JP3511403B2 - Construction vehicles - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a construction vehicle, and more particularly, to installing a collimated target at a predetermined target point or monitoring a construction range. The present invention relates to a construction vehicle that is used at times. 2. Description of the Related Art For example, in order to manage work in leveling work or dam work, an operator performs surveying using transit and level at a number of known locations where surveying has been performed. Is manually organized and managed. In this case, for example, surveying is performed by a pair of two persons, and one worker carries in and installs a collimation target such as a pole or a staff at a target point (a surveying point) of the survey. [0003] However, when the worker himself carries in and installs the collimation target as described above, a large amount of labor is required. Further, there is a problem that there is a great danger in performing such a work in a place where environmental conditions are poor, for example, near a crater of an active volcano. Further, even when it is desired to monitor a construction area where environmental conditions are bad as described above, it is not possible to monitor because a worker is in danger of entering. By the way, in the above case, a method of calculating an own position using, for example, a GPS (Global Positioning System) and using an unmanned construction vehicle remotely controlled based on the detected own position is used. Can be considered. However, in this case, the use of the GPS increases the cost of the system configuration, and a certain degree of error between the self-position detected by the GPS and the actual self-position cannot be avoided. It was difficult to do that. The present invention has been made in order to solve the above-mentioned problems, and it is possible to accurately perform remote control with a simple configuration, and to perform a work of installing a collimated target at a predetermined target point and a monitoring of a construction area. An object of the present invention is to provide a construction vehicle that can be performed without danger. In order to solve the above-mentioned problems, according to the configuration of the present invention, in order to solve the above-mentioned problems, the incident light is transmitted through the same path as the incident light. Omni-directional reflector 14 that reflects light at an automatic tracking integrated surveying device 2
0 is provided on the vehicle body 10a, and the other is provided at an appropriate position on the construction site, and light from the automatic tracking integrated surveying device 20 is transmitted by the omnidirectional reflector 14 to the automatic tracking integrated surveying. The position is measured by reflection to the device 20, and a technical measure is taken in which the position is remotely controlled based on the measured position. That is, the present invention relates to an omnidirectional reflector 14 that reflects incident light on the same path as the incident light, and an automatic tracking type total survey device 20 that irradiates the omnidirectional reflector 14 with laser light. Either one is provided on the vehicle body 10a, and the other is provided at an appropriate position on the construction site.
a includes an azimuth meter 17 and an inclinometer 17a, a transmitter / receiver 19 that transmits these measured values to the control room 4 and receives a signal from the control room 4, and a signal input to the transmitter / receiver 19. Control device 11 that controls vehicle body 10a
In the control room 4 provided at an appropriate position, a vehicle position is obtained based on the survey data of the automatic tracking integrated surveying device 20, the compass 17, and the inclinometer 17a, and based on the vehicle position, A control device 42 for remotely controlling the vehicle body 10a and a transceiver 41 for receiving a signal from the transceiver 19 and transmitting a control signal to the transceiver 19 are provided.
Further, the vehicle has a pantograph type lifting device 12.
