JPH04174388A - Monitor of construction equipment - Google Patents

Abstract

PURPOSE:To improve position measurement accuracy by measuring the positions of a plurality of construction equipments on the basis of radio waves fed from a GPS satellite, displaying and recording the state of the movement of the construction equipments in connection with working and running regions. CONSTITUTION:The receiver 13 of a vehicle mounted apparatus 11 receives radio waves m1 - m4 from a GPS satellite. Signals received by the receiver 13 are inputted into a central processing unit 14, which calculates the position of dump truck and forms transmission data. A transmitter 15 transmits radio waves d1 fed from the vehicle mounted apparatus 11 to a base station 21 on the basis of the transmission data formed by the central processing unit 14. On the other hand, the receiver 23 of a ground apparatus 21 receives the electric wave d1 fed from the vehicle mounted apparatus 11 and a receiver 25 receives the radio waves m1 - m4 from the GPS satellite. A central processing unit 26 receives the input result of an input unit 27 for inputting map information on a jobsite and signals received by the receivers 23 and 25 to effect data processing for displaying and printing the positions of a plurality of the dump trucks. A display unit 28 performs display on the screen of a CRT on the basis of the processing result of the central processing unit 26.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a monitoring device for construction machinery, and is particularly applicable to a wide area earthwork work site where multiple power shovels, dump trucks, etc. are in operation. The present invention relates to a device that can monitor the movement status of a plurality of construction machines within a site and manage earthwork work.

[Conventional technology]

Generally, when multiple construction machines such as dump trucks and power shovels are operated at wide-area earthwork work sites such as mines and quarries, it is necessary to monitor the operation of these multiple construction machines to optimize the work. will be held. Conventionally, there is a so-called signpost system as a system for monitoring the operation of a plurality of construction machines.

In this signpost method, signposts 1001 are placed at each main location at the work site, as shown in FIG. On the other hand, each of the plurality of construction machines 1002 is equipped with an infrared light emitter or a microwave transmitter 1003.

When the construction machine 1002 runs near the sign post 1001 , infrared rays or microwaves transmitted from the infrared emitter or microwave transmitter 1003 are transmitted to the sign post 10 .
01 is received by receiver 1004. The infrared rays or microwaves are each modulated as required so that each construction machine 1002 can be specifically identified. The reception result of the receiver 1004 is sent to the air traffic control office 1006 via the signal line 1005.
The current position of each construction machine 1002 is displayed as the installation position of the sign post 1001 on the C17 screen.

In addition, in recent years, GPS (Global Positioning System) has been introduced as a system for measuring the two-dimensional and three-dimensional positions of moving objects on land, at sea, and in the air.
It is attracting attention because of the following advantages.

1. Radio waves transmitted from GPS satellites may be used free of charge. 2. GPS satellites exist in orbit above the earth, so it is possible to measure the position of the measurement target all over the earth, including on board. be possible.

In GPS, at least three or more GPS satellites are launched above the earth, and radio waves transmitted from each GPS satellite are received by a GPS receiver mounted on a mobile object whose position is to be measured. The mobile body then determines the position of the mobile body based on the reception time difference (propagation time difference) of the radio waves transmitted from each GPS satellite, and displays this position as its current position on the screen of the display device installed in the mobile body. That's what I do.

[Problem to be solved by the invention]

With the above signpost method, it is only possible to know that construction machinery is running within the area near the signpost.

Therefore, in order to improve measurement accuracy, it is necessary to install sign posts densely, but if this is not possible and the sign posts are sparsely installed, measurement accuracy will be impaired.

Furthermore, since the position of the construction machine is captured as the position of the sign post, sign posts must be placed throughout the entire work site in order to cover the work site where the construction machine is traveling. For this reason, the wider the work site, the more signposts must be installed, and the cost of the equipment increases as the work site becomes wider. For this reason, there is an aspect that costs are high for wide-area work sites.

In addition, sign posts are fixedly placed on the ground along the running course of construction machinery, so there is no particular problem in mines where the running course of construction machinery is relatively fixed, but the layout of the running course changes frequently. At work sites where signposts are used, signposts must be reinstalled every time the layout is changed, resulting in poor flexibility and flexibility when changing the layout.

Furthermore, if airborne objects such as snow, fog, dust, etc. or mud adhere to the sign post, there is a risk of overconfidence between the construction machine and the sign post, resulting in a lack of reliability of the device.

Furthermore, in order to maintain the function of the sign post, it is necessary to perform maintenance on the sign post in the event that the sign post is damaged by external forces due to wind, rain, etc., which is troublesome.

On the other hand, GPS position measurement systems only display their own position on a display device mounted on a mobile object, and therefore cannot achieve work optimization by monitoring the operating status of multiple construction machines from the ground. It had become.

The present invention was made in view of these circumstances, and instead of using the conventional signpost method for position measurement, it uses GPS.
By performing position measurement based on radio waves transmitted from satellites, the position measurement accuracy is higher than that of the sign post method, and it can be applied to wide-area work sites at low cost, and can flexibly respond to changes in the layout of the driving course. The purpose of the present invention is to provide a construction machine monitoring device that is highly reliable, maintenance-free, and capable of monitoring a plurality of construction machines at once.

