JPS5826130A - Method of construction work - Google Patents

Abstract

PURPOSE:To automatically perform a construction work without the needs for an operator for a construction machine by operating a construction machine provided with a sensor and a monitoring device by a remote control system using a computer storing the contents of construction work. CONSTITUTION:A construction machine 15 with a working apparatus 25 is provided with a monitoring device 33 consisting of several sensors 32a, a three- dimentional position monitor 34, a working condition monitor 35, a working amount monitor 36, an obstacle monitor 37, and an anomalous condition monitor 38. Thus, when giving a work startup command to a computer 23, the computer 23 sends out a working command according to an automatic working program. The working command is put in the transmitter-receiver 55 of the construction machine 15 through a transmitter-receiver 52, a repeating office 53, and an antenna 54 and then transmitted to given devices from a repeater 56.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic work operation method for civil engineering machines such as bulldozers, power shovels, and motor graders, and relates to a method for automatically operating civil engineering machines such as bulldozers, power shovels, and motor graders. A machine is placed in a work area, and a computer is installed in a remote location that stores work specifications, work methods, work programs, etc. for the work area. The loaded monitoring device sensor communicates with a reference point installed in the work area, such as a beacon transmitter or transponder (hereinafter referred to as a transponder), and the monitoring device monitors the position and posture of the construction machine in the work area. The present invention relates to a construction work method in which construction work is carried out based on judgment and instructions from a combinator installed at a remote location.

Conventionally, as shown in Figs. 1 and 2, an example of visual information equipment is a television camera 3 in which an earthwork work object 1 is loaded on an earthmoving machine.
The visual information of the object 1 obtained by this is electrically transmitted by wire or wireless 4 to the main driving side control device 5 located at a remote location and projected onto the image video device 6. The scratcher 7 reads the visual information projected on the image video device 6, judges the situation of the work object 1, and operates the main operation lever 8 of the main operation side control device 5.
8, the scratching operation of the main drive operating levers 8, 8 is converted into an electrical signal by the drive side control device 5 and sent to the driven side control device 10 loaded on the earth construction machine 2 by wire or wireless 19. sent by wire,
The driven side control device 10 remotely controls the earth construction machine 2 by applying a scratch lever 11.11 K to the earth construction machine 2 to perform a scratch movement that follows the scratch movement of the main drive operating levers 8, 8 using the electric signal transmitted thereto. It mainly causes scratches. In this case, scratcher 7
is absolutely necessary and has the disadvantage that it cannot be operated without the scratcher 7, and when working in a dangerous environment, underwater, or when continuous work is required day and night, it becomes a harsh job for the scratcher 7. Requires 7 substitutions.

Further, as shown in FIG. 3, a laser beam emitter 12 is installed on the ground in the work area, and the laser beam 13 is emitted and the laser beam 13 is emitted by using the straightness of the laser beam 13.
The tracking device 14 is loaded on the construction machine 15 and the construction machine 15
(by emitting the laser beam 13 at a certain height, the tracking device 14
A system for guiding earth construction machinery 15 by detecting height differences in surface finishing work in a work area (Japanese Patent Laid-Open Publication No. 15080-1980)
21), etc., but all of them have the disadvantage that they are only capable of simple operation and cannot be used for complex work or work on complex terrain.

The present invention has been made in this respect, and embodiments of the present invention will be explained below with reference to the drawings. Figures 4 and 5 show the concept of the earthworks machine according to the invention and the various devices mounted on the earthworks machine. FIG. 2 is a block connection diagram showing the concept of a connection relationship. Reference numeral 15 denotes the main body of the construction machine, 16 the prime mover loaded on the earth construction machine 15, 17 a fuel tank containing fuel for the prime mover 16, and 18 a normal/abnormality detection sensor attached to the prime mover 16 and the fuel tank 17. Detects the rotation speed, temperature, remaining amount of fuel, etc. 19 is a power generation and generation device connected to the prime mover 16 and driven by the prime mover 16, and is composed of an alternating current generator, an AM device battery, a control device, etc. (not shown). Reference numeral 20 denotes a normal/abnormality detection sensor of the power generation/source device 19, which detects the rotational speed of the generator, the output voltage current, the charging voltage of the battery, etc.

7 is a traveling drive device driven by a prime mover 16vc, which moves the earth construction machine 15 forward in response to a command signal from a remotely installed convenience cod, which will be described later, or by the scratcher's manual operation of a manual operation lever 27, 27.27; The vehicle performs operations such as backing up, turning, turning left, speeding up, decelerating, and stopping, and a normal/abnormality detection sensor 22 of the travel drive device 21 detects the operating status, rotation speed, and temperature of each part of the travel drive device τ. 24 The work drive device converts the driving force of the prime mover 16 directly or into hydraulic pressure, and the work device δ is activated by a command signal from a remotely installed combiator, or by the scratcher's manual scratching operation of the scratcher levers 27, 27. Driving scratches. 19 is a power supply device, and π is a normal/abnormality detection sensor of the work drive device 24.
Detects hydraulic pressure, temperature, operating angle, etc. at various locations. 28
is a prime mover start/stop device that automatically starts or stops the prime mover 16 by a command signal from a remotely installed computer or by manual operation by a scratcher. Reference numeral 29 is a normal/abnormality detection sensor of the motor start/stop device that detects the operating state, temperature, etc. 30 is a sensor device and various sensors 32 will be described later.
m, 32b, 32c, 32d, 32e, 32F times.

It performs movements such as movement, neck shaking, extension and contraction, etc., and also drives the raising, lowering, rotation and movement of the top tower 8, which will be described later. Reference numeral 31 denotes a normal/abnormality detection sensor of the sensor driving device, which detects the operating state, operating direction, operating speed, temperature, etc. of various sensors. Reference numeral 33 is a monitoring device that constantly monitors during automatic operation, and detects the normality and abnormality of various sensors 32m-32f and each device. -18.20,22,26,29
．． Analyzing the information sent from 37, eTfi calculation 1
The information is judged, stored, etc., and output as digital information to the remotely installed funbinitor 23. This monitoring device consists of a three-dimensional position monitoring device, a work status monitoring device 5, a work amount monitoring device, an obstacle monitoring device F157, and an abnormal condition monitoring device.

