JP2015098673A - Tamping and leveling management system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a tamping and leveling management system capable of efficiently managing even in a state in which acquisition of a relative position by GNSS becomes difficult.SOLUTION: A construction machine 10 is attached with an acceleration sensor 40 and a gyro sensor 42, with measurement state detection means 32 provided for detecting a measurement state of a relative position by GNSS between a GNSS mobile station 12 and a GNSS fixed station 16. In a case where it is detected that the relative position cannot be acquired by GNSS, a fact that GNSS cannot acquire the relative position is informed to a computer 14. In that case, instead of the relative position, based on acceleration data and angular speed data detected with the acceleration sensor 40 and the gyro sensor 42, a position where the construction machine 10 has traveled is determined, and the position where the construction machine 10 has traveled is displayed on a monitor 13 in which color coding is made on map data.

Description

  The present invention relates to a management system used for compaction and leveling in construction work.

When embankment is implemented, it is necessary to manage compaction so that the construction site has a predetermined hardness.
In most cases, the compaction is performed by a roller or a bulldozer, but it has been conventionally performed by attaching a GPS mobile station as an example of a GNSS (Global Navigation Satellite Systems) mobile station to the roller or the bulldozer. Yes.
That is, by attaching a GPS mobile station to a roller or bulldozer and checking the number of times of rolling at the construction position, it is possible to prevent non-rolling pressure and over-rolling pressure, and to improve work efficiency.

  For example, Patent Document 1 discloses that a GPS surveying device, a personal computer, and a packet communication terminal are mounted on a bulldozer and a vibration roller, and data linkage of the bulldozer removal operation and the vibration roller compaction operation is performed. Has been.

  In Patent Document 2, two GPS antennas are mounted on a compaction roller, the ground compaction area is displayed as a mesh image, and the number of compaction times is determined for each section of the ground compaction area mesh image. It is disclosed to update and display the mesh image.

  In the compaction management by GPS as in Patent Document 1 and Patent Document 2 described above, a GPS mobile station is mounted on a roller or the like, a GPS fixed station is installed in another location, and the GPS fixed station and the GPS mobile station are installed. The position of the roller or the like is detected by measuring the relative position of the GPS mobile station with respect to the GPS fixed station.

JP 2003-253663 A Japanese Patent Laid-Open No. 10-311022

By adopting systems such as Patent Document 1 and Patent Document 2, it is possible to accurately determine whether or not the appropriate number of times has been reciprocated during compaction and laying by measuring the movement of rollers and bulldozers with GPS. Can manage.
However, the method described above is limited to the case where GPS radio waves can be received. In the case of an enforcement position where GPS radio waves cannot be received at all, compaction and spread may be managed by a method that does not use GPS from the beginning.

However, in some construction positions, GPS radio waves may not be received. This may be due to the effect that part of the construction position falls under a tree shadow or bridge.
In addition, even if communication between the GPS mobile station and the GPS fixed station is interrupted, the position of the GPS mobile station cannot be measured.

In such a case, since management by GPS is partially not performed, the position where management by GPS cannot be performed must be managed by photography before the management system by GPS.
For this reason, there is a problem that the management efficiency of compaction and leveling becomes extremely poor when the GPS reception status is poor even at a part of the construction position.

  Therefore, the present invention has been made to solve the above-mentioned problems, and the purpose of the present invention is to make it difficult to obtain the relative position by the GNSS in the GNSS mobile station at the time of compaction or leveling by the GNSS (GPS). Therefore, it is to provide a compaction and leveling management system that can be managed efficiently.

