JPH032414A - Automatic operation device of construction machinery - Google Patents
Automatic operation device of construction machineryInfo
- Publication number
- JPH032414A JPH032414A JP13257989A JP13257989A JPH032414A JP H032414 A JPH032414 A JP H032414A JP 13257989 A JP13257989 A JP 13257989A JP 13257989 A JP13257989 A JP 13257989A JP H032414 A JPH032414 A JP H032414A
- Authority
- JP
- Japan
- Prior art keywords
- work
- construction machinery
- travel
- area
- work area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000010276 construction Methods 0.000 title claims abstract description 18
- 238000001514 detection method Methods 0.000 claims abstract description 51
- 230000003287 optical effect Effects 0.000 description 12
- 238000005056 compaction Methods 0.000 description 9
- 238000004891 communication Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
Landscapes
- Operation Control Of Excavators (AREA)
- Investigation Of Foundation Soil And Reinforcement Of Foundation Soil By Compacting Or Drainage (AREA)
- Road Paving Machines (AREA)
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は、地盤の締固め機械等の建設機械における自動
運行装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an automatic operation device for a construction machine such as a soil compaction machine.
（従来の技術）
建設機械の一例として諦固め機械についてその従来例を
説明すると、地上の作業者により走行操作する小型締固
め機械、作業者が搭乗して走行操作する大型締固め機械
があり、該締固め機械は、所定のコースで繰り返し走行
され、また、それ自体が強大な振動発生源であって、作
業者が直接に操作すると苛酷な作業になる。(Prior Art) To explain conventional examples of compaction machines as an example of construction machines, there are small compaction machines that are operated by a worker on the ground, and large compaction machines that are operated by a worker on board. The compaction machine is repeatedly run on a predetermined course and is itself a source of strong vibrations, making the work difficult for an operator to operate directly.
（発明が解決しようとする課題）
締固め機械等の建設機械は、それ自体が振動発生源とな
る場合が多く、搭乗運転は苛酷な作業となり、締固め機
械による地盤の締固めは、作業者が強大な振動を受け、
所定エリア内で長時間にわたり繰り返し走行する単調な
作業になって、注意が散漫となり近傍の作業者にとって
危険となり、また、走行路の締固め作業等が多く近傍に
重機が交錯しており、自動運行のための補助的な手段等
を講することが難しいなどの問題点がある。(Problems to be Solved by the Invention) Construction machines such as compaction machines often generate vibrations themselves, making boarding and operation a harsh task. receives strong vibrations,
The work becomes monotonous, requiring repeated driving over a long period of time within a designated area, which distracts and becomes dangerous for nearby workers.Also, there is a lot of work such as compaction of the driving path, and there are heavy machinery in the vicinity, making automatic There are problems such as the difficulty of taking supplementary measures for operation.
本発明は、前記のような課題に対処するために開発され
たものであって、その目的とする処は、地上位置検出装
置によるエリア検出信号と走行検出信号の発信、中央処
理装置による前記両検出信号に基づく走行制御信号の発
信、および同走行制御信号による作業機の走行制御によ
り、作業機の自動運行を可能とし運行制御性能、信転性
を高め作業能率を向上した建設機械の自動運行装置を堤
供するにある。The present invention was developed to address the above-mentioned problems, and its purpose is to transmit an area detection signal and a running detection signal by a ground position detection device, and to transmit both of the above by a central processing unit. Automatic operation of construction machinery that enables automatic operation of the work equipment by transmitting a travel control signal based on the detection signal and controlling the travel of the work equipment using the same travel control signal, improving operation control performance and reliability, and improving work efficiency. There is a need to provide equipment.
