JP3787812B2 - Construction navigation system for heavy machinery in construction work - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a heavy equipment construction navigation system in a construction work in which an operator of a bulldozer and a vibration roller as a heavy equipment is guided to a construction area and a construction specification is instructed.
[0002]
[Prior art]
For example, in large-scale earthworks such as roads and land preparation works, the embankment compaction test is performed in advance before actual construction to set the type of embankment compactor and the number of times of embankment rolling, and during actual construction, In order to improve the quality of the embankment, it is important to manage the rolling compaction so that the number of rolling is in line with the specified value. For this purpose, conventionally, a method is known in which the traveling locus of the embankment compactor is obtained by GPS (Global-Positioning System) and the number of times of embankment rolling is managed throughout the construction area (for example, JP 2000-8363 A). No. publication).
As described above, in recent road construction and airport construction work, there are an increasing number of cases where a construction / quality control system using GPS is applied. This system is equipped with GPS equipment on heavy machinery such as bulldozers and vibrating rollers, and obtains the three-dimensional position information of heavy machinery. Management and quality control. In this system, a monitor is mounted in the cabin of a heavy machine, and the operator can check the specified construction specifications in real time, so it is possible to improve construction efficiency and quality.
[0003]
[Problems to be solved by the invention]
However, in this system, the site manager must indicate the construction area with survey piles before construction, and the construction specifications (laying layer thickness and number of rolling) of the construction area are set and input for each construction. There is a problem that must be done. Especially in airport construction that creates a vast area, the construction specifications differ depending on the importance of the airport facility, so it takes a lot of labor to locate and survey the construction area and set the construction specifications accordingly .
Furthermore, in large-scale high embankment construction, there is a zoning method that distributes embankment materials based on the material characteristics of the embankment materials in a three-dimensional state to satisfy the functions expected of the embankment during and after construction. The construction area and construction specifications according to the zoning classification change according to the construction altitude. Therefore, a great deal of labor is required to position and survey the construction area according to the construction altitude and to set the construction specifications.
[0004]
[Means for Solving the Problems]
The present invention solves the above-mentioned problems, and does not perform positioning and surveying of the construction area according to the construction altitude in the building yard or the like and setting of the construction specifications, and induction and construction of the bulldozer and vibration roller of the heavy machinery It enables quality control.
For this purpose, the present invention is a construction navigation system for heavy equipment in construction work that guides the operator to the construction area and instructs construction specifications to the operator of the bulldozer that performs leveling as heavy equipment and the vibration roller that performs compaction in the construction stage. A GPS mobile station mounted on the heavy machinery for receiving positioning information from GPS satellites, a computing means for calculating three-dimensional position coordinates from the positioning information received by the GPS mobile station, a construction area map and construction according to construction altitude The construction management database storing the spread layer thickness of the bulldozer of the specification and the number of times of rolling of the vibrating roller, the three-dimensional position coordinates mounted on the heavy machinery and calculated by the computing means, and stored in the construction management database On the construction area map as construction information based on the construction area map and construction specifications. It is characterized by the fact that it is equipped with a display control means for displaying the construction area by the zoning classification that changes according to the installation, elevation, construction elevation, the spread layer thickness of the construction specifications, and the number of times of rolling on the screen. .
The display control means displays the construction information in different colors, and the construction management database stores a mesh-divided construction area map, a spread layer thickness of construction specifications, and the number of times of rolling, and the display control means Is characterized by overlaying construction information based on the three-dimensional position coordinates for each mesh, and at least the construction management database is disposed with a construction management apparatus disposed outside the construction area, and the heavy machinery and The construction management device includes a communication unit, and the heavy machinery transmits the three-dimensional position coordinates using the communication unit to acquire a construction area map and a construction specification stored in the construction management database, The construction management database is characterized in that the latest elevation data is updated and registered together with the rolling data for each mesh. .
