JPS6245840A - Control system for position and attitude of moving type construction machine - Google Patents
Control system for position and attitude of moving type construction machineInfo
- Publication number
- JPS6245840A JPS6245840A JP18478885A JP18478885A JPS6245840A JP S6245840 A JPS6245840 A JP S6245840A JP 18478885 A JP18478885 A JP 18478885A JP 18478885 A JP18478885 A JP 18478885A JP S6245840 A JPS6245840 A JP S6245840A
- Authority
- JP
- Japan
- Prior art keywords
- machine
- construction
- meter
- construction machine
- measured
- 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
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- Operation Control Of Excavators (AREA)
Abstract
Description
【発明の詳細な説明】
[発明の目的1
11LΔ扛肚f1
本発明は、例えばパワーショベルやブルドーザ−等の移
動式建設機械の位置や姿勢を認識して、その作業装置、
例えばパケットやブレード等に予め・計画された通りの
施工作業を行わせしめるための制御システムに関するも
のである。DETAILED DESCRIPTION OF THE INVENTION [Objective of the Invention 1 11LΔ扛肚f1 The present invention recognizes the position and posture of a mobile construction machine such as a power shovel or a bulldozer,
For example, it relates to a control system for making packets, blades, etc. perform construction work as planned in advance.
良木@1肛
従来、例えば宅地造成工事等におけるパワーショベルや
ブルドーザ−等による掘削・溝掘・整地作業等は、建設
機械のオペレーターの勘や技能に頼って行なわれいると
共に、その作業が予め定められた工事計画通りに施工さ
れているかどうかを、その都度計測して確認し、工事を
進めていた。Yoshiki @ 1 Anal Traditionally, excavation, trenching, and land leveling work using power shovels, bulldozers, etc. in residential land development work, for example, has relied on the intuition and skills of the construction machine operator, and the work has been carried out in advance. The construction progress was carried out by measuring and checking each time whether the construction was being carried out according to the established construction plan.
明が しようとする 1ヴ
しかしながら、上記のようにオペレータの勘や能力に頼
っていたのでは、オペレータにより作業精度や作業能率
にバラツキが生ずるだけでなく、工事を中断して計測を
繰り返し行わなくてはならず、工期と玉貸に無駄が生じ
易い等の問題点があった。However, relying on the operator's intuition and ability as described above not only causes variations in work accuracy and work efficiency depending on the operator, but also prevents construction work from being interrupted and repeated measurements. However, there were problems such as the possibility of waste in terms of construction period and rental fees.
本発明は、上記問題点を解決するためになされたもので
、その目的とするところは、高精度で能率良く施工する
ことが出来、工期を短縮し工費のコストダウンを図るこ
とのでさる移動式建設機械の位置・姿勢制御システムを
提供するにある。The present invention was made in order to solve the above problems, and its purpose is to provide a mobile type that can perform construction with high precision and efficiency, shorten the construction period, and reduce construction costs. Our goal is to provide position and attitude control systems for construction machinery.
[発明の構成1
1慎J解決するための手技
本発明の移動式建設機械の位置・姿勢制御システムは、
走行バIS・作業装置等を有する移動式建設機械の作業
位置を、工事現場の中継基地に備えた測距・測角装置に
より計測し、一方、上記建設機械に備えた計測器により
その姿勢を計測すると共に作業装置の位置・姿勢を計測
して、これらの各計測データーを有線及び/又は無線に
よりコンピューターに入力し、予め計画設定された建設
8!械並びに作業装置の位置・姿勢値と比較して制御作
動信号を得、これにより建設機械の各駆動部を働かせて
計画に沿った施工作業をせしめるようにしたことを特徴
とするものである。[Configuration of the Invention 1 Techniques for Solving the Problems The position/attitude control system for mobile construction machinery of the present invention is as follows:
The working position of a mobile construction machine equipped with a running bar IS, work equipment, etc. is measured by a ranging and angle measuring device installed at a relay station at a construction site, while its posture is measured by a measuring device installed on the construction machine. At the same time, the position and orientation of the work equipment are measured, and each measurement data is input into a computer by wire and/or wirelessly, and the construction according to the pre-planned construction 8! The system is characterized in that a control operation signal is obtained by comparing the position and orientation values of the machine and the work equipment, and each driving part of the construction machine is operated based on this signal to perform construction work in accordance with the plan.