[Means and effects for solving the problem] Therefore, the first invention of the present invention provides a construction machine that monitors a plurality of construction machines moving on a work site based on signals from at least three GPS satellites installed in the air. The monitoring device includes at least one base station, and each of the plurality of construction machines includes GPS radio wave receiving means for receiving radio waves respectively transmitted from the GPS satellites, and each GPS radio wave receiving means received by the GPS radio wave receiving means. each comprising a position calculation means for sequentially calculating the position of the construction machine based on the difference in reception time of radio waves from the satellite, and a transmission means for transmitting the calculation result of the position calculation means to the base station together with an identification code of its own military, The base station includes a construction machine position receiving means that receives a transmission signal from a transmission means of the construction machine, and a reception signal of the construction machine position reception means and each position information of a work area and a running area at the work site. and display means for displaying the entry/exit state of each of the construction machines in the work area and the running state of each of the construction machines in the travel area.

That is, with this configuration, the positions of a plurality of construction machines are calculated based on the difference in reception time of radio waves transmitted from each GPS satellite. The positions of these plurality of construction machines are transmitted to the base station and displayed on the display means. The display means displays the entry/exit state of each construction machine in the work area and the running state of each construction machine in the travel area. This allows the operating status of multiple construction machines to be monitored.

In addition, in the second invention of the present invention, when the positions of a plurality of construction machines are transmitted to the base station as in the first invention, the base station records the people entering the work area of the plurality of construction machines and the time they left. . This allows the operating status of multiple construction machines to be monitored.

Further, in the third aspect of the present invention, the positions of a plurality of construction machines are calculated based on the difference in reception time of radio waves transmitted from each GPS satellite. The position calculation results are stored in the storage medium as a function of time for each of the plurality of construction machines. Based on the storage contents of the storage media removed from the plurality of construction machines, the number of people entering and leaving the work area of the plurality of construction machines and the time of departure are recorded. This allows the operating status of multiple construction machines to be monitored.

Further, in a fourth aspect of the present invention, in a construction machine monitoring device that monitors a plurality of construction machines moving on a work site based on signals from at least three GPS satellites provided in the air, a reference station whose arrangement position is known is provided. In addition, the plurality of construction machines include a first GPS radio wave receiving means for receiving radio waves transmitted from each of the GPS satellites, and a first GPS radio wave receiving means for receiving radio waves from each GPS satellite received by the first GPS radio wave receiving means. and first position calculation means for sequentially calculating the position of the construction machine based on the reception time difference of the radio waves,
The reference station includes a second GPS radio wave receiving means that receives radio waves respectively transmitted from the GPS satellites;
a second position calculation means that calculates the position of the reference station based on the reception time difference of radio waves from each GPS satellite received by the GPS radio wave reception means; and a calculation result of the second position calculation means and the reference station. correction information creation means for creating correction information for the first position calculation means from a known position; The successive calculated positions are corrected, and based on the corrected sequential calculated positions and each positional information of the work area and travel area at the work site, the entry/exit state of each of the construction machines in the work area and each of the construction machines are determined. The vehicle further includes a display means for displaying a running state in the running area.

Further, the sequentially calculated positions of the first position calculating means are corrected based on the correction information created by the correction information creating means instead of the display means, and the corrected sequentially calculated positions and the work at the work site are corrected. Means is provided for recording the time when each of the construction machines arrived at the work area and the time when it departed from the work area based on the position information of the area.

In other words, if orbit information of GPS satellites cannot be obtained, GPS
The measured position of an object measured by satellite radio waves may drift by a certain amount in a certain direction from its true value. Therefore, the positions of a reference station whose installation position is known and a plurality of construction machines are calculated based on the difference in reception time of radio waves transmitted from each GPS satellite. Since the reference station is known, the drift amount can be obtained as error information using this known position and the calculated position of the reference station. Based on this error information, the sequentially calculated positions of the plurality of construction machines are each corrected. Using this sequentially corrected position, the entry/exit status of each construction machine in the work area and the running status of each construction machine in the travel area are displayed, and the people and departure times of multiple construction machines into the work area are recorded. be done.

Further, in a fifth aspect of the present invention, in the construction machine monitoring device that monitors a plurality of construction machines moving at a work site based on signals from at least four GPS satellites provided in the air, the plurality of construction machines , a GPS radio wave receiving means that receives radio waves transmitted from each of the GPS satellites, and sequentially calculating the three-dimensional position of the construction machine based on the difference in reception time of radio waves from each GPS satellite received by the GPS radio wave receiving means. and position calculation means for determining the initial topography of the work site at the time of starting work based on the calculation results of the position calculation means obtained before a predetermined time elapses after work by the plurality of construction machines starts. and calculating the finished topography of the work site at the end of the work based on the calculation results of the position calculation means obtained up to a predetermined time before the end of the work by the plurality of construction machines. Finished terrain calculation means;
The construction apparatus further includes a yield calculation means for calculating the work output of the plurality of construction machines based on the initial topography and finished topography of the work site calculated by the initial topography calculation means and the finished topography calculation means, respectively.

