JP4315860B2 - Construction machine control system - Google Patents

Description

  The present invention relates to a construction machine control system for rotating and irradiating a laser beam, receiving a laser beam reflected by an object, and measuring a position such as a work position according to a light receiving state of the laser beam.

  Conventionally, as a typical apparatus for forming a reference plane by rotating a laser beam, there are a rotating laser device and a light receiving device that receives the laser beam.

  The rotary laser device forms a reference surface by rotating and irradiating a laser beam having a pointed beam. For example, a horizontal reference plane is formed by rotating and irradiating a laser beam in a horizontal plane, a vertical reference plane is formed by rotating and irradiating in a vertical plane, and an inclined reference plane is formed by rotating and irradiating in an inclined plane. It is formed.

  The light receiving device includes a light receiving unit that receives and detects a laser beam, and measures a horizontal reference position, a vertical reference position, and the like based on the laser beam detected by the light receiving unit. By this, a construction machine control system can be configured. Moreover, the construction machine control system using the reference plane formed by the laser beam is effective for civil engineering work which is a wide range of work.

  When a construction machine control system is used in a wide field such as civil engineering work by construction machines, the reference plane is detected by the light receiving device provided in the construction machine, and the construction machine working position is detected by the detected reference plane. Is to be measured. In this case, the alignment range of the light receiving device with respect to the reference surface is also increased, and if the light receiving portion is small, the manual operation by the operator becomes difficult, so the light receiving portion is large. For example, when the formed reference surface is a horizontal reference surface, there is a light receiving device having a light receiving unit of several tens of cm in the vertical direction, and in some cases 1 m or more.

  In a construction machine, for example, a construction machine represented by a bulldozer, plane construction management is performed by a combination of a rotary laser device and a light receiving device provided in the construction machine. In addition, when managing the construction state of a construction machine, there is also a device that adds a GPS position measuring device to this and performs three-dimensional construction management of the position and height on the ground. A GPS position measuring device detects the horizontal position of the ground surface, and a stable rotating laser device and light receiving device are used for height detection.

  FIG. 11 shows a conventional construction machine control system when the light receiving device is provided in the construction machine.

  In the figure, reference numeral 1 denotes a rotary laser device, 2 denotes a construction machine (showing a bulldozer in the figure), and the rotary laser device 1 is fixed to a tripod 3 installed at a predetermined location. The reference plane is formed by the laser beam 4 irradiated from the above. The target 5 is fixed to a leveling device of the bulldozer 2, for example, a mounting pole 7 erected on the blade 6. The value from the ground surface of the predetermined location to the reference plane is known, and the distance between the light receiving reference position of the target 5 and the position of the blade edge 6a of the blade 6 is known, whereby the laser beam of the target 5 is known. If the creation work is performed so that the light receiving position 4 is held at a predetermined position, the leveling work can be performed according to the planned plane.

  FIG. 12 shows the target 5 used in the bulldozer 2.

  The target 5 is fixed to the mounting pole 7 by a pole clamp 8. The target 5 is provided with a light receiving portion 9. The light receiving unit 9 is configured by a large number of light receiving sensors 10 arranged vertically, and is received by a signal emitted from the light receiving sensor 10 receiving the laser beam 4 among the light receiving sensors 10. The light receiving sensor 10 can be identified, and the light receiving position of the laser beam 4 can be detected by the position of the light receiving sensor 10.

  When the ground surface of a construction site is cut or filled with the bulldozer 2 on the basis of the reference plane, there are many cases where the land is leveled with the topography exceeding the light receiving range of the light receiving unit 9, and the light receiving device having a light receiving range of about several tens of centimeters Then, it becomes difficult to receive light.

  Since the blade 6 moves up and down according to the terrain, it is not sufficient that the target 5 provided on the blade 6 has the light receiving part 9 having a length of, for example, 300 mm. Therefore, in order to widen the light receiving range of the light receiving unit 9, there is a structure in which the pole 7 is expanded and contracted so that the target 5 itself can move up and down.

  However, there is a problem that the long light-receiving portion 9 is provided with a large number of short light-receiving sensors 10 and is very expensive. Furthermore, the device for moving the light receiving unit 9 up and down requires a complicated structure such as a drive unit and a control unit of the drive unit, and is an expensive device.