[0005]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a diagram for explaining an embodiment of a construction navigation system for heavy machinery in a construction work according to the present invention, FIG. 2 is a diagram for explaining a change in a plane section of a zoning embankment, and FIG. 3 is a diagram according to the present invention. It is a figure for demonstrating the work processing flow of the construction navigation system of the heavy machinery in creation work. In the figure, 1 is a GPS satellite, 2 is a GPS mobile station, 3 is an arithmetic processing unit, 4 is a construction management database, and 5 is a display control unit.
In FIG. 1, a GPS mobile station 2 is mounted on a heavy machine such as a bulldozer that performs leveling in a building stage or a vibration roller that performs compaction, and receives positioning information from a GPS satellite 1. Is a CPU that calculates the three-dimensional position coordinates of east longitude, north latitude, and altitude from the positioning information received by the GPS mobile station 2, for example.
The construction management database 4 stores a construction area map and construction specifications (laying layer thickness and number of rollings) according to construction altitude, and further divides the construction area into meshes and stores the latest elevation data for each mesh. Update and register together with rolling data. The construction management database 4 may be stored in a storage device of a personal computer mounted on a heavy machine, or may be read from a recording medium by installing a driver. Further, it may be stored in a storage device of a construction management personal computer installed in a management office outside the construction area, and data may be requested and transmitted / received by performing real-time communication with a wireless LAN.
The display control unit 5 is mounted on a heavy machine such as a bulldozer that performs leveling in a creation stage or a vibration roller that performs compaction, and is based on the construction altitude of the construction management database based on the three-dimensional position coordinates computed by the computing means. The construction area map and construction specifications displayed on the screen are further superimposed on the construction area map on the screen as construction information based on the three-dimensional position coordinates, such as the position of the heavy machinery, the elevation, the spread layer thickness, and the number of rollings. Display with color coding.
[0006]
In large-scale high embankment construction, for example, as shown in Fig. 2, embankment materials are allocated and constructed in a three-dimensional state such as main ramp, parking lot, vertical drainage layer, embankment slope, provisional slope, roadside embankment, etc. The construction area and construction specifications according to the zoning classification change according to the altitude. As described above, in zoning embankment and the like, the construction area changes three-dimensionally according to the planar construction area and the construction elevation in the height direction, so the map information of the construction area according to the construction stage is provided to the heavy equipment monitor. There is a need.
For this reason, in the embodiment according to the present invention, a construction area map corresponding to the altitude is created by a three-dimensional CAD or the like and stored in the construction management database in the management office. Since heavy equipment in the construction yard can acquire the current construction elevation by GPS, the elevation information is sent from the construction management database to the construction management database of the management office by wireless communication (for example, wireless LAN). Return the construction area map to the heavy machinery.
In heavy machinery, the display screen of the monitor (computer) installed in the cabin displays the leveling thickness of the bulldozer and the number of rollings of the vibrating roller, and the background map information and construction specifications corresponding to it. Displays the current position of heavy machinery. Thereby, it becomes possible to instruct | indicate to the operator the guidance to the construction area of a heavy machine, and the construction specification set according to it.
[0007]
In the work processing flow, for example, as shown in FIG. 3, first, a construction area and construction specifications are set in a management office (step S11). Here, in the case of zoning embankment, a construction area map corresponding to the altitude is created by three-dimensional CAD and stored in the construction management database. In the construction yard, the construction altitude of the heavy machinery is acquired by GPS (step S12), and the altitude information is transmitted to the construction management database (step S13). On the other hand, the management office extracts a construction area map and construction specifications corresponding to the altitude information and transmits them to the heavy machinery (step S14). Then, in the construction yard, the construction area map and construction specifications are displayed on the heavy equipment monitor (step S15), and construction is performed in accordance with the location and specifications designated by the monitor by the operator (step S16). If the construction area does not change according to the altitude, the specified area and construction specifications may be input in advance to the heavy equipment monitor and displayed during construction (step S17).
By configuring as described above, it is possible to obtain the three-dimensional traveling locus of the bulldozer and the vibrating roller with high accuracy, and to perform construction management such as creation ground filling work. In this construction management, it is possible to build a homogeneous and good ground by performing the spreading on the layer thickness and the number of rollings in consideration of the construction specifications according to the construction category.
