JP2562345B2 - Bulldozer performance management device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to ground leveling construction by a bulldozer, and in particular, a level detector having a three-dimensional position detecting function is provided in a tractor which is a main body vehicle of the bulldozer. It is related to the performance management device of the bulldozer.

[Conventional technology]

A bulldozer is used for a wide range of land leveling or leveling. The wider the working range, the more important is the leveling control of the finished surface or the leveling control of the leveling layer thickness. Therefore, conventionally, it was general to carry out the surveying work each time after the ground leveling work by the bulldozer and proceed the work while surveying the reference plane.

On the other hand, in recent years, a method has also been developed in which a rotary laser projector is installed in the work area and a reference surface is formed by light by scanning the area with laser light, and grounding or leveling is performed based on the reference surface. ing.

In this construction method, a light projector is rotated to form a highly accurate horizontal plane or an optical reference plane having an arbitrary inclination in a predetermined range, while a bulldozer is provided with a photoreceiver for receiving laser light. By providing the function as a level detector that detects the level from the optical reference plane, the level signal from the level detector is input to the control device to automatically control the height of the excavator plate of the bulldozer and level the ground. Or it was doing the leveling.

[Problems to be Solved by the Invention]

However, the above-mentioned surveying method requires a lot of time and manpower, and the finishing accuracy is insufficient.

On the other hand, in the construction method using the optical reference plane by the laser beam, a level detector is directly attached to the excavation plate of the bulldozer to control the cutting edge of the excavation plate as the target elevation, so that the tractor (the vehicle of the bulldozer main body is controlled). Part)
There was a problem that the level change of the soil discharge plate due to the pitching of the plate was remarkable and the output fluctuation of the level detector became large. In addition, when applied to the ground with large unevenness, there is a difficulty that the working speed cannot be increased, and when the reference light is blocked by a construction machine such as a dump truck, the signal given before the interruption is continued. Therefore, there is also a problem that the control amount of the earth removal plate tends to be excessive.

The present invention has been made in view of the above, and it is possible to accurately control the leveling of the finished surface and the leveling of the laying layer thickness in a short time without being affected by the amount of soil discharged from the earth discharging plate. It is an object of the present invention to provide a performance management device for a bulldozer that can be used.

[Means for solving the problem]

In order to achieve the above object, a performance management device for a bulldozer according to the present invention includes a level detector mounted on a bulldozer, which rotates a light projector to form a light reference plane having a horizontal or arbitrary inclination in a predetermined range. The (light receiver) detects this optical reference plane and inputs the level signal from the level detector based on this and the plane position information of the bulldozer to the control device to automatically control the height of the excavator plate of the bulldozer. A device used in a construction method for leveling or laying a ground is a three-dimensional device that detects the three-dimensional position of a bulldozer tractor by detecting the optical reference plane formed by two emitters and a reference receiver on the ground station side. At least two level detectors with a position detection function are provided on the tractor side, spaced apart in the front-back direction, and the output data is received by receiving the signal from this level detector. And Mel position measurement controller, and has a structure in which the a blade controller to issue a predetermined command to the hydraulic valve actuator for actuating the earth removing plate by a signal from the position measurement controller.

[Work]

The position of each of the two level detectors on the optical reference plane formed by the two projectors is calculated by the two transmitters on the ground station side, the reference receiver, and the two level detectors on the tractor side. By knowing the relative position between the two level detectors mounted on the tractor and the target altitude to be ground leveled, it is possible to obtain the volume of the current work area within a predetermined ground leveled area while working. . While continuing the above operations in other areas as well, the work volume of the completed work area is stored in the soil discharge plate controller and the ground station side so that it can be perceived by each monitor on the ground station side and the bulldozer operating side. .

〔Example〕

 Hereinafter, the present invention will be described with reference to the accompanying drawings.

 FIG. 1 shows an overall system configuration diagram according to the present invention.

In the figure, G indicates the ground station side, and W indicates the bulldozer side.

First, the projectors A and B are installed at two reference positions separated by a distance L on the ground station G side. The two floodlights A,
A reference photodetector S for detecting a reference azimuth is installed at a position approximately in the middle of B.

On the other hand, on the bulldozer side W, a light receiver P
₁ and the light receiver P ₂ at the rear. Further, a wireless device 3, an earth plate controller 4, an in-vehicle monitor 5, and a position measurement controller 6 are arranged in the tractor 1 part.

The names of the parts of the bulldozer are not directly related to the present invention, so the description thereof will be omitted. However, the soil discharging plate 2 operates the hydraulic valve actuator 7 according to a command from the soil discharging plate controller 4, and has a cylinder sensor (not shown) built-in. It operates according to the cylinder stroke amount of the hydraulic cylinder 8.