The three-dimensional position monitoring device consists of a transmitting signal intensifier, a receiver, a receiving signal amplifier, a signal combiner, a receiving signal level detector, etc. (not shown). -32m
For example, the device connected to the sensor includes a transceiver device that transmits and receives signals such as ultra-high frequency waves, ultra-high frequency waves, and ultrasonic waves using an all-sky rotating antenna, as shown in Figures 6 and 7. For example, it sends and receives signals to and from a transponder 39.39, such as a beacon transmitter or transponder, installed in the work area shown in FIG. Due to the time required to reach this point or the Doppler effect, the distance t194 between the sensor f -32m and the transponder 39 shown in FIGS. 6 and 7 is
14, also the sensor 32a and the transponder 39.5
The rotation angles α1, 4° and A, which are the strongest response waves from 9, are respectively the advancing direction and horizontal reference of the construction machine 15, II
K, and these measured values are sent to the three-dimensional position monitoring device 34.
A remotely installed computer 3 calculates the three-dimensional position and direction of movement using a built-in computer (not shown) K, a workpiece line equipment, and an abnormal condition monitoring device 3.
8 as a digital signal.

Is the work information monitoring device 5 a work status sensor? -32b.

32c, the work situation sensor 32b uses a short-range radar transmitter/receiver to monitor the surrounding situation of the construction machine 150, and detects abnormal approach of another construction machine or worker operating in the same work area. Also, work information senna-32c
is a visual information device, for example, a television camera, etc.
The visual information of the horse's side is output to the work situation monitoring device 35, and a built-in computer (not shown) K performs a canyon analysis to determine the approach of abnormal objects, topography, etc. The work status monitoring device 5 includes a work status information sensor 32c that outputs the work status information obtained from the first work status sensors 32b' and 32c to a remotely installed computer, an obstacle monitoring device 9, and an abnormal condition monitoring device (to be described later). The visual status information is sent to the transmitting/receiving device 55. Anti-pear and relay station 5. The signal is received by a remotely installed transmitting/receiving device 52, transmitted to a remotely installed monitoring device 51, and inputted to an Eirin device (not shown).

The work amount monitoring device SI integrates the three-dimensional position signals inputted from the three-dimensional position monitoring device N, and calculates the cumulative amount of work to be performed, a planned work range, and a planned work amount, which are stored in advance in a built-in computer (not shown). The work progress level is calculated by comparing and calculating. In addition, actually measured work amount information is input to this monitoring device '56 from the front terrain sensor 32e.

The terrain sensor 32e is rotatably attached to the tip of an arm 41 supported on the construction machine 15, and has an extremely high frequency transmitter/receiver S that emits an extremely high frequency beam and catches reflected waves from the ground surface. The transmitter/receiver S includes a transmitter 9 built in the work amount monitoring device 36, a transmitter number amplifier, a receiver, a received signal amplifier, a signal synthesizer, a received signal level detector, a computer for calculation, etc. A signal processing device (not shown) is connected to K, and during work, the arm 41 is tilted forward and the transmitter/receiver is projected to the ground in front of the work to emit a beam such as an extremely high frequency wave, and the reflected wave is reflected from the ground surface. The distance 4 between the transmitter/receiver S and the ground surface is calculated by a built-in calculation computer based on the time it takes to catch the object and reach full speed from launch. Transmitter/receiver B is sequentially operated to emit ultrahigh frequency beams, and from the reflected waves, 4, 4, etc.
・A calculation computer with a built-in computer performs calculations. That is, the actual front terrain measurement work amount obtained by the work amount monitoring device M is used as a correction amount, and the error correction is performed by comparing it with the amount of work performed obtained by integrating three-dimensional position information, and the calculated work progress is corrected. The corrected work progress is output as a digital signal to a remotely installed computer 23. Further, the sensor 32ev# terrain signal is converted into a digital signal and output to the obstacle monitoring device 37. Incidentally, the sensor 32e is operated so that the arm 41 is turned backward after the work is completed so as not to hinder the regular running of the construction machine 15.

In the obstacle monitoring device 37, an obstacle judgment program and obstacle judgment criteria are stored in a built-in convenience store, and the work situation information digital signal input from the work situation monitoring device 5 and the work amount monitoring device are stored. The front terrain digital signal from the object is combined with the central location and calculated based on a judgment program to determine the obstacle ahead. Further, one or more underground object sensors 32f are attached to the front part of the working device 5 near the ground surface and connected to the obstacle monitoring device 37. The underground buried object monitoring sensor 52f converts a signal obtained in analog form by an ultrasonic search device or a magnetic search device, etc. into a digital signal in the obstacle monitoring device g and stores it in the computer. Abnormal state monitoring device 38, which will be referred to later as a combiator, calculates the presence or absence and type of underground objects by calculating the obstacle signal and the collision signal, and uses the forward obstacle books and underground objects as obstacle information as a digital signal. Input to. The abnormal state monitoring device 58 includes sensors 18, 20, 22, 26, 29, and 37 of each of the devices described above.
The normal/abnormal signals of each device connected to it and sent every moment during operation, such as electrical signals such as rotation speed, temperature, pressure, force angle, amount, etc., are input through the P-wave device, amplifier, etc. for each sensor. If this electric signal is an analog quantity, it is input after being digitally converted. Also, this device 33 includes a three-dimensional position monitoring device status and a work status monitoring device 35. Each digital signal from the work situation viewing device and the obstacle monitoring device 37 is also input and stored in a storage device of a built-in computer (not shown) at a predetermined location at regular time intervals, input in advance and stored in each device. The normality/abnormality determination reference values are sequentially called into the arithmetic unit of the combiator, and comparison calculations are performed to determine normality/abnormality, respectively.

This operation is repeated during operation and is normal.

When an abnormality determination is made, a normal signal or an abnormality occurrence signal is input to the remotely installed combiator 23.

will be played. Examples of programs for various tasks necessary for automatic operation before work are included in Punpie/23, such as a travel guidance program, an evacuation V-program, an emergency stop program, a finishing inspection program, a work preparation start program, a work end program, It also stores various necessary programs such as inspection and check programs for each device. In addition, as an example of work specifications that change each time depending on the work site or region, work specification programs such as work scope, work order, work volume, work method, soil quality, etc. are stored in the remotely installed computer 23 each time before the work starts. The computer 3 is connected to a monitoring device 51 and a transmitting/receiving device 52,
A command signal from a remotely installed computer 26 is input to a transmitting/receiving device 52, converted into a transmission signal, and transmitted to the relay station 5 by wire or wirelessly, and then transmitted by a wireless signal from the relay station S, which is placed in the work area. The signal is received by the transmitting/receiving device 5 via an antenna mounted on the earth construction machine 15, inputted to the relay device, converted into a command signal, and transmitted to each predetermined device. Various information signals output from the monitoring device to the combiator 3 installed remotely and response signals from each device are converted into reply signals by the relay device and transmitting/receiving device 55, transmitted from the antennae, and distributed via the relay station 5. The information is electrically transmitted to the transmitting/receiving device 52 installed at the same time and input to the combiator 23 and the monitoring device 51K.

