JPH01235734A - Method and apparatus for controlling soil discharge plate of bulldozer - Google Patents

Abstract

PURPOSE:To raise the accuracy of finishing by a method to which signals of level and position on tructor side are replaced by the inclined angle of a soil discharge plate frame to control the level of the soil discharge plate. CONSTITUTION:Laser beam from a projector 4 is received by a light receiver 3, and the inclined angle phi of a soil discharge plate frame 1 is calculated by a controller for soil discharge plate. When command value obtained by converting the angle phi into stroke length is given to an oil-pressure actuator from the controller, a soil discharge plate 7 goes down to the inclined angle phi' of the frame 1. The lowering amount of the plate 7 is fed back to the controller by measuring the angle phi by an inclinometer 9 attached to the frame 1 and controlled until a target inclined angle phi' is reached by the controller.

Description

Detailed Description of the Invention [Industrial Field of Application] The present invention is a method of leveling or leveling the ground using a bulldozer. The present invention relates to a method and device for controlling the earth removal plate of a bulldozer that performs leveling work.

[Conventional technology]

Bulldozers are used to level or level the ground over a wide area, and the wider the work area, the more important it is to control the leveling of the finished surface or the leveling layer thickness. Therefore, conventionally, after leveling work using a bulldozer, a survey was carried out each time to determine the reference plane. The common practice was to proceed with the work while doing so.

On the other hand, in recent years, a construction method has been developed in which a rotating laser projector is installed in the work area and the area is scanned with a laser beam to form a reference surface using light, and the ground is leveled or leveled based on this reference surface. ing.

In this construction method, the floodlight is rotated to form a highly accurate horizontal plane or a light reference plane with an arbitrary inclination within a predetermined range.
On the other hand, the bulldozer is equipped with a light receiver that receives laser light, and by providing the light receiver with the function of a level detector that detects the level from the optical reference plane, the level signal from the level detector is Input to the control device automatically controls the height of the bulldozer's earth removal plate to perform ground leveling or leveling.

[Problem to be solved by the invention]

However, the surveying method described above required a lot of time and manpower, and the finishing system was inadequate.

On the other hand, in the construction method that uses an optical reference surface using a laser beam, a level detector is attached directly to the earth removal plate of the bulldozer and the cutting edge of the earth removal plate is controlled as the target elevation. There were problems such as significant changes in the level of the earth removal plate due to the pitching (pitching) of the parts (part), and large fluctuations in the output of the level detector. In addition, when applying to highly uneven ground, there is a problem that the work speed cannot be increased, and furthermore, if the reference light is blocked by construction equipment such as a dump truck, the signal given before the block is continued. Another problem was that the control amount of the earth removal plate tended to be excessive.

[Means and effects for solving the problems] The present invention has been made in view of the above-mentioned problems in the prior art, and it is possible to rotate a projector to form a horizontal or arbitrary inclination light reference plane within a predetermined range. The level detector (
The optical reference plane is detected by a light receiver), and the signal from the level detector based on this is input to the control device, which automatically controls the height of the bulldozer's earth removal plate and leveling or leveling the ground. In this method, the height of the earth removal plate is controlled by replacing the height position signal from the tractor with the inclination angle of the ejection plate frame.

In addition, the projector installed on the ground side is rotated to form a horizontal or arbitrary inclined optical reference plane within a predetermined range, and this optical reference plane is detected by a level detector (receiver) installed on the bulldozer. In a construction method in which a signal from a level detector based on this is input to a control device to automatically control the height of the earth removal plate of a bulldozer and perform ground leveling or leveling, one level detector is installed on the tractor side. At the same time, a soil discharge plate control device is provided to control a hydraulic actuator that operates the discharge plate according to the output signal from the level detector, and the discharge plate frame is further provided with a soil discharge plate control device that detects the inclination of the soil discharge plate frame and transmits the output signal. The system is equipped with an inclinometer that feeds back to the earth removal plate control device, and the light from the floodlight on the ground side is received by one level detector on the tracker side, and the output from this level detector is The inclination angle of the earth removal plate frame is controlled by the signal via the earth removal control device, and the earth is leveled by being pushed up to a state along the target elevation surface.

〔Example〕

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

FIG. 1 shows a specific embodiment according to the present invention, FIG. 2 shows a block diagram when controlling the height of the earth removal plate, and FIG. 3 shows the flow of the control method. .

An embodiment of the present invention will be described in detail based on FIG. 1. The junction between the evacuation plate frame 1 of the bulldozer and the tractor 2 is set as the center point 0 of the tractor 2, and a level detection sensor using a laser beam is placed vertically above the center point. Equipped with a light receiver 3 that can On the other hand, a floodlight 4 installed at a remote location from the bulldozer is placed on a pedestal 5. The projector 4 has a structure that can be rotated at any angle, and can form a horizontal light reference plane 6 in a predetermined range of the leveling area. In addition, the projector 4
When leveling a sloped leveled surface, such as a slope, within the range of the leveling area, it is also possible to form an optical reference plane having the same angle of inclination. Here, a case will be described in which the ground is leveled horizontally using the light reference plane 6 from the projector 4 having such characteristics.