笈Δ吋
以下、本発明の一実施例について図面を参照しながら説
明する。DETAILED DESCRIPTION OF THE INVENTION Hereinafter, one embodiment of the present invention will be described with reference to the drawings.
第1図において、1は移動式建設機械の一例を示す、バ
ックホウであって、主にクローラ式の走行部1aと、該
走行部1d−ヒに旋回自在に設けられた旋回部1]〕と
、詠旋回部1bに上下回動自在に取付けられたアーム1
cと、該アーム1cの先端部に首振り自在に取付けられ
たバケツ)ld等から構成されている。該バンクホウ1
には、ピッチング計、ローリング計、ヨーイング計、ア
ーム角度計、パケット角度計が備えられている。In FIG. 1, reference numeral 1 indicates a backhoe, which is an example of a mobile construction machine, and includes a mainly crawler-type running section 1a, and a swing section 1 which is rotatably provided on the running section 1d-1. , an arm 1 attached to the swinging part 1b so as to be movable up and down.
1c, and a bucket 1d which is swingably attached to the tip of the arm 1c. The bank hoe 1
It is equipped with a pitching meter, rolling meter, yaw meter, arm angle meter, and packet angle meter.
上記ピッチング計は走行方向(第1図において、紙面に
対して直角方向)に対する揺れ角度を測定する計測器で
あり、上記ローリング計は横方向(第1図において左右
方向)に対する揺れ角度を測定する計測器であり、ヨー
イング計は走行部1aに対する旋回部11〕の旋回角度
を測定する計測器であって、これらの各計測器はバック
ホウ1がどのような姿勢にあるかを認識する計測器であ
る。The pitching meter is a measuring device that measures the shaking angle in the running direction (the direction perpendicular to the plane of the paper in Figure 1), and the rolling meter measures the shaking angle in the lateral direction (the left-right direction in Figure 1). The yawing meter is a measuring device that measures the turning angle of the swinging section 11 with respect to the traveling section 1a, and each of these measuring devices is a measuring device that recognizes what attitude the backhoe 1 is in. be.
一方、上記アーム角度計は旋回部1bに対するアームI
Cの俯仰角を測定する計測器であり、パケット角度計は
アームlc1.:対するバケン)]、dの首振り角度を
測定する計測器であって、これらの計測器は作業装置で
あるバケツ)lclの位置・姿勢を認識する計測器であ
る。On the other hand, the above-mentioned arm angle meter
The packet angle meter is a measuring device for measuring the elevation angle of arm lc1.C. These measuring instruments measure the swing angle of the bucket) and d, and these measuring instruments recognize the position and orientation of the bucket (lcl), which is a working device.
また、上記旋回部1bの旋回動作、アーム1cの」二下
回動、パケット1dの首振り作動等は全て油圧駆動によ
って行なわれ、これらの油圧駆動装置には油圧サーボ機
構が最も適当であり、後述する制御動作信号により作動
するようになっている。Further, the swinging operation of the swinging portion 1b, the downward movement of the arm 1c, the swinging action of the packet 1d, etc. are all performed by hydraulic drive, and a hydraulic servo mechanism is most suitable for these hydraulic drive devices. It is activated by a control operation signal, which will be described later.
さらに、上記バックホウ1の旋回部1bにはレーザー光
追尾形ターデッド2が上下及び旋回可能に設置されてい
る。Furthermore, a laser beam tracking type tarded 2 is installed in the turning section 1b of the backhoe 1 so as to be able to turn up and down and turn.
一方、3は作業現場における中継基地であって、その頂
部にはレーザー七オドライト4及び光波距離計5が設置
されている。On the other hand, 3 is a relay station at the work site, and a laser heptadrite 4 and a light wave distance meter 5 are installed at the top.
上記レーザー七オドライト4は、水平に調整された整準
台上の垂直軸のまわりを水平方向に回転すると共に、水
平軸のまわりを回転して、上記レーザー光追尾形ターデ
ッド2を照準する望遠鏡4aを備えている。The laser heptadrite 4 rotates in the horizontal direction around a vertical axis on a horizontally adjusted leveling table, and also rotates around the horizontal axis to aim the laser beam tracking type tarded 2 at the telescope 4a. It is equipped with
また、上記光波距離計5は、光波列を発射する発光部と
、上記ターデッド2からの反射列を受光する受光部と、
発射から受光までの時間を読み取るストップウォッチ部
とを備えている。Further, the light wave distance meter 5 includes a light emitting part that emits a light wave train, a light receiving part that receives the reflection train from the tarded 2,
It is equipped with a stopwatch section that reads the time from emission to reception of light.
