JP4526670B2 - Construction machine control system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a construction machine control system in which predetermined data necessary for a civil engineering work such as a work position, a working direction, and an excavation depth in a civil engineering work by a construction machine can be obtained immediately.
[0002]
[Prior art]
The operation of construction machines is often complicated and requires skilled operators, but at present, skilled operators are difficult to grow.
[0003]
For this reason, even in construction machines, electronic control of operation has progressed and operators are no longer required to be skilled.
[0004]
10 and 11, an outline of the hydraulic excavator 1 and a conventional construction machine control system will be described.
[0005]
A machine room 3 is turnably provided in the traveling unit 2, and the machine room 3 has a hydraulic drive circuit, a control device, and the like. A cab 4 is provided in front of the machine room 3, and a display 11 for displaying information such as operation levers and driving conditions is provided in the cab 4. The machine room 3 is provided with a work arm having a tool. The working arm is an articulated arm composed of a boom 5, an arm 6 and a bucket 7, and a detector for detecting relative displacement is provided on each joint arm as will be described later.
[0006]
The boom 5 is rotatably provided at the front end of the machine chamber 3, the arm 6 is rotatably provided on the boom 5, and the bucket 7, which is a tool, is provided at the tip of the arm 6. It is provided so that rotation is possible. The boom 5 is rotated by a boom cylinder 8, the arm 6 is rotated by an arm cylinder 9, and the bucket 7 is rotated by a bucket cylinder 10.
[0007]
The machine room 3 is turned by the operation of the operation lever (not shown), and the boom 5, the arm 6 and the bucket 7 are bent and stretched through the boom cylinder 8, the arm cylinder 9 and the bucket cylinder 10. Is called.
[0008]
A boom angle detection encoder 12 is provided at the support portion of the boom 5, and the boom angle detection encoder 12 detects a relative rotation angle of the boom 5 with respect to the machine room 3. An arm angle detection encoder 13 is provided on the rotation support portion of the arm 6, and the arm angle detection encoder 13 detects a relative rotation angle of the arm 6 with respect to the boom 5. A bucket rotation angle detection encoder 14 is provided at the rotation support portion of the bucket 7, and the bucket rotation angle detection encoder 14 detects a relative rotation angle of the bucket 7 with respect to the arm 6.
[0009]
Further, a biaxial tilt sensor 15 is provided at a required position of the machine room 3 so that the tilt angle of the hydraulic excavator 1 (machine room 3) with respect to the horizontal is detected.
[0010]
Detection signals from the boom angle detection encoder 12, arm angle detection encoder 13, bucket rotation angle detection encoder 14, and biaxial tilt sensor 15 are input to an arithmetic processing unit (CPU) 16. Further, a reference height such as a ground level (GL) is input to the arithmetic processing unit 16 as a reference value.
[0011]
Since the length of the boom 5, the length of the arm 6, and the turning radius of the blade edge 7a of the bucket 7 are known numerical values, the boom angle detection encoder 12, the arm angle detection encoder 13, and the bucket rotation angle detection encoder 14 The position of the bucket blade edge 7a relative to the hydraulic excavator 1, that is, the relative position with respect to the machine reference position is obtained by calculation, and the bucket blade edge with respect to the ground level (GL) is further determined from the inclination angle from the biaxial inclination sensor 15. The position of 7a can be calculated. Thus, the calculation result is displayed on the display 11 of the operator cab 4, and the operator can always confirm the position of the bucket blade edge 7a with respect to GL by the information displayed on the display 11, and excavation is performed based on GL. The depth and excavation length can be easily grasped and accurate excavation work can be performed.
[0012]
Instead of the encoder that directly detects the angle, a cylinder-type linear displacement detector that directly detects the displacement may be used.
[0013]
Further, when the work is further automated, the work is performed based on the position data and construction data of the hydraulic excavator 1. In the operation based on the position data and construction data of the hydraulic excavator 1, manual surveying at the construction site, measurement of the construction position, etc. can be omitted.
[0014]
In this case, basically necessary data are the position data of the construction machine, the construction data, the direction of the tool, and the position of the working unit. In the hydraulic excavator 1, the bucket 7 corresponds to a tool.
[0015]
The position data, the direction of the tool and the position of the tool are calculated, the construction data at the position is collated, and the construction is performed based on the construction data.
[0016]
12 and 13 show the hydraulic excavator 1 and a conventional construction machine control system further provided with position detecting means and construction data.