（課題を解決するための手段）
本発明は、地上に設置され作業エリアおよび作業機を検
出してエリア検出信号と走行検出信号を発する地上位置
検出装置と、前記両検出信号を受けて前記作業機の走行
位置と設定位置のずれを修正する走行制御信号を発する
中央処理装置と、前記作業機に装備された光信号の発信
手段および前記走行制御信号を受けて同作業機を前記作
業エリアで所定の走行状態に制御する走行制御装置を具
備した構成に特徴を有し、地上位置検出装置による作業
エリアのエリア検出信号と作業機の走行検出信号、中央
処理装置による前記両検出信号に基づく走行制御信号、
同走行制御信号による作業機の走行制御により、作業機
の自動運行を可能にするとともに、作業機の走行位置と
設定位置のずれを自動的に修正して、円滑な運行制御と
ともに運行信幀性を得ている。(Means for Solving the Problems) The present invention provides a ground position detection device installed on the ground that detects a work area and a work machine and issues an area detection signal and a running detection signal; A central processing unit that issues a travel control signal to correct the deviation between the travel position of the machine and the set position, a light signal transmitting means equipped on the work machine, and a central processing unit that receives the travel control signal and moves the work machine in the work area. It is characterized by a configuration equipped with a travel control device that controls a predetermined travel state, and the travel is based on an area detection signal of the work area by the ground position detection device, a travel detection signal of the work equipment, and both detection signals by the central processing unit. Control signal,
By controlling the travel of the work equipment using the same travel control signal, it is possible to automatically operate the work equipment, and the deviation between the travel position of the work equipment and the set position is automatically corrected, resulting in smooth operation control and reliable operation. I am getting .
また、前記自動運行装置において、前記走行制御装置は
、走行制御信号を受けて作業機を作業エリアの所定の走
行状態に制御するとともに次の作業エリアに移動せしめ
る構成に特徴を有し、作業機の自動運行の範囲を拡大し
作業能率を高めている。Further, in the automatic operation device, the travel control device is characterized in that the travel control device receives a travel control signal, controls the work equipment to a predetermined travel state in the work area, and moves the work equipment to the next work area. We are expanding the scope of automatic operation and increasing work efficiency.
（作用）
地上位置検出装置により作業エリアを検出してエリア検
出信号を発するとともに、作業機を検出して走行検出信
号を発し、中央処理装置は、前記両検出信号を受けて作
業機の走行位置と設定位置のずれを修正する走行制御信
号を発し、作業機は装備した光信号の発生手段により同
作業機の検出を可能にするとともに、前記走行制御信号
を受けて走行制御装置により作業機が自動運行され、同
作業機は作業エリアの所定のコースに沿って円滑に走行
制御される。(Function) The ground position detection device detects the work area and issues an area detection signal, and also detects the work equipment and issues a travel detection signal, and the central processing unit receives both detection signals and determines the travel position of the work equipment. A travel control signal is issued to correct the deviation of the set position, and the work equipment is enabled to detect the work equipment using an optical signal generating means installed therein, and in response to the travel control signal, the travel control device causes the work equipment to The machine operates automatically and is controlled to smoothly travel along a predetermined course in the work area.
また、走行制御装置により作業機が作業エリアで自動運
行されたのち、次の作業エリアに移動され、次の作業エ
リアにおける自動運行も円滑に遂行可能となる。Further, after the work machine is automatically operated in a work area by the travel control device, it is moved to the next work area, and automatic operation in the next work area can also be carried out smoothly.
