JPH02252825A - Control system for construction work - Google Patents

Abstract

PURPOSE:To control efficiently the running of a construction machine by constituting it of a topographical information calculating means, a map storing means, an external input means and a control calculating means. CONSTITUTION:In the running control of a construction equipment, an external input means 1, map storing means 2, control calculating means 3 and topographical information calculating means 4 are provided on the ground side, and a three-dimensional position detecting means 5 on the construction equipment side. The topographical data as early data are stored in the map storing means 2 by the external input means 1, and an earth transport plan is established by the control calculating means 3. In each construction equipment, its running is controlled by receiving control commands from the control calculating means 3 to detect three-dimensional positions from the detecting means 5 for controlling the running while transmitting said positions to the topographical information calculating means 4. Further, topographical data after the construction work are calculated by the topographical information calculating means 4 to renew the contents of the map storing means 2 as the newest present topographical data.

Description

Detailed Description of the Invention (Industrial Field of Application) The present invention detects the three-dimensional positions of construction machines and equipment operating on the construction site with respect to a three-dimensional seating ring whose coordinate points are arbitrary points on the construction site. Concerning control systems for construction work that control the operation of machinery.

(Conventional technology) In the construction industry, many of the large-scale civil engineering sites involved are highly dangerous due to extremely poor working environments. Not only in the industry, but in general, there are many problems such as low productivity due to a lack of skilled operators and an aging workforce, and there is a strong demand for operation management and unmanned operation for construction machinery as well.

Various efforts have been made to deal with this situation, including JP-A No. 59-106634 [Operation Control System for Construction Machinery] and JP-A No. 61-2.
Technologies such as No. 43586 ``Work status monitoring device for transportation vehicle'' have been published.

(Problem to be solved by the invention) However, the former method automatically captures three-dimensional image information of the construction site using a two-color television camera, etc., displays it on the display device of the arithmetic processing means via the signal equipment, and displays it on the construction R machine. It is proposed that the position of the machine will be displayed three-dimensionally and that the construction machine will be accurately controlled remotely from the control room, but the method for detecting the position of the construction machine and controlling the operation of the machine is not specified and is not concrete.

The latter is a work status monitoring device that can monitor the loading waiting time and unloading waiting time in a transport vehicle from a central observation station, but it has the problem that it is limited to transport vehicles and lacks expandability.

In view of this, the present invention provides a control system for construction work that can control the operation of construction machines with high precision and efficiency in construction work where a plurality of construction machines are in operation and the topography of the site changes over time. This was done with the aim of eliminating the drawbacks of the prior art.

(Means for Solving the Problems) In order to achieve the above object, the present invention detects the three-dimensional positions of construction machines and equipment operating in a three-dimensional coordinate system with an arbitrary point on the construction site as the origin of the seating area. In a system for controlling the operation of an all-tank, a topography information calculation means for calculating current topography data of a work site from the three-dimensional position detection data, etc., and a map storage means for recording current topography data, target topography data, etc. , external input means for inputting the initial topography and target topography of the target site in advance, and control calculation means for calculating optimal control commands for the operation of construction machinery based on the deviation between the target topography and the current topography. It is characterized by having the following.

(Function) With the above configuration, in construction work where a plurality of construction machines are in operation and the topography of the site is changing from moment to moment, the operation of the construction machines can be efficiently controlled in response to this.

(Example) The present invention will be described below with reference to an example not shown in FIGS. 1 to 5.

The construction work control system according to the present invention is first divided into the ground side and the construction machine side, as shown in the block diagram in Fig. 1, of a central monitoring system suitable for operation management of construction equipment aFa. The side is comprised of external input means 1, map storage means 2, control calculation means 3, and terrain information calculation means 4.

Note that 5 in the figure is a three-dimensional position detection means of each construction machine.

In this case, the construction machine only needs to have a means for receiving ground control information and controlling the machine manually or automatically.

Assuming land preparation work at the site, the initial topography and target topography of the target site are shown in Figures 2 (a) and (b).
When given as follows, the former gives a database as data for each mesh where the site is divided into meshes based on the preliminary survey, and the latter gives a similar database based on the planning design of the construction work. These topographical data are input to the map storage means 2 as initial data by the external input means 1.
Remember. The control calculation means 3 first calculates the amount of soil for the entire construction work based on the initial data of the target topography and the current topography, and then divides the topography into square blocks as shown in Figure 3, taking into account the volume distribution. A transportation plan is drawn up to transport the amount of earth in the direction of the arrow from the cutting area to the embankment area, with each block being numbered in order. Based on this, the process plan for each construction machine is developed, and control commands are calculated for optimal operation of each construction machine according to the progress of the work.

For example, as shown in Figure 4, the site is managed three-dimensionally on a three-dimensional coordinate system, and the target terrain and current terrain are constantly compared in the vicinity of the current positions of various construction machines A, B, and C. Calculate machine commands to cut and fill according to the deviation.