And a photographing device 15 provided on the elevating device 12 and a holding device 16 provided at a position where the elevating device 12 moves up and down. First, in the present invention, the omnidirectional reflector 14 of the vehicle body 10a is collimated by the automatic tracking by the automatic tracking integrated surveying device 20. Then, the distance of the collimation line of the omnidirectional reflector 14 and the vertical and horizontal angles thereof are obtained by the automatic tracking integrated surveying device 20, and as a result, the collimation point of the automatic tracking integrated surveying device 20 is determined as the origin. Directional reflector 14
, That is, the self-position of the vehicle body 10a is obtained, and the self-position of the vehicle body 10a is obtained, whereby the vehicle body 10a can be accurately and remotely controlled. In the present invention, since the azimuth meter 17 and the inclinometer 17a are provided, the traveling direction of the vehicle 10 can be accurately grasped and controlled, and even if the vehicle body 10a is tilted in the ground state, By using the inclination angle as a correction value, an effect of obtaining an accurate self-position is exhibited. Further, in the present invention, although the self-position of the vehicle body 10a is obtained and the function of remote control is the same,
Since it includes a pantograph type elevating device 12, a photographing device 15 provided on the elevating device 12, and a holding device 16 provided at a position to be raised and lowered by the elevating device 12, collimation to a predetermined target point is performed. The present invention has an effect that an installation work of a target object and the like and a monitoring of a construction area can be performed using a construction vehicle. An embodiment of the present invention will be described below with reference to the accompanying drawings. FIG. 1 shows a construction vehicle 10 according to an embodiment of the present invention. The construction vehicle 10 includes a vehicle body 10a, an elevating means 12 such as a pantograph type elevating device mounted on the vehicle body 10a, a support 13 fixed on the elevating means 12, and an elevating means. 1
It is composed of a holding means 16 such as a hook fixed to 2. An omnidirectional reflector 14 and an image pickup means 15 such as a CCD camera are mounted on the support 13. As shown in FIG. 2, an automatic tracking integrated surveying device 20 is installed at an appropriate position away from the position of the construction vehicle 10 or at an appropriate position inside or outside the traveling range of the construction vehicle 10. ing. The vehicle body 10a of the construction vehicle 10 is configured to change the traveling direction by operating left and right steering wheels provided at the front or rear, or to change the traveling direction by changing the relative speed of the left and right driving wheels. Any format such as a format to be changed may be used. The control of the traveling direction in the vehicle body 10a is performed by appropriately changing the steering direction and the steering angle of the steered wheels in the former type.
In the case of the latter type, the adjustment is performed by appropriately changing the relative speed. Further, the speed of the vehicle unit 11 is controlled by appropriately changing the rotation speed of the drive wheel,
The stopping is performed by stopping the driving of the driving wheels or operating the brake device. The pantograph type elevating means 12 may be a conventionally known one. A pair of links are crossed in an X-shape, and the crossed portions are pivotally connected to each other, and a plurality of stages are vertically connected. Of course, both ends of the link are pivotally connected to both ends of the next-stage link. The X-shaped link is configured such that the crossing angle thereof can be changed by a hydraulic cylinder or the like (not shown). The support table 13 can be moved up and down while being kept parallel to the vehicle body 10a as shown by a dashed line in FIG. The elevating means 12 is for raising and lowering the support 13 and the holding means 16, and is not limited to a type for raising and lowering the illustrated pantograph, a hydraulic type for raising and lowering by hydraulic pressure, or a motor type for raising and lowering by a motor. However, it is necessary that the support base 13 be able to move up and down while keeping parallel to the vehicle body 10a. When the collimating target 30 such as a pole or a staff with a hook hook 31 is transported to a predetermined target point, as shown in FIG. It is used to hold the collimated target 30. That is, in a state where the elevating means 12 is raised and the hook hook 31 is locked and held by the holding means 16, the construction vehicle 10 is remotely controlled to a target point as described later. When the vehicle arrives at the target point, the lifting / lowering means 12 is lowered, the locking / holding of the hook hook 31 by the holding means 16 is released, and the collimating target 30 is placed at the target point. The image pickup means 15 is used for photographing the periphery of the construction vehicle 10 and monitoring the construction area. Then, the position of the imaging unit 15 can be appropriately changed by moving the elevating unit 12 up and down. This allows
The monitoring height in the construction range can be raised and lowered, and the monitoring range, the monitoring angle, and the like can be appropriately changed. The image photographed by the image pickup means 15 is transmitted wirelessly to a display means 43 of the control room 4 to be described later. In the illustrated example, this video is transmitted by the transceiver 19. However, since a video signal requires a transceiver having high directivity, a dedicated transceiver is separately prepared in such a case. Of course, you may do it. The present invention relates to an omnidirectional reflector 14 for reflecting incident light on the same path as the incident light, and an automatic tracking integrated surveying device 20 installed at an appropriate position. 10a, the other is provided at an appropriate position on the construction site. The omnidirectional reflector 14 reflects the incident light on the same path as the incident light, and a conventionally known one can be used. For example, one that accurately reflects incident laser light or the like in the incident direction by using a combination of prisms is used. As a combination of such prisms and the like that accurately reflects in the incident direction, those that can cope with laser light irradiated to a certain range have been put into practical use. May be used as the omnidirectional reflector 14 so as to cope with all directions (360 °) by juxtaposing on the circumference. Further, the omnidirectional reflector 14 can be easily collimated in any state from the automatic tracking integrated surveying device 20 (so as not to be hidden behind another object) as in this embodiment. What is necessary is just to fix it on the support stand 13 located in the upper part, that is, to the top part of the construction vehicle 10 by an appropriate means. As the automatic tracking type total surveying device 20, a conventionally known device is used. The automatic tracking-type integrated surveying device 20 will be described using the most general laser light.