[0017]
A GPS device 18 is used as position detecting means, and the GPS device 18 is provided at a position that coincides with the rotation center of the boom 5. The position data is detected by the GPS device 18, the work direction is detected by the gyro 19, and the detected position data and work direction data are input to the arithmetic processing unit 16. The construction data 20 is input to the storage unit of the arithmetic processing unit 16.
[0018]
The GPS device 18 measures the position of the center position of the boom 5 and the position of the height (X, Y, Z). The measurement result and the excavation direction of the bucket 7 are the boom angle detection encoder 12, the arm angle. Based on the data from the detection encoder 13, the bucket rotation angle detection encoder 14, and the biaxial tilt sensor 15, the position of the bucket blade edge 7a is detected by the calculation processing unit 16, and the excavation direction of the bucket 7 is determined by the gyro. It is obtained from 19 detection results. The display 11 compares the determined position (coordinate position) of the bucket blade edge 7 a with the corresponding position of the construction data 20, and construction is performed based on the construction data 20.
[0019]
[Problems to be solved by the invention]
The conventional construction machine control system described above uses the gyro 19 as means for detecting the direction. The gyro 19 has a structure having a core that physically rotates at a high speed. The gyro is a method of adding a change in direction based on the initial setting. For this reason, if any error occurs during the direction detection, there is no function for correcting the error, and since the change is added sequentially, the error inevitably accumulates.
[0020]
Further, in the construction machine such as the above-described power shovel, there is a large vibration during excavation and movement, and there are many sudden vibrations. For this reason, there are many factors causing errors, and the construction machine has many complicated movements such as reciprocating reciprocations at the same place, which is one of the factors of error accumulation.
[0021]
For this reason, the construction machine using the gyro 19 must be reset frequently, and once every few hours, in a situation where there is a lot of vibration or complicated work, it is said to be tens of minutes once. It must be reset frequently. For this reason, there was a problem that work was interrupted and work efficiency fell.
[0022]
In view of such circumstances, the present invention aims to provide a construction machine control system capable of accurate direction detection and orientation without the need for resetting, particularly in the direction setting.
[0023]
[Means for Solving the Problems]
The present invention relates to a construction machine that detects the relative position of a tool as an electrical signal, a GPS device that detects the position of the construction machine, a rotating laser device that irradiates a laser beam and detects the direction of a known point from reflected light, Construction machine control comprising position data from the GPS device, direction data detected by the rotating laser device, and a processing unit for calculating the position of the tool tip based on the relative position data of the tool A construction machine having a tool and a tool, a GPS device for detecting the position of the construction machine, and a rotating laser device for detecting the direction of the construction machine by irradiating a laser beam and detecting reflected light from a known point Detecting means for detecting the relative position of the tool tip relative to the construction machine reference position, position data from the GPS device, and one detected by the rotary laser device The present invention relates to a construction machine control system including a calculation processing unit that calculates the position of a tool tip based on data and a detection result of the detection means, and has a work arm having a tool and a joint, and each joint In a construction machine comprising a provided relative displacement detector and a GPS device, a rotary laser device that irradiates a laser beam and detects reflected light from a known point to detect the direction of the construction machine, and An arithmetic processing unit for calculating a position of a tool tip based on a relative displacement detector, position data from the GPS device, direction data detected by the rotary laser device, and a detection result of the relative displacement detector; The construction machine control system includes a storage unit having construction data, and the arithmetic processing unit compares the position of the tool tip obtained by calculation with the construction data. A construction machine having a tool, a GPS device for detecting the position of the construction machine, and a tilting mechanism for irradiating a laser beam and tilting the irradiation direction of the laser beam. The rotary laser device detects the reflected light from the known point based on the rotational laser device that detects the reflected light and detects the direction of the construction machine, the position data from the GPS device, and the laser beam reflection position of the known point. The present invention relates to a construction machine control system that tilts the irradiation direction of a laser beam so as to receive light, and further includes a gyro, and the construction position is calculated based on the direction detected by the gyro, and the result detected by the rotary laser device The present invention relates to a construction machine control system that corrects the direction of the gyro.
[0024]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0025]
First, a construction machine, such as a power shovel, used in this embodiment will be described with reference to FIGS. 1 and 2, the same components as those shown in FIG. 12 are denoted by the same reference numerals, and detailed description thereof is omitted.