The said earth construction machine was transported to the work area by vehicle, etc., or was guided by the scratcher and placed at or near the work start point, and the worker, worker, etc. gave the command for automatic work operation. After that, work commands are issued to each device by remote control using an automatic work program stored in the remotely installed computer 23, and then the monitoring devices 34, 3 are inputted to the remotely installed computer 3.
5, 36° 37, 58 and the output signal of the reply signal of the response signal of each device, the three-dimensional position of the working machine 15 in the work area, the traveling direction, 9 the work situation, 9 the work amount.

It determines obstacles and abnormal conditions, issues work commands according to the situation, and executes the stored automatic work program. Reference numeral 42 denotes an emergency communication device which is normally connected to an antenna when an abnormal condition occurs according to a command from a remote-installed computer 23, and transmits an abnormality occurrence signal, which is input to the monitoring device 51 via the relay station 5 to notify the occurrence of an abnormality. In addition, in the event of an abnormality such as a stoppage of all equipment in the construction machinery 15, the power supply 1
In that case, when 9 also stops and the control power is lost,
Emergency power supply device built into the emergency communication device 42 (not shown)
K is also switched by the operation of a built-in low power relay (not shown), and an emergency contact signal is transmitted from the antenna, which is input to the monitoring bag f151 via the relay station S to notify the occurrence of an abnormality. The top tower section 6 has various sensors 32a.

32b, 32c,! An example of a strong capsule that houses the S2d and emergency communication device 42 and does not interfere with the transmission and reception of extremely high frequency waves, etc. and visual information is covered with tempered glass, etc. to protect the internal equipment so that it is suitable for automatic work above ground, underground, and underwater. Also, depending on the work situation, the top tower Iku 43 will rise due to various sensor drive devices.

The lowering and turning 1 etc. are performed by commands from a remotely installed computer 23 or by operation of manual scratching handles 27, 27.27.

Next, automatic work operation will be explained using automatic work flowcharts shown in FIG. 8 and subsequent figures.

Figure 8 shows the flowchart up to the start of automatic work.
Once the amount and type of civil construction work has been determined 101, the field survey 102 is carried out.
This is carried out by workers, and a field survey map is created by accurately measuring the topography, soil quality, and amount of work in the work area through precision surveying. The automatic work plan 103 starts based on the skeleton survey map, and a finished map is created according to the work specifications 101, and earth construction machinery is selected based on the topography, soil quality, volume of work, etc.

Once the construction machinery is decided, the automatic work procedure will be determined in detail. In other words, topography and soil quality from survey maps.

Determine the work start position of the earth construction machine considering the amount of soil to be worked, etc., and respond with the # button! ): 9,392 transponders 39.39 for determining the installation location select a location where the entire work area can be seen, and where the construction machine 15 can be seen even when the construction work is completed. It is preferable to install the transponder 39 near the outside of the boundary of the work area, but if this is difficult due to terrain or other obstacles, it should be fixed in the air within the work area so as not to interfere with soil work. Also, it is not necessarily necessary to have a place where the transponders 39 and 39 can see each other, and an obstacle may be interposed between them. In this case, the responder 39
．． If the straight line distance between 39 and 39 can be accurately measured, there will be no problem.6 Next, when the installation location of the civil engineering machine 15 and the response @39, 59 is decided, the number of repetitions of the work is calculated based on the amount of work per time of the civil engineering machine 15, etc. A planned work trajectory is designed in detail including travel distance, direction, work order, etc. until completion, and the necessary number of intermediate finishing drawings are produced in the intermediate work process, which are necessary for checking the work progress in the intermediate process and final finishing state. The three-dimensional position of the construction machine 15 is calculated. Automatic work plan 10
When step 3 is completed, an automatic work program 104 is created. The automatic work program 104 is the automatic work needle 1ji1.
The automatic work program 104 is created by incorporating, for example, a start program, a stop program, an abnormality response program, etc. into the specification work program 103 K created in advance into routine programs and subroutine programs. 105 is a work step in which the created automatic work program 104 is input to the remotely installed combiator 23. Computer input y) With the completion of work 105, the preparatory work for automatic work operation is completed.The zero-order Vc106 is a transponder installation work in which a transponder 59,59 is installed by a worker at a predetermined position in the field work area. After completing the transponder installation work 106, which requires setting the transponder 39 at an accurate position while actually measuring the distance between the transponders 39 and 39, the civil engineering machine 15 then performs the work of moving the starting point of the civil engineering machine 107. Construction machine starting point moving work 10 in which a worker moves a starting point to a predetermined starting point position in a work area or its vicinity.
After step 7 is completed, the worker gives a work start command via radio command to the remotely installed computer 23 via the relay station 5 and the transmitting/receiving device, and also to the transponder 39, 39, and automatic work operation is started. .

When the work start command 108 is given to the remotely installed computer 23 by a worker's wireless command, the computer 2
5 is the automatic work program 1 stored previously.
04Kt, issue work orders to each other.

The work command is input to the transmitting/receiving device 52, converted to a transmitting signal, received via the relay station 5, inputted to the transmitting/receiving device 55, converted into a work command from the remotely installed computer 3, and transmitted by the relay device 55. The work command is transmitted to each predetermined device. First, if the construction machinery 15 is in a stopped state, a preparatory operation @ 110-113 is carried out. A preparatory overtime command is issued from the remotely installed computer 3. 8# In the computer δ, a start program for each device is stored in advance. The start command is sequentially issued by the start program, and the start-up 110 of each device of the earth construction machine 15 at the remote location is performed.

When the startup of each device of the construction machine 15 is completed by the start command from the remotely installed computer 23, a startup response signal is emitted from each device one after another, is input to the relay device, is converted into a transmission signal between the transmitting and receiving device, and is sent to the antenna. No more ms
The signal is output to the remotely installed computer 23 via the above-mentioned route.

When the activation response signal is input to the remotely installed computer 23 and confirmation of completion of activation of each device of the earth construction machine 15 is confirmed, the remotely installed computer 23 switches to a pre-stored inspection check program for each device and performs an inspection check for each device. Commands are issued one after another, and each device inspection check 111 of the earth construction machine 15 at a remote location is performed. The quality of the result of the inspection check 111 is determined by an abnormal condition monitoring device 38, which will be described later.
A signal indicating pass or fail is input to a remotely installed computer 23K. If all the pass/fail signals are good and input to the remotely installed computer 23, and each loading inspection check 111 shows no abnormalities, the remotely installed convenience store 1-23 executes the next running test program stored in advance. to kill.

The travel drive device 21 of the earth construction machine 15 is operated by a travel test program stored in a remotely installed computer 25.
When the K running test command is given and a running test is performed using remote scratching, the running direction guidance described later is carried out through communication between the tertiary current position monitoring device mounted on the construction machine 15 and the transponder 39.39. Tests can also be conducted at the same time.

