JP2019196630A - Unmanned construction system and bulldozer - Google Patents

Abstract

To make it possible to construct cuts and embankments and perform ground leveling by making a bulldozer autonomously travel without manipulation by an operator.SOLUTION: An unmanned construction system of the present invention includes: a bulldozer 1 with topographical height detection means that can measure the topographical height of the front and rear; position acquiring means that acquires a position of the bulldozer 1; and autonomous travel control means that makes the bulldozer 1 travel autonomously in a preset area A on the basis of the acquired position of the bulldozer 1. The autonomous travel control means has earth pushing mode control means for determining a place in which cuts or embankments are constructed and making the bulldozer 1 travel on the basis of the topographical height measured by the topographical height detection means while the bulldozer 1 is traveling in the area A.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an unmanned construction system and a bulldozer.

  Conventionally, a technique related to control of a bulldozer blade has been developed (see Patent Document 1). This technique lowers the blade to a predetermined position (for example, the ground or a design surface) when a lowering instruction signal and a holding instruction signal are sequentially input after the transmission is switched from a state different from the forward state to the forward state. Is. Therefore, for example, in a dosing operation in which forward and backward movement is repeated, the blade operation load of the operator can be reduced, but the blade control not intended by the operator is not achieved.

JP 2014-173321 A

  The construction industry is automating construction, and there are many requests for autonomous running of bulldozers. In other words, it is desired to develop a system that makes a bulldozer autonomously run without operator's control and performs cutting and leveling.

  From such a point of view, the present invention provides an unmanned construction system and a bulldozer that can make a bulldozer autonomously run without an operator's operation and perform cutting and leveling.

In order to solve the above problems, an unmanned construction system according to the present invention includes a bulldozer, position acquisition means for acquiring the position of the bulldozer, and the bulldozer within a preset area based on the acquired position of the bulldozer. And autonomous traveling control means for autonomously traveling the vehicle.
The bulldozer has terrain height detection means capable of measuring front and rear terrain heights. The autonomous traveling control means determines a place to cut or fill based on the terrain height measured by the terrain height detecting means while the bulldozer is traveling in the area, and the bulldozer There is a control unit for the earthing mode that causes the vehicle to travel.

The bulldozer according to the present invention is a bulldozer for unmanned construction that autonomously travels within a preset area.
The bulldozer includes a terrain height detecting means capable of measuring front and back terrain heights, a position acquiring means for acquiring the position of the bulldozer, and the area using the acquired position of the bulldozer. Autonomous running control means for autonomous running.
The autonomous traveling control means determines a place to cut or fill based on the terrain height measured by the terrain height detecting means while the bulldozer is traveling in the area and travels. A control unit for the earthing mode is provided.

  In the unmanned construction system and the bulldozer according to the present invention, it is possible to detect in real time a terrain change due to the bulldozer traveling. For this reason, it is possible to specify a place for cutting or embankment of the local board that changes from moment to moment, and it is possible to perform work by selecting an efficient travel route.

  It is preferable that a plurality of completed shape confirmation points are set in the area. The control unit for the earthing mode determines whether or not the terrain height is a target height at each of the finished shape confirmation points, and if the terrain height is higher than the target height, the bulldozer When the terrain height is lower than the target height, the bulldozer is filled with earth.

The bulldozer further includes blade position detecting means for measuring the position of the blade, and the press mode control means controls the blade based on the blade position measured by the blade position detecting means. It is good.
If it does in this way, control of a blade according to the contents of work will be attained.

The autonomous travel control means may include survey mode control means for causing the bulldozer to travel in order to measure the topographic height of the local board.
In this way, the terrain height in the area can be measured.

  According to the present invention, the bulldozer can be autonomously driven without the operator's operation, and can perform cutting and leveling.

1 is an overall view of an unmanned construction system according to an embodiment of the present invention. It is a side view of the bulldozer which concerns on embodiment of this invention. It is a top view of the bulldozer which concerns on embodiment of this invention. It is a front view of the bulldozer which concerns on embodiment of this invention. It is a block diagram of the control apparatus with which the bulldozer which concerns on embodiment of this invention is provided. It is a figure for demonstrating the control by the control means for surveying modes. It is a figure for demonstrating the control by the control means for earth press modes.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings as appropriate. Each figure is only schematically shown so that the invention can be fully understood. Therefore, the present invention is not limited to the illustrated example. In addition, in each figure, about the same component or the same component, the same code | symbol is attached | subjected and those overlapping description is abbreviate | omitted.