  A construction machine control system using a light receiving device having a light receiving portion having a required length in the vertical direction is disclosed in Patent Document 1.

JP-A-11-256620

  In view of such circumstances, the present invention provides a construction machine control system that is excellent in workability, can detect a reference surface with a simple and inexpensive configuration, and can measure the height of a reference surface and the height of a work position. It is what.

  The present invention includes a communication device, a laser beam irradiation unit that has a light receiving unit that receives reflected light of a laser beam, scans the laser beam to form a laser beam reference surface, and can tilt the laser beam reference surface. A rotary laser device having an inclination detection unit for detecting an inclination of the laser beam irradiation unit, a leveling device, a target provided on the leveling device and reflecting the laser beam, and a drive for controlling the height of the leveling device A construction machine having a control unit, a transmission / reception unit, and a GPS position measurement device for detecting the position of the construction machine, wherein the rotary laser device receives reflected light from the target by the light receiving unit and tilts The detection unit detects the elevation angle of the laser beam, the elevation angle is transmitted by the communication device, and the position information of the rotary laser device is transmitted to the construction machine, and the drive control unit obtains the height obtained by communication. Construction machine control for calculating the height of the leveling implement based on the angle, the position information of the rotating laser device, and the position of the construction machine measured by the GPS position measurement device, and controlling the height of the leveling implement based on the calculation result Further, the drive control unit according to the present invention relates to a construction machine control system having construction data and managing the construction height of the leveling implement based on the construction data.

  According to the present invention, a communication device and a laser beam irradiation unit that has a light receiving unit that receives reflected light of a laser beam, forms a laser beam reference surface by scanning the laser beam, and can tilt the laser beam reference surface A rotation laser device having a tilt detecting unit for detecting the tilt of the laser beam irradiation unit, a leveling tool, a target provided on the leveling tool and reflecting the laser beam, and a height of the leveling tool is controlled. And a construction machine having a GPS position measuring device for detecting the position of the construction machine, and the rotary laser device receives the reflected light from the target by the light receiving unit. The tilt detection unit detects the elevation angle of the laser beam, the communication device transmits the elevation angle, the position information of the rotary laser device to the construction machine, and the drive control unit is obtained by communication. The height of the leveling implement is calculated based on the elevation angle, the position information of the rotary laser device, and the position of the construction machine measured by the GPS position measuring device, and the height of the leveling implement is controlled based on the calculation result. The reference surface can be detected with a simple and inexpensive configuration, and the excellent effect of easily measuring the height of the reference surface, measuring the height of the work position, and managing the height of the work position is exhibited.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

  FIG. 1 shows an outline of the present embodiment. In FIG. 1, the same components as those shown in FIG. 11 are denoted by the same reference numerals.

  The present invention is a construction machine control system that controls a construction machine, for example, a bulldozer, by combining a rotating laser system capable of forming an inclined reference plane and a GPS (Global Positioning System).

  The rotary laser device 1 has a laser beam irradiation unit including a light emitting unit that rotates and irradiates a laser beam 4, a tilt mechanism that tilts the irradiation direction of the laser beam 4, a control unit that controls the tilt mechanism, and the like. The irradiation direction of the light beam 4 can be tilted, and a tilted reference surface is formed by the laser beam 4. The rotary laser device 1 can receive reflected light from the target 5 and has a configuration capable of tracking the target 5 based on the light receiving state. Further, the rotary laser device 1 is provided with a communication device 11, and received data of the communication device 11 is sent to a control calculation unit 54 described later.

  The construction machine 2 (hereinafter referred to as a bulldozer 2) includes the target 5, a blade 6 for leveling, an actuator for driving the blade 6, such as a hydraulic cylinder, an excavation work drive control unit for controlling the hydraulic cylinder, A GPS position measuring device for measuring the position is provided. The target 5 reflects the laser beam 4 toward the rotary laser device 1. The bulldozer 2 also has a communication device, and the rotary laser device 1 and the bulldozer 2 can transmit and receive data between them. The rotary laser device 1 has a position and reference of the rotary laser device 1. The angle of inclination (elevation angle) of the surface can be communicated to the bulldozer 2, and the bulldozer 2 can communicate the position of the bulldozer 2 measured by the GPS to the rotary laser device 1.

