地・
敷均し作業を行う場合に、地盤の起伏によるブルドーザ
の縦揺れを検知し、ある設定傾斜角以上に傾斜した時は
、傾斜角に相当する排土板高の制御を、レーザ受光器に
よる高低差情報による制御より優先して行う。[Means to solve the problem] Land leveling and
When performing leveling work, the vertical sway of the bulldozer due to the undulation of the ground is detected, and when the slope exceeds a certain slope angle, the height of the earth removal plate corresponding to the slope angle is controlled using a laser receiver. This is performed with priority over control based on difference information.
【０００６】[0006]
【作用】ブルドーザの傾斜が一定の場合は、レーザ受光
器によるデジタル信号により、制御装置が油圧アクチユ
エータを動作させ、ストロークセンサからの信号によっ
て排土板制御を行う。ブルドーザの傾斜が角速度計によ
る信号から設定傾斜角以上に傾いた場合は、排土板の高
さを、傾斜角に相当する量、油圧アクチユエータのスト
ロークに変換し、レーザ受光器からのデジタル信号より
優先して制御する。かくして、ブルドーザの縦揺れの影
響を受けることなく、所定の作業を行うことが可能にな
る。[Operation] When the slope of the bulldozer is constant, the control device operates the hydraulic actuator based on the digital signal from the laser receiver, and controls the earth removal plate based on the signal from the stroke sensor. If the slope of the bulldozer exceeds the set slope angle based on the signal from the angular velocity meter, the height of the earth removal plate is converted into the stroke of the hydraulic actuator by an amount equivalent to the slope angle, and the height of the earth removal plate is converted into the stroke of the hydraulic actuator by an amount equivalent to the slope angle, and Prioritize and control. In this way, it becomes possible to carry out a predetermined work without being affected by the pitching of the bulldozer.
【０００７】[0007]
【実施例】本発明の実施例を図１乃至図３について説明
する。図において、１はブルドーザ，２はクローラ，３
は排土板，４はレーザ受光器，５は油圧アクチユエータ
，６はストロークセンサ，７は角速度計，８は排土板制
御装置，９はレーザ水平器，
Ｈ＝Ｌ× ｓｉｎ θ
Ｈ：排土板高低差
Ｌ：変化点から排土板までの距離
θ：基準面に対する傾斜角
である。Embodiment An embodiment of the present invention will be described with reference to FIGS. 1 to 3. In the figure, 1 is a bulldozer, 2 is a crawler, and 3 is a bulldozer.
is an earth removal plate, 4 is a laser receiver, 5 is a hydraulic actuator, 6 is a stroke sensor, 7 is an angular velocity meter, 8 is an earth removal plate control device, 9 is a laser level, H=L×sin θ H: earth removal Plate height difference L: Distance θ from the change point to the earth removal plate: Inclination angle with respect to the reference plane.
【０００８】図１においてレーザ水平器９は３６０°回
転し、レーザ光の基準面を設定する。レーザ受光器４は
排土板３の上に取り付けてあり、スタート時に受光した
計画高さに対する現在の高低差を制御装置８にデジタル
信号で出力する。角速度計７はブルドーザ１を走行する
為のクローラ２に取り付けてあり、クローラ２の傾斜角
を制御装置８に出力する。ストロークセンサ６は排土板
３を動作させる油圧アクチユエータ５のシリンダースト
ロークを検出し制御装置８に出力する。In FIG. 1, the laser level device 9 rotates 360° to set a reference plane for the laser beam. The laser receiver 4 is mounted on the earth removal plate 3, and outputs the current height difference with respect to the planned height received at the start to the control device 8 as a digital signal. An angular velocity meter 7 is attached to a crawler 2 for driving the bulldozer 1 and outputs the inclination angle of the crawler 2 to a control device 8. The stroke sensor 6 detects the cylinder stroke of the hydraulic actuator 5 that operates the earth removal plate 3 and outputs it to the control device 8 .
