JP2007178438A - Construction machine controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a construction machine controller which can make level setting in a plurality of ranges during one revolution of a laser beam with one revolution laser apparatus, control a plurality of construction machines by one revolution laser apparatus, and perform a leveling operation involving an inclined surface easily and efficiently without degree of skill influences. <P>SOLUTION: A construction machine control system which controls the leveling operation of the plurality of the construction machines 2 comprises a revolution laser apparatus 1 formed possible in the modification of a laser reference plane for position controlling of a leveling device 5 of the construction machine, GPS receiving devices 68 and 80 which detect the position of the construction machine, a device control means 73 which is prepared in the construction machine, detects the laser reference plane, and controls the position of the leveling device, and an operation means 52 which controls the revolution laser apparatus to form the laser reference plane according to the position of the construction machine based on the detection of the GPS receiving device. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a rotating laser device that forms a reference plane when performing civil engineering work such as leveling work, and a construction machine control system when operating a construction machine that performs civil engineering work, and in particular, rotation of a laser beam for controlling the height of leveling. The present invention relates to a construction machine control system that uses a laser reference surface formed by irradiation.

  When performing leveling work for a land preparation and road leveling work using construction machines such as graders and bulldozers, it is necessary to provide a standard for the height of the leveling. In recent years, a system using a laser beam has become widespread in order to determine a height that serves as a reference for leveling work. There is a construction machine control system equipped with a rotating laser device as a system using this laser beam.

  FIG. 8 shows a case where this construction machine control system is adopted for a bulldozer.

  In FIG. 8, 1 is a rotary laser device, 2 is a bulldozer, and the rotary laser device 1 is installed through a tripod 3 at a predetermined position on the formation site. The rotating laser device 1 irradiates and rotates a laser beam 4 in the horizontal direction to form a reference plane by the laser beam 4.

  The bulldozer 2 has a blade 5 supported so as to be movable up and down, and a pole 6 is erected on the blade 5, and a level sensor 7 is attached to the pole 6. The level sensor 7 receives the laser beam 4 from the rotating laser device 1 and detects the light receiving position, and the bulldozer 2 detects the height of the blade 5 based on the light reception signal from the level sensor 7. A control device (not shown) for detecting the position and controlling the height of the blade 5 based on the detection result is provided.

  Since the horizontal reference plane is formed by the laser beam 4 as described above, the ground can be leveled horizontally by making the distance between the horizontal reference plane and the blade edge 5 'of the blade 5 constant. It is also possible to change the height of the leveling surface by changing the distance to the blade edge 5 '.

  Although it may be carried out with one construction machine at a relatively small site, a plurality of construction machines are generally working at the same time at a normal construction site. Furthermore, the leveling height at which a plurality of construction machines are working is often different. Therefore, there is a problem that a rotating laser device for setting a level for a plurality of construction machines is required, and when a plurality of rotating laser devices are operated, there is a problem that the receiving construction machine malfunctions.

  In order to control a plurality of construction machines at the same time without malfunction, level setting by one rotary laser device is preferable. However, in order to set levels for each construction machine by one rotary laser device, the laser beam It is necessary to set the level for each construction machine during one rotation. Conventionally, a rotary laser device rotates and irradiates a laser beam from an optical head rotating at several hundred rpm, and sets a reference plane and a reference line. Therefore, a tilt mechanism for tilting the optical head is provided for setting the level and tilt.

  However, with the tilt mechanism, it is impossible to perform high-speed vertical adjustment such as setting the levels in a plurality of directions during one rotation of the laser beam. A construction machine control system for controlling the above has not been realized.

  Furthermore, the leveling work is not necessarily leveled on a horizontal plane, but rather is often leveled with a slope. In the construction work, a drainage slope is necessary, and in the pavement construction, a drainage slope is necessary together with a slope corresponding to the topography. In conventional construction machine control systems, after leveling on a flat surface, an inclined surface having a predetermined gradient is formed based on surveying work.

  For this reason, leveling on a horizontal plane can be easily performed by the construction machine control system, even if it is not an expert, but adding a gradient is a difficult task requiring skill. In addition, the finishing condition of the leveling of the inclined surface largely depends on the skill level of the worker, the progress status of the work differs depending on the skill level, and there are problems of completion and process management.