[0026]
The machine room 3 is provided with a biaxial tilt sensor 15, and a rotating laser device 23 is provided as a direction detecting device on the pivot axis of the boom 5. A GPS device 18 is provided on the upper surface of the machine room 3. The GPS device 18 and the rotary laser device 23 are preferably located at the same position, but may be provided apart as shown. In this case, the distance between the GPS device 18 and the rotating laser device 23 is a known value, and the position is corrected by calculation.
[0027]
A pole 24 is erected at a point at a known position, and a reflection mirror 25 for reflecting incident light in all directions is attached to the pole 24. The rotary laser device 23 rotates and irradiates a laser beam, detects the laser beam emission direction when the reflected light from the reflection mirror 25 is received, and detects the direction with respect to the reflection mirror 25.
[0028]
The rotary laser device 23 will be described below with reference to FIGS.
[0029]
FIG. 3 shows a main part of the rotary laser device 23. The rotary laser device 23 is rotatably provided in a light emitting element that emits a laser beam 41, a light emitting unit 26 that houses an optical system, and the light emitting unit 26. A rotating unit 30 for rotating and irradiating the laser beam 41 in a reference plane, an inclination setting unit 31 for leveling the rotating laser device 23 and setting an inclination of a reference surface, an inclination of the rotating laser device 23, It is mainly comprised from the inclination detection part 32 which detects the inclination angle of the light emission part 26. FIG.
[0030]
A spherical portion 33 is formed on a part of the light emitting portion 26, and the spherical portion 33 is supported by a seat 34 (or a gimbal) having a spherical projection so as to be freely tiltable in an arbitrary direction. The rotation part 30 is rotatably provided at the upper end of the rotation part 26, and a scanning gear 35 is fitted to the rotation part 30, and the scanning gear 35 drives a scanning motor 36 fixed to the light emitting part 26. Engage with the gear 37. The rotation unit 30 is rotated by driving the drive gear 37. The rotating unit 30 includes a pentaprism 39 that reflects the laser beam 41 emitted from the light emitting unit 26 and changes the horizontal direction, and the laser beam 41 is irradiated in the horizontal direction from the pentaprism 39. Is done.
[0031]
Two tilting arms 38, 38 (one not shown) extend in the horizontal direction from the light emitting unit 26, and the two tilting arms 38, 38 are orthogonal to each other, and the tilt setting units 31, 31 to be described later, respectively. (One is not shown).
[0032]
The inclination setting unit 31 will be described.
[0033]
The tilt motor 43 attached to the casing 42 of the rotary laser device 23 is connected to a tilt setting screw 45 via a gear train 44, and a slide nut 46 is screwed to the tilt setting screw 45. The slide nut 46 is The tip of the tilting arm 38 is engaged. When the tilt motor 43 is driven, the tilt setting screw 45 is rotated via the gear train 44, the slide nut 46 is moved up and down, and the light emitting unit 26 is tilted via the tilt arm 38. Thus, the light emitting unit 26 can be tilted in any direction by the two sets of the tilt setting units 31.
[0034]
The inclination angle of the light emitting unit 26 is detected by the inclination detecting unit 32 provided at the lower end of the light emitting unit 26. The tilt detector 32 includes two tilt sensors 47 and 48 that are orthogonal to each other, and a tilt amount calculator (not shown) that detects the tilt of the light emitting unit 26 based on output signals from the tilt sensors 47 and 48. ing. Driving of the tilt motor 43 is controlled based on the output from the tilt detector 32. The tilt setting is achieved by driving the tilt motor 43 at an angle converted to the number of pulses.
[0035]
Next, the optical system and control system of the rotary laser device 23 will be described with reference to FIG.
[0036]
The light emitting unit 26 will be described.
[0037]
A collimator lens 52 and a perforated mirror 53 are sequentially arranged from the laser diode 51 side on the optical axis of the laser diode 51 which is a light emitting element, and the laser beam 41 emitted from the laser diode 51 is transmitted by the collimator lens 52. The light beam is collimated and passes through the perforated mirror 53 and is emitted to the rotating unit 30. The laser diode 51 is emitted by the light emitting element driving unit 55, and is modulated by the light emitting element driving unit 55, so that the laser beam 41 emitted from the laser diode 51 can be distinguished from other external light. ing.