≪Configuration of unmanned construction system according to embodiment≫
An overall view of an unmanned construction system M according to the embodiment is shown in FIG. An unmanned construction system M shown in FIG. 1 is a next-generation unmanned construction system in which the bulldozer 1 is run without being operated by an operator, and construction such as cutting and leveling is performed. The unmanned construction system M mainly comprises a bulldozer 1 that autonomously runs on the construction site, and a management computer (PC: Personal Computer) 2 installed in a management room located away from the construction site. Has been.

  The bulldozer 1 and the management personal computer 2 can communicate using wireless communication. The bulldozer 1 can receive radio waves (positioning signals) transmitted from the positioning satellite 3. The configuration of the unmanned construction system M is not limited to that shown here. For example, the bulldozer 1 may have the function of the management personal computer 2 (that is, the bulldozer 1 including the management personal computer 2 may be May be).

<Positioning satellite>
The positioning satellite 3 is a satellite used in the Global Navigation Satellite System (GNSS), and periodically transmits its own position information (orbit position information) and time information to the bulldozer 1. To do. The positioning satellite 3 may be, for example, a GPS (Global Positioning System) satellite, a GLONASS (Global Navigation Satellite System) satellite, a Galileo satellite, a quasi-zenith satellite, or the like. Information transmitted from the positioning satellite 3 is used in the bulldozer 1 to control the position (latitude, longitude, altitude), for example.

<Management PC>
The management personal computer 2 is operated by a construction manager. The construction manager registers information necessary for controlling the bulldozer 1 in the management personal computer 2. For example, the construction manager uses the management computer 2 to construct area information relating to the construction area A to be constructed (for example, coordinates specifying the boundary of the construction area A) and construction condition information relating to the construction conditions (eg, design ground surface). Information) and the like are registered in advance.

  In the construction area A, a local coordinate system xyz used for control of the bulldozer 1 is set, and a plurality of reference lines Ax parallel to the x axis and a plurality of reference lines Ay parallel to the y axis are set on the xy plane. It is set at a predetermined interval. The xy plane is parallel to the horizontal plane, for example, and the z-axis indicates the vertical direction. As a result, in the construction area A, a virtual mesh shape is formed on the xy plane by the reference lines Ax and Ay. The interval between the reference lines Ax and Ay may be arbitrary, and the interval at which the reference line Ax is set may be different from the interval at which the reference line Ay is set. As the distance between the reference lines Ax and Ay is shortened, the control of the bulldozer 1 can be performed more precisely. The intersection of the reference lines Ax and Ay is used as a finished shape confirmation point P for confirming the finished shape. The z coordinate values of all the finished shape confirmation points P are the same, and are “0 (zero)” here. Note that the bulldozer 1 may be controlled using the global coordinate system XYZ without using the local coordinate system xyz. In the global coordinate system XYZ, the X coordinate value is latitude, the Y coordinate value is longitude, and the Z coordinate value is altitude.

The construction manager inputs the construction start instruction after registering the construction conditions in the management personal computer 2. Thereby, the unmanned construction by the bulldozer 1 is started. During the period when unmanned construction is performed, the management personal computer 2 periodically receives construction progress information and machine information of the bulldozer 1 from the bulldozer 1 and displays these information on the screen.
The construction progress information may be information on the construction area A acquired by the bulldozer 1 during construction, and may be, for example, the current terrain height of the construction area A being constructed. The body information may be any information as long as the state of the bulldozer 1 can be confirmed.
The construction manager can grasp the construction progress and the state of the bulldozer 1 by confirming the construction progress information displayed on the management personal computer 2 and the machine information of the bulldozer 1. Note that the construction manager does not instruct the bulldozer 1 in principle after giving the construction start instruction.

<Bulldozer>
The configuration of the bulldozer 1 will be described with reference to FIGS. 2A to 2C. The bulldozer 1 mainly includes a vehicle body 10, a traveling device 20, a blade 30, and a control device 40 (see FIG. 2A). In addition, the structure of the bulldozer 1 shown here is an illustration to the last.