The laser light on the optical reference plane 6 now created is received by the light receiver 3 on the tractor 2. At this time, the distance from the reference point A of the light receiver 3 on the tractor 2 to the light receiving point B is defined as hp.

Further, the length of the earth removal plate frame 1 between the center point 0 of the tractor 2 and the earth removal plate 7 is assumed to be g, and the target elevation surface to be leveled by the earth removal plate 7 is 8. Furthermore, the distance between the center point 0 of the tractor 2 and the target elevation plane 8 is assumed to be h. Note that the target elevation plane 8 is horizontal and parallel to the optical reference plane 6. For convenience of explanation, assume that a virtual light reference plane 6' is parallel to the light reference plane 6 and passes through the center point 0 of the tractor 2, and that the virtual light reference plane 6'
The inclination angle of the upper plate frame 1 in the site with respect to ' is assumed to be φ.

In order to locate the site on the target elevation surface 8, the earth removal plate 7 is controlled by the inclinometer 9 attached to the earth removal plate frame 1 until the earth removal plate 7 reaches the position 7'. Assuming that the inclination angle of the earth removal plate frame 1 at the position 7' is φ, the inclination angle φ is determined by the following equation.

φ-tan-'□...■ (Here, g is sufficiently larger than h.) The distance @h from the center point 0 of the tractor 2 to the target altitude plane 8 is the optical reference plane 6-
Distance H between target elevation planes 8 and reference point of receiver 3 - center point 0
Water is appropriately filled according to the distances hc and hp.

Here, since the inclination of the bulldozer is negligibly small, the earth removal plate frame 1 is controlled by the hydraulic cylinder IO using the inclinometer 9 so that the inclination angle φ becomes φ'.

Next, a method for controlling the earth removal plate 7 will be explained based on FIG. 2.

After the laser beam emitted from the light projector 4 is received by the light receiver 3, the value φ to be obtained is calculated by the earth removal plate control device 11 using the above-mentioned formula (2).

At the same time, the earth removal plate control device 11 gives a command value (for example, a value obtained by converting φ to a stroke length) to be controlled to the hydraulic actuator 12, so that the earth removal plate 7
The earth removal plate frame 1 descends to an inclination angle φ' shown in FIG. The amount of descent of the earth removal plate 7 is determined by measuring the inclination angle φ with an inclinometer 9 attached to the earth removal plate frame 1, and fed back to the earth removal plate control device 11. control until the target inclination angle φ' is reached. An example of the flow controlled by the earth removal plate control device 11 is shown in FIG. Specifically, the process is repeated according to the procedure shown in the figure.

[Effects of the Invention] As detailed above, according to the present invention, when the level detector (light receiver) detects the optical reference plane formed by the projector and outputs a level signal, the earth removal plate control device outputs the level signal. In order to determine the inclination angle of the earth removal plate frame corresponding to the value of , measure the frame inclination angle with an inclinometer, and then adjust the earth removal position, the specified land leveling work can be carried out without being affected by the pitching of the tractor. It has a practical effect.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing a specific embodiment according to the present invention, FIG. 2 is a block diagram showing the present system, and FIG. 3 is a diagram showing a flow of the control method. 1 is an earth removal plate frame, 2 is a tractor, 3 is a light receiver, 4 is a floodlight, 7 is an earth removal plate, 9 is an inclinometer, 10 is a hydraulic cylinder, 11 is an earth removal plate control device, and 12 is a hydraulic actuator.

Claims (2)

[Claims] (1) Rotate the projector to form a horizontal or arbitrary inclined optical reference plane in a predetermined range, and detect this optical reference plane with a level detector (receiver) installed on the bulldozer;
In the method of leveling or leveling the ground by inputting the signal from the level detector into the control device and automatically controlling the height of the earth removal plate of the bulldozer, the height position signal on the tractor side is used for earth removal. A method for controlling an earth removal plate for a bulldozer, characterized in that the height of the earth removal plate is controlled in place of the slope angle of the plate frame. (2) Rotate the projector to form a horizontal or arbitrary inclination optical reference plane in a predetermined range, detect this optical reference plane with a level detector (receiver) installed on the bulldozer, and based on this In a construction method in which a signal from a level detector is input to a control device to automatically control the height of the earth removal plate of a bulldozer to perform ground leveling or leveling, one level detector is installed on the tractor side, and An earth removal plate control device is provided to control a hydraulic actuator that operates the earth removal plate according to the output signal from the level detector, and the earth removal plate frame is further provided with an earth removal plate control device that detects the inclination of the earth removal plate frame and transmits the output signal as described above. An earth removal plate control device for a bulldozer characterized by being provided with an inclinometer that provides feedback to the earth removal plate control device.