[0038]
As described above, the rotating unit 30 emits and scans the laser beam 41 incident from the light emitting unit 26 in the horizontal direction, and changes the optical axis of the laser beam 41 from the light emitting unit 26 by 90 °. The pentaprism 39 is supported so as to be rotatable about the optical axis of the light emitting unit 26, and is further rotated by the scanning motor 36 via the drive gear 37 and the scanning gear 35. Further, a cylinder lens 40 is provided at an emission portion of the pentaprism 39, and the beam is enlarged and emitted in the vertical direction. An encoder 56 is provided for the rotational axis of the pentaprism 39. The scanning motor 36 is controlled by the scanning control unit 61 to drive the rotational speed, the rotational direction, and the like.
[0039]
The encoder 56 includes a rotor 57, a detector 58, and a rotation count detection circuit 68 (see FIG. 5). The rotor 57 is an incremental encoder provided with an index (not shown) indicating a reference position. The encoder 56 can detect the angle from the reference position by counting the output from the reference position indicated by the index. The index indicating the reference position is determined by the detector 58 when the irradiation direction of the rotating laser beam 41 coincides with the center line of the boom 5, that is, when the laser beam 41 coincides with the center line of the boom 5. The angle detected by the encoder 56 is set to be zero. The rotation position detection result of the detector 58 is input to the arithmetic processing unit 16.
[0040]
Next, the reflected light detection unit 62 will be described.
[0041]
On the reflection optical axis of the aperture mirror 53, a light receiver 64 composed of a condenser lens 63, a photodiode and the like is sequentially arranged from the aperture mirror 53 side, and the light receiver 64 reflects a reflected laser beam from the reflection mirror 25. The output from the light receiver 64 is input to the reflected light detection circuit 65. The reflected light detection circuit 65 includes a light reception detection circuit 66 (see FIG. 5), an electrical filter (not shown) for detecting the light reception signal of the laser beam 41, and a light reception data demodulation circuit 67 (see FIG. 5). In addition, the laser beam to which the light reception signal from the light receiver 64 is modulated is extracted and detected from other external light, and further necessary signal processing such as amplification is performed and output to the arithmetic processing unit 16. To do.
[0042]
The arithmetic processing unit 16 detects the direction of the reflection mirror 25 based on the signal from the reflected light detection circuit 65 and the signal from the detector 58.
[0043]
Next, the control system of the construction machine control system will be described with reference to FIG.
[0044]
The reflected light detection circuit 65 includes a light reception detection circuit 66 and a light reception data demodulation circuit 67. Based on the output from the light receiver 64, the light reception detection circuit 66 detects a light reception signal and performs necessary signal processing such as amplification. The detection signal is output to the light reception data demodulation circuit 67. The received light data demodulating circuit 67 separates and extracts a signal related to the laser beam 41 from the received light detection signal and inputs it to the arithmetic processing unit 16.
[0045]
The arithmetic processing unit 16 includes a data processing unit 69 for processing input / output signals, and an arithmetic unit 71 having a storage unit 72. The storage unit 72 includes the construction data 20, an arithmetic program 73, and an input unit (not shown). The work command data, initial data, etc. input from are stored. The storage unit 72 may be a separate external storage device such as a hard disk.
[0046]
The calculation unit 71 receives signals from the rotary laser device 23, construction data 20, calculation program 73 and boom angle detection encoder 12, arm angle detection encoder 13, bucket rotation angle detection encoder 14, and biaxial tilt sensor 15. Based on the data and the position signal input from the GPS device 18, the excavation direction of the bucket rotation angle detection encoder 14 and the position of the bucket blade edge 7a are calculated. The calculation result is output to the display 11. A control signal to the scanning control unit 61 is input from the calculation unit 71 through data processing.
[0047]
The operation of the present embodiment will be described below with reference to FIGS.
[0048]
In FIG. 6, 75 indicates a construction site. The work is performed with the bucket 7 facing the slope, and the work proceeds while moving the excavator 1.
[0049]
The pole 24 provided with the reflection mirror 25 is erected at a known point (X1, Y1).
[0050]
The position (X 1, Y 1, Z 1) of the reflection mirror 25 is input to the storage unit 72. The arithmetic unit 71 takes in position data (X2, Y2, Z2) measured by the GPS device 18. A reference position of the main body of the excavator 1 is obtained based on the position data. The reference position is, for example, the position of the rotary laser device 23.