That is, according to this configuration, the positions of the plurality of construction machines are calculated based on the difference in reception time of radio waves transmitted from each GPS satellite. Among these calculation results, the initial topography of the work site is calculated from the position information obtained at the start of the work. Furthermore, the finished topography of the work site is calculated from the position information at the end of the excavation work.

Then, the work output of the plurality of construction machines is calculated from the calculated initial topography and finished topography.

〔Example〕

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of a construction machine monitoring device according to the present invention will be described with reference to the drawings.

In the embodiment, as shown in FIG. 1, three dump trucks 101 to 10! , it is assumed that one wheel loader 10' loads earth and sand and performs garden soil work.

That is, dump truck 10. ~10. is work site 40
Wheel loader 10'' in loading area 42A or 42B
After that, the vehicle loads the earth and sand by V-shave operation, and then travels along the travel path 41 and unloads the earth and sand at the waste soil area 43a or 43b.

At a predetermined position overlooking the work site 40, dump trucks 101 to 10. A control office 20 is installed to monitor the Note that the location of the control office 20 (east longitude position, north latitude position, height) serves as a reference point when performing correction processing to be described later. Four GPS satellites 31 to 34 are launched in the air (approximately 20,000 km above the earth), and these GPS satellites 31 to 34 each emit radio waves toward the ground.

~Send m4. The dump trucks 10, - 10 have a receiving antenna 12 that can receive these radio waves m1 - m4.

FIG. 2 shows dump trucks 101 to 10. This conceptually shows the configuration of the on-board equipment 11 mounted on each of the vehicles and the ground equipment 21 installed in the control office 20. The on-vehicle device 11 includes a receiving antenna 12 and a receiver 13 that receive radio waves m, -m4 from GPS satellites 31 to 34, and a receiver 13, and inputs the received signal of the receiver 13 to the own dump truck 10+(L-
A central processing unit 14 that calculates the positions of 1 to 3) and creates transmission data, a transmitter 15 and an antenna 16 that transmit radio waves d to the base station 21 based on the transmission data created by the central processing unit 14. It is composed of. On the other hand, the ground device 21 receives radio waves d transmitted from each on-board device 11,
An antenna 22, a receiver 23, and radio waves m from 11 GPS stars 31 to 34.

~m4, a receiving antenna 24, a receiver 25, an input section 27 consisting of a keyboard, etc., for inputting map information about the work site 40, and input results of the input section 27 and reception signals of the receiver 23.25. A central processing unit 26 that performs data processing for inputting and displaying and printing the positions of a plurality of dump trucks 10+, a display unit 28 that performs display on the CR7 screen based on the processing results of the central processing unit 26, and a central processing unit. A printer 29 that performs printing processing based on the processing results of 26.
It is composed of.

The first embodiment will be described below with reference to the configuration shown in the figure and the flowcharts shown in FIGS. 8 to 10.

In the first embodiment, as shown in FIG. 8, the receiving antenna]
When the radio waves m1 to m4 are received by the receiver 13 via the radio waves m1 to m4, the central processing unit 14 manually inputs the received signals at the time of receiving each of the radio waves m and m4 (step 101).
~ m4 based on the reception time difference and the positions of the GPS satellites 31 to 34, the own dump truck 10. Three-dimensional position P l of (i-1 to 3), that is, east longitude position XI, north latitude position Y11
Altitude H1 is calculated. It is assumed that the positions of the GPS satellites 31 to 34 are obtained based on orbit information. In addition, i is a vehicle number for specifying and identifying the three dump trucks 10□ to 10, and is assigned to each vehicle in advance.
It is assumed that this has been granted (step 102). Next, the own vehicle number i and the calculated position Pl are modulated into a radio signal (step 103), and this radio signal is sent to the transmitter 15.
, the radio wave d is transmitted via the antenna 16 to the air traffic control office 20.
(step 104). The processes of steps 101 to 104 are repeatedly executed, and radio waves d1 to d3 indicating the positions P1 to P3 of the three dump trucks 10 I to 103 are transmitted to the control office 20 at any time.

On the other hand, in the ground equipment 21 of the control office 20, as shown in FIG. The input process is performed. That is, as shown in FIG. 1, positional data of the travel path 41, loading areas 42A, 42B, discontinued areas 43a, 43b, etc. of the work site 40 are input. The central processing unit 26 performs processing to create a map of the work site 40 based on input position data (step 201). When the pre-processing is completed in this way, the dump trucks 101 to 10. It is determined whether the radio waves d0 to d3 transmitted from the on-board device 11 are received by the receiver 23 (step 202), and the determination result is YES.
That is, when the radio wave d is received by the receiver 23 via the antenna 22, the vehicle number i and the dump truck 10. which are superimposed on the received radio wave d1 are detected. Demodulation processing is performed to extract the position P1 of as received data (step 203).