If the driving test 112 shows no abnormalities, the remotely installed funter 23 switches to a pre-stored working driving test program, and the working driving test 113 is performed. The work operation test 113 is performed by the work drive device 2 of the construction machine 15 via the above-mentioned route according to the work operation test program stored in the remotely installed convenience store δ.
4Kfsfl industrial operation test command is given and the operation and monitoring equipment of the work equipment 25 is performed by remote scratching 35, 36, 37
.

A check is made to see if 38 is operating properly.

The work operation test 113 was completed without any abnormality, and the preparation step 110 was completed.
~113 ends. Preparation steps 110 to 11 described above
If an abnormality occurs during the work at No. 3, the monitoring device 33 will use the abnormality response program (described later) to determine the abnormality, determine whether the abnormality is minor, and determine whether to stop operation. An abnormality occurrence signal is input from the monitoring device 5 to a remotely installed computer 23. The computer 5 to which the abnormality signal has been input interrupts the ongoing program and immediately switches to the previously stored abnormality generation program, which will be described later. A monitoring device 51 on the side of the remotely installed computer 23 instructs the civil engineering machine 15 to continue abnormal operation, etc.
K The remotely installed computer 23 that displays the alarm 2 of the abnormal location has a complete stop or temporary stop program tlJ
Alternatively, the operation of the construction machine 15 is stopped 115, and in the case of a command to continue abnormal operation, the remotely installed computer 23 is immediately returned to the currently interrupted program and continues from the interrupted point. The program will proceed accordingly.

116 if there is no abnormality in the preparation operation steps 110 to 113.
0 There is someone in the work start position confirmation process. According to the automatic work program stored in advance in the remotely installed convenience store 23, whether the earth construction machine 15 is at the work start position is inputted to the remotely installed computer 23 from the three-dimensional position monitoring device.

It is determined whether or not the construction machine 150 is at the work start position by comparing the three-dimensional position information signal with the work eyelid opening sound (i music) stored in advance in the remotely installed computer 23. To explain with a diagram, the predetermined work start position stored in the remotely installed computer 23 is in the direction of the reference IIL and the angle of rI, and the transponder 39
．． Assume that the distance from 39 is tl and 4. The current position of the construction machine 15 input to the monitor 23 is in the D direction and the angle with the reference line is r.
If the distance from the transponder 39.39 is 4*4, the remotely installed computer 5 compares the stored position information y (pAsp's and the measured signal γl*4*4) using the position determination program. perform an operation, resulting in 'r'''
-r w 'S =' +4 In the case of Shizuku, construction machinery 15
is determined to be at the predetermined position to start work, and automatic work operation is executed.
In the case of As t4 to t2, it is determined that there is no predetermined work start position, a work start position correction command is issued by the remotely installed computer 23, and the work start position correction step 117 is performed. In this case, the construction machine 15 is guided to two points from the current position P using the position correction program stored in the remotely installed computer δ.5. In this case, first, the remotely installed computer 25 calculates the false guidance direction based on the baseline, and
The direction of 5 is corrected in the α3 direction.Next, guidance travel is started in the α1 direction, and the distance of 4, which changes from time to time, is determined by communication between the three-dimensional position monitoring device Nu and the transponder 39.39. 11-1s #4 while repeating the position determination to the remotely installed combiator 23.
”Kll guidance travel stop command is issued to stop the construction machine 15 from traveling. After that, the direction correction guidance program
The direction change guidance is performed until -rK is reached, and the earth construction machine 15 is directed to the predetermined work starting position.

When it is confirmed that the construction machine 15 is at the work start position, the automatic work operation 119 is executed by the automatic work program. When the automatic work operation is performed according to the automatic work program 1040, the work amount monitoring device or finish inspection is performed. A pass signal 0 is outputted to the remotely installed combiator 23K, and the remotely installed computer 3 performs a finishing inspection running stop 262 at 5 as shown in FIG. 501 is performed to stop the operation of the working device 3. Next, the end position movement 502 is performed, but the end position movement 502 is based on the predetermined end three-dimensional position signal stored in advance and the tertiary position at the time when the automatic stop 501 is performed. The position correction program moves between the original position signal and the position correction program in the same manner as the above-described position correction of the predetermined work start position, and stops at the predetermined position.

After that, an inspection check 503 is performed on each device using the inspection check program for each device, and if all devices are normal, the operation is terminated and stopped 504, and if there is a device that has been determined to be abnormal, the abnormal location alarm display 505 is displayed as the monitored value. At the same time, the amount SaK is carried out, and the monitoring device 151 installed remotely is also carried out, and then the operation end/stop 504 is carried out.

No. 11I shows a running direction guidance flowchart.

Transponder 39.39 while rotating Senna-32m all over the sky
Measure 120 the response time of the response wave in the direction in which the response wave has the strongest sensitivity, and measure 120 the direction false, false, βl, and β.
1 and 1s*kek distance calculation 122 and direction α calculation 123 are performed by the position monitoring device 34, and Zl m
'b Zl distance signal 124 and C, α snow, αme/lo
A direction signal 125 in the /s direction is output to each remotely installed computer 23.

The remotely installed computer 3 calculates by combining the distance signal 124 and the direction signal 125, which are input every moment at regular time intervals, with the planned travel direction signal and position information signal that are incorporated and stored in the automatic work program. Then, a traveling direction position determination 126 is performed. If there is no abnormality in the running direction and position determination, an automatic work program operation continuation command is issued to continue automatic work operation. When determining 126a that there is an abnormal work trajectory deviation signal when determining the traveling direction and position, a travel stop command 128 is issued on condition that the work trajectory deviation signal O is output from the work amount monitoring device to the remotely installed computer 23. The machine issues a command 128 to temporarily stop the movement of the construction machine 150, and then issues a direction correction command 129 to correct the direction according to the direction correction command program.When the direction correction is completed, an automatic work operation restart command 130 is issued to continue automatic work operation. do. This first
The driving direction guidance based on Figure 0 is constantly performed at fixed time intervals during automatic work operation.

FIG. 11 (181) is a two-chart for responding to an abnormality when the monitoring device detects an abnormality.
During the operation of the construction machine 15, information signals 131 from various layer sensors and information signals 132 from other monitoring devices 34, 35, 36, and 37 are stored at predetermined locations in the storage unit at regular time intervals. Then, each input signal and the pre-stored judgment reference values for normal operation and abnormal operation of each device are successively called into the arithmetic unit, and a comparison operation is performed to make an abnormality judgment 133. The abnormal condition monitoring device 38 displays a normal operation display 134. If it is determined that there is an abnormality, a minor abnormality determination 135 is performed to determine whether or not the abnormality is a minor abnormality. Continuing abnormal operation display 136 and minor abnormality display and alarm 15
7 and outputs a minor abnormality signal W158 to the remotely installed computer 23.

