JPH0339525A - Unattended operation system for bulldozer - Google Patents
Unattended operation system for bulldozerInfo
- Publication number
- JPH0339525A JPH0339525A JP1174247A JP17424789A JPH0339525A JP H0339525 A JPH0339525 A JP H0339525A JP 1174247 A JP1174247 A JP 1174247A JP 17424789 A JP17424789 A JP 17424789A JP H0339525 A JPH0339525 A JP H0339525A
- Authority
- JP
- Japan
- Prior art keywords
- bulldozer
- information
- work
- monitoring system
- unmanned
- 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.)
- Pending
Links
- 238000012544 monitoring process Methods 0.000 claims abstract description 18
- 230000010365 information processing Effects 0.000 claims description 3
- 238000012790 confirmation Methods 0.000 abstract description 3
- 238000012545 processing Methods 0.000 abstract description 3
- 230000004888 barrier function Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000009412 basement excavation Methods 0.000 description 2
- 238000005056 compaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000000284 resting effect Effects 0.000 description 2
- 238000007726 management method Methods 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
Landscapes
- Operation Control Of Excavators (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
本発明は休日および夜間など人が休んでいる間に、限ら
れた範囲内を与えられた地形情報、土工計画情報をもと
に、土工作業を無人で行なうことのできる無人土工ロボ
ットブルドーザの運転システムに関する。[Detailed Description of the Invention] Industrial Application Field The present invention enables earthwork work to be carried out within a limited area while people are resting, such as on holidays and at night, based on topographical information and earthwork planning information given within a limited area. This invention relates to an operating system for an unmanned earthmoving robot bulldozer that can be operated unmanned.
従来の技術
ブルドーザに運転員が乗車せずに土工作業を行うものと
しては、作業員が遠隔操作を行うラジコンブルドーザが
あるが、これは作業員の判断によりブルワークを行うも
のであり、正確には無人運転ではない。Conventional technology A radio-controlled bulldozer that performs earthwork work without an operator on board is a radio-controlled bulldozer that is remotely controlled by a worker, but this is a bulldozer that performs bulwark work at the discretion of the worker. It's not driverless.
発明が解決しようとする課題
従来のラジコンブルドーザでは、無人で全ての土工作業
を判断して作業することは不可能であり、人手によって
エンジンの起動から運行停止を指示する必要がある。Problems to be Solved by the Invention With conventional radio-controlled bulldozers, it is impossible to judge and carry out all earthwork work unmanned, and it is necessary to give instructions from starting the engine to stopping operation manually.
本発明は無人で土工作業を行うことのできるブルドーザ
運転システムを提供することを目的とするものである。An object of the present invention is to provide a bulldozer operating system that can perform earthwork work unmanned.
課題を解決するための手段
休日および夜間等の限られた時間に限られた範囲内の土
工作業を無人で行なうことのできるロボットブルドーザ
を使用する。Means for Solving the Problems A robot bulldozer is used that can perform earthwork work unmanned within a limited range during limited hours such as holidays and at night.
地形情報、土工情報をもとに、ロボットブルドーザの最
適作業パターンを選択しながら、掘削、押上、敷ならし
、転圧などの土工作業を行なうことのできるロボットブ
ルドーザシステムを形成する。A robot bulldozer system is created that can perform earthwork work such as excavation, pushing up, leveling, and compaction while selecting the optimal work pattern for the robot bulldozer based on topographic information and earthwork information.
本システムを次の４つのシステムより構成する。This system consists of the following four systems.