更に、上記中継基地3にはアンテナ6が設置されていて
、前記バックホウ1に設けられたアンテナ7との間で電
波を受発信し、ラノオコントロールできるようになって
いる。Furthermore, an antenna 6 is installed at the relay station 3, and radio waves can be received and transmitted between the relay station 3 and the antenna 7 installed on the backhoe 1, so that the backhoe can be controlled.
8は中間CPU、9は中央フントロールセンターである
。8 is an intermediate CPU, and 9 is a central control center.
次に、上記実施例装置による制御作用について説明する
。Next, the control action of the above embodiment device will be explained.
まず、第2図に示すような宅地造成地における道路に〃
ス・水道・下水等の管を埋設するための溝掘り作業を行
なう場合について述べる。First, on roads in residential development areas as shown in Figure 2,
This section describes the case of digging trenches to bury water, water, and sewage pipes.
今、へ区画における溝掘りをバックホウ1によって行な
う場合、中継基地3のレーザーセオドライト4をa地点
に自動的に照準せしめ、これにバックホウ1を移動させ
一〇そのレーザー光追尾形ターデッド2により追尾せし
めると共に、光波距離計5によりバックホウ1までの距
離lを確認しながらバックホウ1を正確なa地、欝に誘
導する。Now, when digging trenches in the section 5 with the backhoe 1, the laser theodolite 4 of the relay station 3 is automatically aimed at point a, the backhoe 1 is moved to this point, and the laser beam tracking type tarded 2 is used to track it. At the same time, while confirming the distance l to the backhoe 1 using the light wave range finder 5, the backhoe 1 is guided to an accurate position a, in a low position.
一方、バックホウ1に配備されているピッチング計、ロ
ーリング計、ヨーイング計等によりバックホウ1の姿勢
データーを得ると共に、アーム角度計及びパケット角度
計によりバケツ)ldの位置・姿勢データーを得、これ
を直ちにアンテナ6゜7を通じて中継基地3の中間CP
U8に送る。On the other hand, the pitching meter, rolling meter, yawing meter, etc. installed on backhoe 1 obtain the attitude data of backhoe 1, and the arm angle meter and packet angle meter obtain the position and attitude data of the bucket (bucket) ld. Intermediate CP of relay station 3 through antenna 6゜7
Send it to U8.
中間CPU8では、上記各データーを中央コントロール
センター9に送って、a点における溝の計画床さ等の計
画値と比較し、制御動作信号を得ると共に、これをバッ
クホウ1に伝送する。バックホ71では上記制御動作信
号に基づいて、各油圧サーボ機構を作動せしめ、旋回部
1b、アーム1c及びバケツ)ld等を計画値に沿って
制御作動させ、目的の巾と深さの溝を掘削する。The intermediate CPU 8 sends each of the above data to the central control center 9, compares it with planned values such as the planned floor height of the trench at point a, obtains a control operation signal, and transmits this to the backhoe 1. In the backhoe 71, each hydraulic servo mechanism is activated based on the control operation signal, and the swing part 1b, arm 1c, bucket) ld, etc. are controlled and activated according to the planned values to excavate a trench of the desired width and depth. do.
次に、レーザーセオドライト4をb地点に照準せしめ、
レーザー光追尾形ターゲット2を追尾させながらバンク
ホウ1をb点まで誘導する。この際、光波距離計5によ
りバンクホウ1までの距離を確認する。Next, aim the laser theodolite 4 at point b,
The bank hoe 1 is guided to point b while tracking the laser beam tracking type target 2. At this time, the distance to the bankhoe 1 is confirmed using the light wave distance meter 5.
バックホウ1がb点に正確に位置すると、上述の手順を
繰り返して計画通りの溝を掘削する。b点での掘削が完
了すると、さらに0点に移動せしめ同様の操作を繰り返
しながら、へ区画の溝掘り作業を行う。溝掘後の管理設
作業も上記操作と同様にして、バックホ71の位置や姿
勢を計測しながらコンピュータにより制御し、施工計画
に沿って正確且つ高能率に行う。When the backhoe 1 is accurately located at point b, the above-mentioned procedure is repeated to excavate the trench as planned. When the excavation at point b is completed, it is further moved to point 0 and the same operation is repeated to dig a trench in the section. The management and construction work after trench digging is also carried out in the same manner as above, and is controlled by a computer while measuring the position and orientation of the backhoe 71, and is carried out accurately and efficiently in accordance with the construction plan.