[0051]
From the coordinates of the position of the reflection mirror 25 and the survey data of the GPS device 18, the distance between the reflection mirror 25 and the hydraulic excavator 1, the direction of the hydraulic excavator 1 relative to the reflection mirror 25, the height Z1 of the reflection mirror 25, and A difference in height from the height Z2 (height of the rotary laser device 23) measured by the GPS device 18 is calculated. When the difference in height (inclination in the irradiation direction of the laser beam 41) is equal to or greater than a predetermined value, the inclination of the irradiation surface of the laser beam 41 irradiated from the rotary laser device 23 is inclined so as to be directed toward the reflection mirror 25.
[0052]
The rotating laser device 23 rotates and irradiates a laser beam 41 to detect the reflecting mirror 25, and the rotating laser device 23 detects the direction of the reflecting mirror 25.
[0053]
This direction detection will be further described with reference to FIG.
[0054]
The rotary laser device 23 is driven to rotate and irradiate the laser beam 41. The inclination setting unit 31 is driven to set the inclination of the rotation irradiation surface to the inclination value obtained by calculation. When the rotary laser device 23 receives the reflected light from the reflection mirror 25 by the reflected light detection unit 62, the arithmetic processing unit 16 reads the signal from the rotation count detection circuit 68 and detects the angle.
[0055]
As described above, the 0 angle output from the encoder 56 is a direction that matches the center line of the boom 5. Therefore, the detection angle of the encoder 56 is an angle formed by a line connecting the rotation center of the boom 5 and the reflection mirror 25 and the center line of the boom 5.
[0056]
By adding the angle detected by the encoder 56 to the azimuth of the excavator 1 with respect to the reflection mirror 25, the absolute azimuth of the boom 5, that is, the absolute azimuth of the excavation direction of the bucket 7 is obtained.
[0057]
Next, the absolute position (coordinates (X3, Y3, Z3)) of the bucket blade edge 7a at the point (X2, Y2, Z2) is obtained. First, the position of the bucket blade edge 7a is obtained with reference to the hydraulic excavator 1, that is, with reference to the rotation center of the boom 5 (see FIG. 9).
[0058]
The angle data θ1, θ2, θ3 detected by the boom angle detection encoder 12, the arm angle detection encoder 13, and the bucket rotation angle detection encoder 14, the position (machine height) of the rotation center of the boom 5, the boom 5 Based on the length, the length of the arm 6, and the distance from the rotation center of the bucket 7 to the bucket blade edge 7a, the position of the bucket blade edge 7a with respect to the reference position of the excavator 1 (for example, the position of the GPS device 18) is calculated. .
[0059]
The position (X3, Y3, Z3) of the bucket blade edge 7a is calculated from the position of the bucket blade edge 7a with respect to the main body reference position and the main body reference position (X2, Y2, Z2) measured by the GPS device 18.
[0060]
Construction data at the main body reference position (X2, Y2, Z2) is read from the storage unit 72, and the read data is displayed on the display 11 together with the position (X3, Y3, Z3) of the bucket blade edge 7a. . The display method can be easily recognized by the operator, such as displaying numerical values or displaying the image by superimposing the terrain and the hydraulic excavator 1.
[0061]
The operator can easily recognize the contents of the excavation work based on the contents displayed on the display unit 11, and can proceed with the work reliably and accurately without relying on intuition.
[0062]
In the above embodiment, the rotating laser device 23 is used as the direction detecting device, but a gyro may be used as the direction detecting device, and the rotating laser device 23 may be used as the direction correcting device.
[0063]
The direction of the excavator 1 (excavation direction) is detected by the rotary laser device 23, and the gyro is set based on the detected direction. Thereafter, the direction of the hydraulic excavator 1 is continuously detected by the gyro, the excavation direction and the position of the bucket blade edge 7a are calculated based on the detected result, and the display data of the bucket blade edge 7a together with the construction data is calculated on the display 11. Display position.
[0064]
Thereafter, the rotating laser device 23 is periodically driven, the reflection mirror 25 is detected to calculate the direction, and the direction detected by the gyro is corrected based on the calculated result. Therefore, the accumulated error of the gyro can be eliminated. Further, by using the gyro and the rotating laser device 23 in combination, there is an obstacle between the hydraulic excavator 1 and the reflecting mirror 25, so that the rotating laser device 23 cannot receive the reflected light from the reflecting mirror 25. Even under circumstances, work can be continued without any problems.