ａ）自動追尾３次元測量システム
ｂ）無人情報化監視システム
Ｃ）ブルドーザ運転制御システム（ロボットブルドーザ
）
ｄ）安全監視システム
作用
ロボットブルドーザにより、地形情報及び土工計画地盤
情報をもとに、最適な作業パターンを認識しながら、掘
削、押上、敷ならし、転圧などの土工作業を行なう、ロ
ボットブルドーザにより、前記の土工作業を限定範囲内
で、設定された作業時間において、無人化で行なう。a) Automatic tracking 3D survey system b) Unmanned information monitoring system C) Bulldozer operation control system (robot bulldozer) d) Safety monitoring system operation The robot bulldozer performs optimal work based on topographical information and earthwork planning ground information. The robot bulldozer performs earthwork work such as excavation, pushing up, leveling, and compaction while recognizing patterns, and performs the earthwork work unmanned within a limited range and during a set work time.
実施例
第１図乃至第３図において、Ａは自動追尾３次元測量シ
ステム、Ｂは無人情報化監視システム、Ｃはロボットブ
ルドーザ、Ｄは安全監視システム、Ｉは作業範囲バリア
、２は地形情報メツシュデータ、３は光波距離計、４は
画像処理装置、５は旋回台、６はｘ−ｙブロック−１７
はパソコンである。Embodiments In Figures 1 to 3, A is an automatic tracking three-dimensional survey system, B is an unmanned information monitoring system, C is a robot bulldozer, D is a safety monitoring system, I is a work range barrier, and 2 is topographic information mesh data. , 3 is a light wave distance meter, 4 is an image processing device, 5 is a swivel table, 6 is an x-y block-17
is a computer.
本発明によるブルドーザの無人運転システムを、自動追
尾３次元測量システムＡ、無人情報化監視システム８１
０ボットブルドーザ０１安全監視システムＤの４つのシ
ステムより構成する。The unmanned operation system for a bulldozer according to the present invention is an automatic tracking three-dimensional surveying system A, an unmanned information monitoring system 81,
It consists of four systems: 0bot bulldozer 01 safety monitoring system D.
３− シスームＡは、光波距離計
３と画像処理装置４とからなり、光波測量による地形情
報の入力と、ロボットブルドーザＣの移動に伴う機械位
置の自動追尾と位置座標の情報を自動ｉｎｎするシステ
ムである。3- System A consists of a light wave distance meter 3 and an image processing device 4, and is a system that inputs topographical information through light wave surveying, automatically tracks the machine position as the robot bulldozer C moves, and automatically inputs information on position coordinates. It is.
慨獣 シスームＢは、情報処理システムと運転制御シ
ステムから成っており、前者は地形情報及び土工計画情
報に基づく最適作業パターンの選定や、出来高管理情報
の処理を行なうシステムであり、後者は機械自己位置の
認識をしながら、ロボットブルドーザＣの最適運転パタ
ーンの選定・指示するシステムである。System B consists of an information processing system and an operation control system. The former is a system that selects optimal work patterns based on topographical information and earthwork planning information and processes output management information, and the latter is a system that processes machine self-control. This system selects and instructs the optimal operation pattern for robot bulldozer C while recognizing its position.
ロボッ プル゛−ザＣは、各運転情報にしたがって自動
運転が可能なシステムを搭載し、自己位置・姿勢認識を
行ないながら土工作業を行なうことができる。Robot Pullzer C is equipped with a system that enables automatic operation according to various operating information, and can perform earthwork work while recognizing its own position and attitude.
獣 シスームＤば、作業範囲のｉｔ認、障害物の確認、
ブルドーザの姿勢のＴＪ！認を行ないながら定められた
安全基準に従って、機械の停止、安全確認後の作業継続
を自己判断しながら自動運転をコントロールするシステ
ムである。Beast System D, IT approval of work area, confirmation of obstacles,
TJ with bulldozer attitude! It is a system that controls automatic operation by self-judging whether to stop the machine or continue work after safety confirmation, in accordance with established safety standards.