The distance to the omnidirectional reflector 14 is measured by the reflected light that is more reflected and returned. As the automatic tracking mechanism of the automatic tracking type total surveying device 20, a conventionally known automatic tracking mechanism is used. That is, as the automatic tracking mechanism, for example, photoelectric conversion light receiving surfaces are provided on the left, right, upper and lower sides of the light receiving center axis, respectively, and the respective electromotive forces (electromotive amounts corresponding to the received light amounts) of the respective photoelectric conversion light receiving surfaces are used as control signal values. The one that automatically changes the irradiation direction so that the laser light is always reflected back to the light receiving central axis portion is used. When the irradiation direction of the laser light is automatically changed, and when the irradiation source position of the laser light is moved right and left and up and down, the collimation point is moved. For this reason.
In the present application, the entire laser light irradiation device is configured to rotate up and down and left and right about one point of the collimation line as a fulcrum. This rotation angle is separately measured and used as a goniometer, as in the conventional case. Further, the automatic tracking system 20 has a search mechanism. This search mechanism automatically turns the laser light illuminating device itself in the right and left and up and down directions within a certain range when the automatic tracking integrated surveying device 20 loses sight of the omnidirectional reflector 14. The search is performed by a predetermined means and a predetermined procedure to search for the reception of the reflected light, and a conventionally known search mechanism is also used. As described above, the automatic tracking type integrated device 20 is installed at an appropriate position and fixed, and the installed position is used as a base point for surveying, that is, a measuring point. Therefore, the installation position of the automatic tracking type total surveying measure 20 is
The coordinate position is obtained by surveying in advance. The automatic tracking type integrated surveying device 20
The position is measured by reflecting the light from the omnidirectional reflector 14 to the automatic tracking integrated surveying device 20, and remote control is performed based on the measured position. That is, in the surveying of the construction vehicle 10 by the automatic tracking type total surveying device 20, the omnidirectional reflector 14 is collimated to measure its distance and direction, and the above-mentioned survey point is used as the origin in all directions. This is performed by calculating the coordinate value of the reflector 14. Such a calculation is performed by a conventionally known method, for example, a calculation process by a computer. FIG. 3 shows an outline of an example of a system for remotely controlling the construction vehicle 10 in this embodiment. In FIG. 3, 1 is a construction vehicle 1
The unit 1 includes the vehicle body 10a, the elevating means 12, the omnidirectional reflector 14,
In addition to the imaging unit 15, the transceiver 1 including the direction sensor 17, the inclinometer 17a, the interface 18, the wireless modem, and the like.