【０００９】制御装置８は、レーザ受光器４の高低差情
報を油圧アクチユエータ５のシリンダーストロークに置
き換えて、排土板高さの制御を行う。また、ブルドーザ
の傾斜角θが設定傾斜角δ以上に傾いた場合は、基準角
に対する角速度計７の傾斜角信号を、Ｈ＝Ｌ× ｓｉｎ
θにより排土板高低差情報に変換して、さらに、シリ
ンダーストロークに置き換えて排土板の自動制御を行う
。The control device 8 replaces the height difference information of the laser receiver 4 with the cylinder stroke of the hydraulic actuator 5 to control the height of the earth removal plate. In addition, if the bulldozer's inclination angle θ is greater than the set inclination angle δ, the inclination angle signal of the gyro meter 7 with respect to the reference angle is calculated as H=L×sin
θ is converted into earth removal plate height difference information, and further, the earth removal plate is automatically controlled by replacing it with cylinder stroke.
【００１０】図２において、レーザ水平器９は３６０°
回転しながらレーザを発光させ一定のレーザ光の基準面
を形成する。レーザ受光器４は計測開始時の受光位置に
対し、現在の受光位置を、高低差情報で排土板制御装置
８に出力する。角速度計７は、リアルタイムにブルドー
ザの傾斜角を計測し、排土板制御装置８に出力する。In FIG. 2, the laser level device 9 has a 360°
It emits laser light while rotating to form a constant reference plane of laser light. The laser receiver 4 outputs the current light-receiving position to the earth removal plate control device 8 as height difference information with respect to the light-receiving position at the start of measurement. The angular velocity meter 7 measures the inclination angle of the bulldozer in real time and outputs it to the earth removal plate control device 8.
【００１１】排土板制御装置８は、各計測器からの高低
差情報によって油圧アクチユエータ５を動作させ、スト
ロークセンサ６からの情報によって制御する。本発明に
よる排土板の制御を流れ図で示すと図３の如くなる。The earth removal plate control device 8 operates the hydraulic actuator 5 based on the height difference information from each measuring device, and controls it based on the information from the stroke sensor 6. The control of the earth removal plate according to the present invention is shown in a flowchart as shown in FIG.
【００１２】0012
【発明の効果】本発明はレーザ水平器によりレーザ光線
の基準面を設定し、排土板に取付けたレーザ受光器によ
る前記基準面との高低差に関する検出信号に基づき排土
板の高さを制御するブルドーザの排土板自動制御システ
ムにおいて、地盤の起伏によるブルドーザの縦揺れ（傾
斜角）を、角速度計により計測し、ある設定傾斜角以上
に傾斜した時は、傾斜角に相当する排土板高さをレーザ
受光器の検出信号より優先して制御することにより、ブ
ルドーザの縦揺れの影響を受けることなく、所定の整地
・敷均し作業を行うことができる。Effects of the Invention The present invention sets a reference plane for a laser beam using a laser level, and calculates the height of the earth removal plate based on a detection signal regarding the height difference from the reference plane by a laser receiver attached to the earth removal plate. In the automatic control system for the earth removal plate of the bulldozer, the pitching (inclination angle) of the bulldozer due to the undulation of the ground is measured by an angular velocity meter, and when the slope exceeds a certain slope angle, the earth removal plate corresponding to the slope angle By controlling the board height with priority over the detection signal of the laser receiver, predetermined leveling and leveling work can be performed without being affected by the pitching of the bulldozer.
【図１】本発明の実施例における計器配置図である。FIG. 1 is an instrument layout diagram in an embodiment of the present invention.