Next, the procedure moves to the dump truck position correction subroutine shown in FIG. 10 (step 204), and a process for correcting errors included in the read position data P is performed (steps 301 to 303).

That is, if the orbit information of the GPS satellites 31 to 34 is inaccurate, the measured position of the object measured by radio waves transmitted from the GPS satellites 31 to 34 will drift by a certain amount in a certain direction from the true value. There is. This amount of drift is constant for all objects to be measured. The dump truck position correction subroutine corrects this amount of drift. As shown in FIG. 10, the ground equipment 21
The radio waves m1 to m4 are sent to the receiver 2 via the receiving antenna 24.
5, the central processing unit 26 transmits the radio waves m1 to m4.
Input the received signal at each reception point (step 3)
01), the reference point (
Control office 20) position Q (east longitude position x1 north latitude position y1)
The altitude h) is calculated. In this case, the measured reference point position Q will deviate from the true position determined by precise surveying of the reference point in advance by the above drift amount (step 3).
02). Next, the east longitude position X, north latitude position y, and altitude of the reference point position Q calculated in step 203 are subtracted from the east longitude position X1, north latitude position Yl, and altitude H of the dump truck position P1 demodulated in step 203 above. The relative position R, (X knee x
, Y+-Y, Hl h) are calculated. Here, the measured values X, , Y, , H, have an error ε8 due to the above drift.
, ε7, ε, and the measured values x, y, and h also include similar errors εa, 2, ε, but the errors are canceled by the above subtraction process.

Since the true position of the control office 20, which is a reference point, is known through a predetermined precision survey, the dump truck 10. It is possible to accurately obtain information on how far away the aircraft is from the air traffic control office 20 (step 303).

The procedure returns to step 205, where it is determined whether or not there is map information available for the work site 40. In other words, even during position measurement, the layout of the work site 40 can be changed via the input unit 27.
By inputting change position data such as "the loading area 42A has shifted by Xd in the east longitude direction and by Ya in the north latitude direction", the map of the work site 40 initialized in step 201 is changed according to the input data. Ru. If no new location data is input (NO in step 205), the map initialized in step 201 is used as is; however, if new location data is input (
If the judgment result in step 205 is YES), a new map of the work site 40 is created according to the input data (step 2
06).

Next, in step 204, the dump truck 10. By comparing the position R1 with the map of the work site 40, as shown in FIG.
3 are displayed respectively.

At this time, dump trucks 101 to 10. are represented by different marks such as a double circle mark depending on the car number i, and the three vehicles are identified by these different marks.

In addition, the position R of the dump truck 101 and the work site 40
When comparing the map with the dump truck 10. It is necessary that the coordinate system of the position of R2 and the coordinate system of the map of the work site 40 are unified, and if the position of the dump truck 101 is in the relative coordinate system with R2, the map of the work site 40 is also a reference point. It is necessary to express it in a relative coordinate system with the origin as .

On the other hand, the reference point position W (absolute coordinate system) determined by precision surveying is added to the relative position R1 of the dump truck 101. The absolute position P1 may be determined. In this case, it is necessary to represent the map of the work site 40 in an absolute coordinate system. If the map is changed in step 206, for example, the loading area 42A (indicated by a solid line) is changed to position 4, which is indicated by a two-dot chain line, as shown by the arrow in FIG.
This will move you to 2'A on the screen. In addition, dump truck 10. In addition to graphically displaying the position of as a mark on the screen 28a, the screen 28a also displays the following message: ``The vehicle with vehicle number i is currently located at east longitude position OO1 north latitude position XX, and its altitude is △△.'' It may be indicated numerically (step 207).

Further, the processes of steps 201 to 207 are repeatedly executed, and the sequentially calculated position data of the dump truck 10 is obtained for each vehicle number i and the signal d in step 202.
It is stored in a memory (not shown) together with the reception time of +.

Then, when one cycle of work or one day's work is completed, the stored position data is compared with the map of the work site 40. As a result, information such as "which dump truck was at which location on the map at which time" is obtained from the printer 29, and each dump truck (for each vehicle number) arrives and departs from the loading area 42A142B. The time of arrival at and departure from the obsolete areas 43a and 43b are printed and output over time. Figure 6 shows car number 1, for example.
dump truck 10. This is an example of the results printed out based on sequential position data stored for the loading area A (42A) of the dump truck 101.
, B (42B) person, departure time, obsolete area a (43a)
, b (43b), and information on the departure time can be obtained. Similar information can be obtained for other dump trucks 102 and 103. From this information, each dump truck 10, ~10
You can know the operating hours, work contents, etc. of 3. Also,
The print results are directly transferred to dump trucks 101-10. It can be used as a daily business report. Furthermore, the traveling locus of each dump truck may be displayed on the map on the screen 28a based on the contents stored in the memory at any time.
Step 207).

The second example will be described below. In this second embodiment, the configurations of the on-board device and the ground device are slightly different from those of the on-board device 11 and the ground device 21 in the first embodiment.