[0008]
FIG. 4 is a diagram showing another embodiment of the heavy equipment construction navigation system in the construction work according to the present invention, FIG. 5 is a diagram for explaining the processing in the system shown in FIG. 4, and FIG. It is a figure which shows the example of a screen.
In the embodiment shown in FIG. 4, a GPS fixed station 13 is installed in or around the embankment yard 12, and GPS mobile stations 16 and 21 are installed in the bulldozer 14 and the vibrating roller (embankment compactor) 15, respectively. Yes. The GPS fixed station 13 and the GPS mobile stations 16 and 21 receive the positioning information of the GPS satellite 11, and the positioning information received by the GPS fixed station 13 is wirelessly transmitted to the GPS mobile stations 16 and 21 (for example, a wireless LAN). In the bulldozer 14 side, the vibration roller 15 side, and the three-dimensional position coordinate calculation means 17 and 22, the three-dimensional position coordinates of the spreading surface and the rolling surface are calculated 3.
On the vibration roller 15 side, the number of rolling times and the rolling surface elevation value are calculated by the rolling number elevation value calculating / outputting means 23 and displayed on the screen, and installed in the site management office via the communication means 24, 31. Is transmitted to the construction management device 32 by radio.
On the other hand, on the bulldozer 14 side, the rolling surface elevation value is input wirelessly from the construction management device 32 installed in the site management office via the communication means 19, 31, and in the spread surface elevation value calculation output means 18. Then, the surface elevation value is calculated and output from the three-dimensional position coordinates, the rolling surface data, and the specified layer thickness.
[0009]
A method for managing the compaction layer thickness of the embankment by the construction navigation system for heavy machinery in the construction work according to the present invention having the above-described configuration will be described.
(1) Acquisition of elevation value at the end of the specified number of rollings on the vibrating roller side This is a large number of managements consisting of a virtual square mesh on the embankment rolling surface (and spread surface) as shown in FIG. Block 30 is set and management block No. Each time the number of rolling is counted, the altitude value at the end of the specified number of rolling is recorded. The management block No. And the altitude value are transmitted to the construction management device 32 by radio.
(2) Processing by the construction management device In the construction management device 32, the management block No. Are stored in the database 33, and the management block No. If you search with, you can get the latest elevation value of the embankment rolling surface.
(3) Acquisition of data from the construction management device on the bulldozer side On the bulldozer 6 side, the management block No. Is transmitted to the construction management device 32, and the latest elevation value corresponding to that is obtained (the elevation value of the base surface shown in FIG. 5).
(4) Calculation of spread altitude value on the bulldozer side The specified altitude value is added to the latest acquired altitude value, and the average altitude value for each control block (the spread altitude shown in Fig. 5) The altitude value of the surface).
(5) Set the control value of the leveling altitude value Set the allowable value for the leveling altitude value and set the control value. For example, if the spread altitude value is 90 m and the allowable value is ± 20 cm, the management value is 89.8 m to 90.2 m.
(6) Layer thickness control The driver's seat of the bulldozer 6 is equipped with a monitor, and the elevation for each management block and the position of the bulldozer on the spread surface shown in Fig. 5 are displayed in real time, and the acquired elevation for each management block. It is determined at any time whether or not the value satisfies the control value of the leveling altitude specified.
FIG. 6 shows an example of a spread determination screen. On the screen, the position of the bulldozer 6 is displayed, and the management block that satisfies the management value, the block that is lower than the management value, and the block that is higher than the management value are displayed in three different colors. It is possible to immediately determine which part should be spread. In addition, the color display stage can provide a finer stage according to construction accuracy.
[0010]
As described above, when the bulldozer performs leveling after dumping with a dump truck or the like, the current leveling surface elevation is grasped in real time on the screen, and at the same time, one layer obtained from the construction management device The construction layer thickness value (= construction elevation-elevation of the foundation surface) can be obtained in real time by subtracting it from the elevation data of the latest completed rolling surface below. Therefore, the operator can perform construction while checking the construction layer thickness value on the screen, and can manage the spread layer thickness of the created surface.