Further, on the ground station G side, a radio 9 for receiving signals from the bulldozer W and a ground station monitor 10 are installed.

In the above configuration, the two light emitters A and B, the reference light receiver S, and the two light receivers P ₁ and P ₂ are used to receive the light received with the light emitters A and B as a reference in the leveling area of the bulldozer. Bowl P ₁ ,
A method of obtaining the position of P ₂ , that is, the working position of the bulldozer will be described.

For convenience of description, the positional relationship between the projector A on the left side in the drawing on the ground station G side as a reference point, the other projector B, the reference projector S, and the light receivers P ₁ and P ₂ on the tractor 1 is set in the XY coordinate system. Convert to. FIG. 2 shows the positional relationship between the light projector and the light receiver arranged in the XY coordinate system.

As shown in FIG.
Rotate in the direction of P ₁ and P ₂ so that the rotation angle becomes smaller. That is, the projector A rotates counterclockwise and the projector B rotates clockwise.

At this time, the optical reference plane formed by the laser light emitted from the projector A and the one formed by the projector B are formed to have the same height and inclination. In such a state, the laser light emitted from the projectors A and B is respectively received by the reference light receiver S.
The time until the next light is received after being received at, that is, the rotation cycle (which are referred to as Ta and Tb, respectively) is measured by the ground station monitor 10 (first
(In the figure), and the time is measured by radios 3, 9 (in Fig. 1)
The data is transmitted from the ground station G side to the bulldozer W side. The rotation cycle (Ta, Tb) is stored in the position measurement controller 6 (in FIG. 1).

The distance L between the two projectors A and B and the projectors A and B
The angles Δα and Δβ formed between the reference light receiver S and the reference light receiver S are preliminarily measured by a lightwave rangefinder, and the position measurement controller 6 on the tractor 1 is measured.
To be stored.

Further, the time from when the laser light from both projectors A and B is received by the reference light receiver S until it is received by _one light receiver P ₁ [this is (ta ₁ , tb ₁ )], The other receiver P ₂
Time until light is received at [[This is (ta ₂ , tb ₂ )]
Is triggered by the timing at which the reference light receiver S receives light from the ground station monitor 10 (in FIG. 1) and informs the information to the bulldozer W side by the wireless device 9, and then the position measurement controller 6 causes the time (ta ₁ , Tb ₁ , ta ₂ , tb ₂ ) are counted and stored.

The time stored in the position measurement controller 6 (Ta, Tb,
ta ₁ , tb ₁ , ta ₂ , tb ₂ ) Angle (△ α, △ β), Distance (L)
Based on the information, the photodetector shown in FIG.
Angles α ₁ , α ₂ , β ₁ , β _{2 of} P ₁ , P ₂ and coordinates (xp ₁ , y
The position measurement controller 6 calculates p ₁ ), (xp ₂ , yp ₂ ).

Next, a method of obtaining the volume in the leveled area by using a bulldozer will be described.

The light receivers P ₁ and P ₂ shown in FIG. _{1 are} , as shown in FIG. 3, a plurality of light receiving elements in the height direction (...,
n) are arranged, and the height of the received light can be detected depending on which element the laser beam 11 is shining on.

Therefore, as shown in FIG. 4 (a), the tractor 1 is
When the soil leveling plate 12 is being pushed by the soil discharging plate 2 with a certain inclination, the light receivers P ₁ and P ₂ fixed to the tractor 1 are light receiving elements tilted by the angle θ with respect to the optical reference plane 13. Will be detected.

Now, as shown in FIG. 4 (a), the vehicle body center of the tractor 1 is set to 0, and the light receiver P ₁ positioned in the horizontal direction of the vehicle body center 0,
The mounting parts of P ₂ are Q ₁ , Q ₂ , and a perpendicular is drawn from the vehicle body center 0 to the ground contact surface 12 and the intersection is R.

Furthermore, if the distance between Q _{1 and} P ₁ is Z ₁ , the distance between Q _{2 and} P ₂ is Z ₂ , and the vertical distance from the optical reference plane 13 to the point R on the ground plane 12 is h, then FIG. ) Is represented by a schematic diagram as shown in FIG.

Therefore, from the geometrical relationship in FIG.
The distance h between 13 and the point R on the ground contact surface 12 and the position of the vehicle body center 0 are obtained as follows. From the points Q ₁ and Q ₂ , the optical reference plane 13
And P _{'1, P' 2} perpendicular intersection with respect to the point of intersection with line segment Q ₁ Q ₂ when down the vertical line toward the point R on the optical reference plane 13 to 0 '.