  The traveling device 20 is a mechanism for causing the bulldozer 1 to travel, and is installed at the lower portion of the vehicle body 10 as shown in FIG. 2A. Here, the traveling device 20 is configured by a crawler belt 20a, a sprocket 20b, and an idler 20c that are paired with each other (only one side is shown in FIG. 2A). The crawler belt 20a has an annular shape (endless shape) and surrounds the sprocket 20b and the idler 20c. The sprocket 20b is a gear-shaped wheel connected to the power shaft, and is engaged with the crawler belt 20a to transmit power. The idler 20c is a wheel located at the opposite end of the sprocket 20b. The bulldozer 1 travels as the crawler belt 20a rotates according to the drive of the sprocket 20b.

  The blade 30 is for extruding earth and sand in the forward direction, and is attached to the front portion of the vehicle body 10 so as to be rotatable (lifted and lowered) about the axis D1. A blade edge 30a is formed at the lower end of the blade 30 to be inserted into the ground during leveling work. As shown in FIG. 2B, the blade 30 is supported at the center by a substantially U-shaped lift frame 31 in plan view, and is rotated up and down around the axis D1 by the expansion and contraction of the lift cylinder 32 ( Go up and down). The bulldozer 1 includes an angle mechanism (for example, an angle cylinder 33) that tilts the left and right end portions of the blade 30 in the front-rear direction with respect to a vertical plane including upper, lower, left, and right, and A tilt mechanism (not shown) for tilting the end portion in the vertical direction.

  The vehicle body 10 houses a positioning device 12 and an inertial measurement unit (IMU: Inertial Measurement Unit) 13 shown in FIG. 2A in addition to an engine and a transmission (not shown). A communication antenna 11 is installed in the upper center of the vehicle body 10. Note that the positioning device 12 and the inertial measurement device 13 may be combined into one device.

  The communication antenna 11 communicates with the management personal computer 2 (see FIG. 1). Specifically, the control device 40 of the bulldozer 1 receives information necessary for controlling the bulldozer 1 from the management personal computer 2 via the communication antenna 11. Further, the control device 40 transmits construction progress information and machine information of the bulldozer 1 to the management personal computer 2 via the communication antenna 11.

  The positioning device 12 is a device that calculates the position of the bulldozer 1 and is an example of a position calculation unit. The positioning device 12 receives radio waves (positioning signals) transmitted from the positioning satellite 3 (see FIG. 1) via an antenna (not shown). The positioning device 12 receives, for example, orbital position information and time information from the positioning satellite 3. The positioning device 12 calculates the position of the bulldozer 1 using the orbital position information and time information received from the positioning satellite 3. The calculated position of the bulldozer 1 is sent to the control device 40.

  The inertial measurement device 13 is a device that calculates the posture and direction of the bulldozer 1 and is an example of a posture calculation unit. The inertial measurement device 13 includes, for example, a three-axis gyro sensor and a three-direction accelerometer, and calculates a three-dimensional angular velocity and acceleration. The calculated attitude and orientation of the bulldozer 1 are sent to the control device 40.

  Three range sensors S1, S2, S3 are installed on the upper front end of the vehicle body 10, and a range sensor S4 is installed on the upper rear end of the vehicle body 10. The range sensors S1 to S4 are scanning light wave distance meters (so-called laser scanners). The range sensors S <b> 1 to S <b> 4 here are of a one-axis scanning type that performs scanning by rotating the optical system around one rotation axis, and are two-dimensional scanners that obtain two-dimensional spatial data.

  The range sensors S1 and S2 detect the position of the blade 30 and are an example of a blade position detection unit. In the state where the bulldozer 1 is on the ground parallel to the horizontal plane, the rotation axes C1 and C2 of the range sensors S1 and S2 are parallel to the horizontal plane and inclined with respect to the left-right direction. As a result, the detection areas K1, K2 of the range sensors S1, S2 are orthogonal to the horizontal plane when the bulldozer 1 is on the ground parallel to the horizontal plane.

  The installation angle of the range sensor S1 is adjusted so that the left end portion (including the vicinity) of the blade 30 is included in the detection region K1, and the position of the upper left end of the blade 30 is detected. The scanning angle θ1 of the range sensor S1 corresponds to the movement range of the blade 30, and can be detected even when the blade 30 is at the lowermost part and the uppermost part. The installation angle of the range sensor S2 is adjusted so that the right end portion (including the vicinity) of the blade 30 is included in the detection region K2, and the position of the upper right end of the blade 30 is detected. The scanning angle θ2 of the range sensor S2 corresponds to the moving range of the blade 30, and can be detected even when the blade 30 is at the lowermost part and the uppermost part.