（実施例）
第１図ないし第３図に本発明の一実施例を示し、図中（
１）は地上位置検出装置、（５）は中央処理装置、（ｌ
Ｏ）は締固め機械等の作業機であって、地上に設置され
作業エリア（１７）および作業機（ｌＯ）を検出してエ
リア検出信号（ｌａ）と走行検出信号（１ｂ）を発する
地上位置検出装置（１）と、エリア検出信号（１ａ）と
走行検出信号（１ｂ）を受けて作業機（１０）の走行位
置と設定位置のずれを修正する走行制御信号（５ａ）を
発する中央処理装置（５）と、作業機（１０）に装備さ
れた光信号の発信手段（１２，１３）および走行制御信
号（５ａ）を受けて作業機（１０）を作業エリア（１７
）で所定の走行状態に制御する走行制御装？Ｚ（１４，
４５）を具備した建設機械の自動運行装置になっている
。(Embodiment) An embodiment of the present invention is shown in FIGS. 1 to 3, and (
1) is a ground position detection device, (5) is a central processing unit, (l
O) is a working machine such as a compaction machine, and is installed on the ground to detect the working area (17) and the working machine (lO) and to emit an area detection signal (la) and a traveling detection signal (1b). a detection device (1), and a central processing unit that receives the area detection signal (1a) and the travel detection signal (1b) and issues a travel control signal (5a) for correcting the deviation between the travel position and the set position of the work implement (10). (5), the optical signal transmitting means (12, 13) equipped on the work machine (10) and the travel control signal (5a) to move the work machine (10) to the work area (17).
) is a travel control device that controls the vehicle to a predetermined travel state? Z(14,
45) is an automatic operation device for construction machinery.
また、前記建設機械の自動運行装置において、走行制御
装置（１４，１５）は走行制御信号（５ａ）を受けて作
業機（ｌＯ）を作業エリア（１７）を所定の走行状態に
制御するとともに次の作業エリア（１７’）に移動せし
める構成にした建設機械の自動運行装置になっている。Further, in the automatic operation device for construction machinery, the travel control device (14, 15) receives the travel control signal (5a) and controls the work equipment (lO) to a predetermined travel state in the work area (17), and This is an automatic operation device for construction machinery that is configured to move the construction machinery to the work area (17').
前記地上位置検出装置（１）は、光学式の距離計（２）
、光学式の自動追尾装置（３）等を具備し、ケーブル（
４）により中央処理装置（５）と接続されエリア検出信
号（１ａ）と走行検出信号（ｌｂ）を発する。前記中央
処理装置（５）は、位置演算装置（６）、運行処理装置
（７）および通信装置（８）等を具備し、エリア検出信
号（１ａ）と走行検出信号（１ｂ）を受けて演算し作業
機（１０）の走行位置と設定位置のずれを修正する走行
制御信号（５ａ）を発する。また、前記作業機（１０）
は、通信製！（１１）、光学式プリズム（１２）と光学
式自動追尾装置（１３）からなる光信号の発信手段（１
２，１３）、車体制御装置（１４）とアクチュエータ（
１５）からなる走行制御装置（１４、１５）を具備し、
光信号を地上位置検出装置（１）へ発するとともに、走
行制御信号（５ａ）を受けて作業１（１０）を作業エリ
ア（１７）の所定の走行状態に制御し、さらにまた次の
作業エリア（１７’）に移動ゼしめる。The ground position detection device (1) is an optical distance meter (2)
, is equipped with an optical automatic tracking device (3), etc., and is equipped with a cable (
4) is connected to the central processing unit (5) and issues an area detection signal (1a) and a running detection signal (lb). The central processing unit (5) includes a position calculation device (6), a movement processing device (7), a communication device (8), etc., and receives the area detection signal (1a) and the running detection signal (1b) and performs calculations. Then, a travel control signal (5a) is issued to correct the deviation between the travel position of the working machine (10) and the set position. Further, the working machine (10)
Made by Tsushin! (11), an optical signal transmitting means (1) consisting of an optical prism (12) and an optical automatic tracking device (13);
2, 13), vehicle body control device (14) and actuator (
15) includes a traveling control device (14, 15) consisting of;
It emits an optical signal to the ground position detection device (1), receives the travel control signal (5a), controls work 1 (10) to a predetermined travel state in the work area (17), and then moves to the next work area ( 17').