According to the compaction and leveling management system of the present invention, a GNSS mobile station mounted on a construction machine, a GNSS fixed station capable of data communication with the GNSS mobile station, and a computer mounted on the construction machine And the computer is based on a relative position of the GNSS mobile station measured between the monitor, the storage device storing the map data of the enforcement position, and the GNSS fixed station and the GNSS mobile station. In the compaction and leveling management system having display control means for displaying the position where the construction machine travels on the map data by color-coded on the map data, between the GNSS fixed station and the GNSS mobile station When the measurement state of the relative position of the GNSS mobile station is detected and it is detected that the relative position measurement is disabled, Measurement state detecting means for notifying that measurement of the target position is impossible, an acceleration sensor mounted on the construction machine, and a gyro sensor mounted on the construction machine, wherein the computer measures the relative position. In the case of receiving a communication indicating that the construction machine is impossible, instead of the relative position, a travel position where the construction machine travels is determined based on acceleration data and angular velocity data detected by the acceleration sensor and the gyro sensor. And a correction information display control unit for displaying the position where the construction machine traveled determined by the travel position determination unit is color-coded on the map data and displayed on the monitor.
By adopting this configuration, the GNSS radio wave cannot be received temporarily, communication between the GNSS fixed station and the GNSS mobile station installed in the construction machine is not possible, or even if communication is possible, the relative position Even in the case where the measurement cannot be performed, the speed and traveling direction of the construction machine can be determined by the acceleration sensor and the gyro sensor mounted on the construction machine. For this reason, even when the relative position cannot be acquired by the GNSS temporarily, the traveling position of the construction machine is detected by the acceleration sensor and the gyro sensor as in the management on the map data based on the relative position measured by the GNSS. Can be managed on map data, and compaction and spread can be managed efficiently.

Further, the measurement state detection means, the acceleration sensor, and the gyro sensor may be provided in a system control unit capable of data communication with the GNSS mobile station and the computer.
According to this configuration, it is not necessary to significantly change the configuration of the conventional system.

In addition, when the measurement state detection unit of the GNSS mobile station detects that the relative position measurement is not possible after detecting that the relative position measurement is impossible, The travel position judging means of the computer stops judging the travel position of the construction machine based on the acceleration data and the angular velocity data detected by the acceleration sensor and the gyro sensor. The correction information display control means of the computer color-codes on the map data of the position traveled by the construction machine determined by the travel position determination means and stops the display on the monitor, and the display control of the computer The means color-codes the position traveled by the construction machine based on the measured relative position on the map data and displays it on the monitor. It may be characterized thereby.
According to this configuration, when relative position acquisition by GNSS becomes possible again, compaction and spread management by acceleration sensor and gyro sensor are stopped, and compaction and spread management by GNSS are performed again. Can be executed. For this reason, even if the measurement of the relative position by GNSS is unstable, compaction and leveling management can be performed continuously, and efficient management can be performed.

Further, based on the acceleration data and angular velocity data detected by the acceleration sensor and the gyro sensor, a deviation detecting means for detecting a deviation of the running position after the relative position cannot be measured, and the deviation detecting means An operation stop means for stopping the operation by the correction information display control means may be provided when the detected deviation becomes larger than a preset threshold value.
According to this configuration, if the deviation is large, the reliability as the data for compaction and spread management becomes low, so it is difficult to adopt formal data, so acceleration data and angular velocity data It is possible to handle only reliable data by stopping the compaction and leveling management.

In addition, when the deviation detecting means detects a deviation, it is provided with warning means for displaying a warning display on the monitor stepwise based on the magnitude of the deviation until the deviation reaches the threshold value. It may be a feature.
According to this configuration, it is possible to make the worker recognize that a deviation has occurred before the deviation exceeds the threshold and the management operation stops.

Further, the computer stores a storage device for storing result data in which the position where the construction machine has traveled on the map data is color-coded by the display control unit and the correction information display control unit, and after the relative position measurement is recovered Correction means for correcting the result data to the travel position based on the recovered relative position for the portion of the result data stored in the storage device that is color-coded by the correction information display control means; It may be characterized by having.
According to this configuration, after the measurement of the relative position by the GNSS is recovered, the record of the travel position based on the acceleration data and the gyro data can be corrected to the record by the relative position, so the travel is interrupted during the travel by the construction machine. Even without this, it is possible to finally obtain the travel position based on the relative position.