  As shown in FIG. 2A, the upper end position U of the blade 30 is a position where the distance detected by the range sensors S1 and S2 is increased (a position where the distance between the range sensors S1 and S2 changes suddenly). When the bulldozer 1 is tilted, it is preferable to calculate the upper end position U of the blade 30 by correcting the detection results of the range sensors S1 and S2 with the tilt of the bulldozer 1. The position of the blade 30 detected by the range sensors S1 and S2 may be relative to a reference position (for example, the state where the blade 30 is at the lowest position).

  The range sensor S3 is for detecting the terrain height in front of the bulldozer 1, and is an example of the terrain height detection means. In addition, the range sensor S3 is used for detecting an obstacle in the traveling direction when moving forward. In a state where the bulldozer 1 is on the ground parallel to the horizontal plane, the rotation axis C3 of the range sensor S3 is parallel to the vertical plane and inclined with respect to the vertical direction. As a result, the detection area K3 of the range sensor S3 is orthogonal to the vertical plane when the bulldozer 1 is on the ground parallel to the horizontal plane. The range sensor S3 is mounted on a gimbal mechanism (horizontal holding device) (not shown), and maintains the state where the bulldozer 1 is in the horizontal plane even when the bulldozer 1 is inclined with respect to the horizontal plane.

  The angle at which the range sensor S3 is installed is adjusted so that the detection region K3 intersects the ground at a predetermined distance L3 in front of the bulldozer 1, and the bulldozer 1 moves in the front-rear direction to move in front of the bulldozer 1. Detect terrain height. The scanning angle θ3 and the predetermined distance L3 of the range sensor S3 may be arbitrary and are not particularly limited. In addition, by increasing the scanning angle θ3 of the range sensor S3, when the left and right regions of the bulldozer 1 are included in the detection region K3 of the range sensor S3, it can be used for obstacle detection on both the left and right sides of the bulldozer 1.

  The range sensor S4 is for detecting the terrain height behind the bulldozer 1, and is an example of a terrain height detection means. In addition, the range sensor S4 is used for detecting an obstacle in the traveling direction during reverse travel. In a state where the bulldozer 1 is on the ground parallel to the horizontal plane, the rotation axis C4 of the range sensor S4 is parallel to the vertical plane and tilted with respect to the vertical direction. As a result, the detection area K4 of the range sensor S4 is orthogonal to the vertical plane when the bulldozer 1 is on the ground parallel to the horizontal plane. The range sensor S4 is mounted on a gimbal mechanism (horizontal holding device) (not shown), and maintains the state where the bulldozer 1 is in the horizontal plane even when the bulldozer 1 is inclined with respect to the horizontal plane.

  The angle at which the range sensor S4 is installed is adjusted so that the detection region K4 intersects the ground at a predetermined distance L4 behind the bulldozer 1, and the rear of the bulldozer 1 is moved by the bulldozer 1 moving in the front-rear direction. Detect terrain height. The scanning angle θ4 and the predetermined distance L4 of the range sensor S4 may be arbitrary and are not particularly limited. Note that by increasing the scanning angle θ4 of the range sensor S4, when the left and right regions of the bulldozer 1 are included in the detection region K4 of the range sensor S4, it can be used for obstacle detection on both the left and right sides of the bulldozer 1.

  4 includes, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. The control device 40 may be built in the bulldozer 1 in advance or may be connected later (for example, a PC (Personal Computer)).

  As shown in FIG. 3, the control device 40 includes a position / orientation acquisition unit 41, a blade position calculation unit 42, a terrain height calculation unit 43, an autonomous travel control unit 44, and a communication control unit 47. The communication control means 47 is a communication module, for example, and controls communication with the management personal computer 2. Further, the autonomous traveling control means 44 includes surveying mode control means 45 and earthing mode control means 46.

  Note that the functions of the control device 40 shown in FIG. 3 are separated for convenience of explanation, and do not limit the present invention. In addition, a configuration in which a device other than the bulldozer 1 (for example, the management personal computer 2) includes a part of the functions of the control device 40 may be employed. In this case, the management personal computer 2 acquires necessary information from the bulldozer 1 and performs calculation in real time. And a travel route etc. are transmitted with respect to the bulldozer 1 via radio | wireless communication.