Here, Z ₁ and Z ₂ are detected by the photodetectors P ₁ and P ₂ , and the line segment ▲
▼, ▲ ▼, ▲ ▼ are known and the angle θ
Is so small Becomes

Further, by considering the center O of the vehicle body as the midpoint of the line segment ▲ ▼, the coordinates (x ₀ , y ₀ ) Becomes

By the method as described above, the plane position (coordinates) of the bulldozer with respect to the projectors A and B and the height data of the ground leveling with respect to the light reference plane 13 are calculated in the position measuring controller 6, and the leveling data is adjusted based on the data. Volume data [indicated by (x, y, h)] at each point in the ground area will be converted.

Next, a method of managing the output data based on the output data (x, y, h) will be described. If the area to be leveled is a square area, divide the leveled area into x-direction x ₁ …… xn and y-direction y ₁ …… y ₂ n blocks as shown in Fig. 5. The output data (xi, yi, hij) obtained in each block is stored in a storage device built in the position measurement controller 6 (or a storage device may be provided separately).
It is stored as dimensional array data. Where i, j = 1
... n. The two-dimensional array data has high and low production amounts as shown in FIG. 6 (high ... large production amount, low ... small production amount).
Can also be converted by the position measurement controller 6 as image information such as a dark and light pattern (dark ... large production amount, light ... small production amount) pattern.

The two-dimensional array data can be converted into a contour map (terrain after work) or a sectional view in an arbitrary direction as shown in FIGS. 8 and 9.

In the case of FIG. 8, this indicates whether the local shape is concave or convex based on the target height, and for example, excavates the area and spread it on the area! It is used for assisting work such as ″.

Further, the area of the convex portion (recess portion) with respect to the target is obtained from the sectional view shown in FIG. 9, and the required earthwork amount is also obtained by integrating this for a plurality of cross sections within a predetermined region. The target height can be virtually changed by internal calculation as shown in FIG.

These image information can be displayed on the vehicle monitor 5. At the same time, the output data is transmitted to the ground station side G by the radios 3 and 8 and can be stored and displayed on the ground station monitor 10.

A block diagram of the system of the present invention described above is shown in FIG.

Since the signal transmission between the ground station side and the bulldozer side in the block diagram has been described in detail, the description thereof is omitted here, but the position measurement controller 6 obtains the output data, and based on the data, the earth pushing work and the like. If it is necessary, the position measuring controller 6 outputs a pushing command to the earth discharging plate controller 4. In response to this command, the earth discharge plate controller 4 instructs the hydraulic valve actuator 7 (in FIG. 1) to control the earth discharge plate 2 by the hydraulic cylinder 8 and proceed with appropriate earth pushing work.

〔The invention's effect〕

According to the present invention, at least two level detectors (light receivers) having a three-dimensional position detecting function are provided on the tractor side so as to be spaced apart from each other in the front-rear direction thereof, so that predetermined volume management can be automatically performed. Therefore, in the method of leveling or laying out a wide work range, the leveling control of the finished surface and the leveling of the laying layer thickness can be improved without being affected by the amount of soil discharged from the earth removal plate. There is an effect that it can be carried out accurately in a short time.

[Brief description of drawings]

FIG. 1 is an overall system configuration diagram according to the present invention, FIG. 2 is an X-Y coordinate axis system diagram showing plane positions of a light projecting device and a light receiving device, and FIG. 3 is a diagram showing a configuration of the light receiving device. ) And (b) are explanatory views of a method for calculating the output, FIG. 5 is a view showing a method of storing the output, FIG. 6 is a view showing the display method, FIG. 7 is a system block diagram, and FIG. Contour map showing volume,
9 and 10 are longitudinal views showing sectional views taken along the line AA 'in FIG. DESCRIPTION OF SYMBOLS 1 is a tractor, 2 is an earth discharging plate, 3 is a radio, 4 is an earth discharging controller, 5 is an on-vehicle monitor, 6 is a position measurement controller, 7 is a hydraulic valve actuator, 8 is a hydraulic cylinder, and 10 is a hydraulic cylinder.
Is a ground monitor

Claims (1)

(57) [Claims] 1. A light projector is rotated to form a light reference plane having a horizontal or arbitrary inclination in a predetermined range, and the level detector (light receiver) mounted on a bulldozer detects the light reference plane, A device used in the construction method for leveling or leveling by automatically inputting the level signal from the level detector based on this and the plane position information of the bulldozer to the control device and automatically controlling the height of the excavation plate of the bulldozer. At the tractor side, a level detector having a three-dimensional position detecting function for detecting the three-dimensional position of the tractor of the bulldozer by detecting the optical reference plane formed by the two light emitters and the reference light receiver on the ground station side , A position measuring controller which obtains output data by receiving a signal from the level detector, and at least two units which are separated from each other in the front-rear direction. Bulldozer earned value management apparatus characterized by comprising a a blade controller to issue a predetermined command to the hydraulic valve actuator for actuating the earth removing plate by a signal.