9. In FIG. 3, reference numeral 2 denotes an automatic tracking integrated surveying device. The automatic tracking integrated surveying device 2 includes an automatic tracking integrated surveying device 20, a power supply unit 21, and an interface 22. It is stored. In FIG. 1, reference numeral 4 denotes a control room. The control room 4 includes a transceiver 41 composed of a wireless modem, a control processing device 42 such as a computer, and display means 43 such as a CRT or LCD. . The azimuth sensor 17 mounted on the construction vehicle 10 comprises a gyro compass or the like, and is used to detect the traveling direction of the construction vehicle 10. Although not shown, the gyro compass needs to be reset to show the correct direction periodically or when an impact is received. You may be able to do it. Data on the detected traveling direction (azimuth data) is sent to the control room 4 via the interface 18 and the wireless modem 19. In the control room 4,
Position data from the automatic tracking integrated surveying device 2 is input via the interface 22. And control room 4
In, the current position and the traveling direction of the construction vehicle 10 are detected based on the input azimuth data and position data. These pieces of information are input to the control processing device 42, and the above-described arithmetic processing is performed. In addition, such information and the survey values obtained as a result of the arithmetic processing are displayed on the display means 43 as necessary. As the inclinometer 17a mounted on the construction vehicle 10, a conventionally known inclinometer for measuring the inclination angles in the X and Y directions is used. The detected data (tilt data) is also transmitted to the control room 4 via the interface 18 and the wireless modem 19 in the same manner. It should be noted that this inclination data is used to correct the value with the inclination data because the vertical position of the omnidirectional reflector 14 is not necessarily the position required when the construction vehicle 10 is inclined. is there. When the omnidirectional reflector 14 is mounted on the elevating means 12 as in this embodiment,
Since the height of the omnidirectional reflector 14 must also be taken into consideration, it is of course possible to detect the ascending / descending distance with a sensor and incorporate the value into the inclination data. Image information from the image pickup means 15 provided in the construction vehicle 10 is input to the control room 4 via the interface 18, the transceivers 19 and 41, and the like. In the control room 4, the video information is displayed on the display means 43 as it is or by image processing or the like by the control processing device 42. In this case, the video information may be displayed together with the information such as the survey values on the same display means 43, or a plurality of display means 43 may be provided to separately display the video information and the information such as the survey values. You may. In the control room 4, the construction vehicle 10 is remotely controlled based on the information such as the video information and the survey values obtained as described above. Specifically, the remote control is for controlling the traveling direction and speed of the construction vehicle 10, controlling the lifting and lowering operation of the lifting and lowering means 12, and the like. And
These signals for remote control are transmitted from the control room 4 to the construction vehicle 10 via the transceiver 41. And
The signal is received by the transceiver 19 of the unit 1, and is transmitted via the interface 18 to the vehicle control device or the lifting / lowering means 1.
2 is transmitted. Although not shown, if a transmitter having a high directivity for video signals is separately provided, it is needless to say that the transmitter is always directed to the control room 4 and the control is also performed as described above. What should be done in the same way as. Here, a control processing unit 42 is used as a means for generating a signal for the remote control. In this case, if the control processing device 42 has, for example, a keyboard, remote control processing is performed by an operator's input operation (a command consisting of a plurality of character strings or a specific key input) from the keyboard. In addition, an input unit for remote control may be set on the display unit 43, and remote control processing may be performed by an operator's selection operation of the input unit (selection with a cursor, operation with an input pen, or the like). . In addition, it is also possible to connect an operating means such as a separate joystick to the control processing device 42 and operate the operating means to perform remote control. Further, similar operation means may be separated from the control processing device 42 to directly output a signal for remote control to the wireless modem 41, or the control processing device 42 may store a predetermined control signal in advance. It is good to keep it. In addition to the embodiment described above, the construction vehicle 10
An automatic tracking integrated surveying device 20 is attached to the omnidirectional reflector, and an omnidirectional reflector 14 for the automatic tracking integrated surveying device is mounted at an appropriate fixed position.