Figure 4 shows dump trucks 10□-10. This conceptually shows the configuration of the on-board equipment 11' installed in each of the above and the ground equipment 21' installed in the control office 20,
The on-board device 11- receives radio waves m, - of the GPS satellites 31-34.
a receiving antenna 12-1 receiver 13- for receiving m4;
The position of the own dump truck 10, (i-1 to i-3) is calculated by manually using the received signal of the receiver 13', and the position of the dump truck 10, (i-1 to i-3) is removably provided in a predetermined holder, specifically, a floppy disk, an IC card, etc. The central processing unit 14' writes data to a portable storage medium 15-, such as a computer. On the other hand, the ground bag W21 is equipped with GPS satellites 31 to 3.
Receiving antenna 24-1 that receives radio waves m, ~m4 of 4
A receiver 25', an input section 27- consisting of a keyboard or the like for manually entering information about the work site 40, and the human power section 27.
' and the received signal of the receiver 25' are input, and the storage contents of the storage medium 15' are read out by attaching the storage medium 15' removed from the holder of the on-vehicle device 11' to a predetermined holder. A central processing unit 26' that performs data processing for displaying and printing the positions of the plurality of dump trucks 101, a display unit 28- that performs display on the CR7 screen based on the processing results of the central processing unit 26-, and a central processing unit. Printer 2 that performs print processing based on the processing result of 26-
It consists of 9-.

The second embodiment will be described below with reference to the configuration shown in the figure and the flowcharts shown in FIGS. 11 to 13.

As shown in FIG. 11, when radio waves m and ~m4 are received by the receiver 13- via the receiving antenna 12-, the central processing unit 14' inputs the received signals at the time of receiving each of the radio waves m and ~m4. (Step 401), the three-dimensional position P4 of the own dump truck 101 (vehicle numbers i-1 to 3) is determined based on the reception time difference of radio waves m1 to m4 and the positions of the GPS satellites 31 to 34, that is, the east longitude position Position Yl, altitude H8
is calculated (step 402). Next, the calculated position IFp is calculated using the current time as an address on the storage medium 15-
are sequentially stored at predetermined time intervals (step 403).

The processes of steps 401 to 403 are repeatedly executed, but when one cycle of work or one day of operation of the dump truck ends, the storage medium 15' is removed from the holder and the processes of steps 401 to 403 are completed. do.

On the other hand, as shown in FIG. 12, when the radio waves m, ~m4 are received by the receiver 25' via the receiving antenna 24' of the ground equipment 21', the central processing unit 26- receives the radio waves m, ~m4, respectively. At the time of reception, the received signal is manually input (step 501).
), reception time difference of radio waves m1 to m4 and GPS satellites 31 to 3
Location Q of the control office 20 which is the reference point based on the location of 4
(East longitude position x1 north latitude 1y, altitude h) is calculated (step 502). Next, the calculated positions Q are sequentially stored in a predetermined memory using the current time as an address. Note that this memory may be a portable, removable floppy disk or the like similar to the storage medium 15', or may be a memory that cannot be separated from the central processing unit 26'' (step 503).

The processes of steps 501 to 503 are repeatedly executed, but when one cycle of work or one day's operation of the dump truck is completed, the chronological storage process of the position Q ends as in the case of the storage medium 15'. .

On the other hand, in the ground equipment 21' of the control office 20, the dump truck 10. In performing the monitoring processing of steps 1 to 10), preprocessing is performed to set a map of the work site 40 in the same manner as step 201 in FIG. 9 (step 601). When the preprocessing is completed, the operator removes the storage medium 15' from the holder of the on-board device 11 of the dump trucks 101 to 103 and attaches it to the holder of the ground device. As a result, storage medium 1
The memory contents of 5- are read out. Figure 5 shows dump truck 10 with vehicle number 1. 5 read from the storage medium 15' of
Intermittent every second! This is an example of data (east longitude position, north latitude position, height). Other dump truck 102
．． 10. Similarly, by attaching each storage medium 15- to the holder, the dump truck 102.
103 position data over time is read out (step 602). Next, calculation processing for correcting the drift of the dump truck position is performed in the same way as the dump truck position correction subroutine of the first embodiment. That is, the intermittent position data of the reference point position IQ (east longitude position X, north latitude position Fly, height h) stored in the memory by the processing of steps 501 to 503 above is read out,
This read position data is associated with the position data read from the storage medium 15'' (east longitude position XI, north latitude position Y1% height HI) at the same time. At each time, the east longitude position X, the north latitude position y1 and the height h of the reference point position Q are subtracted from the east longitude position XI, north latitude position Y, and height H4 of the dump truck position P+, respectively, and the control point which is the reference point is subtracted. Relative position R+ of dump truck 101 with vehicle number i with office 20 as the origin
(X+x, Yl-y, HI h) is calculated.

Such processing is performed for vehicle numbers 1, 2, and 3, respectively. As a result, the error due to drift at each time is canceled (step 603).