  According to the present invention, construction data for compaction and leveling can be continuously grasped. For this reason, from the construction orderer side, work such as supervision and inspection can be made more efficient, and construction management can be confirmed reliably. Further, since the construction contractor can save labor at the time of construction, the construction period can be shortened and labor can be saved, and the contact accident with the construction machine can be reduced, so that the safety is improved.

It is explanatory drawing which shows the whole structure of the compaction management system of this embodiment. It is an image figure of a compaction management system. It is a block diagram of a compaction management system. It is an example of the map data by which the running position was colored.

(overall structure)
An embodiment of the compaction and leveling management system of the present invention will be described.
The embodiment described below is a compaction management system as an example of a compaction and leveling management system.
The compaction will be explained.
When construction such as embankment is performed, the hardness of the embankment needs to be equal to or higher than a preset hardness. Therefore, a soil test is performed in advance to determine how many rotation pressures the construction position should be pressed by a construction machine such as a roller.

  Therefore, in the compaction management system of the present embodiment, whether or not the determined number of rolling pressures can be surely executed, and whether or not unrolling pressure and over-rolling pressure can be prevented is determined by the construction machine. The rolling position and rolling frequency are managed.

As shown in FIG. 1, the compaction management system 8 of the present embodiment includes a GNSS mobile station 12 and a computer 14 in a construction machine 10, and a GNSS fixed station 16 that communicates with the GNSS mobile station 12 is not a construction machine 10. It is provided on the ground near the construction position. Further, the construction machine 10 is provided with a system control unit 11 capable of data communication with the GNSS mobile station 12 and the computer 14.
In this embodiment, GPS is adopted as an example of GNSS. The GNSS fixed station 16 is installed on a tripod 17.
The computer 14 is preferably installed in the vicinity of the driver's seat of the construction machine 10 so that the monitor 13 can be easily seen by the driver.

The GNSS fixed station 16 and the GNSS mobile station 12 can perform wireless data communication. An example of a data communication standard is Bluetooth (registered trademark).
The GNSS fixed station 16 and the GNSS mobile station 12 can grasp the current position by receiving radio waves from the satellite. The GNSS mobile station 12 always performs communication with the GNSS fixed station 16 by Bluetooth (registered trademark), and acquires a relative position with respect to the position of the GNSS fixed station 16. For this reason, the moving GNSS mobile station 12 can grasp the current position of the movement.

  Further, wireless data communication is possible between the GNSS mobile station 12 and the system control unit 11. An example of a data communication standard is Bluetooth (registered trademark). Further, data communication may be performed between the GNSS mobile station 12 and the system control unit 11 by wire.

Wireless data communication is possible between the system control unit 11 and the computer 14. An example of a data communication standard is Bluetooth (registered trademark).
Relative position data obtained by communication between the GNSS mobile station 12 and the GNSS fixed station 16 is transmitted from the system control unit 11 to the computer 14 by Bluetooth (registered trademark).

The computer 14 plots the current position of the construction machine 10 on the map data of the enforcement position based on the relative position data transmitted from the system control unit 11.
The map data and the current construction position are displayed on the monitor 13. A driver operating the construction machine 10 drives the construction machine 10 while looking at the monitor 13.

FIG. 2 shows an image of compaction management by the construction machine 10.
The map data stored in the computer 14 is divided into grids with one side having a predetermined length (for example, 0.5 m).
The display control means 38, which will be described later, of the computer 14 controls the color of the grid at the position where the construction machine 10 travels on the map data so as to be different from other positions.

(GNSS fixed station)
Next, a more detailed configuration of the present system will be described with reference to FIG. FIG. 3 is a block diagram showing the internal configuration of each device of this system.
The GNSS fixed station 16 includes a receiving unit 20 that receives radio waves from a plurality of satellites, and a communication unit 22 that can perform data communication with the GNSS mobile station 12. As described above, Bluetooth (registered trademark) can be adopted as the data communication standard of the communication unit 22.