  The rotary laser device 1 will be described with reference to FIGS.

  The rotary laser device 1 is installed at a known point, and the rotary laser device 1 is installed on a tripod 3 having a height of, for example, several meters or on a known structure, and the height of the rotary laser device 1 is also known. It has become.

  The rotary laser device 1 includes a rotary laser device main body 20, and the rotary laser device main body 20 is installed on the tripod 3 via a leveling unit 21 positioned at a lower position.

  Further, the rotary laser device body 20 includes a light emitting unit 23 for emitting the laser beam 4, a rotating unit 24 for rotating and irradiating the laser beam 4 at a constant speed within a reference plane, and the light emitting unit 23 with a vertical axis. A rotation unit 22 that rotates to the center, a tilt setting unit 25 that tilts the light emitting unit 23 about the horizontal axis and sets the tilt (high and low angles) of a reference plane formed by the laser beam 4, and a tilt angle is detected. From the inclination detecting unit 26 and the light emitting unit 23 provided integrally with the light receiving unit 27 for receiving and detecting the reflected laser beam 4 ′ from the target 5, and the leveling unit 21 for leveling the rotary laser device main body 20. Mainly composed.

  A collimator 28 is provided on the upper surface of the rotary laser device body 20, and the orientation of the rotary laser device body 20 with respect to the target 5 can be roughly set by the collimator 28. Further, the rotary laser device main body 20 is provided with a light receiving window 34 through which the laser beam 4 is emitted from the rotating portion 24, and the reflected laser beam 4 ′ reflected from the target 5 passes through the light receiving window 34. And is received by the light receiving portion 27 provided inside the rotary laser device main body 20.

  A main body frame 30 is rotatably provided around a vertical axis center through a vertical shaft portion 29 at a bottom portion of the casing 38 of the rotary laser device main body 20, and a rotating portion gear 31 is attached concentrically with the vertical shaft portion 29. In addition, a rotary encoder 32 is provided. A rotary motor 33 is provided on the casing 38 side, and an output shaft of the rotary motor 33 is engaged with the rotary gear 31. By driving the rotating unit motor 33, the main body frame 30 is rotated through the rotating unit gear 31, and the rotation angle and the rotation direction are detected by the rotating unit encoder 32. ) 54 (described later).

  A leveling portion 21 is provided at the bottom of the casing 38. The leveling unit 21 has a leveling screw 40 between the fixed base 39 fixed to the tripod 3 and the bottom surface of the casing 38. Three leveling screws 40 are provided so as to be positioned at the apex of the triangle, and an upper end portion is screwed to the casing 38 and a lower end is rotatably fitted to the fixed substrate 39. The leveling screws 40 are each connected to a leveling motor 42 via a gear train 41. Thus, by rotating the leveling screw 40 via the gear train 41 by the leveling motor 42, the gap between the casing 38 and the fixed substrate 39 changes, and the rotary laser device body 20 is moved in a desired direction. Can be tilted.

  The tilt of the rotary laser device main body 20 is detected by tilt sensors 44 and 45 provided on the main body frame 30, and the detection results of the tilt sensors 44 and 45 are input to a control calculation unit 54 described later. Leveling is performed by feeding back the detection result 45 to the driving of the leveling motor 42. Note that one of the three leveling screws 40 may be omitted and a fulcrum for supporting one of the leveling screws 40 so as to be tiltable.

  The light emitting unit 23 is rotatably provided on the main body frame 30 via a horizontal tilt shaft 35, and the tilt motor 36 is provided on the main body frame 30, and the tilt motor 36 and the tilt shaft 35 are arranged in a gear train. 37 is connected. Further, a tilt detector 26 for detecting the tilt angle of the light emitting unit 23 is attached to the tilt shaft 35. The inclination detector 26 is constituted by an encoder, for example. The tilting motor 36 is driven to tilt the light emitting unit 23 via the gear train 37 and the tilting shaft 35, and the rotation angle of the tilting shaft 35 is detected by the tilt detecting unit 26.

  The rotating portion 24 is rotatably provided at the upper end of the light emitting portion 23, the scanning portion 16 is provided with the rotating portion 24, and the scanning gear 16 is fixed to the light emitting portion 23. Meshes with the drive gear 17. When the drive gear 17 is driven, the rotating unit 24 is rotated.