  In view of such circumstances, the present invention enables a level to be set in a plurality of ranges during one rotation of a laser beam by one rotating laser device, and allows a plurality of construction machines to be controlled by one rotating laser device. In addition, an object of the present invention is to provide a construction machine control device that can easily and efficiently perform leveling work including an inclined surface without depending on the skill level.

  The present invention relates to a construction machine control system for controlling a leveling operation of a plurality of construction machines, a rotary laser device for forming a laser reference surface for position control of a leveling tool of the construction machine so as to be changeable, and the construction machine According to the position of the construction machine based on the detection of the GPS receiver, the equipment control means for detecting the laser reference plane provided on the construction machine and controlling the position of the leveling equipment, The present invention relates to a construction machine control device having a calculation means for controlling the rotating laser device so as to form a laser reference surface, and a GPS receiver attached to the construction machine and a reception result from the GPS receiver. A transmission means, a rotary laser device for forming a laser reference surface according to the position of the construction machine in one rotation, and the laser reference surface attached to the construction machine. The level sensor to know, the instrument control means for controlling the position of the leveling instrument according to the detection result of the level sensor, the receiving means for receiving the transmission of the transmitting means, and data such as construction data and terrain data are stored The position of the construction machine is calculated from the information obtained through the receiving means having a storage unit, and the laser beam irradiation direction from the rotary laser device is controlled based on the calculation result and the information stored in the storage unit And a plurality of GPS receivers attached to the construction machine, transmitters for transmitting the reception results from the GPS receivers, and turning off the laser beam. A rotating laser device that forms a laser reference surface according to the position of the construction machine divided into rotations, and a level that is attached to the construction machine and detects the laser reference surface A sensor, instrument control means for controlling the position of the leveling instrument based on the detection result of the level sensor, receiving means for receiving the transmission of the transmitting means, and a storage unit storing data such as construction data and terrain data And calculating the position of the construction machine from the information obtained via the receiving means and controlling the direction of laser beam irradiation from the rotary laser device based on the calculation result and the information stored in the storage unit A GPS receiver is composed of a first GPS receiver and a second GPS receiver, the first GPS receiver is provided in the construction machine, and the second GPS receiver is It concerns on the construction machine control apparatus provided in the.

  According to the present invention, the upper and lower irradiation directions can be changed at a high speed, the level can be set in a limited range within one rotation, and a plurality of positions can be set by a single rotary laser device. Civil engineering and construction work becomes possible. Further, according to the present invention, when the leveling work is performed using the reference surface formed by the laser beam, the leveling work involving not only the horizontal surface but also the inclined surface or the curved surface can be easily performed without requiring the skill of the operator. This can be done reliably and the construction period is shortened. Further, different leveling operations can be simultaneously performed by a plurality of construction machines, and the level setting for each construction machine is performed by the same rotary laser device, so that an excellent effect that there is no malfunction of the construction machine is exhibited.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

  First, a description will be given of a rotary laser device that can control a plurality of construction machines.

  FIG. 1 shows a main part of a rotary laser device 1, which is a light emitting unit 11 for emitting a laser beam 4, a rotating unit 12 for rotating and irradiating the laser beam 4 in a reference plane, and a level sensor. 7 includes a light receiving unit 13 that receives and detects reflected light from the light source 7 and a control unit 14. A collimator 15 is provided on the upper surface of the rotating laser device 1, and the collimator 15 can roughly set the direction of the rotary irradiation device 1 with respect to the level sensor 7. Although not shown in particular, an inclination mechanism 16 (see FIG. 7) for inclining the irradiation direction of the laser beam 4 is provided, and the inclination mechanism 16 is controlled by the control unit 14.

  The light emitting unit 11 includes a laser diode 20 and a collimating lens 21 and makes the laser beam 4 emitted from the laser diode 20 enter the rotating unit 12 as a parallel light beam.

  On the upper side of the collimating lens 21, the rotating part 12 is rotatably provided. The rotating unit 12 is provided with a scanning gear 22, which meshes with a driving gear 24 of a scanning motor 23 fixed to a frame (not shown) of the rotary laser device 1. When the drive gear 24 is driven, the rotating unit 12 is rotated.