(GNSS mobile station)
The GNSS mobile station 12 can perform data communication between the system control unit 11 and the receiving unit 24 that receives radio waves from a plurality of satellites, the first communication unit 26 that can perform data communication with the GNSS fixed station 16, and the system control unit 11. The second communication unit 27 is provided.

The GNSS mobile station 12 communicates the received radio wave information from the satellite with the GNSS fixed station 16 by the communication unit 26, and the GNSS fixed station 16 from the difference in the received radio wave information from the satellite with the GNSS fixed station 16. The measuring means 28 for calculating the relative position from the position is provided. The measuring means 28 can be realized by the CPU provided in the GNSS mobile station 12 and software capable of calculating the relative position operating in cooperation.
The relative position data measured by the measuring unit 28 is transmitted to the system control unit 11.

(System controller)
The system control unit 11 includes a communication unit 29 that can perform data communication with the GNSS mobile station 12. As an example of the data communication standard of the communication unit 29, as described above, Bluetooth (registered trademark) can be adopted. Further, the system control unit 11 includes a transmission unit 30 capable of data communication with the computer 14. As an example of the data communication standard of the transmission unit 30, as described above, Bluetooth (registered trademark) can be adopted.

  The transmission unit 30 transmits the relative position data measured by the measurement unit 28 of the GNSS mobile station 12 to the computer 14. The measurement of the relative position by the measuring means 28 is always performed, and the measured relative position data is always transmitted to the computer 14.

  Further, the system control unit 11 includes measurement state detection means 32 that detects a measurement state of a relative position between the GNSS mobile station and the GNSS fixed station 16. The measurement state detection unit 32 may be an attached function of the communication unit 29 that performs communication with the GNSS mobile station 12 or software that can check data received by the communication unit 29. May be.

When the measurement state detection unit 32 detects that the relative position between the GNSS mobile station 12 and the GNSS fixed station 16 cannot be measured, the relative position cannot be measured from the transmission unit 30 to the computer 14. Notify that it has become.
In this specification, it is assumed that the relative position measurement between the GNSS fixed station 16 and the GNSS mobile station 12 is performed without any problem between the FIX, the GNSS fixed station 16 and the GNSS mobile station 12. This is expressed as FLOT as a state in which the relative position of cannot be measured.

In the present embodiment, the acceleration sensor 40 and the gyro sensor 42 are provided in the system control unit 11.
A speedometer 41 is attached to the construction machine 10. The vehicle speed meter 41 measures the traveling speed of the construction machine 10, and the measured speed data is input to the system control unit 11.
In the system control unit 11, the traveling direction and speed of the construction machine 10 are measured based on the acceleration data obtained by the acceleration sensor 40 described above, the angular velocity data obtained by the gyro sensor 42, and the velocity data obtained by the vehicle speedometer 41.

(Computer)
The computer 14 includes a storage device 34, a control unit 36, and a monitor 13. As the storage device 34, a semiconductor memory or a hard disk can be adopted. The storage device 34 stores map data of construction positions.
The control unit 36 includes a CPU, a ROM, a RAM, and the like, and can control the overall operation of the computer 14. Further, the control unit 36 can execute a predetermined operation by reading and executing software stored in advance.

The computer 14 includes a receiving unit 37 that receives data transmitted from the system control unit 11. As a data communication standard of the receiving unit 37, Bluetooth (registered trademark) can be adopted.
The computer 14 includes display control means 38 that displays the current traveling position on the map data based on the relative position data of the GNSS mobile station 12 received by the receiving unit 37. The display control means 38 is realized by reading the software stored in the storage device 34 to the control unit 36.