Also, in rolling work management, it is possible to obtain a travel locus in the vibration roller in real time and manage the number of rolling compactions for surface compaction on the ground. By counting and displaying the number of rolling times in units of mesh developed on the rolling ground, the operator can grasp the area to be constructed and the number of rolling times, and check the number of rolling times on the screen. Therefore, it is possible to construct reliably and rationally.
In addition, this invention is not limited to the said embodiment, A various deformation | transformation is possible. For example, in the above-described embodiment, the case of a bulldozer and a vibrating roller has been described as a heavy machine, but it goes without saying that the invention can be similarly applied to a dump truck, an excavator car, and other heavy machines.
[0011]
【The invention's effect】
As is apparent from the above description, according to the present invention, the construction navigation function enables the operator to guide the bulldozer and the vibrating roller to the construction area corresponding to the construction stage in real time. There is no need to perform positioning surveys. In addition, by displaying the construction specifications corresponding to the construction area on the monitor, the operator can be instructed with reliable construction specifications. As a result, it is possible to perform reliable construction with respect to the specifications that define quality at the same time as efficient construction.
In addition, the bulldozer and vibration roller operating in the banking yard, the construction management device of the management office, and the construction management database can communicate with each other via a wireless LAN, so that data can be shared in real time. , Can dramatically improve the management system.
[Brief description of the drawings]
FIG. 1 is a diagram for explaining an embodiment of a construction navigation system for heavy machinery in creation work according to the present invention.
FIG. 2 is a diagram for explaining a change in a plane section of a zoning embankment.
FIG. 3 is a diagram for explaining a work process flow of the heavy equipment construction navigation system in the creation work according to the present invention;
FIG. 4 is a diagram showing another embodiment of the heavy equipment construction navigation system in the construction work according to the present invention.
FIG. 5 is a diagram for explaining processing in the system shown in FIG. 4;
FIG. 6 is a diagram showing an example of a spread level determination screen.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... GPS satellite, 2 ... GPS mobile station, 3 ... Operation processing part, 4 ... Construction management database, 5 ... Display control part

Claims (5)

A construction navigation system for heavy machinery in construction work that directs the operator to the construction area and instructs construction specifications to the operator of the bulldozer that performs leveling as heavy machinery in the creation stage and the vibration roller that performs compaction,
A GPS mobile station mounted on the heavy machine for receiving positioning information from a GPS satellite;
Arithmetic means for calculating three-dimensional position coordinates from the positioning information received by the GPS mobile station;
A construction management database that stores a construction area map according to construction altitude, a spread layer thickness of the bulldozer of construction specifications, and the number of times of rolling of the vibration roller;
The position, elevation, and construction elevation of the heavy machinery on the construction area map as construction information based on the three-dimensional position coordinates calculated by the computing means mounted on the heavy machinery and the construction area map and construction specifications stored in the construction management database. A construction navigation system for heavy machinery in construction work, comprising a construction control area according to the zoning classification, display control means for displaying the spread thickness of the construction specifications and the number of rollings on the screen.   The heavy-duty construction navigation system according to claim 1, wherein the display control means displays the construction information in different colors.   The construction management database stores a construction area map divided into meshes, a spread layer thickness of construction specifications, and the number of rolling times, and the display control means displays construction information based on the three-dimensional position coordinates for each mesh. The construction navigation system for heavy machinery in the construction work according to claim 1.   At least the construction management database is arranged together with a construction management apparatus arranged outside the construction area, the heavy equipment and the construction management apparatus include communication means, and the heavy equipment uses the communication means to The construction navigation system for heavy machinery in the construction work according to claim 1, wherein a construction area map and construction specifications stored in the construction management database are acquired by transmitting dimension position coordinates.   5. The heavy equipment construction navigation system according to claim 4, wherein the construction management database updates and registers the latest elevation data together with the rolling pressure data for each mesh.

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