[0065]
The construction machine to be controlled is not limited to the hydraulic excavator but can be various construction machines such as a bulldozer.
[0066]
【The invention's effect】
As described above, according to the present invention, an accurate construction direction of the construction machine can be obtained, and no cumulative error occurs. Therefore, there is no need to interrupt the work for confirming and correcting the construction direction, and for a long time. Continuous work is possible, and the excellent effect of greatly improving work efficiency is exhibited.
[Brief description of the drawings]
FIG. 1 is a side view showing an embodiment of the present invention.
FIG. 2 is a plan view of the previous embodiment.
FIG. 3 is an elevational sectional view of a rotary laser device used in the embodiment.
FIG. 4 is a main block diagram of the rotary laser device.
FIG. 5 is a principal block diagram of an embodiment of the present invention.
FIG. 6 is a construction explanatory diagram according to the embodiment of the present invention.
FIG. 7 is a work flowchart according to the previous embodiment.
FIG. 8 is a partial flowchart of work in the previous embodiment.
FIG. 9 is an explanatory diagram for obtaining the position of the bucket blade edge.
FIG. 10 is a side view of a conventional example.
FIG. 11 is a block diagram of the conventional example.
FIG. 12 is a side view of another conventional example.
FIG. 13 is a block diagram of another conventional example.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Hydraulic excavator 5 Boom 6 Arm 7 Bucket 7a Bucket edge 11 Indicator 12 Boom angle detection encoder 13 Arm angle detection encoder 14 Bucket rotation angle detection encoder 15 Biaxial inclination sensor 16 Arithmetic processing unit 18 GPS device 19 Gyro 20 Construction data 23 Rotation Laser device 25 Reflection mirror 72 Storage unit 73 Calculation program

Claims (5)

A construction machine that detects the relative position of the tool as an electrical signal; a GPS device that detects the position of the construction machine;
A rotary laser device that is provided on a construction machine and that irradiates a laser beam expanded in the vertical direction and can change the tilt angle of an irradiation surface formed by the laser beam irradiation, and detects the direction of a known point from reflected light; ,
A position data from the GPS device, direction data detected by the rotating laser device, and an arithmetic processing unit for calculating the position of the tool tip based on the relative position data of the tool ,
The calculation processing unit calculates the tilt of the irradiated surface from the position data from the GPS device and the position of the known point, and based on the calculated tilt, the rotation laser device is directed so as to direct the tilt of the irradiated surface toward the known point. construction machine control system and controls. A construction machine having a tool, a GPS device for detecting the position of the construction machine,
A rotary laser device that is provided on a construction machine and that irradiates a laser beam expanded in the vertical direction and can change the tilt angle of an irradiation surface formed by the laser beam irradiation, and detects the direction of a known point from reflected light ; ,
A tool for detecting the relative position of the tip of the tool relative to the construction machine reference position, the position data from the GPS device, the direction data detected by the rotating laser device, and the detection result of the detector. An arithmetic processing unit for calculating the position of the tip ,
The calculation processing unit calculates the tilt of the irradiated surface from the position data from the GPS device and the position of the known point, and based on the calculated tilt, the rotation laser device is directed so as to direct the tilt of the irradiated surface toward the known point. construction machine control system and controls. In a construction machine comprising a working arm having a tool and a joint, a relative displacement detector provided in each joint, and a GPS device,
A rotary laser device that is provided on a construction machine and that irradiates a laser beam expanded in the vertical direction and can change the tilt angle of an irradiation surface formed by the laser beam irradiation, and detects the direction of a known point from reflected light ; ,
An arithmetic processing unit that calculates the position of the tool tip based on the relative displacement detector, the position data from the GPS device, the direction data detected by the rotating laser device, and the detection result of the relative displacement detector. equipped with,
The calculation processing unit calculates the tilt of the irradiated surface from the position data from the GPS device and the position of the known point, and based on the calculated tilt, the rotation laser device is directed so as to direct the tilt of the irradiated surface toward the known point. construction machine control system and controls.   4. The construction according to claim 1, further comprising a storage unit having construction data, wherein the arithmetic processing unit compares the position of the tool tip obtained by computation and the construction data. Machine control system. The construction according to claim 1 , further comprising a gyro, wherein a construction position is calculated based on a direction detected by the gyro, and the direction of the gyro is corrected based on a result detected by the rotary laser device. Any one construction machine control system.

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