  The data measured by the acceleration sensor 40 and the gyro sensor 42 is not necessary at the time of FIX, and specifies the current traveling position of the construction machine 10 instead of the relative position measured with the GNSS fixed station 16 at the time of FLOT. Used for

The computer 14 is provided with a traveling position determination means 44 that determines a traveling position based on data measured by the acceleration sensor 40 and the gyro sensor 42 when it receives that the FLOT state has been reached. The travel position determination unit 44 is realized by reading the software stored in the storage device 34 to the control unit 36.
The travel position determination means 44 determines the current travel position based on the travel direction and travel speed by the acceleration sensor 40, the gyro sensor 42, and the vehicle speedometer 41 from the position of the construction machine 10 from the point where the FIX is interrupted and becomes FLOT. Judging.
In the present embodiment, the travel position of the construction machine 10 is measured based on the speed data measured by the vehicle speed meter 41 in addition to the acceleration sensor 40 and the gyro sensor 42 at the time of FLOT. However, the vehicle speed meter 41 is not necessarily provided. Also good.

In addition, the computer 14 includes correction information display control means 46. The correction information display control means 46 is realized by reading the software stored in the storage device 34 to the control unit 36.
The correction information display control means 46 operates at the time of FLOT, and displays the travel position determined by the travel position determination means 44 on the map data.

In the computer 14, the contents (result data) of the map data displayed on the monitor 13 by the display control means 38 and the correction information display control means 46 by color-displaying the travel position (result data) may be stored in the storage device 34. it can.
The result data stored in the storage device 34 is clearly color-coded as to how many rotation pressures the construction position has been pressed, so this map data remains as data or is printed out and submitted to the responsible government agency or construction owner. be able to.

In addition, the computer 14 includes correction means 58 that can correct the result data. The correction means 58 is realized by reading the software stored in the storage device 34 to the control unit 36.
The correction unit 58 can correct the result data to the travel position based on the relative position for the portion of the result data stored in the storage device 34 that is color-coded and displayed by the correction information display control unit 46. The operation of the correction means 58 becomes operable after the relative position measurement by the GNSS is recovered.

(Description of operation)
Hereinafter, operations of the display control unit 38 and the correction information display control unit 46 will be described.
The display control means 38 displays the map data stored in the storage device 34 by dividing it into squares at predetermined intervals.
Then, the display control means 38 calculates the current position on the map data based on the relative position data transmitted from the GNSS mobile station 12 at the time of FIX, and sets the color of the grid for the currently traveling position. The color is changed to a color different from the color at other positions. FIG. 4 shows an example of map data in which the travel position is colored.

As a compacting operation for the construction machine 10, in the case of a roller, it is generally necessary to press the same position a plurality of times. Therefore, when the construction machine 10 travels the same position a plurality of times, the display control means 38 displays the color so as to be different for each number of times. For example, the first rolling pressure is green, the second rolling pressure is yellow, the third rolling pressure is red, and the like.
By displaying in this way, the driver of the construction machine 10 can execute an accurate compacting operation while looking at the monitor 13.

When the measurement state detection means 32 detects FLOT, the system control unit 11 transmits to the computer 14 that the FLOT has been reached.
When the display control means 38 of the computer 14 receives the fact that it has become FLOT, the color of the squares of the currently traveling position based on the relative position data is different from the colors of the other positions (the positions where it is not traveling). Stops changing to color.

The system control unit 11 transmits each data input from the acceleration sensor 40 and the gyro sensor 42 (and the vehicle speedometer 41) to the computer 14 when the FLOT occurs.
The travel position determination means 44 of the computer 14 determines the current travel position based on the travel direction and travel speed by the acceleration sensor 40 and the gyro sensor 42 (and the vehicle speedometer 41) from the position of the construction machine 10 from the point where the FLOT has occurred. Judging.
Then, the correction information display control means 46 of the computer 14 selects the travel position from the point where the FLOT is determined by the travel position determination means 44, the color of the squares is the color of the other position (the position where the travel is not performed). The color is changed to a color different from that of the monitor 13 and displayed on the monitor 13. The travel position measured by the acceleration sensor 40 and the gyro sensor 42 can also be colored in the same color as the travel position measured by the GNSS during FIX.