  The rotating unit 24 rotates the optical axis of the laser beam 4 incident from the light emitting unit 23 by deflecting it 90 ° by the pentaprism 14 and irradiating it through the projection window 13 to form a laser plane. . The pentaprism 14 is provided on a rotating support 15 that rotates about the optical axis of the light emitting unit 23, and the rotating support 15 is connected to the scanning motor 18 via the scanning gear 16 and the driving gear 17. The scanning motor 18 is driven by a scanning motor drive unit 57. The rotation state of the rotary support 15 is detected by an encoder 19 (see FIG. 3) provided on the rotary support 15, and the detection signal of the encoder 19 is controlled as an angle signal in the irradiation direction of the laser beam 4. It is input to the calculation unit 54.

  The light emitting unit 23 includes a light emitting element 56 such as a semiconductor laser, and the light emitting element 56 is driven by a light emission driving unit 55. The light emitting unit 23 is tilted by the tilt setting unit 25 through the tilt shaft 35, and the tilt angle of the light emitting unit 23 is detected by the tilt detection unit 26 through the tilt shaft 35. The tilt angle of the light emitting unit 23 is detected as the elevation angle of the irradiated laser beam 4 and input to the control calculation unit 54. The control calculation unit 54 controls the tilt motor driving unit 59 based on the signal from the light receiving unit 27 and drives the tilt motor 36. The tilt setting is achieved by driving the tilt motor 36 until the output from the light receiving unit 27 reaches a predetermined value.

  The light receiving unit 27 will be described.

  A condensing lens 48 is provided facing the light receiving window 34, and a reflecting mirror 49 is disposed on the optical axis of the condensing lens 48. The optical axis of the condenser lens 48 is parallel to a reference plane formed by the rotation of the laser beam 4. A light receiving element 50 is provided below the reflecting mirror 49, and the reflected laser beam 4 ′ is condensed on the light receiving element 50. A mask 51 is provided on the front surface of the light receiving element 50. The mask 51 blocks noise light from entering the light receiving element 50, and has a slit hole 52 that is long in the scanning direction of the reflected laser beam 4 '(long in the direction perpendicular to the paper surface in FIG. 3). It is installed. The light reception signal from the light receiving element 50 is input to the reflected light detection unit 53, and the reflection state of the laser beam 4 on the target 5 detected by the reflected light detection unit 53 is input to the control calculation unit 54.

  The control calculation unit 54 will be described.

  The control calculation unit 54 includes the communication device 11, the light emission driving unit 55, the scanning motor driving unit 57, the rotating unit motor driving unit 58, the tilting motor driving unit 59, the leveling motor driving unit 60, and the rotating laser device storage unit 65. The rotary laser device operation unit 66 and the rotary laser device display unit 67 are connected, and the control calculation unit 54 includes the encoder 19, the tilt detector 26, the rotary encoder 32, and the tilt sensors 44 and 45. Signals from the reflected light detection unit 53 and the rotary laser device operation unit 66 are input.

  In the rotating laser device storage unit 65, an operating program for operating, an operating program for leveling the rotating laser device main body 20 based on signals from the tilt sensors 44 and 45, and data are stored in the bulldozer 2. Various programs such as a communication program for transmitting and receiving between them and a calculation program for calculating an elevation angle and the like are stored, and the operation unit 66 for the rotary laser device is attached to the rotary laser device 1 and the rotary laser is operated. The apparatus 1 can be operated, and can be removed and remotely operated.

  The control calculation unit 54 can determine the orientation of the rotary laser device main body 20 based on a signal from the reflected light detection unit 53 or a signal from the tilt detection unit 26, the encoder 19, and the rotation unit encoder 32 according to a calculation program. Information such as elevation angle regarding the reference plane formed by the laser beam 4 is calculated, and the information is displayed on the display unit 67 for the rotary laser device. For example, the direction in which the rotating laser device main body 20 is rotated with respect to the target 5 in what direction, the tilt angle of the reference plane, the tilting direction, and the like are displayed.

  The communication device 11 can transmit information obtained by calculation by the control calculation unit 54 and position data (position coordinates) where the rotary laser device 1 is installed to the excavation work drive control unit 70 of the bulldozer 2 described later. It has become. As a transmission method, any method of wireless communication or optical communication that transmits data by optical modulation can be used.