作業機（１０）の走行に際し予め作業エリア（１７）の
設定および検出が行われる。即ち、第２回に示すように
ボールプリズム（１８）を点（１，７ａ） （１７ｂ）
（１７ｃ）（１７ｄ）に設置することにより作業エリ
ア（１７）が設定され、地上位置検出装置（１）は、前
記各点のボールプリズム（１８）を照準して検出しその
データをエリア検出信号（１ａ）として発し、中央処理
装置（５）は、エリア検出信号（１ａ）を受は処理し作
業エリアのデータとして作業ｍ（１０）の走行コース、
コース端、走行の繰返し回数等を演算して記憶するとと
もに、該地上位置検出装置（１）は、作業機（１０）の
実際の走行状態を検出して走行検出信号（１ｂ）として
発する。The work area (17) is set and detected in advance when the work machine (10) travels. That is, as shown in the second example, the ball prism (18) is placed at points (1, 7a) (17b).
(17c) and (17d), the work area (17) is set, and the ground position detection device (1) aims and detects the ball prism (18) at each point and sends the data to the area detection signal. (1a), and the central processing unit (5) receives and processes the area detection signal (1a) and uses it as work area data to determine the travel course of work m (10),
The ground position detection device (1) calculates and stores the course end, the number of repetitions of travel, etc., and also detects the actual travel state of the working machine (10) and issues it as a travel detection signal (1b).
中央処理装置（５）は、エリア検出信号（ｌａ）と走行
検出信号（１ｂ）を受は比較演算して作業機（１０）の
走行位置と設定位置のずれ（コースずれ等）を修正する
走行制御信号（５ａ）を発し、作業ａ（１０）は、走行
制御信号（５ａ）を受けて走行制御装置（１４，１５）
が作動制御され作業エリア（１７）で所定の走行状態に
走行制御される。The central processing unit (5) receives the area detection signal (la) and the travel detection signal (1b), performs a comparison operation, and corrects the deviation (course deviation, etc.) between the travel position of the work equipment (10) and the set position. A control signal (5a) is issued, and work a (10) receives the travel control signal (5a) and operates the travel control device (14, 15).
The operation is controlled and the vehicle is controlled to run in a predetermined running state in the work area (17).
作業機（１０）の光学式プリズム（１２）と地上位置検
出装置（１）の光学式路＾１１計（２）は、それぞれ光
学式自動追尾装置（３１（１３）が併設されているため
、常に正対した作動となり、地上位置検出装置（１）と
作業機（１０）間の距離ρが知られ、仮想基準線１ａ−
１ｂからの角度θも知られて、ρ−θ方式により作業機
（１０）の実際の走行位置が中央処理装置（５）で常に
判断され、中央処理装置（５）は、エリア検出信号（１
ａ）と走行検出信号（１ｂ）を受けて作業ＩＮ（１０）
の実際の走行位置と設定位置のずれが判断され、そのず
れを修正する走行制御信号（５ａ）の出力が可能であっ
て、該走行制御信号（５ａ）は、中央処理装置（５）の
通信装置（８）から作業ｍ（ｔｏ）の通信装置（１１）
へ伝送され、車体制御装置（１４）で処理しアクチュエ
ータ（１５）により作業機（１０）を操舵制御して、作
業機（１０）が作業エリア（１７）内で所定コースに沿
って自動走行されるとともに、所定回数にわたり繰り返
し走行されて、その回数は回数表示器（１６）に表示さ
れて、例えば所望の締固めが行われる。The optical prism (12) of the working machine (10) and the optical path (2) of the ground position detection device (1) are each equipped with an optical automatic tracking device (31 (13)). The operation always faces directly, the distance ρ between the ground position detection device (1) and the work equipment (10) is known, and the virtual reference line 1a-
The angle θ from 1b is also known, and the central processing unit (5) constantly determines the actual traveling position of the work implement (10) using the ρ-θ method.
Work IN (10) after receiving a) and running detection signal (1b)
It is possible to determine the deviation between the actual driving position and the set position, and output a driving control signal (5a) for correcting the deviation. Communication device (11) for work m (to) from device (8)
The information is transmitted to the vehicle body control device (14), and the actuator (15) controls the steering of the work equipment (10) so that the work equipment (10) automatically travels along a predetermined course within the work area (17). At the same time, it is repeatedly run for a predetermined number of times, and the number of times is displayed on the number display (16), so that, for example, desired compaction is performed.