Further, when the measurement state detection unit 32 detects that the FIX is performed again after the FLOT, the system control unit 11 transmits to the computer 14 that the FIX has been performed.
When the travel position determination means 44 and the correction information display control means 46 of the computer 14 receive the FIX, the travel position determination means 44 and the correction information display control means 46 are based on the travel direction and the travel speed by the acceleration sensor 40 and the gyro sensor 42 (and the vehicle speedometer 41). The operation of changing the color of the grid for the current running position to a color different from the colors of other positions is stopped.

The system control unit 11 transmits the measured relative position data between the GNSS mobile station 12 and the GNSS fixed station 16 to the computer 14 from the time of FIX.
The display control means 38 of the computer 14 calculates the current position on the map data based on the relative position data transmitted at the time of FIX, and sets the color of the grid of the currently traveling position to other positions. The operation of changing to a color different from the color is executed again.

In this way, even when the FIX is removed and becomes FLOT, the traveling position can be displayed in different colors continuously following the traveling position on the map data of the construction machine 10 obtained during the FIX. it can.
For this reason, for example, even when a part of the construction position is in the shade and the FIX state cannot be continued, the number of times of rolling at the construction position during that time can be reliably displayed and stored as data.
Further, even when the FIX is made again, the running position can be continuously displayed in different colors following the running position on the map data of the construction machine 10 obtained during the FLOT.

Further, when the FIX is re-fixed from the FLOT, the correction unit 58 can display on the monitor 13 a content prompting whether to correct the result data recorded at the time of the FLOT based on the relative position data.
When the operator operates the correcting unit 58, the correcting unit 58 corrects a portion stored at the time of FLOT among the result data stored in the storage device 34 based on the re-fixed data.

In addition, when FLOT and FIX are repeated many times in one construction, the work efficiency is extremely deteriorated if correction is performed by the correction means 58 every time FIX is performed again.
For this reason, you may perform correction | amendment operation | movement by the correction | amendment means 58 after the fixed work of the applicable construction location is completed.

(Detection of misalignment during FLOT)
Note that a measurement error is determined in advance in the compaction of the construction position. For example, when the construction machine 10 is a bulldozer, the horizontal measurement error is 23 cm, and when the construction machine 10 is a roller, the horizontal measurement error is 48 cm.
The system according to the present embodiment has a function that prevents the traveling of the construction machine 10 from exceeding an error during the FLOT.

In the present embodiment, the system controller 11 is provided with the deviation detecting means 50 so that the traveling of the construction machine 10 does not exceed an error. The deviation detecting means 50 calculates the traveling speed and the traveling direction based on the data measured by the acceleration sensor 40 and the gyro sensor 42 (and the vehicle speedometer 41) detected at the time of FLOT, and the FLOT starts from the calculated traveling speed and the traveling direction. The deviation with respect to the direction of travel from the moment is calculated.
In addition, the system control unit 11 includes a storage device 55 that stores an allowable measurement error in advance. The measurement error stored in the storage device 55 corresponds to the threshold value in the claims.

The deviation detecting means 50 always calculates the deviation of the currently traveling position with respect to the planned traveling direction. The calculated amount of deviation is transmitted to the computer 14.
The computer 14 is provided with warning means 54 and operation stop means 52. Both the warning unit 54 and the operation stop unit 52 are realized by reading the software stored in the storage device 34 to the control unit 36.

The warning means 54 functions to display a warning on the monitor 13 based on the amount of deviation.
In addition, when the magnitude of the deviation exceeds the threshold value, the operation stop unit 52 operates according to the operation by the correction information display control unit 46 (the current travel position based on the travel direction and the travel speed by the acceleration sensor 40 and the gyro sensor 42). The operation of changing the grid color to a color different from the color at other positions is stopped.