  The target 5 is provided so as to follow a required position of the bulldozer 2, preferably the movement of the blade 6, as will be described later. In FIG. 1, it is attached to a mounting pole 7 erected on the blade 6.

  An example of the target 5 will be described with reference to FIG.

  Triangular reflectors 62 and 63 are arranged symmetrically on a rectangular substrate 61, and a non-reflective band 64 is formed between the reflective part 62 and the reflective part 63. The non-reflective band 64 has a certain width. And formed so as to divide the reflective portion 62 and the reflective portion 63 on a diagonal line of the substrate 61. The relationship between the reflecting portion 62 and the reflecting portion 63 is that the line segment when the reflecting portions 62 and 63 cross the horizontal direction is such that when the crossing position moves from the bottom to the top in FIG. The line segment 62 gradually decreases, and the line segment of the reflecting portion 63 gradually increases. The non-reflective band 64 only needs to have an effect of cutting off the optical continuity between the reflective part 62 and the reflective part 63, and may be a non-reflective line drawn on the reflective surface. Good.

  Therefore, when the laser beam 4 scans the surface of the substrate 61 from the left to the right in FIG. 5A, the reflected light is divided by the non-reflective band 64 and reflected by the reflecting portion 62 as shown in FIG. Two reflected lights of the reflected light and the reflected light reflected by the reflecting part 63 are obtained at an interval of t0, and the light receiving time is t1 and t2 proportional to the line segment.

  Further, since the reflecting portion 62 and the reflecting portion 63 are symmetrical, the laser beam 4 passes through the center of the target 5 in the vertical direction when t1 / t2 = 1, and passes when t1 / t2> 1. The position is below the center, and when t1 / t2 <1, it can be determined that the passing position is above the center. Note that the deviation of t1 and t2 may be obtained, and the position may be determined based on the sign of the deviation.

  The shapes of the reflecting part 62 and the reflecting part 63 are not necessarily triangular, and the passing position of the laser beam 4 on the substrate 61 can be determined by increasing or decreasing the line segment at the scanning position of the reflecting part 62 and the reflecting part 63. It only has to be discriminated.

  Next, the outline of the bulldozer 2 will be described with reference to FIGS.

  A mounting pole 7 is erected on the blade 6, and the target 5 is mounted on the mounting pole 7. The distance between the target 5 and the blade edge 6a is a known value. The mounting pole 7 includes a pole tilt sensor 72, and the pole tilt sensor 72 can detect the tilt of the mounting pole 7.

  The driving of an actuator for moving the blade 6 up and down, such as a hydraulic cylinder 69, is controlled by an excavation work drive control unit 70. The excavation work drive control unit 70 controls the reference position of the bulldozer 2 (for example, the hydraulic cylinder of the bulldozer 2). The relative height of the cutting edge 6a with respect to the pivoting position 69) can be calculated.

  A GPS position measurement device 78 is attached to a required position of the bulldozer 2, preferably a place where the upper part such as the ceiling of the cab is open. The mechanical positional relationship between the GPS position measuring device 78 and the reference position of the bulldozer 2 is known.

  The bulldozer 2 includes an excavation work drive control unit 70. The excavation work drive control unit 70 calculates an actual construction position by the blade 6 in real time, or the work state is such that the construction proceeds according to civil engineering data. Control and manage.

  The excavation work drive control unit 70 will be described with reference to FIG.

  The excavation work drive control unit 70 includes a control calculation unit 71, the pole inclination sensor 72, a construction machine storage unit 73, an actuator control circuit 74, a construction machine operation unit 75, a construction machine display unit 76, and a construction machine transmission / reception. And the GPS position measuring device 78.

  In the construction machine storage unit 73, the position information, height information, elevation angle of the reference plane and the GPS position measuring device 78 transmitted from the communication device 11 of the rotary laser device 1 are stored. The obtained position information of the bulldozer 2, civil engineering data, etc. are stored and stored, the distance on the plane coordinate between the rotary laser device 1 and the target 5 is calculated, and the height of the target 5 is determined from the elevation angle. A calculation program for calculating and further calculating the position and height of the cutting edge 6a on a plane coordinate, a communication program for executing data communication between the rotary laser device 1 and the bulldozer 2, and the hydraulic cylinder 69 A program such as a control program for controlling the program based on the civil engineering data is stored.