  The scanning gear 22 is fixed to a rotating cylinder 25 that is rotatably supported. A pentaprism 26 is attached to the upper surface of the rotating cylinder 25, and a slip ring 27 is provided at the lower end thereof. An encoder 28 for detecting the irradiation direction of the laser beam 4 is provided at the required position. A scanning unit 29 is provided on the optical axis of the light emitting unit 11 inside the rotating cylinder 25.

  The laser beam 4 incident from the light emitting unit 11 enters the pentaprism 26 through the scanning means 29, and the optical axis of the laser beam 4 is deflected by 90 ° by the pentaprism 26 and irradiated. It is rotated to form a plane. The rotational position of the rotary cylinder 25 is detected by the encoder 28 provided in the rotary cylinder 25, and the detection signal of the encoder 28 is input to the control unit 14.

  Examples of the scanning unit 29 include a mechanically tilted mirror, an acoustooptic element using an acoustooptic effect, an electrooptic element using an electrooptic effect, a magnetooptic element using a magnetooptic effect, and the like. In general, acousto-optic elements are often used.

  In FIG. 2, the acoustooptic device is outlined.

  In FIG. 2, reference numeral 30 denotes an acoustooptic element. The acoustooptic element 30 is an element that diffracts and deflects light when an ultrasonic vibration is induced. An ultrasonic wave generation source (not shown) is fixed to the acoustooptic device 30 to be integrated, and a frequency corresponding to the deflection is input to the ultrasonic wave generation source to deflect incident light. Since the acoustooptic device 30 can operate at a frequency of several tens of kHz, the acoustooptic device 30 exhibits sufficient response to the rotation of the laser beam at several hundred rpm. A driving voltage is applied to the acoustooptic device 30 via the slip ring 27.

  The control unit 14 mainly includes a computing unit 35, a scanning motor driving unit 36, a light emitting element driving unit 37, and a scanning means driving unit 38. The computing unit 35 controls the scanning motor driving unit 36 to control the scanning motor. 23, and the light emitting element driving unit 37 is controlled to cause the laser diode 20 to emit light, and the scanning unit driving unit 38 is further controlled to drive the scanning unit 29 via the slip ring 27.

  Hereinafter, the operation will be described.

  The laser diode 20 is driven by the light emitting element driving unit 37, and the laser beam 4 emitted from the laser diode 20 is incident on the pentaprism 26 through the scanning unit 29. The laser beam 4 is deflected by 90 ° by the pentaprism 26 and irradiated in the horizontal direction. The scanning motor 23 is driven by the scanning motor driving unit 36 and rotates the pentaprism 26 via the driving gear 24 and the scanning gear 22. As the pentaprism 26 rotates, the laser beam 4 rotates and scans in the horizontal direction to form a reference surface.

  Based on the rotational position detected by the encoder 28, the scanning means driving unit 38 drives the scanning means 29 via the slip ring 27, and within the plane including the laser beam 4 (in FIG. The laser beam 4 is deflected. The scanning means 29 deflects the laser beam 4 so that the laser beam 4 irradiated from the pentaprism 26 is scanned in the vertical direction. As described above, the acoustooptic device 30 can operate at a frequency of several tens of kHz with respect to the rotation of the laser beam 4 of several hundred rpm as described above, and the laser beam 4 is rotating in the horizontal direction. In addition, deflection in the vertical direction at any position is possible.

  With reference to FIG. 3, a rotary laser device 1 according to a second embodiment will be described. In FIG. 3, the same components as those shown in FIG.

  The other rotary laser device 1 has a structure in which the scanning means 29 is provided on the frame (not shown) side of the rotary laser device 1 and the slip ring 27 is not used.

  The light emitting unit 11 is provided along the horizontal optical axis, the scanning unit 29 is provided on the optical axis, the mirror 40 is provided on the emission side of the scanning unit 29, and the laser beam emitted from the scanning unit 29 by the mirror 40. 4 is reflected vertically upward. An image rotator prism 41 is disposed on the optical axis of the laser beam 4 reflected by the mirror 40. The image rotator prism 41 has the effect of rotating the image twice by one rotation.