The operation of the warning means 54 will be described in more detail. It is preferable to display on the monitor 13 warning contents that differ step by step in the magnitude of the deviation detected by the deviation detection means 50.
For example, when the deviation is 50% of the threshold, a yellow warning message is displayed on the monitor 13, and when the deviation is 80% of the threshold, a red flashing warning is displayed on the monitor 13. It is good to do so.

(Other embodiments)
In the embodiment described above, the example in which the acceleration sensor 40 and the gyro sensor 42 are connected to the GNSS mobile station 12 has been described. However, the acceleration sensor 40 and the gyro sensor 42 are connected to the computer 14 and the computer 14 side. The traveling position may be determined by
Further, the deviation detecting means 50 may be provided in the computer 14 instead of the GNSS mobile station 12.

Further, in this embodiment, the system control unit 11 is provided separately from the GNSS mobile station 12 and connected so as to be capable of data communication. However, the system control unit 11 and the GNSS mobile station 12 may be provided integrally. .
Furthermore, the system control unit 11 and the computer 14 may be provided integrally.

  Further, data communication among the GNSS mobile station 12, the system control unit 11, and the computer 14 may be connected not by wireless communication but by wire.

In addition, each embodiment mentioned above has demonstrated the compaction management system used when compacting a construction position.
However, the management system of the present invention can be used not only for compaction of the construction position but also for leveling of the construction position.

8 Compaction management system 10 Construction machine 12 GNSS mobile station 13 Monitor 14 Computer 16 GNSS fixed station 17 Tripod 20 Reception unit 22 Communication unit 24 Reception unit 26 First communication unit 27 Second communication unit 28 Measuring means 29 Communication unit 30 Transmission unit 32 Measurement state detection means 34 Storage device 36 Control part 37 Reception part 38 Display control means 40 Acceleration sensor 41 Vehicle speed meter 42 Gyro sensor 44 Traveling position judgment means 46 Correction information display control means 50 Deviation detection means 52 Operation stop means 54 Warning means 55 Storage device 58 Correction means

According to the compaction and leveling management system of the present invention, a GNSS mobile station mounted on a construction machine, a GNSS fixed station capable of data communication with the GNSS mobile station, and a computer mounted on the construction machine And the computer is based on a relative position of the GNSS mobile station measured between the monitor, the storage device storing the map data of the enforcement position, and the GNSS fixed station and the GNSS mobile station. In the compaction and leveling management system having display control means for displaying the position where the construction machine travels on the map data by color-coded on the map data, between the GNSS fixed station and the GNSS mobile station When the measurement state of the relative position of the GNSS mobile station is detected and it is detected that the relative position measurement is disabled, Measurement state detecting means for notifying that measurement of the target position is impossible, an acceleration sensor mounted on the construction machine, and a gyro sensor mounted on the construction machine, wherein the computer measures the relative position. In the case of receiving a communication indicating that the construction machine is impossible, instead of the relative position, a travel position where the construction machine travels is determined based on acceleration data and angular velocity data detected by the acceleration sensor and the gyro sensor. possess a determination unit, and a correction information display control means for displaying been the construction machine is traveling position determined by the traveling position determining means on the monitor in different colors on the map data, the measurement of the GNSS mobile station If the state detection means detects that the relative position measurement is recovered after detecting that the relative position measurement is impossible, the state detection means The computer notifies that the measurement of the relative position has been recovered, and the traveling position determination means of the computer determines the position where the construction machine has traveled based on the acceleration data and angular velocity data detected by the acceleration sensor and the gyro sensor. The correction information display control means of the computer stops the display on the monitor by color-coding on the map data of the position traveled by the construction machine determined by the travel position determination means, The display control means of the computer is characterized in that the position where the construction machine travels is color-coded on the map data based on the measured relative position and displayed on the monitor .
By adopting this configuration, the GNSS radio wave cannot be received temporarily, communication between the GNSS fixed station and the GNSS mobile station installed in the construction machine is not possible, or even if communication is possible, the relative position Even in the case where the measurement cannot be performed, the speed and traveling direction of the construction machine can be determined by the acceleration sensor and the gyro sensor mounted on the construction machine. For this reason, even when the relative position cannot be acquired by the GNSS temporarily, the traveling position of the construction machine is detected by the acceleration sensor and the gyro sensor as in the management on the map data based on the relative position measured by the GNSS. Can be managed on map data, and compaction and spread can be managed efficiently.
Further, when the relative position can be acquired again by GNSS, the compaction and spread management by the acceleration sensor and the gyro sensor can be stopped, and the compaction and spread management by GNSS can be executed again. For this reason, even if the measurement of the relative position by GNSS is unstable, compaction and leveling management can be performed continuously, and efficient management can be performed.