  The construction machine display unit 76 includes, for example, construction data, an absolute position on a plane coordinate measured by the GPS position measuring device 78, and the target 5 calculated based on the measurement result of the GPS position measuring device 78. The position, the height of the target 5, the position information transmitted from the rotary laser device 1, the construction position of the blade 6, the progress of construction, etc. are displayed.

  The operation will be described below.

  When the rotary laser device 1 is driven by the rotary laser device operation unit 66, the leveling motor 42 is driven by the control calculation unit 54 via the leveling motor driving unit 60. Based on the tilt detection signals from the tilt sensors 44 and 45, the rotary laser device main body 20 is leveled horizontally.

  When the leveling is completed, the detection operation of the target 5 is started. Note that when the operator collimates the target 5 with the collimator 28 and matches the direction (inclination setting direction) of the rotary laser device main body 20, the target 5 is detected quickly. The detection operation of the target 5 will be described with reference to FIG.

  The position information measured by the GPS position measuring device 78 is transmitted from the construction machine transmitting / receiving unit 77. In the control calculation unit 54, the direction of the bulldozer 2 is calculated from the position information of the rotary laser device 1 and the position information of the bulldozer 2. The rotary motor 33 is driven, and the rotary laser device 1 is directed toward the bulldozer 2.

  When the light emitting element 56 is driven through the light emission driving unit 55 and the laser beam 4 is emitted from the light emitting unit 23, the laser beam 4 is irradiated in the horizontal direction through the pentaprism 14. The scanning motor 18 is driven via the scanning motor driving unit 57, and the rotating unit 24 is reciprocally rotated within a required angle range by the scanning motor 18, and the laser beam 4 is reciprocated within a required horizontal angle range. Further, the light emitting unit 23 is rotated by the tilt motor 36, and the rotation irradiation position is moved in the vertical direction.

  When the laser beam 4 passes through the target 5, the reflected laser beam 4 ′ from the reflection units 62 and 63 is incident on the light receiving unit 27. When the light receiving unit 27 recognizes the reflected laser beam 4 'from the target 5, the direction of the target 5 at the time of recognition is detected by the encoder 19, and the rotating unit motor 33 is driven. Thus, the direction of the rotary laser device 1 is corrected.

  When the direction of the rotary laser device 1 is corrected, the tracking operation is started.

  As described above, the reflected laser beam 4 ′ divided by the reflecting portions 62 and 63 is incident from the target 5. A light reception signal is input from the light receiving element 50 to the reflected light detection unit 53, and the reflected light detection unit 53 performs equal signal processing to obtain the signal ratio of t1 / t2, and then the detection signal is converted to the control calculation unit 54. To determine whether t1 / t2 = 1 or not, and when t1 / t2 ≠ 1, the determination of t1 / t2 <1, t1 / t2> 1 is made, and the tilt motor 36 is driven. The tilt angle of the light emitting unit 23 is corrected so that the laser beam 4 scans the center of the target 5. The elevation angle of the laser beam 4, that is, the reference plane in a state where the laser beam 4 passes through the center of the target 5 is the elevation angle of the target 5 with respect to the rotating laser device 1.

  In tracking, the tilting motor 36 and the rotating unit motor 33 are driven and controlled so that the signal from the reflected light detection unit 53 becomes t1 / t2 = 1. When the reflected laser beam 4 'from the target 5 is interrupted during tracking, the detection operation of the target 5 is performed again.

  An elevation angle is detected by the inclination detection unit 26, and information such as an elevation angle and coordinate data of the rotary laser device 1 is transmitted from the communication device 11 to the bulldozer 2. The coordinate position of the rotary laser device 1 may be input to the bulldozer 2 from the beginning.

  Information from the rotary laser device 1 is input to the control calculation unit 71 via a construction machine transmission / reception unit 77, and the control calculation unit 71 causes a distance on a plane coordinate between the bulldozer 2 and the rotary laser device 1, Further, the height of the target 5, that is, the height of the blade edge 6a is calculated in real time from the elevation angle.

  When the mounting pole 7 is inclined, the height of the cutting edge 6a and the position on the plane coordinate are determined based on the inclination angle detected by the pole inclination sensor 72 and the distance between the cutting edge 6a and the target 5. Correct.