Next, the map of the work site 40 created in step 601 is compared with the position R1 of the dump truck 101 calculated in step 603, and as in the first embodiment,
The printer 29' prints and outputs the time of arrival and departure at the loading areas 42A and 42B and the time of arrival and departure at the waste soil areas 43a and 43b for each dump truck (for each vehicle number) over time. It can be done. Such printing results can be directly transferred to the dump truck 10. It can be used as a daily business report. Further, the contents of FIG. 6 may be displayed on the display screen of the display section 28'. In addition, the map of the work site 40 created in step 601 and the map of step 60
Dump truck calculated in 3.10. Position R1...
The traveling locus of each dump truck may be displayed on the display screen of the display unit 28' by comparing the two (step 604).

According to the second embodiment, unlike the first embodiment, a plurality of dump trucks 101 to 10. Although it is not possible to monitor the movement status of the vehicle in real time, radio waves d are transmitted between the on-board device 11' and the ground device 21-.

Since there is no need to perform communication, a transmitting/receiving device for this purpose can be omitted, and there is no risk of communication failure due to radio wave interference, etc., so advantages can be obtained in terms of cost, reliability of the device, etc. become.

In addition, in the first and second embodiments, the dump truck 10+~
10. Although it is assumed that three-dimensional measurement is performed, the present invention is not limited to this, and it is also possible to perform two-dimensional measurement that only determines the east longitude position and north latitude position. When performing two-dimensional measurement, it is sufficient to have at least three GPS satellites. In this case, display and printing equivalent to the contents shown in FIGS. 3 and 6 can be achieved. However, information about the heights of the dump trucks 101 to 103 cannot be obtained. On this point, Section 1.12
In this embodiment, the height information of the dump trucks 101 to 103 can be obtained at any time, so based on this height information, the topographical situation at the construction site can be displayed in real time, and temporal changes in the topographical situation at the construction site can be printed. It is also possible to implement

This makes it possible to give accurate instructions for earthwork work at work sites where the topography changes dramatically, improving work efficiency.
Accuracy will be significantly improved.

Further, the following implementation is also possible.

Figure 7 shows dump truck 10. ~10. 2 conceptually shows the initial topography S0 of the work site 40 at the start of the excavation work and the finished topography S of the work site 40 at the end of the excavation work. It is clear from the figure that at the time of starting the excavation work, the dump trucks 101 to 10. When the vehicle travels through the work site 40, the traveling trajectories 11 to 13 are the initial terrain S. stipulates. It should be noted that the more dump trucks are running, the more the traveling trajectory becomes 14,l,・
...and many terrain S. It can be seen that it is possible to define with higher precision. Similarly, the excavation work progresses, the ground is scraped away, and when the excavation work is finished, the work site 40 becomes the finished topography SI. This finished topography S1 is also defined by the traveling trajectories L1 to L of the dump trucks 10□ to 103 that traveled at the end of the excavation work. In this way, the initial terrain S.

If the finished topography S1 is obtained, the volume V between these curved surfaces is
In other words, the work output can be easily determined. Here, the procedure of an embodiment for measuring the volume V will be explained.

- At the end of one cycle of work or one day's work, the dump truck 10. Time-dependent position data of absolute coordinate position P1 of Fth (λ11.!th, Lth), P12 (X
12.917. C12) -β+W+. +;+l:+Z
IE), the absolute coordinate position i[P, P of the dump truck 102
22 (X22. Y21 Z22)...P 2E
(X 2E, Y 2E.

22E), absolute coordinate position βZ of the dump truck 103
3+ is obtained. Note that the relative position data R5 may also be used.

-Next, among the position data of each dump truck 101 to 103, position data obtained before a predetermined period of time has elapsed after the start of the excavation work is extracted.

Here, the predetermined time is the initial terrain S. This is set as the time at which sufficient position data is acquired to identify the location.

Thus dump truck 10. Initial position data P++
(X++, Yz, Zz) ~ P z (X z, Y
z.

2), initial position data P 2 of the dump truck 102
1 (X2+, Y2+, Z 21) ~# 21
(X21. 'Y□+.

Z2. ), initial position data P3 of the dump truck 103
, (X311 y,,, Z 31) ~P 31 (
'Xi+, 'Y31+231) are obtained. This is a dump truck 1o.

The initial position data is the traveling trajectory 1 in Fig. 7. represents.

Similarly, the initial position data of the dump truck 102 represents the traveling trajectory 12, and the initial position data of the dump trunk 1o3 represents the traveling trajectory 13.

~P3. Once obtained, the initial terrain S is created based on these initial position data. is required. Curved surface S. The height H6 at an arbitrary X (east longitude), Y (northern latitude) position is uniquely expressed as Ho −f (X, Y) −= (1).

・Next, each dump truck 10. ~10. Among the position data, the position data obtained up to a predetermined time before the end of the excavation work is extracted. Here, the predetermined time is set as the time during which position data sufficient to specify the finished terrain S is acquired.

Thus dump truck 10. Final position data 8P +- (X+-, Yz-, Z +b) ~P IE
(′xl[:, YIE.

ZIg), final position data P of the dump truck 102
2k (X 2-, Y 2-, Z 2-) ~
P 2E (X2!!, Y2□.

X2E), final position data P of dump truck 103
3* (X3m, Y3m, Z 3*) ~P 3E
(X3E, Y3E.