Claims (6)

A GNSS mobile station mounted on a construction machine;
A GNSS fixed station capable of data communication with the GNSS mobile station;
A computer mounted on a construction machine,
The computer is configured to run a construction machine based on a monitor, a storage device storing map data of an enforcement position, and a relative position of the GNSS mobile station measured between the GNSS fixed station and the GNSS mobile station. In a compaction and leveling management system having display control means for displaying the position on the map with color-coded on the map data,
When the relative position measurement state of the GNSS mobile station between the GNSS fixed station and the GNSS mobile station is detected, and it is detected that the relative position measurement is disabled, the relative position to the computer is detected. A measurement state detection means for notifying that measurement of the position is impossible;
An acceleration sensor mounted on the construction machine;
A gyro sensor mounted on a construction machine,
The computer
The position where the construction machine travels based on acceleration data and angular velocity data detected by the acceleration sensor and the gyro sensor instead of the relative position when communication indicating that the relative position cannot be measured is received. Traveling position determining means for determining
A compaction and leveling management system comprising: correction information display control means for displaying the position where the construction machine traveled determined by the travel position determination means is color-coded on the map data and displayed on the monitor. .   2. The measurement state detecting means, the acceleration sensor, and the gyro sensor are provided in a system control unit capable of data communication between the GNSS mobile station and the computer. Compaction and leveling management system. The measurement state detection means of the GNSS mobile station is
If it is detected that the relative position measurement is recovered after detecting that the relative position measurement is impossible, the computer notifies the computer that the relative position measurement is recovered,
The traveling position determination means of the computer is
Stop judging the position where the construction machine has traveled based on the acceleration data and angular velocity data detected by the acceleration sensor and the gyro sensor,
The correction information display control means of the computer is
Color-coded on the map data of the position traveled by the construction machine determined by the travel position determination means to stop the display on the monitor,
The computer display control means comprises:
3. The compaction and leveling management according to claim 1 or 2, wherein a position traveled by a construction machine is color-coded on the map data and displayed on the monitor based on the measured relative position. system. A deviation detecting means for detecting a deviation of the running position after the relative position cannot be measured based on the acceleration data and the angular velocity data detected by the acceleration sensor and the gyro sensor;
2. An operation stopping means for stopping an operation by the correction information display control means when the deviation detected by the deviation detecting means is larger than a preset threshold value. The compaction and leveling management system according to any one of claims 3 to 4.   When the deviation detecting means detects a deviation, it comprises warning means for displaying a warning display on the monitor stepwise based on the magnitude of the deviation until the deviation reaches the threshold value. The compaction and leveling management system according to claim 4. The computer
A storage device for storing result data in which the position where the construction machine has traveled on the map data is color-coded and displayed by the display control unit and the correction information display control unit;
After the measurement of the relative position is recovered, among the result data stored in the storage device, the result data is corrected to the travel position based on the recovered relative position with respect to the portion displayed by the correction information display control means. The compaction and leveling management system according to any one of claims 1 to 6, further comprising correction means characterized by the above.