  As a method of using the reference plane, a height is set and a laser beam is rotationally scanned or reciprocally scanned at a required angle to form a reference plane, and the position of the target 5 is controlled according to the reference plane, When controlling the hydraulic cylinder 69, the height angle is detected, the height of the target 5 is detected from the height angle, and the height of the target 5 is fed back to the excavation work drive control unit 70 of the bulldozer 2. There is a method for controlling the hydraulic cylinder 69.

  Hereinafter, a case will be described in which the height of the target 5 is detected, and the hydraulic cylinder 69 is controlled by feeding back the height of the target 5 to the excavation work drive control unit 70 of the bulldozer 2.

  The construction machine storage unit 73 stores the construction drawing and the construction height (civil engineering construction data) in association with each other, and the control computation unit 71 obtains the coordinate position and computation obtained based on the GPS position measurement device 78. By comparing the actual height of the cutting edge 6a with the construction drawing and the construction height, the difference between the height of the cutting edge 6a of the blade 6 and the construction data is obtained and managed so that the difference becomes zero. That is, the civil engineering work can be managed by controlling the hydraulic cylinder 69 that moves up and down the blade 6.

  Thus, the control calculation unit 71 drives and controls the hydraulic cylinder 69 via the actuator control circuit 74 based on the civil engineering data, and excavation and embankment by the bulldozer 2 is performed based on the civil engineering data.

  Since the vertical movement of the blade 6 is controlled by the control calculation unit 71, the operator only has to move the bulldozer 2 while checking the construction data displayed on the construction machine display unit 76. The burden is greatly reduced.

  The reflecting portions 62 and 63 provided on the target 5 may be a reflecting sheet having an appropriate area, and an elevating mechanism for the mounting pole 7 is not required, so that the structure can be greatly simplified.

  Note that the construction machine transmission / reception unit 77 of the excavation work drive control unit 70 on the bulldozer 2 side transmits the position information measured by the GPS position measurement device 78 to the rotary laser device 1 side. The control calculation unit 54 may acquire the position information of the target 5 and calculate the height angle of the target 5.

  The GPS position measuring device 78 may be provided at the upper end of the mounting pole 7. Also, by providing the GPS position measurement device 78 on the target 5 and providing a calculation unit and a reception unit for calculating the height of the target 5 from the distance and height angle between the rotary laser device 1 and the target 5, Only the rotary laser device 1 and the target 5 can be used to form a position measurement system independent of the bulldozer 2.

  Furthermore, the rotary laser device 1 may be provided with a GPS. In this case, since the position of the rotary laser device 1 on the plane coordinates can be measured by the GPS, the rotary laser device 1 does not need to be installed at a known point. .

  A second embodiment will be described with reference to FIGS.

  8 and 9 show the target 5 used in the second embodiment. The target 5 has a rectangular shape, and the reflecting surface is divided into two diagonal lines. In the second embodiment, the laser beam 4 emitted from the light emitting unit 23 is circularly polarized.

  A retroreflective layer 81 is formed on the entire surface of the substrate 61, and a λ / 4 plate 82 is attached to one of the divided reflective surfaces. One of the divided retroreflective portions 83 and the other is the λ / 4 plate 82. Thus, a polarization conversion reflection unit 84 is obtained in which the polarization plane of the laser beam is converted by 90 °.

  FIG. 10 shows the light receiving unit 27 in the second embodiment.

  The light receiving unit 27 is provided with a λ / 4 plate 85 and a polarizing beam splitter 86 on the optical axis of the reflected laser beam 4 ′ (see FIG. 3) reflected by the reflecting mirror 49, and circularly polarized by the λ / 4 plate 85. Is converted into linearly polarized light according to the rotation direction, and transmitted and reflected according to the polarization direction of the reflected laser beam 4 'by the polarization beam splitter 86. The transmitted light is received by the first light receiving element 50a, The reflected light is received by the second light receiving element 50b.