また、第３図に示すようにボールプリズムを点（１７’
ａ） （１７’ ｂ） （１７’ ｃ） （１７’
ｄ）に設置して作業エリア（２７）を設定し、地上位置
検出装置（１）は、作業エリア（２７）を検出してエリ
ア検出信号を発し、中央処理装置（５）は、同エリア検
出信号を受けて走行コース幅（Ｂ）の作業エリア（１７
）、（１７’）、 、−を設定し、作業エリア（１７
）、（１７’）、−の走行制御信号を発し、同走行制御
信号を受けて作業４！（１０）を作業エリア（１７）の
所定の走行状態に制’＜’８するとともに次の作業エリ
ア（１７’）に移動せしめ、さらに作業エリア（１７’
）内の走行に制御する走行制御装置（１４，１５）に
構成され、自動作業の範囲能率が著しく高められる。In addition, as shown in Figure 3, the ball prism is placed at a point (17'
a) (17' b) (17' c) (17'
d) to set a work area (27), the ground position detection device (1) detects the work area (27) and issues an area detection signal, and the central processing unit (5) detects the same area. After receiving the signal, work area (17) with driving course width (B)
), (17'), , - and work area (17').
), (17'), and -, and upon receiving the same travel control signals, work 4! (10) is controlled to a predetermined running state in the work area (17) and moved to the next work area (17'), and then the work area (17') is moved to the next work area (17').
), the range efficiency of automatic work is significantly improved.
さらに、第４図に示すように前記自動運行システムとは
別に、無綿操幕装置（２０）を用い、同無線操縦装置（
２０）から発する無線信号（２０ａ）により作業１（１
０）の走行制御装置（１４，１５）を遠隔制御して、作
業機（１０）を自由に走行制御する。Furthermore, as shown in FIG.
Work 1 (1) is performed by the wireless signal (20a) emitted from
The travel control device (14, 15) of No. 0) is remotely controlled to freely control the travel of the working machine (10).
（発明の効果）
本発明は、前述のような構成からなり、地上に設置され
た地上位置検出装置により作業エリアを検出してエリア
検出信号を、作業機を検出して走行検出信号を発し、中
央処理装置は、前記両検出信号を受けて作業機の走行位
置と設定位置のずれを修正する走行制御信号を発し、作
業機にＭｆｔ！された光信号の発生手段により走行位置
の検出を可能にするとともに、走行制御信号を受けて走
行制御２Ｉ装置により作業機が作業エリアで所定の走行
状態に走行制御され、作業機の自動運行を可能にすると
ともに、作業機の走行位置と設定位置のずれが自動的に
修正され、優れた運行制御性能、信頼性を有し作業能率
が格段に向上されている。(Effects of the Invention) The present invention has the above-described configuration, and detects a work area and issues an area detection signal by using a ground position detection device installed on the ground, detects a working machine and issues a running detection signal, Upon receiving both of the detection signals, the central processing unit issues a travel control signal to correct the deviation between the travel position of the work machine and the set position, and sends the work machine Mft! The traveling position can be detected by means of generating an optical signal, and in response to the traveling control signal, the traveling control 2I device controls the working machine to a predetermined traveling state in the work area, and automatically operates the working machine. At the same time, the deviation between the running position and the setting position of the work equipment is automatically corrected, providing excellent operation control performance and reliability, and working efficiency is greatly improved.