  The image rotator prism 41 is held by a prism holder 42 that is rotatably supported. The prism holder 42 is provided with a tuning gear 43, and an idle gear 44 is engaged with the tuning gear 43. An idle gear 45 is engaged with the scanning gear 22, and the idle gear 45 and the idle gear 44 are fixed coaxially. And a gear train 46 having a reduction ratio of 2: 1 with respect to the tuning gear 43 is formed.

  The laser beam 4 emitted from the laser diode 20 is deflected by the scanning means 29, for example, in the vertical direction in FIG. As described above, the scanning gear 22 and the tuning gear 43 are synchronously rotated by the gear train 46 at a rotation ratio of 2: 1. As described above, the image rotator prism 41 rotates the image twice by one rotation. The optical axis incident on the pentaprism 26 is rotated at a ratio of 1: 1 in synchronization with the rotation of the pentaprism 26. Thus, regardless of the direction of the pentaprism 26, the laser beam 4 irradiated from the pentaprism 26 is deflected in the vertical direction.

  A rotating laser apparatus 1 according to the third embodiment will be described with reference to FIG.

  In the third embodiment, a relay lens 47 is provided.

  The light emitting unit 11 is disposed so that the optical axis is horizontal, the scanning means 29 is disposed on the optical axis of the light emitting unit 11, and the prism holder 42 is provided to be rotatable about the optical axis. The holder 42 is provided with an image rotator prism 41 and a relay lens 47a. The mirror 40 is provided on the side opposite to the scanning means 29 of the prism holder 42, and the relay lens 47b is disposed facing the relay lens 47a with the mirror 40 interposed therebetween.

  The relay lens 47a has a focal point at the scanning center of the scanning means 29, and the relay lens 47b is arranged to have a focal point at the rotational center near the exit of the pentaprism 26. An effect equivalent to that when the scanning means is arranged near the pentaprism 26 by the relay lenses 47a and 47b can be obtained. When the distance between the scanning means and the pentaprism is long, the scanning width increases according to the distance, and a considerably large pentaprism is required.

  A tuning bevel gear 48 is provided at the prism side end of the prism holder 42, a scanning gear 22 is provided on the rotating cylinder 25, an idle gear 45 is engaged with the scanning gear 22, and an idle bevel gear 48 is engaged with the tuning bevel gear 48. The gear 49 is meshed so that the idle gear 45 and the idle bevel gear 49 are fixed coaxially. A gear train 50 having a reduction ratio of 2: 1 with the bevel gear 48 is formed.

  Thus, in the third embodiment as well, the optical axis of the laser beam 4 incident on the pentaprism 26 in synchronization with the rotation of the pentaprism 26 is the same as in the second embodiment described above. The laser beam 4 rotated and irradiated from the pentaprism 26 is deflected in the vertical direction regardless of the direction of the pentaprism 26.

  Next, a construction machine control system using the rotary laser device 1 described above with reference to FIGS. 5 and 6 will be described. In FIG. 5, the same components as those shown in FIG. 8 are denoted by the same reference numerals.

  A construction machine control system according to the present invention is a construction machine control system that controls a construction machine, for example, a bulldozer, by combining the rotating laser device 1 capable of forming an inclined reference plane and a GPS (Global Positioning System).

  The construction machine control system includes the rotary laser device 1, a wireless receiver 51 provided in the rotary laser device 1, a plurality of bulldozers 2a, bulldozers 2b, bulldozers 2c, and levels provided in the bulldozers 2a, 2b, and 2c, respectively. The sensor 7a, the level sensor 7b, the level sensor 7c, the first GPS receivers 80a, 80b, 80c, the transmitters 81a, 81b, 81c, the control device 52, the second GPS receiver 68, and the like.

  The level sensor 7a, level sensor 7b, and level sensor 7c will be described with reference to FIG. 6 (the level sensor is indicated by reference numeral 7 in the figure).