  When the laser beam 4 is reflected by the target 5, the rotation of the polarization direction is different between the case where the laser beam 4 is reflected by the retroreflecting unit 83 and the case where it is reflected after passing through the polarization conversion reflecting unit 84. For example, when the reflected laser beam 4 ′ reflected by the polarization conversion reflection unit 84 passes through the λ / 4 plate 85 and the polarization beam splitter 86, the light receiving element 50 a is reflected by the polarization conversion reflection unit 84. The laser beam 4 ′ is received, and the light receiving element 50 b receives the reflected laser beam 4 ′ reflected by the retroreflecting portion 83, further passing through the λ / 4 plate 85 and reflected by the polarizing beam splitter 86. Accordingly, the first light receiving element 50a and the second light receiving element 50b emit light reception signals corresponding to the reflecting surfaces.

  FIG. 9B shows the signals of the first light receiving element 50a and the second light receiving element 50b, and the signal ratio t1 between the signal from the first light receiving element 50a and the signal from the second light receiving element 50b. By obtaining / t2, the scanning position of the laser beam 4 on the target 5 can be detected.

  The shapes of the retroreflecting unit 83 and the polarization conversion reflecting unit 84 are not necessarily triangular, and the laser beam 4 is increased or decreased by changing the line segment at the scanning position of the retroreflecting unit 83 and the polarization conversion reflecting unit 84. It is only necessary that the passing position on the substrate 61 can be discriminated. Further, the boundary between the retroreflecting portion 83 and the polarization conversion reflecting portion 84 may not be adjacent, and a non-reflecting portion may be formed at the boundary.

It is explanatory drawing which shows the 1st Embodiment of this invention. It is sectional drawing of the rotary laser apparatus in the 1st Embodiment of this invention. It is a block diagram of the control calculating part of this rotary laser apparatus. It is a perspective view of the target in the 1st Embodiment of this invention. (A) (B) is explanatory drawing which shows the relationship between the scanning position of this target, a laser beam, and a light reception signal. It is a block diagram of the control apparatus of the bulldozer in the 1st Embodiment of this invention. It is a flowchart which shows the operation | movement in the 1st Embodiment of this invention. It is a perspective view of the target in the 2nd Embodiment of this invention. (A) (B) is explanatory drawing which shows the relationship between the scanning position of this target, a laser beam, and a light reception signal. It is explanatory drawing of the light-receiving part in the 2nd Embodiment of this invention. It is explanatory drawing of the conventional construction machine control system. It is explanatory drawing of the light-receiving device in the conventional construction machine control system.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Rotating laser apparatus 2 Bulldozer 4 Laser beam 4 'Reflected laser beam 5 Target 6 Blade 7 Mounting pole 11 Communication apparatus 14 Penta prism 18 Scanning motor 20 Rotating laser apparatus main body 21 Leveling section 22 Rotating section 23 Light emitting section 24 Rotating section 25 Inclination setting unit 26 Inclination detection unit 27 Light receiving unit 32 Rotation unit encoder 33 Rotation unit motor 36 Tilt motor 42 Leveling motor 54 Control calculation unit 62 Reflection unit 63 Reflection unit 64 Non-reflection band 70 Excavation work drive control unit 71 Control calculation unit 74 Actuator control circuit 77 Transmission / reception unit for construction machine 78 GPS position measurement device 83 Retroreflective unit 84 Polarization conversion reflective unit

Claims (2)

  A communication device, a laser beam irradiation unit that has a light receiving unit that receives reflected light of the laser beam, scans the laser beam to form a laser beam reference surface, and can tilt the laser beam reference surface; and the laser beam irradiation A rotation laser device having an inclination detection unit for detecting the inclination of the part, a leveling tool, a target provided on the leveling tool and reflecting the laser beam, a drive control unit for controlling the height of the leveling tool, A construction machine having a transmission / reception unit and a GPS position measuring device for detecting the position of the construction machine, wherein the rotary laser device receives reflected light from the target by the light receiving unit and lasers by the tilt detection unit Detects the elevation angle of the beam, transmits the elevation angle by the communication device, and the position information of the rotary laser device to the construction machine, the drive control unit obtains the elevation angle and rotation obtained by communication The height of the leveling implement is calculated based on the position information of the user apparatus and the position of the construction machine measured by the GPS position measuring device, and the height of the leveling implement is controlled based on the calculation result. Construction machine control system. The construction machine control system according to claim 1, wherein the drive control unit has construction data and manages the construction height of the leveling implement based on the construction data.

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