第１図は本発明の一実施例を示す斜視図、第２図は作業
エリアの設定図、第３図は他の作業エリアの設定図、第
４回は他の実施例を示す斜視図である。
ｌ
：地上位置検出装置
ｌａ：エリア検出信号
ｌｂ＝走行検出信号
５ａ：走行制御信号
：中央処理装置
ｌＯ：作業機
１２．１３：光信号の発信手段
１４、１５
二定行制御装置
１７．１７’ ：作業エリアFig. 1 is a perspective view showing one embodiment of the present invention, Fig. 2 is a setting diagram of a working area, Fig. 3 is a setting diagram of another working area, and the fourth is a perspective view showing another embodiment. be. l: Ground position detection device la: Area detection signal lb = travel detection signal 5a: Travel control signal: Central processing unit lO: Working machine 12.13: Light signal transmission means 14, 15 Two constant travel control devices 17.17' :Work area
Claims (2)
てエリア検出信号と走行検出信号を発する地上位置検出
装置と、前記両検出信号を受けて前記作業機の走行位置
と設定位置のずれを修正する走行制御信号を発する中央
処理装置と、前記作業機に装備された光信号の発信手段
および前記走行制御信号を受けて同作業機を前記作業エ
リアで所定の走行状態に制御する走行制御装置を具備し
たことを特徴とする建設機械の自動運行装置。(1) A ground position detection device installed on the ground that detects the work area and the work equipment and issues an area detection signal and a running detection signal; a central processing unit that issues a traveling control signal to be corrected; a light signal transmitting means equipped on the working machine; and a traveling control device that receives the traveling control signal and controls the working machine to a predetermined traveling state in the work area. An automatic operation device for construction machinery characterized by comprising:
、前記走行制御装置は走行制御信号を受けて作業機を作
業エリアの所定の走行状態に制御するとともに次の作業
エリアに移動せしめる構成にしたことを特徴とする建設
機械の自動運行装置。(2) The automatic operation system for construction machinery according to claim 1, wherein the travel control device receives a travel control signal, controls the work equipment to a predetermined travel state in a work area, and moves the work equipment to the next work area. An automatic operation device for construction machinery that is characterized by:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13257989A JP2615199B2 (en) | 1989-05-29 | 1989-05-29 | Automatic operation equipment for construction machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13257989A JP2615199B2 (en) | 1989-05-29 | 1989-05-29 | Automatic operation equipment for construction machinery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH032414A true JPH032414A (en) | 1991-01-08 |
| JP2615199B2 JP2615199B2 (en) | 1997-05-28 |
Family
ID=15084628
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP13257989A Expired - Lifetime JP2615199B2 (en) | 1989-05-29 | 1989-05-29 | Automatic operation equipment for construction machinery |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2615199B2 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4958088A (en) * | 1989-06-19 | 1990-09-18 | Micron Technology, Inc. | Low power three-stage CMOS input buffer with controlled switching |
| WO1993007343A1 (en) * | 1991-10-08 | 1993-04-15 | Kabushiki Kaisha Komatsu Seisakusho | Device for controlling working vehicle in material transfer system |
| JPH0534532U (en) * | 1991-10-15 | 1993-05-07 | 株式会社エー・アンド・デイ | Electronic balance with windshield |
| CN113423899A (en) * | 2019-03-05 | 2021-09-21 | 日立建机株式会社 | Autonomous operation machine |
-
1989
- 1989-05-29 JP JP13257989A patent/JP2615199B2/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4958088A (en) * | 1989-06-19 | 1990-09-18 | Micron Technology, Inc. | Low power three-stage CMOS input buffer with controlled switching |
| WO1993007343A1 (en) * | 1991-10-08 | 1993-04-15 | Kabushiki Kaisha Komatsu Seisakusho | Device for controlling working vehicle in material transfer system |
| JPH0534532U (en) * | 1991-10-15 | 1993-05-07 | 株式会社エー・アンド・デイ | Electronic balance with windshield |
| CN113423899A (en) * | 2019-03-05 | 2021-09-21 | 日立建机株式会社 | Autonomous operation machine |
| CN113423899B (en) * | 2019-03-05 | 2022-06-21 | 日立建机株式会社 | Autonomous operation machine |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2615199B2 (en) | 1997-05-28 |
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