【図２】図１の制御機構のシステムブロツク図である。FIG. 2 is a system block diagram of the control mechanism of FIG. 1;
【図３】図１の制御の流れ図である。FIG. 3 is a flow chart of the control in FIG. 1;
１ ブルドーザ ２ クローラ ３ 排土板 ４ レーザ受光器 ５ 油圧アクチユエータ ６ ストロークセンサ ７ 角速度計 ８ 排土板制御装置 ９ レーザ水平器 1 Bulldozer 2 Crawler 3 Earth removal board 4 Laser receiver 5 Hydraulic actuator 6 Stroke sensor 7. Angular velocity meter 8 Earth removal plate control device 9 Laser level
Claims (1)
面を設定し、排土板に取付けたレーザ受光器による前記
基準面との高低差に関する検出信号に基づき排土板の高
さを制御するブルドーザの排土板自動制御システムにお
いて、地盤の起伏によるブルドーザの縦揺れ（傾斜角）
を、角速度計により計測し、ある設定傾斜角以上に傾斜
した時は、傾斜角に相当する排土板高さをレーザ受光器
の検出信号より優先して制御することを特徴とするブル
ドーザの排土板自動制御システム。1. A bulldozer that sets a reference plane for a laser beam using a laser level, and controls the height of the earth removal plate based on a detection signal regarding the height difference with the reference plane from a laser receiver attached to the earth removal plate. In the automatic soil removal plate control system of
is measured by an angular velocity meter, and when the slope exceeds a certain slope angle, the height of the earth removal plate corresponding to the slope angle is controlled with priority given to the detection signal of the laser receiver. Earth plate automatic control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5123791A JPH04285214A (en) | 1991-03-15 | 1991-03-15 | Automatic control system for blade of bulldozer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5123791A JPH04285214A (en) | 1991-03-15 | 1991-03-15 | Automatic control system for blade of bulldozer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH04285214A true JPH04285214A (en) | 1992-10-09 |
Family
ID=12881342
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5123791A Pending JPH04285214A (en) | 1991-03-15 | 1991-03-15 | Automatic control system for blade of bulldozer |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH04285214A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5816335A (en) * | 1996-11-18 | 1998-10-06 | Komatsu Ltd. | Dozing system for use in bulldozer |
| US5875854A (en) * | 1997-05-15 | 1999-03-02 | Komatsu Ltd. | Dozing system for bulldozer |
| US5984018A (en) * | 1996-11-18 | 1999-11-16 | Komatsu Ltd. | Dozing system for controlling a cutting angle of a bulldozer blade during dozing operation |
| US5996703A (en) * | 1996-02-12 | 1999-12-07 | Komatsu Ltd. | Dozing apparatus of a bulldozer |
| EP2542726A4 (en) * | 2010-03-05 | 2017-03-22 | Mikrofyn A/S | An apparatus and a method for height control for a dozer blade |
| US11982746B2 (en) | 2019-02-08 | 2024-05-14 | Topcon Positioning Systems, Inc. | System and method for tracking a reference laser |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5310501B2 (en) * | 1973-09-28 | 1978-04-14 | ||
| JPS5847834A (en) * | 1981-09-18 | 1983-03-19 | Caterpillar Mitsubishi Ltd | Keeper for uniform crawler landing pressure |
| JPH01235734A (en) * | 1988-03-14 | 1989-09-20 | Pub Works Res Inst Ministry Of Constr | Method and apparatus for controlling soil discharge plate of bulldozer |
-
1991
- 1991-03-15 JP JP5123791A patent/JPH04285214A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5310501B2 (en) * | 1973-09-28 | 1978-04-14 | ||
| JPS5847834A (en) * | 1981-09-18 | 1983-03-19 | Caterpillar Mitsubishi Ltd | Keeper for uniform crawler landing pressure |
| JPH01235734A (en) * | 1988-03-14 | 1989-09-20 | Pub Works Res Inst Ministry Of Constr | Method and apparatus for controlling soil discharge plate of bulldozer |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5996703A (en) * | 1996-02-12 | 1999-12-07 | Komatsu Ltd. | Dozing apparatus of a bulldozer |
| US5816335A (en) * | 1996-11-18 | 1998-10-06 | Komatsu Ltd. | Dozing system for use in bulldozer |
| US5984018A (en) * | 1996-11-18 | 1999-11-16 | Komatsu Ltd. | Dozing system for controlling a cutting angle of a bulldozer blade during dozing operation |
| US5875854A (en) * | 1997-05-15 | 1999-03-02 | Komatsu Ltd. | Dozing system for bulldozer |
| EP2542726A4 (en) * | 2010-03-05 | 2017-03-22 | Mikrofyn A/S | An apparatus and a method for height control for a dozer blade |
| US11982746B2 (en) | 2019-02-08 | 2024-05-14 | Topcon Positioning Systems, Inc. | System and method for tracking a reference laser |
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