May be installed. In this case, the position of the automatic tracking type integrated surveying device 20 is calculated backward from the position of the omnidirectional reflector 14 measured by the automatic tracking type integrated surveying device 20 provided on the moving construction vehicle 10, so that the construction The position of the vehicle 10 is measured. In addition, transmission of position data from the automatic tracking integrated surveying device 2 to the control room 4 is performed by a wireless modem or the like, similarly to transmission of azimuth data from the unit 1 to the control room 4. Can also be. Further, in the above example, the holding / holding of the holding means 16 and the releasing operation thereof are performed by using the up / down operation of the elevating means 12, but the elevating means 12 can be moved independently, for example, vertically. In addition, the vertical movement of the holding means 16 may be independently controlled remotely as described above. Further, similarly, the imaging means 15
For example, the imaging surface (such as the light receiving surface of the CCD) can be moved independently or vertically with respect to the construction vehicle 10 and the operation of this movement can be independently and remotely controlled. Can also be. The present invention is as described above. Since the self-position of the construction vehicle can be obtained from the coordinate values of the omnidirectional reflector originating from the collimation point of the automatic tracking integrated surveying device, the present invention is simple. With a simple configuration, accurate remote control can be performed. In addition, it is possible to provide a construction vehicle capable of performing a work of installing a collimated target or the like at a predetermined target point and a monitoring of a construction range without danger. And since the azimuth meter and the inclinometer are provided, it is possible to grasp and control the traveling direction of the vehicle accurately, and even if the vehicle body is inclined in the ground state, the inclination angle can be used as a correction value. Self-position is required.
Further, the function of determining the self-position of the vehicle body and remotely controlling the same is the same, but a pantograph-type elevating device, a photographing device provided on the elevating device, and a holding device provided at a position to be raised and lowered by the elevating device Therefore, installation work of a collimated target at a predetermined target point, monitoring of a construction range, and the like can be performed using a construction vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an explanatory view showing a construction vehicle according to one embodiment of the present invention. FIG. 2 is an explanatory diagram showing a positional relationship between the construction vehicle and the automatic tracking integrated device according to the embodiment. FIG. 3 is an explanatory diagram of an example of a system for remotely operating a construction vehicle according to an embodiment. DESCRIPTION OF SYMBOLS 10 Construction vehicle 11 Vehicle unit 12 Elevating means 13 Supporting stand 14 Omnidirectional reflector 15 Imaging means 16 Holding means 17 Direction sensor 18, 22 Interface 19, 41 Wireless modem 20 Automatic tracking integrated device 21 Power supply unit 30 collimation target 31 hook hook 40 control unit

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Katsumi Uchida 1-20-10 Toranomon, Minato-ku, Tokyo Nishimatsu Construction Co., Ltd. (56) References JP-A-5-324703 (JP, A) JP-A-4 JP-189973 (JP, A) JP-A-4-39709 (JP, A) JP-A-3-276210 (JP, A) JP-A-3-252707 (JP, A) JP-A-6-149363 (JP, A) ) Japanese Utility Model Application Hei 2-85310 (JP, U) Japanese Utility Model Application Hei 2-79398 (JP, U) (58) Field surveyed (Int. Cl. ⁷ , DB name) G05D 1/02

Claims (1)

(57) Claims 1. An omnidirectional reflector (14) that reflects incident light on the same path as the incident light, and an automatic irradiator that irradiates the omnidirectional reflector (14) with laser light. One of the tracking integrated surveying device (20) is provided on the vehicle body (10a), and the other is provided at an appropriate position on the construction site. The vehicle body (10a) has an azimuth meter (17) and an inclination. (17a), a transmitter / receiver (19) for transmitting these measured values to a control room (4) described later and receiving a signal from the control room (4), and input to the transmitter / receiver (19). A vehicle control device (1) that controls the vehicle body (10a) with a signal
The control room (4), which is equipped with 1) and is provided at an appropriate position, has the above-mentioned automatic tracking integrated surveying device (20), compass (17) and inclinometer (17).
The vehicle position is obtained from the survey data of a) and
A controller (42) for remotely controlling the vehicle body (10a) based on the vehicle position and a transceiver (41) for receiving signals from the transceiver (19) and transmitting control signals to the transceiver (19). The vehicle body (10a) is further moved up and down by the pantograph type elevating device (12), the photographing device (15) provided on the elevating device (12), and the elevating device (12). A construction vehicle comprising: a holding device (16) provided at a site.