  The position / orientation acquisition unit 41 acquires information on the position of the bulldozer 1 from the positioning device 12. In addition, the position / orientation acquisition unit 41 acquires information on the attitude and orientation of the bulldozer 1 from the inertial measurement device 13.

  The blade position calculation means 42 receives the detection results from the range sensors S1 and S2 as the blade position detection means, and calculates the position of the blade 30. For example, the blade position calculation means 42 determines the position at which the distance detected by the range sensors S1 and S2 is large (the position where the distance between the range sensors S1 and S2 changes suddenly) as the upper end position U of the blade 30 (see FIG. 2A). Calculate as

  The terrain height calculation means 43 receives the detection results from the range sensors S3 and S4 as the terrain height detection means, and calculates the terrain heights in front of and behind the bulldozer 1. The terrain height calculation means 43 is, for example, based on the mounting position and mounting angle of the range sensors S3 and S4, the position corresponding to the completed shape confirmation point P (the same x coordinate value and y coordinate value as the completed shape confirmation point P). Calculate the terrain height of the position or the position closest to the position.

  The autonomous traveling control means 44 controls the autonomous traveling of the bulldozer 1. Here, the bulldozer 1 is controlled in two modes of “surveying mode” and “pressing mode”. However, the modes shown here are merely examples, and it does not mean that the autonomous traveling control means 44 must have these two modes, and the autonomous traveling control means 44 has other modes. Also good.

  The survey mode control means 45 controls the bulldozer 1 in the survey mode. The surveying mode is a mode in which the bulldozer 1 is driven so as to measure the topographic height of the entire construction area A without performing earth and sand filling. The survey mode is used, for example, when there is a region in the construction area A where the terrain height is not measured. The survey mode control means 45 causes the bulldozer 1 to travel so as to measure the terrain height at all the finished shape confirmation points P set in the construction area A. The travel route in the surveying mode may be arbitrary, and the travel route is determined in consideration of ease of travel and efficiency.

  An example of the travel route E of the bulldozer 1 in the survey mode is shown in FIG. The travel route E includes a parallel straight section E1 (here, parallel to the x-axis direction) and a curve section E2 for direction change. The radius of the curve section E2 may be, for example, such that when the bulldozer 1 travels in the adjacent straight section E1, a part of the detection region K3 of the range sensor S3 overlaps. As a result, the bulldozer 1 is caused to travel from the start point ST to the goal point EN, thereby measuring the terrain height of the entire construction area A (all the finished form confirmation points P). At this time, it is preferable to run the blade 30 in a lifted state so that the blade 30 does not contact the ground.

  In the survey mode, the vehicle travels in an area where the terrain height is not measured. Therefore, the survey mode control means 45 calculates an inclination angle from the detected terrain height in front and determines whether or not the vehicle can travel. May be determined. When the vehicle cannot travel, the vehicle may continue traveling by detouring or the administrator may be notified that the vehicle cannot travel.

  The presser mode control means 46 controls the bulldozer 1 in the press mode. The earthing mode is a mode in which the bulldozer 1 is driven so as to cut and level the ground. The earthing mode is used, for example, when the topographic height of the entire construction area A has been measured. The measurement of the topographic height in the entire area of the construction area A may be performed in the survey mode described above, or the survey result by the worker (for example, using a drone) is registered by the construction manager. May be.

  The earthing mode control means 46 determines whether or not the terrain height is the design height at each of the completed shape confirmation points P. In addition, when there is a predetermined amount of gap between the topographical height of the local board and the design height, it is also assumed that the cut and leveling work is performed in multiple times. In that case, the control mode 46 for the earthing mode determines whether or not the terrain height is the target height in each work at each of the completed shape confirmation points P. Therefore, the target height is a concept including the design height. The case where the terrain height is the design height (target height) may be a case where the terrain height is included in the error range of the design height (target height). For example, This is a case where it is included in “design height (target height) ± predetermined value”.

  When the terrain height is higher than the design height (target height), the press mode control means 46 cuts the place into the bulldozer 1. Further, when the landform height is lower than the design height (target height), the earth press mode control means 46 fills the bulldozer 1 with the place. The method of cutting and filling by the bulldozer 1 is not particularly limited, and it is preferable to select an optimum method based on various conditions. The cutting and embankment methods include the entry location of the bulldozer 1, the entry speed and the entry direction, and the position control of the blade 30.