  Band-shaped reflecting portions 61 are provided on both the left and right sides of the non-reflecting portion 60, and a light receiving element 62 is disposed on the outer side of the reflecting portion 61 so as to extend vertically. It is provided with an angle. A groove 63 into which the pole 6 is fitted is provided on the back surface, and the level sensor 7 is attached with the pole 6 fitted in the groove 63.

  The controller 52 will be described with reference to FIG. In FIG. 7, the bulldozers 2a, 2b, and 2c are shown with the bulldozer 2 and related components omitted in the suffix.

  The control device 52 is typified by a personal computer. The control device 52 includes a calculation unit 65 and a storage unit 66, and a program necessary for calculation processing is set and input to the storage unit 66. Topographic data based on construction drawings, that is, ground height data with respect to plane coordinates, and a program for calculating the positions of the bulldozers 2a, 2b, 2c are set and inputted. The distance from the blade edge 5 'to the reference position of the level sensor 7 is set and inputted.

  A reception signal from a second GPS receiver 68 (to be described later) is input to the control device 52, and a reception signal from a wireless receiver 51 (to be described later) is input to the control device 52. The positions of the bulldozers 2a, 2b, 2c can be calculated. Further, the inclination angle of the laser beam 4 emitted from the rotary laser device 1 is calculated for each bulldozer 2a, 2b, 2c from the calculation result and the terrain data based on the preset construction drawing, and based on the calculation result A command is issued to the control unit 14 of the rotary laser device 1.

  Each of the bulldozers 2 includes a blade driving unit 71 that controls the position of the blade 5 and a wireless transmission / reception unit 72.

  First, the blade driving unit 71 will be described.

  The level sensor 7 is attached to the pole 6, and the distance between the blade edge 5 'of the blade 5 and the reference position of the level sensor 7 is a known value. The detection signal of the laser beam 4 from the level sensor 7 is input to the calculation unit 73, which calculates the height of the blade edge 5 ′. The calculation unit 73 is connected via an electric / hydraulic circuit 74. The hydraulic cylinder 75 is driven to move the blade 5 up and down to determine the position. The electric / hydraulic circuit 74 includes an electromagnetic valve, and the calculation unit 73 issues an open / close control command to the electric / hydraulic circuit 74 according to a required sequence, and the electric / hydraulic circuit 74 opens / closes the electromagnetic valve. The hydraulic cylinder 75 is moved up and down at a required speed in a required direction by supplying and discharging pressure oil to the hydraulic cylinder 75 or adjusting the flow rate. A display unit 76 is connected to the calculation unit 73, and the position of the blade 5 or the state of excavation by the blade 5 is displayed.

  Reference numeral 77 denotes an operation unit, which can be directly operated manually based on the display on the display unit 76. The blade 5 is manually operated while observing the display on the display unit 76. A signal from the operation unit 77 is input to the calculation unit 73, and the calculation unit 73 performs the electrical operation based on the input signal. / The hydraulic cylinder 75 is driven via the hydraulic circuit 74.

  Next, the wireless transmission / reception unit 72 will be described.

  A first GPS receiver 80 is provided at a position where there is little obstruction to radio waves from the satellite, such as the roof of the bulldozer 2, and information received by the first GPS receiver 80 is amplified by a signal processor 82 and required signal processing is performed. Is transmitted from the transmitter 81 to the wireless receiver 51.

  As shown in FIG. 5, a second GPS receiver 68 is installed via a tripod 84 near the rotary laser device 1 at a position serving as a reference point, the reception result of the second GPS receiver 68, and the wireless receiver 51. Is received by the controller 52. Thus, the position of the bulldozer 2 is detected by kinematic surveying by the first GPS receiver 80 and the second GPS receiver 68, and surveying is performed by the first GPS receiver 80, the second GPS receiver 68 and the control device 52. The wireless transmission / reception unit 72, the second GPS receiver 68, and the wireless receiver 51 constitute a data communication device.

  Hereinafter, the operation will be described.

  The second GPS receiver 68 is installed at a known point and the rotating laser device 1 is installed at a known point.