If the minor abnormality determination 135 indicates that the abnormality is not a minor abnormality (major abnormality), a full stop determination 140 is performed, and if an emergency full stop is required regardless of the presence or absence of a backup device, a full stop determination is made and a full stop signal 1141 is remotely installed. is output to the computer 23. If the full stop judgment in step 140 is not a full stop, a spare device presence judgment 142 is performed.If the spare device presence judgment 142 indicates that there is no spare device, that is, if the standby device has been used and the accident has occurred, the standby device is stopped. A signal 141 is output to the remotely located computer 23. If the spare device presence determination in step 142 indicates that the spare device is present, an automatic work operation temporary stop command 143 is issued, an automatic operation temporary stop signal is output to the remotely installed computer 23, and a spare device switch 144 is performed by the spare device switching program. After completion of the spare device switching 144, a spare device check 145 is performed by the spare device check program incorporated in the spare device switching program, and if there is no abnormality in the spare device, an automatic work operation restart command 146 is issued. From this K, between the abnormal condition monitoring equipment, the automatic work operation restart command seal is output to the remotely installed computer 23. The preliminary equipment check 145 indicated in e# is not normal (abnormal).
In this case, a full stop command 141 is issued and a remotely installed combiator 23K full stop signal I is output from the abnormal condition monitoring device. Remotely installed computers have each signal I.

When either the lid or the seal is input, an abnormal signal determination 401 is performed immediately, and if it is a total stop signal X, the first
As shown in Figure 1 (G), an emergency full stop command is issued at 5, and all equipment is stopped 403 by the emergency full stop program, and the monitoring device 51 K displays a full stop display and an alarm is generated 404.
to carry out. If the signal input to the remotely installed computer 23 is 1.1 or ■, the temporary stop judgment 40 is made first.
5, and then if it is an automatic work temporary stop signal, an automatic work temporary stop command 406 is issued, an automatic work temporary stop 407 is performed by the automatic work temporary stop program, and the monitoring device 51 K temporarily stops display and alarm. A generation 408 is performed. Also, remotely installed computer 2
3 If the K input signal is Seal or W, perform a minor abnormality determination %, then if it is a minor abnormality signal ■, issue a minor abnormal operation continuation command 410 and perform automatic work operation during minor abnormality 411. At the same time, the monitoring device 51K displays a light abnormal operation continuation display and generates an alarm 412. In addition, the above-mentioned minor abnormality judgment 4
If 09 is an automatic work resumption signal, an automatic work resumption command 413 is issued and automatic work resumption 414 is performed by the automatic work resumption program.

Figure 12 is a flowchart for determining work information.

During automated work operation, unfavorable safety situations may occur, such as terrain changes within the work area, such as landslides, abnormal proximity between construction machines, and workers entering the work area or approaching the construction machines. Therefore, it is necessary to monitor the work status.

155 is various sensors, for example the short range radar 32b
and the visual information device 32c. These various sensors 155
The work situation information signals from the above are inputted into the work situation monitoring device 35 from time to time. This information signal is compared with the work situation judgment criteria stored in advance based on the work situation judgment program, and a calculation is performed to determine whether the work situation is known (15).
Do step 6. If the work situation known determination 156 determines that the work situation is not a known work situation (unknown work situation), that is, it is stored in advance.If the work situation is not in the work situation judgment criteria, the work situation unknown signal O is immediately output to the remotely installed computer 23. As soon as the trap unknown work situation alarm and display 157 is sent to the work situation monitoring device 35, the remotely installed monitoring device 5
1 K Unknown work status is displayed and an alarm is issued.

If the work situation known judgment in 156 is a known work situation, abnormal situation judgment 158 is continued, and if the abnormal situation judgment in 5,158 is that there is no abnormality, the normal work situation is displayed in the work situation monitoring bag f35 and the remotely installed monitoring device f51. Displays 159 and 159m are performed, and if the abnormal situation judgment in step 5,158 indicates that there is an abnormality, the work continuation judgment program built into the work situation judgment program compares it with the work situation judgment standard and makes a work stop judgment 160. If the determination is to stop the work, an abnormal situation work stop signal O is output to the remotely installed computer 23, and the work situation monitoring device 5 and the remotely installed monitoring device 51 K abnormal situation display and alarm. Let occurrences 161 and 161JI occur. 1600 If the work stoppage determination is not to stop (continue), the work status monitoring device 5 and the remotely installed microscopic device 51K display the work continuation under abnormal circumstances and generate alarms 162 and 1628.

When the remotely installed computer receives the work situation unknown signal ◎ and the abnormal situation work stop signal O, it immediately issues an abnormal situation automatic work operation stop command and starts automatic operation according to the abnormal situation response program stored in advance. A stop 163 is performed, and then a determination 164 is made as to whether or not the construction machine can escape from the abnormal situation. As a result, if it is determined that escape is impossible, an emergency automatic work stop command will be issued immediately and an emergency stop program will be used to stop the work.
At the same time, the remotely installed monitoring device 51 is made to display an emergency stop display and issue an alarm. If the abnormal situation escape determination in step 164 indicates that escape is possible, a safe point escape transition 167 is performed by the abnormal work situation response program, and various sensors 1
55 to escape and move in the direction opposite to the direction in which the abnormal work situation was detected. 1670 After the safe point escape transition is performed, the safe point escape success judgment 168, that is, the presence or absence of the abnormal situation work stop signal Q is determined by the escape transition, and if the escape is successful, an automatic work operation restart command 169 is issued. Then, the automatic work operation is resumed 170 again, and the remotely installed monitoring device 51 is displayed to be stopped and the alarm generation is canceled 170a. If the success of escape from the safe point 168 is determined to be a failure, an emergency stop command is issued to perform an emergency stop 165, and the remotely installed monitoring device 51 displays an emergency z-pressure and generates an alarm 165m. is a work progress judgment flowchart, and the work amount monitoring equipment includes necessary programs such as a progress judgment program, a work progress oven program, a finish inspection program, a work progress intermediate check standard value, and a finish inspection standard. A value, a planned three-dimensional work trajectory (hereinafter referred to as a planned work trajectory), and a planned work trajectory are stored.

Now, the three-dimensional position signal input from the three-dimensional position viewing device every moment is x from the reference WO shown in Figs.
, y, and z axes are computed and stored as a three-dimensional work trajectory (hereinafter referred to as the actual work trajectory 5) in a predetermined store of the storage device in chronological order in correspondence with the actual measured front terrain. At the same time, the actual work trajectory and the planned work trajectory are compared every moment from the start of automatic work as the work progresses, and the actual work trajectory is determined 172 to determine whether the actual work trajectory is within the allowable range of the total work trajectory. 5,
If the actual work trajectory determination in step 172 is within the allowable range, then work progress plan point determination 173 is performed.Work progress plan point determination 1730 determines what percentage of the actual work trajectory has progressed to the total planned work trajectory. The work progress level is determined and the work progress check plan point is determined.