ロボットブルドーザＣの稼動は、あらかじめ人力により
、測量システムＡを用いて地形測量を行ない、無人情報
化監視システムＢに入力しておき、また作業日、作業時
間を入力してオートスタートにセットしておけば、定め
られた時間にブルドーザＣのエンジンが自動的に起動し
て、土工作業を行なう。To operate the robot bulldozer C, manually conduct a topographic survey using the surveying system A, input the information into the unmanned information monitoring system B, enter the work date and time, and set it to auto start. If you do so, the engine of bulldozer C will automatically start at a predetermined time to carry out earthwork work.
ブルドーザＣの土工作業は、作業範囲バリアｌの作業範
囲をｒｌ！ｉ認しながら、自己位置を認識して、自己位
置の地形データと土工計画データとをシミニレ−ジョン
しながら、最適な作業パターンを選択して土工作業を行
なう。For the earthwork work of bulldozer C, the work range of barrier l is rl! The robot performs earthwork work by selecting an optimal work pattern while recognizing its own position and comparing topographical data of its own position and earthwork plan data.
無人情報化監視システムＢはブルドーザＣよりフィード
バックされ各種のデータをもとに、最適な作業パターン
や運行パターンをシミュレーションしてブルドーザＣに
指示を与えるシ壽ユレータとなる。The unmanned computerized monitoring system B functions as a system generator that simulates optimal work patterns and operation patterns based on various data fed back from the bulldozer C and gives instructions to the bulldozer C.
本発明によるブルドーザの無人運転システムを流れ図で
表すと第２図の如くなり、作動ブロック図で示すと第３
図の如くなる。The unmanned bulldozer operation system according to the present invention is shown in a flow chart as shown in Fig. 2, and as shown in an operation block diagram, it is shown in Fig. 3.
It will look like the figure.
なお、最適運転（作業）パターンは、ファジィ理論（あ
いまい理論）に基づいて選定することができる。Note that the optimal operation (work) pattern can be selected based on fuzzy theory.
発明の効果
本発明によるブルドーザの無人運転システムは、光波測
量による地形情報の人力とブルドーザ位置の自動追尾お
よび自動測量を行う自動追尾３次元測−量システムと、
情報処理および運転制御を行う無人情報化監視システム
と、ブルドーザの位置、姿勢の認識を行ないながら土工
作業を行なうブルドーザ制御システムと、作業範囲およ
び障害物の認識および自動運転のコントロールを行う安
全監視システムとからなることにより、次の効果を生ず
る。Effects of the Invention The unmanned operation system for a bulldozer according to the present invention includes an automatic tracking three-dimensional surveying system that automatically tracks and automatically surveys the position of the bulldozer and the manual input of topographical information through light wave surveying;
An unmanned computerized monitoring system that performs information processing and operation control; a bulldozer control system that performs earthwork work while recognizing the position and posture of the bulldozer; and a safety monitoring system that recognizes the work range and obstacles and controls automatic operation. The following effects are produced.
（１）休日および夜間の人が休んでいる間にも土工作業
が可能となる。(1) Earthwork work can be done on holidays and at night while people are resting.
（２）作業能率が向上する。(2) Work efficiency improves.
（３）作業者の休暇が取れる。(3) Workers can take vacations.
（４）人力による危険、苦渋作業から脱却できる。(4) It is possible to escape from dangerous and arduous work done by human labor.
第１図は本発明の実施例を示す無人土工作業の概念図、
第２図は第１図における運転方法の流れ図、第３図は第
１図の作動ブロック図である。
Ａ 自動追尾３次元測量システム、
Ｂ 無人情報化監視システム、
Ｃロボットブルドーザ、
Ｄ 安全監視システム、
１ 作業範囲バリア、
２ 地形情報メツシュデータ。FIG. 1 is a conceptual diagram of unmanned earthwork work showing an embodiment of the present invention;
FIG. 2 is a flowchart of the operating method in FIG. 1, and FIG. 3 is an operation block diagram of FIG. 1. A. Automatic tracking 3D survey system, B. Unmanned information monitoring system, C. Robot bulldozer, D. Safety monitoring system, 1. Work range barrier, 2. Terrain information mesh data.