  After installation, the rotating laser device 1 is first leveled. Leveling operation is performed by tilt adjustment by the tilt mechanism 16. When leveling is completed, the direction of the rotary laser device 1 is adjusted to the level sensor 7 and initialized. Initially, since the tilt direction of the rotary laser device 1 and the setting of the control device 52 do not match, initial setting is required. The position of each bulldozer 2a, 2b, 2c is calculated by the first GPS receivers 80a, 80b, 80c and the second GPS receiver 68 of the rotating laser device 1 installed at a known point, and each bulltozer 2a, 2b, It is set by pointing to any one of the level sensors 7 of 2c. When performing the initial setting manually, the collimator 15 is collimated, the rotating laser device 1 is rotated, and the tilting mechanism 16 is further operated to determine the irradiation direction of the rotating laser device 1.

  The same is true even if another reference point is provided and the initial setting is performed.

  The information received by the receiver 51 and the signal received by the second GPS receiver 68 are input to the control device 52 every moment. In the control device 52, the positions of the bulldozers 2a, 2b, 2c are surveyed. The surveyed result is the plane position information of the bulldozers 2a, 2b, 2c, and the control device 52 uses the bulldozers 2a, 2b, 2c based on the plane position information and the construction data set and input in the storage unit 66. The gradient of the laser beam 4 is calculated by the calculation unit 65 every time.

  The calculation result is input to the control unit 14 of the rotary laser device 1. The control unit 14 detects the scanning means based on the detection of the irradiation direction of the encoder so that the reference plane (reference line) formed by the laser beam 4 has the calculated gradient in the work area of each bulldozer 2a, 2b, 2c. 29 is driven and controlled. For example, if the region where the bulldozer 2a works is a reference surface formed by rotating and irradiating the laser beam 4, the scanning means 29 is driven by the signal from the control unit 14 to the bulldozer 2c, The laser beam 4 is deflected downward, the scanning level is moved downward, and the scanning means 29 deflects the irradiation direction of the laser beam 4 upward with respect to the bulldozer 2b, and the scanning level is moved upward.

  As described above, since the response speed of the scanning means 29 is sufficiently high with respect to the rotational speed of the laser beam 4, the scanning level can be changed only in the work area of the bulldozers 2a, 2b, 2c. The tilt direction and gradient of the laser beam 4 can be set for each of 2b and 2c. When the setting of the inclination direction and the gradient is completed, the blade 5 is aligned.

  The scanning means using an acoustooptic device having a high response speed has been described above. However, when a scanning means having a low response speed is used, the number of construction machines that can be controlled is reduced. In this case, if the ON / OFF control of the laser beam is used and distinguished, it is possible to control the necessary number of construction machines by several rotations. If three units are controlled by one rotation, nine units can be controlled by three rotations. Alternatively, one construction machine may be controlled every rotation, and a series of controls may be performed with the same number of rotations as the target control number.

  In each of the bulldozers 2a, 2b, and 2c, the calculation unit 73 detects a light receiving position in the level sensor 7 based on a light receiving signal from the level sensor 7, and compares and calculates the light receiving position and the reference position. If there is a deviation, a drive control signal is issued to the electric / hydraulic circuit 74 so as to correct the deviation. The electric / hydraulic circuit 74 drives the hydraulic cylinder 75 to move the blade 5 up and down. Since the level sensor 7 moves up and down integrally with the blade 5, the vertical amount of the blade 5 matches the vertical amount of the level sensor 7, and the light receiving position at the level sensor 7 matches the reference position. The position of the blade 5 is determined.

  The bulldozers 2a, 2b, and 2c are moved to perform leveling work simultaneously at a plurality of locations. The positions of the bulldozers 2a, 2b, and 2c are such that the data received by the first GPS receiver 80 is transmitted to the wireless receiver 51 by the transmitter 81, and the received data from the second GPS receiver 68 is further controlled by the control. When input to the device 52, the control device 52 calculates the position of the bulldozer 2, and the position of the bulldozer 2 is calculated in real time.

  Thus, the height and inclination of the leveling ground at the respective positions of the bulldozers 2a, 2b and 2c are calculated based on the construction data. If the leveling surface is a slope with a constant slope, the slope of the reference plane formed by the rotary laser device 1 is not changed. If the ground is a curved face, the slope of the laser beam reference plane is changed as the bulldozer 2 moves. To level the surface.