If the actually measured work trajectory determination at step 172 is outside the allowable range, a trajectory deviation signal is output to the remotely installed combiator 23. When the remotely installed combiator-π receives the off-track signal O, it detects the above-mentioned traveling direction and position determination error and the off-track signal O.
When the conditions overlap, the automatic work operation is interrupted and a direction correction command 124 is issued to correct the guidance direction. Direction correction command 124 is not issued with only the off-track signal O, and the direction correction command 124 remains unchanged.
Automated work operation will progress. 171 is a sensor, for example, the front terrain sensor 32e. Front terrain sensor 32
e emits a beam such as an extremely high frequency wave emitted from a built-in transmitter to the work amount monitoring device 36, catches the reflected wave reflected from the ground surface, and inputs the reflected wave to the work amount monitoring device 36ic.

The distance between the sensor 32e and the ground surface is calculated from the emitted wave, the return time of the reflected wave, the strength of the reflected wave, the Doppler effect of the reflected wave, etc., and the ground surface shape and condition are obtained as an actual front terrain signal and the above-mentioned actual measurement work is performed. It is stored in a predetermined store of the storage device in correspondence with the trajectory, and the actual measured forward terrain signal O
is output to the obstacle monitoring device 37. The stored actual measured work trajectory signal and actual measured forward terrain signal are taken out to a calculation section at regular time intervals, and the actual measured work output is calculated and accumulated and stored in a predetermined store of the storage section. For example, the work progress planning point determination 173 is work progress 301, 5013.801!
When any of the 111,111 planning points is determined, the actual work output and the planned work output, which are accumulated and stored at the relevant work progress level, are compared to the planned work volume.
Perform the actual measured soil volume progress calculation 174 to calculate the 1m explosive soil l0 work progress level, compare the calculated actual measured earth volume progress level with the work progress level, and find out that the actual measured volume progress rate is within the plan allowable progress range with respect to the planned work progress rate. 5,175 The actual measured output progress is within the allowable range determination 175 to determine whether there are people inside.
If the actual measured earth volume progress is determined to be within the allowable range, the work progress check signal (for example, 501 work progress check signal) is sent to the remotely installed combiator 23.
Output to.

If the actually measured earth volume progress in 175 is determined to be within the allowable range, the work amount monitoring device and the remotely installed monitoring device 51 K output amount out of the allowable range alarm and table? 76.degree. 177, and then input the work progress check signal example into the remotely installed combiator 23. Immediately after outputting the work amount monitoring device or work progress check signal to the remotely installed computer 23, the system waits for the input of a three-dimensional position signal from the three-dimensional position monitoring device.

FIG. 14 +ll1tbl is a work progress check flowchart. Immediately after the work progress check signal ■ is input to the remotely installed computer 23, automatic work program interruption 201 is performed. Next, the program interruption point and interruption time are shown. The three-dimensional positions of the three-dimensional positions are respectively stored 202 in a predetermined store of the storage device. Subsequently, automatic work stop program switching 203 is performed and automatic work operation stop 204 is performed. When automatic operation stop 204 is completed, work progress check program (for example, work 301 progress check program) 205 KtFI is switched. Next, from the work progress check program AK, a running check operation 206 of I...W shown in FIG. 15 is performed to an example of a check reference point. The work progress check program 205 includes a program for moving the earth construction machine 15 from the automatic work operation interruption position to the start point A of the running check operation 207, and the program is the same as that carried out in the work position correction process. After the movement is completed (206) to the starting point A using the position correction program, the travel check operation 7 is started. The three-dimensional monitoring equipment is equipped with a sensor 32m and a transponder 39.3m.
The three-dimensional position of the construction machine 15 is calculated based on the communication signal with the construction machine 9, and a three-dimensional position signal (hereinafter referred to as an actual position signal) is continuously input to the monitoring device 36 from time to time. The work amount monitoring device on standby starts the work progress check program start 208 when a travel check operation start signal is input from the remotely installed computer δ. Driving check driving 2
07, as the construction machine 15 travels through the reference points one after another, the measured position signal is inputted from the three-dimensional position monitoring device to the work amount monitoring device moment by moment, and the three-dimensional coordinate x is determined from the measured position signal. , y, z coordinate calculations are performed, and the calculation is performed by comparing the planned 2 coordinate values and the measured 2 coordinate values at the time when the x, y coordinate values of the plan check reference point match the x and y coordinate values of the actual measured position signal. Check whether the actual measured 2 coordinate values are within the allowable range of the standard value or not at all reference points, and if all of the reference points are within the allowable range, 2.
The determination 210 that the coordinates are within the permissible range is performed according to the planned progress, and an automatic work restart signal O is output from the work amount monitoring device to the remotely installed combiator 23. Furthermore, if the 2-coordinate tolerance determination 210 determines that the progress is not as planned, the actual progress is calculated 212 from the final finishing reference value and the actual measured position, and the automatic work correction restart command 213 based on the actual measured progress is sent to monitor the work. When the actual measured progress automatic work correction restart signal e issued from the equipment is input to the remotely installed combinator 23, the remotely installed computer 23 receives the automatic work operation restart signal 9 or the actual measured progress automatic work correction restart signal. and automatic work operation restart signal O determination 214 is performed, and if the determination is automatic work operation restart signal O, automatic work operation restart program switching 215 is immediately performed, and automatic work operation is resumed to the three-dimensional position where automatic work operation was interrupted. Perform position movement 216 and move the construction machine 1 to the automatic work operation interruption position.
5, the automatic work program switching 217 after the interrupted point is then carried out, and the automatic work operation is resumed 218. At the same time as the automatic work operation restart 218, the remotely installed computer 23 outputs an automatic work operation restart signal θ to the work amount monitoring device. Further, if the automatic work operation restart signal O determination 214 is not the signal ■, that is, the actual measured progress automatic work correction restart signal C, the remotely installed computer immediately performs the actual measured progress automatic work operation correction restart program switching 219. , the interrupted and stored automatic work program interruption point and three-dimensional position 2
02 and instead store the automatic work program correction points and corrected three-dimensional positions corresponding to the actual measured work progress 220
Then, the automatic work operation correction restart position movement 221 is performed to the corrected three-dimensional position, and then the automatic work program correction switching 222 is performed from the automatic work program correction point to restart the automatic work operation. The actual measurement progress automatic work operation correction restart signal is input to the work amount monitoring device. When the automatic work operation restart signal ■ or the automatic work operation correction restart signal is input, the work amount monitoring device makes an automatic work operation restart signal O determination 224, and if the signal ■ is determined, the Km is immediately interrupted and stored. progress judgment program interruption memory 178 and subsequent progress judgment interruption program switching 22
Step 5 is performed, and progress judgment program restart step 226 is performed to restart work amount monitoring. Further, if the signal O determination 224 is not a signal exit determination, that is, the automatic work operation correction restart signal O, the stored location of the progress determination program interruption memory 178 that is interrupted and stored is corrected to the actual measured progress location,
For subsequent programs, the progress judgment program actually measured progress switching 227 is performed, and immediately the progress judgment program correction restart 228 is carried out, and the work amount monitoring is restarted with correction.