  Further, the control unit 46 for the earthing mode performs the filling after determining the place to cut based on the relationship between the topographic height and the design height (target height) at each finished shape confirmation point P. The order (that is, the travel route for performing the truncation) is calculated. The travel route in the earthing mode should be efficient.

  An example of the travel route F of the bulldozer 1 in the earthing mode is shown in FIG. In the construction area A shown in FIG. 5, there are mountain parts A11, A12 and a hole part A21. The peaks A11 and A12 are higher than the design height, and the hole A21 is lower than the design height. Therefore, the press mode control means 46 determines the hills A11 and A12 as places where the bulldozer 1 is cut and determines the holes A21 as places where the bulldozer 1 is filled. The mountain portion A11 is located near the current position of the bulldozer 1, and the mountain portion A12 is located far from the current position of the bulldozer 1.

  In this case, the pressing mode control means 46 selects traveling routes F1 and F2 that carry the earth and sand of the mountain portion A11 close to the current position of the bulldozer 1 to the hole portion A21. This is because if you go to the mountain part A12 to get earth and sand, you have to make a detour and the traveling distance is long. As a result, the bulldozer 1 carries the earth and sand of the mountain portion A11 to the hole portion A21 according to the traveling routes F1 and F2. At this time, the soil pressure mode control means 46 controls the position of the blade 30 based on the height of the terrain so as to carry an appropriate amount of earth and sand to the hole A21. For example, during the earthing (when holding the earth and sand in the blade 30), the lower end position of the blade 30 is moved up and down in real time according to the ground (the topographic height of the local board). Then, when approaching the hole A21, the blade 30 is raised, and the earth and sand are gradually lowered into the hole A21. In addition, when the topographic height of the hole A21 does not reach the design height (target height) by one transport, for example, the bulldozer 1 is moved backward to the mountain portion A11 while the blade 30 is lifted, You may carry the earth and sand of mountain part A11 to hole A21 again.

  The earthing mode control means 46 detects the terrain height after the cut in the earthing mode by the range sensors S3 and S4, and updates the terrain height of the local board to the latest one based on the detection result. A range sensor S4 installed at the rear of the bulldozer 1 mainly detects the height of the terrain after the squatting during forward traveling. In addition, the range sensor S3 installed at the front of the bulldozer 1 mainly detects the height of the topography after the cut-up during reverse travel. For example, when the topography height of the mountain portion A11 becomes the design height (target height) by carrying the earth and sand of the mountain portion A11 to the hole portion A21, The traveling route F3 for carrying the earth and sand of A12 to the hole A21 is selected. Then, when the topography height becomes the design height (target height) at all the finished shape confirmation points P, the work in the earthing mode is finished.

  As described above, in the unmanned construction system M and the bulldozer 1 according to the present invention, it is possible to detect in real time a terrain change caused by the bulldozer 1 traveling. For this reason, it is possible to specify a place for cutting or embankment of the local board that changes from moment to moment, and it is possible to perform work by selecting an efficient travel route.

[Modification]
As mentioned above, although embodiment of this invention was described, this invention is not limited to this, It can implement in the range which does not change the meaning of a claim. The modification of embodiment is illustrated below.

  In the present embodiment, as shown in FIG. 2A, the position of the blade 30 is detected using the range sensors S1 and S2, but the method of detecting the position of the blade 30 is not limited to this. For example, a positioning antenna may be installed on the blade 30 and the position of the blade 30 may be calculated using a signal received from the positioning satellite 3. Alternatively, the position of the blade 30 may be calculated by installing a camera at a position where the blade 30 is reflected and analyzing the image captured by the camera. That is, the blade position detecting means may be a positioning antenna or a camera.

  In the present embodiment, as shown in FIG. 2A, the range sensor S3 is installed at the upper front end of the vehicle body 10, and the range sensor S4 is installed at the upper rear end of the vehicle body 10. Then, the topographic height in front of the bulldozer 1 is detected by the range sensor S3, and the topographic height in the back of the bulldozer 1 is detected by the range sensor S4. However, the terrain height detection method is not limited to this. For example, a range sensor (not shown) having a scanning angle of 360 ° may be installed on the upper portion of the vehicle body 10 to detect the height of the terrain around the bulldozer 1.