Z3E) is obtained. Here, the final position data of the dump truck at 10 degrees represents the travel trajectory shown in FIG.

Similarly, the final position data of the dump truck 10□ is based on the travel trajectory L2, and the final position data of the dump truck 10. The final position data represents the travel trajectory L3.

C. Final position data P,, -'-P,. , P2*-
When P2E% to P3*~P3E is obtained, the finished topography S1 is determined based on these final position data. The height Ho at any X (east longitude) and Y (northern latitude) position of the curved surface s1 is uniquely expressed as H+ -g (X, Y) (2).

・ Subtract equation (2) from equation (1) to get the height difference Ho-
H, is required.

Ho-H,-f (X, Y)-g (X, Y)...(
3) - By integrating the above equation (3) over X and Y, the trading volume V
is calculated. Note that the range of X and Y can be set freely, and the trading volume in any area can be calculated.

In the embodiment, the control office 20 is used as the reference point for correcting drift, but the reference point is not limited to this, and the reference point can be set at any location.

Further, instead of only one control office 20, two or more may be provided.

In addition, in the embodiment, a computation for correcting the drift is performed, but it is also possible to omit this correction process as appropriate, especially if the measurement accuracy is not affected.

In addition, in the embodiment, the position of the reference point is calculated sequentially and the drift is corrected sequentially, but the position of the reference point is calculated once or at most several times during the operation time, and the calculated value It is also possible to carry out the correction calculation by making it representative.

〔Effect of the invention〕

As explained above, according to the present invention, the positions of a plurality of construction machines are measured based on radio waves transmitted from a GPS satellite, and based on the measurement results, the movement status of the plurality of construction machines at a work site is determined based on the work area and Display and recording are performed in relation to the position of the driving area. Therefore, the accuracy of position measurement is improved compared to the conventional sign post method. It can also be applied to wide-area work sites at low cost. Furthermore, flexibility in changing the layout of the driving course is improved.

Also, the reliability of the device is improved. Also, the hassle of maintenance is eliminated. Moreover, the position data output over time can be used as is as a daily report for earthwork work, saving the time and effort of writing daily reports and greatly reducing the burden on the operator.

In addition, errors may occur in measurement results if the orbit information of GPS satellites is inaccurate, but in this case we have solved this by performing a correction calculation to remove the error, which has the effect of allowing highly accurate measurements. can get.

Further, in the case of a configuration in which a plurality of construction machines are provided with storage media, communication equipment can be omitted, resulting in an effect of lowering costs.

Furthermore, since the three-dimensional position data measured after the completion of one work is aggregated to calculate the amount of work done by the construction machine, it is possible to accurately evaluate and manage the amount of work based on this.

[Brief explanation of drawings]

FIG. 1 is a diagram showing the appearance of an embodiment of the construction machine monitoring device according to the present invention, and FIG. 2 is an on-board device mounted on a dump truck and a ground device installed in a control office shown in FIG. FIG. 3 is a block diagram showing the configuration of the first embodiment, FIG. 3 is a diagram showing the state of the work site displayed on the display screen of the display unit shown in FIG. 2, and FIG. This is a block diagram showing the configuration of the on-board equipment mounted on the dump truck shown in Figure 1 and the ground equipment installed in the control office. ``wN6'' is a diagram illustrating the output result from the printer shown in FIG. 2 or 4, and FIG. A perspective view conceptually showing the topography at the start of the excavation work and the topography at the end of the excavation work, FIGS. 8 to 10 are flow charts showing the processing procedure of the 19th embodiment with the configuration of FIG. FIG. 13 is a flowchart showing the processing procedure of the second embodiment having the configuration shown in FIG. 4, and FIG. 14 is a side view used to explain a conventional signpost type construction machine monitoring device. 10+, 102.10i...Dumptora Tsuk, 1
1.11'...on-vehicle device, 15'...storage medium, 2
0...Control office, 21.21'...Ground equipment, 2
8.28-...Display unit, 29.29'...Printer. Figure 7 Figure 11 Figure 12

Claims (9)