  By using this system, it is possible to perform leveling that matches the construction data automatically. Of course, the operator may manually perform the leveling work based on the data displayed on the display unit 76.

  In the above embodiment, the level sensor 7 is provided on the blade 5. However, the level of the blade edge 5 'is detected through the expansion / contraction state of the hydraulic cylinder 75 or the position of the arm that supports the blade 5. In this case, the level sensor 7 can also be provided on the vehicle body of the bulldozer 2. The GPS positioning system has been described with respect to the kinematic method, but it goes without saying that any method may be used as long as it is a GPS positioning system that detects a moving point immediately. Further, the range of the level sensor 7 may be reciprocally scanned based on the output of the encoder 28 that detects the rotational position of the rotating unit 12, or only the range of the level sensor 7 is rotated while limiting the emission of the laser beam. May be.

It is a principal part block diagram which shows 1st Embodiment of the rotating laser apparatus which concerns on this invention. It is explanatory drawing of the scanning means by the acousto-optic element used for this 1st Embodiment. It is a principal part block diagram which shows the form of 2nd Embodiment of the rotating laser apparatus which concerns on this invention. It is a principal part block diagram which shows the form of 3rd Embodiment of the rotating laser apparatus which concerns on this invention. It is explanatory drawing which shows embodiment of the construction machine control system which concerns on this invention. It is a perspective view of the level sensor used for this invention. It is a block diagram of an embodiment of a construction machine control system. It is explanatory drawing which shows the conventional construction machine control system.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Rotation laser apparatus 2 Bulldozer 4 Laser beam 5 Blade 7 Level sensor 11 Light emission part 12 Rotation part 14 Control part 22 Scanning gear 26 Penta prism 27 Slip ring 35 Calculator 38 Scan means drive part 43 Tuning gear 44 Idle gear 46 Gear train 47a Relay lens 47b Relay lens 48 Tuning bevel gear 49 Idle bevel gear 51 Wireless receiver 52 Control device 65 Calculation unit 68 Second GPS receiver 73 Calculation unit 80 First GPS receiver 81 Transmitter

Claims (4)

  In a construction machine control system that controls leveling work of a plurality of construction machines, a rotary laser device that can change a laser reference surface for position control of the leveling tool of the construction machine and a position of the construction machine are detected. A GPS receiver that detects the laser reference plane provided on the construction machine and controls the position of the leveling implement, and a laser reference plane that corresponds to the position of the construction machine based on the detection of the GPS receiver. A construction machine control device comprising: a calculation means for controlling the rotary laser device so as to form   A GPS receiver attached to a construction machine, a transmission means for transmitting a reception result from the GPS receiver, a rotary laser apparatus that forms a laser reference surface according to the position of the construction machine in one rotation, and the construction A level sensor that is attached to a machine and detects the laser reference plane; an instrument control means for controlling the position of the leveling instrument based on a detection result of the level sensor; a receiving means for receiving transmission of the transmitting means; construction data; The rotating laser has a storage unit in which data such as terrain data is stored, calculates the position of the construction machine from information obtained through the receiving means, and based on the calculation result and the information stored in the storage unit The construction machine control device according to claim 1, further comprising arithmetic control means for controlling a direction of laser beam irradiation from the device.   A laser reference surface according to the position of the construction machine divided into a plurality of rotations by using a GPS receiver attached to the construction machine, a transmission means for transmitting the reception result from the GPS receiver, and turning off the laser beam , A level sensor that is attached to the construction machine and detects the laser reference plane, instrument control means for controlling the position of the leveling instrument based on the detection result of the level sensor, and transmission of the transmission means Receiving means, and a storage unit storing data such as construction data and terrain data, and calculating the position of the construction machine from information obtained through the receiving means, and the calculation result and the storage The construction machine control device according to claim 1, further comprising arithmetic means for controlling a laser beam irradiation direction from the rotary laser device based on information stored in the unit.   The construction machine control device according to claim 1, wherein the GPS receiving device includes a first GPS receiving device and a second GPS receiving device, the first GPS receiving device is provided in a construction machine, and the second GPS receiving device is provided at an existing point.

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