上記実施例では、バックホウ1による溝掘り作業につい
て述べたが、本発明はこれに限定するものではなく、そ
の他のショベル系掘削機、トラクター系土工機↑戒、杭
打ち磯や地盤改良機(戒等の基礎工事用機械、クレーン
、トンネル掘削機、しゅんせつ船等、各種の移動式建設
機械に適用し得るものである。In the above embodiment, trench digging work using the backhoe 1 has been described, but the present invention is not limited to this, and can be applied to other shovel-type excavators, tractor-type earth-moving machines, piling rocks, and ground improvement machines. It can be applied to various mobile construction machines such as foundation construction machines, cranes, tunnel excavators, dredging boats, etc.
尚、上記建設機械の姿勢制御には、必要に応じてジャイ
ロコンパスを使用してもよい。Note that a gyro compass may be used to control the attitude of the construction machine, if necessary.
[発明の効果1
各位置での施工作業を総てコンピュータによりコントロ
ールするようにしたので、高精度で能率良く施工するこ
とが出来、工期を短縮し工費のコストダウンを図ること
のできる。[Advantageous Effects of the Invention 1] Since all construction work at each location is controlled by a computer, construction can be performed with high precision and efficiency, shortening the construction period and reducing construction costs.
【図面の簡単な説明】
第1図は本発明のシステムの一実施例を示す説明図、第
2図はその平面図である。
1・・・バックホウ、1a・・・走行部、1b・・・旋
回部、1c・・・アーム、1d・・・バケット、2・・
・レーザー光追尾形ターデッド、3・・・中継基地、4
・・・レーザー七オドライト、4a・・・望遠鏡、5・
・・光波距離計、6゜7・・・アンテナ、8・・・中間
CPU、9・・・中央フントロールセンター。BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an explanatory diagram showing an embodiment of the system of the present invention, and FIG. 2 is a plan view thereof. DESCRIPTION OF SYMBOLS 1...Backhoe, 1a...Traveling part, 1b...Swivel part, 1c...Arm, 1d...Bucket, 2...
・Laser beam tracking type tarded, 3... Relay base, 4
...laser seven odolite, 4a...telescope, 5.
...Light wave distance meter, 6°7... Antenna, 8... Intermediate CPU, 9... Central flight control center.
Claims (1)
を、工事現場の中継基地に備えた測距・測角装置により
計測し、一方、上記建設機械に備えた計測器によりその
姿勢を計測すると共に作業装置の位置・姿勢を計測して
、これらの各計測データーを有線及び/又は無線により
コンピューターに入力し、予め計画設定された建設機械
並びに作業装置の位置・姿勢値と比較して制御作動信号
を得、これにより建設機械の各駆動部を働かせて計画に
沿った施工作業をせしめるようにしたことを特徴とする
移動式建設機械の位置・姿勢制御システム。The working position of a mobile construction machine that has a running section, working equipment, etc. is measured by a ranging and angle measuring device installed at a relay base at a construction site, and its posture is measured by a measuring device installed on the construction machine. At the same time, the position and orientation of the working equipment are measured, each of these measurement data is input into a computer via wire and/or wirelessly, and control is performed by comparing it with the pre-planned position and orientation values of the construction machinery and working equipment. A position/attitude control system for a mobile construction machine, characterized in that an operating signal is obtained, and each driving part of the construction machine is activated to perform construction work according to a plan.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP18478885A JPS6245840A (en) | 1985-08-22 | 1985-08-22 | Control system for position and attitude of moving type construction machine |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP18478885A JPS6245840A (en) | 1985-08-22 | 1985-08-22 | Control system for position and attitude of moving type construction machine |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS6245840A true JPS6245840A (en) | 1987-02-27 |
Family
ID=16159300
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP18478885A Pending JPS6245840A (en) | 1985-08-22 | 1985-08-22 | Control system for position and attitude of moving type construction machine |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS6245840A (en) |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5826130A (en) * | 1981-08-10 | 1983-02-16 | Meidensha Electric Mfg Co Ltd | Method of construction work |
-
1985
- 1985-08-22 JP JP18478885A patent/JPS6245840A/en active Pending
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5826130A (en) * | 1981-08-10 | 1983-02-16 | Meidensha Electric Mfg Co Ltd | Method of construction work |
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