[Claims] (1) A construction machine monitoring device that monitors a plurality of construction machines moving at a work site based on signals from at least three GPS satellites installed in the air, comprising at least one base station and The construction machine includes a GPS radio wave receiving means that receives radio waves transmitted from each of the GPS satellites, and a position of the construction machine is sequentially determined based on the difference in reception time of radio waves from each GPS satellite received by the GPS radio wave receiving means. and a transmitting means for transmitting the calculation result of the position calculating means together with the identification code of the own vehicle to the base station, and the base station receives the transmission signal from the transmitting means of the construction machine. a construction machine position receiving means to receive; and a state of entry and exit of each of the construction machines in the work area and the construction machine based on the received signal of the construction machine position reception means and each position information of the work area and the travel area at the work site. A monitoring device for construction machinery, comprising display means for displaying the running state of each machine in the running area. (2) The working area is a loading area where the construction machine loads earth and sand and a waste land area where the construction machine unloads earth and sand, and the driving area separates these loading area and waste earth area. The construction machine monitoring device according to claim 1, wherein the monitoring device is connected to the construction machine. (3) A construction machine monitoring device that monitors a plurality of construction machines moving at a work site based on signals from at least three GPS satellites installed in the air, comprising at least one base station and The construction machine includes a GPS radio wave receiving means that receives radio waves transmitted from each of the GPS satellites, and a position of the construction machine is sequentially determined based on the difference in reception time of radio waves from each GPS satellite received by the GPS radio wave receiving means. and a transmitting means for transmitting the calculation result of the position calculating means together with the identification code of the own vehicle to the base station, and the base station receives the transmission signal from the transmitting means of the construction machine. a construction machine position receiving means; and a time when each of the construction machines arrives at the work area and departure from the work area based on a received signal of the construction machine position reception means and position information of the work area at the work site. A monitoring device for construction machinery, comprising means for recording the time at which the construction machine is operated. (4) The construction machine monitoring device according to claim 3, wherein the work area is a loading area where the construction machine loads earth and sand and a waste land area where the construction machine unloads earth and sand. (5) In a construction machine monitoring device that monitors a plurality of construction machines moving at a work site based on signals from at least three GPS satellites installed in the air, the plurality of construction machines transmit signals from each of the GPS satellites. GPS radio wave receiving means for receiving radio waves received by the GPS radio wave receiving means, position calculation means for sequentially calculating the position of the construction machine based on the reception time difference of radio waves from each GPS satellite received by the GPS radio wave reception means, and the position calculation means for calculating the position of the construction machine in sequence. Each of the construction machines includes a removable storage medium for storing the calculation result of the means as a function of time, and each of the construction machines moves to the work area based on the storage contents of the storage medium and the position information of the work area at the work site. A monitoring device for construction machinery, comprising means for recording the time of arrival and the time of departure from the work area. (6) The construction machine monitoring device according to claim 5, wherein the work area is a loading area where the construction machine loads earth and sand and a waste land area where the construction machine unloads earth and sand. (7) A construction machine monitoring device that monitors a plurality of construction machines moving at a work site based on signals from at least three GPS satellites installed in the air, comprising a reference station whose location is known, and The construction machine includes: a first GPS radio wave receiving means that receives radio waves respectively transmitted from the GPS satellites; and a first position calculation means that sequentially calculates the position of the construction machine, and the reference station includes: a second GPS radio wave reception means that receives radio waves respectively transmitted from the GPS satellite; and the second GPS a second position calculation means that calculates the position of the reference station based on the reception time difference of radio waves from each GPS satellite received by the radio wave reception means; and a calculation result of the second position calculation means and the known information of the reference station. from the position to the first
correction information creation means for creating correction information for the position calculation means of the first position calculation means, and further correcting successive calculated positions of the first position calculation means based on the correction information created by the correction information creation means. , based on the corrected sequential calculation positions and each positional information of the work area and the travel area at the work site, the entry/exit state of each of the construction machines in the work area and the travel state of each of the construction machines in the travel area. A monitoring device for construction machinery equipped with a display means for displaying. (8) A construction machine monitoring device that monitors a plurality of construction machines moving at a work site based on signals from at least three GPS satellites installed in the air, comprising a reference station whose location is known, and The construction machine includes: a first GPS radio wave receiving means that receives radio waves respectively transmitted from the GPS satellites; and a first position calculation means that sequentially calculates the position of the construction machine, and the reference station includes: a second GPS radio wave reception means that receives radio waves respectively transmitted from the GPS satellite; and the second GPS a second position calculation means that calculates the position of the reference station based on the reception time difference of radio waves from each GPS satellite received by the radio wave reception means; and a calculation result of the second position calculation means and the known information of the reference station. from the position to the first
correction information creation means for creating correction information for the position calculation means of the first position calculation means, and further correcting successive calculated positions of the first position calculation means based on the correction information created by the correction information creation means. , comprising means for recording the time when each of the construction machines arrived at the work area and the time when it departed from the work area based on the corrected sequentially calculated positions and the position information of the work area at the work site. Construction machinery monitoring device. (9) In a construction machine monitoring device that monitors a plurality of construction machines moving at a work site based on signals from at least four GPS satellites installed in the air, the plurality of construction machines transmit signals from each of the GPS satellites. GPS radio wave receiving means for receiving radio waves received by the GPS radio wave receiving means, and position calculation means for sequentially calculating the three-dimensional position of the construction machine based on the reception time difference of the radio waves from each GPS satellite received by the GPS radio wave receiving means. Initial topography calculation means for calculating the initial topography of the work site at the time of starting work based on the calculation results of the position calculation means obtained before a predetermined time has elapsed after work by the plurality of construction machines started. and finished topography calculation means for calculating the finished topography of the work site at the time of completion of the work based on the calculation results of the position calculation means obtained up to a predetermined time before the end of the work by the plurality of construction machines; A construction machine comprising: an output calculation means for calculating the work output of the plurality of construction machines based on the initial topography and finished topography of the work site calculated by the initial topography calculation means and the finished topography calculation means, respectively. monitoring equipment.