Claims (1)
追尾および自動測量を行う自動追尾３次元測量システム
と、情報処理および運転制御を行う無人情報化監視シス
テムと、ブルドーザの位置、姿勢の認識を行ないながら
土工作業を行なうブルドーザ制御システムと、作業範囲
および障害物の確認および自動運転のコントロールを行
う安全監視システムとからなることを特徴とするブルド
ーザの無人運転システム。An automatic tracking 3D surveying system that inputs topographical information through light wave surveying, automatically tracks and automatically surveys the bulldozer position, an unmanned information monitoring system that performs information processing and operation control, and recognizes the position and posture of the bulldozer. An unmanned bulldozer operation system characterized by comprising a bulldozer control system that performs earthwork work, and a safety monitoring system that confirms the work range and obstacles and controls automatic operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1174247A JPH0339525A (en) | 1989-07-07 | 1989-07-07 | Unattended operation system for bulldozer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1174247A JPH0339525A (en) | 1989-07-07 | 1989-07-07 | Unattended operation system for bulldozer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0339525A true JPH0339525A (en) | 1991-02-20 |
Family
ID=15975291
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1174247A Pending JPH0339525A (en) | 1989-07-07 | 1989-07-07 | Unattended operation system for bulldozer |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0339525A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1998059119A1 (en) * | 1997-06-23 | 1998-12-30 | Caterpillar Inc. | Method for monitoring the work cycle of earth moving machinery during material removal |
| WO1999060220A1 (en) * | 1998-05-18 | 1999-11-25 | Carnegie Mellon University | Method and apparatus for determining an excavation strategy for a front-end loader |
| CN102446878A (en) * | 2010-10-11 | 2012-05-09 | 海洋王照明科技股份有限公司 | Semiconductor refrigerating device |
| JP2019196630A (en) * | 2018-05-09 | 2019-11-14 | 大成建設株式会社 | Unmanned construction system and bulldozer |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5826130A (en) * | 1981-08-10 | 1983-02-16 | Meidensha Electric Mfg Co Ltd | Method of construction work |
| JPS5921835A (en) * | 1982-07-29 | 1984-02-03 | Komatsu Zoki Kk | Finishing work of ground to given shape |
| JPS5926894A (en) * | 1982-08-04 | 1984-02-13 | 株式会社クボタ | Turning type service car |
| JPS6311722A (en) * | 1986-06-28 | 1988-01-19 | Kubota Ltd | Back hoe |
-
1989
- 1989-07-07 JP JP1174247A patent/JPH0339525A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5826130A (en) * | 1981-08-10 | 1983-02-16 | Meidensha Electric Mfg Co Ltd | Method of construction work |
| JPS5921835A (en) * | 1982-07-29 | 1984-02-03 | Komatsu Zoki Kk | Finishing work of ground to given shape |
| JPS5926894A (en) * | 1982-08-04 | 1984-02-13 | 株式会社クボタ | Turning type service car |
| JPS6311722A (en) * | 1986-06-28 | 1988-01-19 | Kubota Ltd | Back hoe |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1998059119A1 (en) * | 1997-06-23 | 1998-12-30 | Caterpillar Inc. | Method for monitoring the work cycle of earth moving machinery during material removal |
| US5944764A (en) * | 1997-06-23 | 1999-08-31 | Caterpillar Inc. | Method for monitoring the work cycle of earth moving machinery during material removal |
| WO1999060220A1 (en) * | 1998-05-18 | 1999-11-25 | Carnegie Mellon University | Method and apparatus for determining an excavation strategy for a front-end loader |
| CN102446878A (en) * | 2010-10-11 | 2012-05-09 | 海洋王照明科技股份有限公司 | Semiconductor refrigerating device |
| JP2019196630A (en) * | 2018-05-09 | 2019-11-14 | 大成建設株式会社 | Unmanned construction system and bulldozer |
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