When the work progress check signal ○ is input to the remotely installed computer 25 at a progress level of 1-1 (see Fig. 16), the computer 3 immediately switches the automatic work operation program to an automatic work stop program switch 251, and at the same time remotely A finish inspection command signal O is input from the installed computer 23 to the work amount monitoring device 36vc. After the automatic work operation stop 252 is carried out, the finish inspection program is switched 253 and the finish inspection start point is moved 254.
When finishing inspection start point movement completion 255 is completed, a finishing inspection start signal O is output from the remotely installed computer 23 to the work amount monitoring device 36, and at the same time finishing inspection traveling 256 is started.1 Work amount monitoring When the finish inspection command signal O is input to the equipment, the finish inspection program is switched 257.The finish inspection program includes the x and y coordinate values of the planned check point, the reference values of the two corresponding coordinates, and the tolerance reference value. When a finish inspection start signal @ is output from the remotely installed computer 23 incorporated in the computer 23 to the work amount monitoring device 36, the finish inspection program starts. Along with the finishing inspection run 256, the X-Y coordinate determination 259 is performed in the same manner as in the work progress check program based on the actual position signal input every moment from the three-dimensional position monitoring device, and when the planned X-Y coordinate is reached, KZ If the coordinates are within the allowable range determination 260, and all the plan checkpoints are within the range, the finishing inspection pass determination 261 is performed, and the finishing inspection pass signal is sent from the work volume monitoring device to a remotely installed computer. Output to δ. Remotely installed computer 23
Finishing inspection stopped due to finish inspection pass signal 26
Do step 2. At a point where the two-coordinate within-permissible range determination 260 is outside the permissible range, a poor finish signal 0 is input to the remotely installed computer 25. Combiator 23 immediately stops finishing inspection run 2 when the poor finishing signal O is input.
63, the program is switched to the defective finishing point correction program, and the defective finishing point correcting program operation 264 is performed, which repeats the station point correcting work operation. Modification program operation 264
When the two-coordinate tolerance range judgment 260 is determined to be within the tolerance range, the tolerance range signal ■ is sent to the remotely installed computer.
23, the computer 23 changes the finish inspection run program KFI according to the permissible white signal ■ and restarts the finish inspection run 265 from the aforesaid aborted point, until the 2-coordinate tolerance judgment 260 of all planned check points becomes an allowable white judgment. The poor finishing point correction program operation is repeated, and when the 2-coordinate tolerance judgment 26° becomes an acceptable white judgment for all planned points, the finishing inspection pass decision 261 is carried out, and the finishing inspection passing signal O indicates the work. The output is output from the quantity monitoring device to a remotely installed computer 23, and the finish inspection is completed.

FIG. 17 is an obstacle evacuation and removal flowchart, and reference numeral 9 is an obstacle monitoring device, in which the known work situation signal O and the forward terrain signal O from the work amount monitoring device are sent every moment from the precursor work situation monitoring device 5 to the obstacle monitoring device 37. I'm going to be summoned to the office. In addition, in the case of the sensor 301, the underground object signal (2) from the underground object sensor 32f is also output to the obstacle monitoring device 37.The obstacle monitoring device 37 stores an obstacle judgment program and an obstacle judgment standard in advance. , The signals o, o, and C that are input every moment are judged by the obstacle judgment program at regular time intervals.The signal 0 judgment 302 is first performed for the signals that are input (@, @), and a. , signal O
In the case of determination, it is then determined whether the object sent from the work status signal OK is within the danger range in the direction of travel of the earthworks machine 15, that is, the determination 302 that the object is within the danger range in the travel direction is performed 5e302. If the determination is yes, known obstacle determination 304 is performed. If the determination at step 302 is that there is no obstacle, a work status signal and a no-obstacle signal are displayed on a display section (not shown).

If the signal 0 determination 302 is a signal Φ or no signal and the signal is 0■, then a signal determination 305 is performed.If the determination in 305 is a signal O determination, then the next step is to determine whether the terrain ahead is abnormal terrain or not. A forward terrain abnormality determination 306 is performed, and if it is determined that an abnormality exists, a known obstacle determination 304 is performed. If the determination in 3o6 is that there is no abnormality, a signal indicating that there is no abnormality in the terrain ahead is output to the display section.

If the signal O determination 505 is not the signal C, that is, the signal O, there is an underground object presence or no underground object presence determination 3.
07 will be held. If the judgment 307 is a presence judgment, the known obstacle judgment 304 is performed.
If it is determined that there is no underground buried object, a signal ■ indicating that there are no underground objects is output to the display section. When the work status signal No Obstacle Signal ■ outputted to the display unit, the No Front Terrain Abnormality Signal 0, and the No Underground Object Signal ■ overlap, the display unit displays No Obstacle Display 308.
At the same time, the obstacle monitoring device 9 outputs a no-obstruction signal of 0.
The information is input to a computer 23 installed remotely.

Known obstacle determination 304 is performed following the presence determination of determinations 303, 306, and 307, when there is a pressure obstacle in the dangerous area in the direction of travel, when there is an abnormality in the terrain ahead, or when there is an underground object. The stored obstacle determination reference signal and determination 303.3, which is the recognition determination of the obstacle in the case of
06, 307 presence determination signals are compared and calculated to identify obstacles, such as whether there are standing trees, large rocks, or buried pipes in front.0
When an obstacle is recognized in judgment 304, an eliminatable judgment 309 is made. Judgment 609 is used to determine whether an obstacle can be removed by the recognized obstacle, such as a small tree or small-sized rock, or a large tree or tree that cannot be removed. , steel towers, underground pipes, etc., and if the 309 judgment is that they can be removed, the removeable obstacle signal ■ is sent to the remotely installed computer 23.
is input into. If the determination in step 309 is that it cannot be eliminated, that is, it is determined that it cannot be eliminated, an unremovable obstacle signal (2) is input to the remotely installed computer 23.

If the determination at step 304 is that the obstacle is an unknown obstacle, an unknown obstacle signal ■ is input to the remotely installed computer 23. Also unknown obstacle signal.

The unremovable obstacle signal (2) and the removable obstacle signal (2) are also input to the remotely installed monitoring device 51K, and the relevant display and alarm generation 310 are performed.