  In the present embodiment, the range sensors S3 and S4 are used for detecting the topography height and detecting obstacles in the traveling direction. However, a sensor for detecting an obstacle may be installed in the bulldozer 1 separately from the range sensors S3 and S4. In the present embodiment, for example, about 5 to 10 m is assumed as the predetermined distances L3 and L4 in front of and behind the bulldozer 1 so that it can be avoided after the obstacle is detected. When the obstacle is not detected in S4, the terrain height at a closer distance may be detected.

  In the present embodiment, the bulldozer 1 is in the horizontal plane even when the bulldozer 1 is inclined with respect to the horizontal plane by mounting the range sensors S3 and S4 on a gimbal mechanism (horizontal holding device) (not shown). The state was maintained. However, the range sensors S3 and S4 may be installed in the bulldozer 1 without being mounted on the gimbal mechanism, and the terrain height detected by the range sensors S3 and S4 may be corrected based on the inclination of the bulldozer 1.

  Further, in the present embodiment, as shown in FIG. 1, a virtual mesh shape is formed in the construction area A on the xy plane by the reference lines Ax and Ay, and this mesh shape has a rectangular shape in plan view. It was presenting. However, the configuration of the mesh shape is not limited to this, and may be a parallelogram or a triangle in plan view. That is, the arrangement of the completed shape confirmation points P is not limited to that shown in the present embodiment, and may be arbitrary.

  In the present embodiment, the bulldozer 1 is controlled in two modes of “surveying mode” and “pressing mode”. And after measuring the topographic height of the whole area of the construction area A by surveying mode, the bulldozer 1 was made to drive by the earthing mode. However, the bulldozer 1 may be run in the earthing mode in a state where the measurement of the topographic height of the construction area A is not finished. In this case, for example, the bulldozer 1 is initially run in a narrow area, and the area where the terrain height is measured is gradually expanded as a travelable area while traveling in this narrow area.

DESCRIPTION OF SYMBOLS 1 Bulldozer 2 Management personal computer 3 Satellite for positioning 10 Car body 11 Communication antenna 12 Positioning device (position calculation means)
13 Inertial measurement device (attitude calculation means)
DESCRIPTION OF SYMBOLS 20 Traveling apparatus 30 Blade 40 Control apparatus 41 Position and orientation acquisition means 42 Blade position calculation means 43 Terrain height calculation means 44 Autonomous traveling control means 45 Surveying mode control means 46 Pressing mode control means 47 Communication control means S1, S2 Area sensor (blade position detection means)
S3, S4 Range sensor (terrain height detection means)
M Unmanned construction system A Construction area P Finished point confirmation

Claims (5)

A bulldozer having terrain height detection means capable of measuring front and rear terrain heights;
Position acquisition means for acquiring the position of the bulldozer;
Based on the acquired position of the bulldozer, autonomous running control means for autonomously running the bulldozer in a preset area, and
The autonomous traveling control means includes
For the earthing mode in which the bulldozer is driven by deciding where to cut or fill based on the terrain height measured by the terrain height detection means while the bulldozer is traveling in the area. Control means,
An unmanned construction system characterized by this. In the area, a plurality of completed confirmation points are set.
The control unit for the earthing mode is
It is determined whether or not the terrain height is a target height at each of the completed shape confirmation points. If the terrain height is higher than the target height, the bulldozer is cut, and the terrain height is If it is lower than the target height, the bulldozer is filled with earth,
The unmanned construction system according to claim 1. The bulldozer further comprises blade position detecting means for measuring the position of the blade,
The earthing mode control means controls the blade based on the blade position measured by the blade position detecting means.
The unmanned construction system according to claim 1 or 2, wherein the system is an unmanned construction system. The autonomous traveling control means includes
Surveying mode control means for running the bulldozer to measure the terrain height of the local board,
The unmanned construction system according to any one of claims 1 to 3, wherein the system is an unmanned construction system. It is a bulldozer for unmanned construction that autonomously runs in a preset area,
Terrain height detection means capable of measuring front and back terrain height;
Position acquisition means for acquiring the position of the bulldozer;
Autonomous running control means for autonomously running in the area using the acquired position of the bulldozer,
The autonomous traveling control means includes
Pressing mode control means for determining a place to cut or fill based on the terrain height measured by the terrain height detecting means while the bulldozer is traveling in the area; Having
A bulldozer characterized by that.

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