Each construction machine receives a control command from the control calculation means 3, detects its own three-dimensional position using the detection means 5, controls its operation 11, and at the same time transmits this to the terrain information calculation means 4. The three-dimensional position is detected, for example, by a known technique disclosed in Japanese Patent Application Laid-Open No. 62273409, Vehicle Position and Attitude Angle Measuring Apparatus, filed by the applicant earlier.

The topography information calculation means 4 calculates the topography after construction work, and updates the contents of the map storage means 2 as the latest current topography data. In this way, it is possible to improve the efficiency of the construction work while giving feedback on the finished state of the construction work. Also.

The progress of the construction work is also managed in the map storage means 2 as a database of current topography.

Next, a distributed control system suitable for unmanned operation of construction machinery is divided into a ground side and a construction machine side, as shown in the block diagram in FIG. 5. The ground side has external input means 6 and map storage means 7. and control calculation means 8, and the construction machine side is comprised of map information calculation means 9, map storage means 10, and machine control means 11, and basically the operation sq.
It is autonomously controlled by the W program.

Considering the unmanned operation of construction machinery, assuming land leveling work and compaction work, the initial topography of the target site and the target topography should be These are stored in the map storage means IO in advance as being given as a database.

Then, the control calculation means 8 determines the operation sequence of the construction machine from the deviation between the initial topography of the site and the target topography, and automatically converts it into sequential command data, which is then applied to the operation control program. It is stored in the map storage means lO as

The operation control program basically consists of commands for a travel course and commands for work at each point on the course. Note that the operation control program may be one that is manually input by the administrator using the external input means 6 based on the map information.

In addition, in the case of a construction machine, the detection means 12 detects its own three-dimensional position in real time, and this is detected by the topographical information calculation means 9.
, and transmitted to the control calculation means 8. Then, the topographical information calculating means 9 calculates the topographical data after the construction work, and updates the contents of the map storage means 10 as the latest current topographical data. The control calculation means 8 calculates a control command for the construction machine consisting of travel guidance and work control based on the operation control 10 grams from the three-dimensional position of the construction machine and the latest topographical information, and transmits it to the construction machine to operate the machine. The central monitoring method is used for 0 or more remote control systems, but the following distributed method may also be used.

That is, at the start of construction, the initial contents of the map storage means 10, such as the target and current terrain information and the operation fi1tn program, are loaded into the map storage means 10 on the construction machine. During construction, three-dimensional position detection of the construction machine, calculation of topographical data after construction work, update of map data, calculation of control commands for the construction machine, and machine control are all processed on the construction machine, and these data are processed on the construction machine. It is periodically transmitted to the control calculation means 8 on the ground.

The control calculation means 8 on the ground uses this data as monitoring data for unmanned operation, and basically gives commands to the construction machine only at the time of start-up and in an emergency.

In the above two embodiments, the former is for operation management and the latter is for unmanned operation, but the former may be applied to unmanned operation and the latter to operation management.

(Effects of the Invention) As explained above, the present invention is capable of moving a machine over 111 meters with high precision and efficiency in construction work where multiple construction machines are in operation and the topography of the site changes over time. , unmanned work that is particularly dangerous or simple and highly repetitive, and operational management to improve the efficiency of ordinary construction work.

[Brief explanation of drawings]

FIG. 1 is a block diagram of a central management system showing one embodiment of the construction work control system according to the present invention, and FIG. 2 shows the topography of the site to which the present invention is applied. ), (b) is the target topography (planned topography) map, Figure 3 is the earthwork distribution and movement plan map for earthwork work, and Figure 4 is the site 3
FIG. 5 is a block diagram of a distributed control system showing another embodiment of the construction work management system according to the present invention. l... External input means, 2... Map storage means, 3...
- Management calculation means, 4... Terrain information calculation means, 5...
Position detection means, 6... External input means, 7... Map storage means, 8... Management calculation means, 9... Terrain information calculation means, 10... Map storage means, 11... Machine Control means, 12... position detection means. Applicant Komatsu Ltd. Item 11! , Trapaki (b) Figure 2 Figure 4

Claims (1)

[Claims] In a system that controls the operation of construction machines and equipment by detecting the three-dimensional positions of operating construction machines and equipment using a three-dimensional coordinate system with an arbitrary point on the construction site as the coordinate origin, the location of the work site is determined from the three-dimensional position detection data, etc. A topographic information calculation means for calculating current topographic data, a map storage means for recording current topographic data and target topographic data, etc., and an external input means for inputting the initial topography of the target site and the target topography in advance. A control system for construction work, comprising: a control calculation means for calculating an optimal control command for operation of construction machinery based on a deviation between a target topography and a current topography.