The remotely installed computer 23 outputs a no obstacle signal ■, an unknown obstacle signal ■, and an unremovable obstacle signal ■.

Immediately when the removeable obstacle signal ■ is input, a signal ■ judgment 311 is performed, and if the signal O judgment is made, a command is issued to continue automatic work operation 312. If the signal ■ judgment 311 is a judgment that the signal ■ is not a signal ■, continue to perform the signal ■ judgment 313 2
Judgment 3131! In the case of I”-signal ■, the automatic work operation is temporarily stopped 314, the automatic work operation program is temporarily stopped, the side location and three-dimensional position are memorized, the system is switched to the obstacle removal program, and the obstacle removal work 315 is performed. Completed 31
6, the program switches to the temporarily suspended automatic work program and resumes automatic work operation 317. If the signal O judgment is not a signal ○, that is, the signal ■ or ■, the automatic work operation is temporarily stopped '515, the automatic work program temporary stop point and three-dimensional position are memorized, and the obstacle tour automatic work program is started. Switching obstacle 1 avoidance automatic work operation 31
6 is performed, and at the end of obstacle tour 317, the automatic work program is switched to an automatic work program in which the temporary stop point and three-dimensional position of the automatic work program are corrected to the program place and three-dimensional position of the obstacle 1 avoidance end point, and automatic work operation 318 is performed.

The civil engineering work method and its device according to the present invention provide information on civil construction work in advance using a civil engineering machine main body, sensors and monitoring devices loaded thereon, a remotely installed computer, and a transmitting/receiving device installed in each of the civil engineering machine and the remotely installed computer. is stored in a remotely installed computer, and information is exchanged between one or more signs fixed on the ground or in the air and the sensor, and the memorized work is performed while calculating the position of the earth construction machine in the work planning area. The ±4A work method and its equipment allow the planned work to be carried out unmanned by a program, and it does not require a scratcher, which was required in the past, making it easy to work continuously day and night. Also suitable for work underwater and inside tunnels. In addition, the self-position is detected by exchanging information with the reference point, and the direction guide 9 position correction is automatically performed, and the stored planned work contents can be executed by the stored program. In addition, the on-board work status monitoring equipment and sensors automatically detect when another construction machine or worker approaches abnormally, automatically stopping the vehicle and issuing an alarm to prevent collisions and personal accidents. House. In addition, the work amount monitoring device and sensor installed on the tower compare and calculate the planned work trajectory and amount of work with the measured trajectory and amount of work, and then automatically perform the work according to a certain program, ensuring that the planned work is carried out reliably. Check it out. In addition, the tower-mounted obstacle monitoring device and sensor automatically detect obstacles in front of the work, identify the obstacles, and decide whether to eliminate them or evacuate as the work progresses. There is no risk of damage to working machinery or destruction of dangerous obstacles, leading to major accidents, and all equipment is constantly monitored by abnormal condition monitoring equipment and sensors installed on board. When an abnormality occurs, it automatically determines whether it is a minor abnormality or 9 serious abnormalities based on the stored judgment program, and takes appropriate measures such as switching to spare equipment or emergency shutdown, and also displays Alarm 1 while the abnormality is minor. Therefore, it is possible to prevent an abnormality from expanding to the point where it becomes unusable, and countermeasures can be taken while the abnormality is still minor. In addition, since the combiator is installed in a remote location and connected to the construction machinery through a transmitter/receiver installed on each machine, it can also be used with large-capacity computers with large memory capacities, making complex automated work easier. Not only can the work be carried out automatically, but there is no need for large construction machinery, and even small construction machinery can perform automatic work, making it easy to perform automatic work in narrow spaces, tunnels, underground workshops, etc. In addition, the top of the earth construction machine according to the present invention, which houses various sensors, is covered with a strong capsule, and is configured so as not to interfere with the transmission and reception of extremely high frequency waves and visual information, so it can be used not only above ground but also underground. It also has features that allow it to be used for automatic work underwater.

As detailed above, the civil engineering work method and device according to the present invention have many excellent effects. It should be noted that the civil engineering work method and apparatus according to the present invention are not limited to the scope described in the embodiments.

[Brief explanation of the drawing]

Figure 1: Conceptual block diagram of a conventional remote scratching earthmoving machine; Figure 2:
Figure 3 is a conceptual diagram of a conventional remote scratching earthmoving machine, Figure 3 is a conceptual diagram of a conventional laser beam guided automatic machine, Figure 4 is a conceptual diagram of an earthwork machine according to the present invention, and Figure 5 is a conceptual diagram of a civil engineering machine according to the present invention. 6 and 7 are conceptual block connection diagrams of the coupling relationship of devices loaded on the machine, and FIGS. 6 and 7 are explanatory diagrams of information exchange between the civil engineering machine and the reference point according to the present invention. FIG. Figure 9 is a flowchart for completing automatic work operation, No. 10
The figure is a running direction guidance flowchart, Figure 11 (-(1>
+ Abnormality occurrence response flowchart, Fig. 12 is a work status monitoring flowchart, Fig. 13 is a work progress judgment flowchart, Fig. 14 is a 1111 th1 work progress check flowchart, Fig. 15 (-)) Driving inspection explanatory diagram, Fig. 16 The figure is a finish inspection flowchart, and FIG. 17 is an obstacle tour and removal flowchart. 15... Civil engineering machine body, 18, 20, 22, 26,
29, 31, 32a to 32f...sensor, 21...
- Travel drive device, 23... Remotely installed computer, 24... Work drive device. 33... Monitoring device, 39... Sign, 52... Transmitting/receiving device. 55... Transmitting/receiving device. Patent issued [, 4 Oval 2 Company Meiden Co., Ltd. 1 Figure 2

Claims (1)

[Claims] (1) Equip work equipment. An earth construction machine main body, one or more sensors and monitoring devices loaded on the earth construction machine, a remotely installed combiner, a transmitting/receiving device installed on the earth construction machine and the remotely installed computer, and the remotely installed computer. A traveling drive device that remotely drives the construction machine main body via the transmitting/receiving device based on a command from the transmitting/receiving device.A task of remotely operating the work equipment via the pre-delivery receiving device based on a command from the remotely installed computer. An earth construction machinery device comprising a driving device and a monitoring device that monitors information from the sensor and inputs the information to the remotely installed combinator via the transmitter/receiver device, and within or in the work area of the earth construction machinery device. Communicating with one or more signs fixedly installed on the ground or in the air outside, and inputting information from the communication into the remotely installed computer to calculate the position and orientation of the civil engineering equipment. , an earth construction work method characterized in that the remotely installed computer performs the stored work content program by comparing it with the work content and controlling and guiding the position and posture; 2. The method of construction work according to claim 1, wherein a sign is provided on a ship or underwater, and information is exchanged with the sign to control and guide the position and attitude of the construction equipment underwater.