JPH032431A - Automatic operation device of construction machinery - Google Patents
Automatic operation device of construction machineryInfo
- Publication number
- JPH032431A JPH032431A JP13469489A JP13469489A JPH032431A JP H032431 A JPH032431 A JP H032431A JP 13469489 A JP13469489 A JP 13469489A JP 13469489 A JP13469489 A JP 13469489A JP H032431 A JPH032431 A JP H032431A
- Authority
- JP
- Japan
- Prior art keywords
- running
- travel
- construction machinery
- transmitters
- machine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000010276 construction Methods 0.000 title claims abstract description 33
- 238000004891 communication Methods 0.000 abstract description 8
- 230000006854 communication Effects 0.000 abstract description 8
- 238000005056 compaction Methods 0.000 description 15
- 238000010586 diagram Methods 0.000 description 1
Landscapes
- Operation Control Of Excavators (AREA)
- Investigation Of Foundation Soil And Reinforcement Of Foundation Soil By Compacting Or Drainage (AREA)
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は、建設機械２例えば締固め機械の自動運行装置
に関するものである。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an automatic operation device for a construction machine 2, such as a compaction machine.
（従来の技術）
従来の建設機械２例えば締固め機械では、運転者が締固
め機械に搭乗して、運転していた。(Prior Art) In a conventional construction machine 2, such as a compaction machine, an operator rides on the compaction machine and operates it.
（発明が解決しようとする課題）
締固め機械は、それ自体が強大な振動発生源であるため
、運転者が締固め機に搭乗して運転するのを敬遠する。(Problems to be Solved by the Invention) Since the compaction machine itself is a source of strong vibration, a driver is discouraged from riding and operating the compaction machine.
また締固め機械の作業が同じコースを繰り返し走行する
単調な作業なので、運転者の注意力が散漫になって、危
険である。In addition, the compaction machine's work is monotonous as it travels the same course over and over again, which can distract the driver's attention, which is dangerous.
本発明は前記の問題点に鑑み提案するものであり、その
目的とする処は、運転者を必要とせずに。The present invention has been proposed in view of the above-mentioned problems, and its purpose is to eliminate the need for a driver.
建設機械を運行処理装置に予め設定している走行コース
上に自動的に走行させることができる建設機械の自動運
行装置を提供しようとする点にある。An object of the present invention is to provide an automatic operation device for a construction machine that can automatically cause the construction machine to travel on a travel course preset in a travel processing device.
（課題を解決するための手段）
上記の目的を達成す、るために２本発明の建設機械の自
動運行装置は、建設機械の走行位置と設定走行コースと
を比較して走行ずれ補正値を算出する運行処理装置と２
上記走行ずれ補正値に基づいて建設機械を所定の走行状
態に操作する制御装置とを具えている。(Means for Solving the Problems) In order to achieve the above objects, the automatic operation device for construction machinery of the present invention compares the travel position of the construction machine with a set travel course and calculates a travel deviation correction value. Traffic processing device to calculate and 2
and a control device that operates the construction machine to a predetermined running state based on the running deviation correction value.
（作用）
本発明の建設機械の自動運行装置は前記のように構成さ
れており、地上に設置した複数の送信器のそれぞれから
発射した電波を走行中の建設機械の基準発信器で受信し
て、上記各送信器から発射した電波の位相比較を行い、
その結果得られた位相差を各送信器と建設機械との間の
距離に換算して、それぞれの距離を半径とし且つ各送信
器を特徴とする請求めて、この２つの円の交点を建設機
械の各送信器からの走行位置データとし、この走行位置
データを建設機械から地上に設置した運行処理装置へ送
信し、ここで上記走行位置データと同運行処理装置に予
め設定している設定走行コースとのずれを演算し、その
結果得られた走行ずれ補正値を建設機械の制御装置へ送
信し、同制御装置により、建設機械の操舵用アクチュエ
ータを制御して、建設機械を地上に設置した運行処理装
置に予め設定している設定走行コース上に自動的に走行
させる。(Function) The automatic operation device for construction machinery of the present invention is configured as described above, and receives radio waves emitted from each of a plurality of transmitters installed on the ground by a reference transmitter of a running construction machine. , compare the phases of the radio waves emitted from each of the above transmitters,
The resulting phase difference is converted into a distance between each transmitter and the construction machine, and the intersection of these two circles is constructed by defining each distance as a radius and defining each transmitter as a characteristic. The travel position data is sent from each transmitter of the machine, and this travel position data is transmitted from the construction machine to the operation processing device installed on the ground, and here the travel position data and the set travel preset in the same operation processing device are transmitted. The deviation from the course was calculated, and the resulting traveling deviation correction value was sent to the control device of the construction machine, which controlled the steering actuator of the construction machine and set the construction machine on the ground. To automatically travel on a set travel course preset in a travel processing device.
（実施例）
次に本発明の建設機械の自動運行装置を締固め機械の自
動運行装置に適用した第１．２図に示す一実施例により
説明すると、第１図の（１） （２）が地上に設置した
送信器、（３）が締固め機械で、同締固め機械（３）に
は１通信装置（４）と位置測定装置（５）と制御装置（
６）とアクチュエータ（７）とが搭載されている。また
（８）が地上に設置した中央制御装置で、同中央制御装
置（８）には、運行処理装置（９）と通信装置（１０）
がある。また第２図の（Ａ） （Ｂ）が）が従局（送信
器（１） （２））、 （Ｃ）が親局（締固め機（３）
）である。(Example) Next, an explanation will be given using an example shown in Fig. 1.2 in which the automatic operation device for construction machinery of the present invention is applied to an automatic operation device for a compaction machine. (1) (2) of Fig. 1 is a transmitter installed on the ground, (3) is a compaction machine, and the compaction machine (3) has one communication device (4), a position measuring device (5), and a control device (
6) and an actuator (7). In addition, (8) is a central control device installed on the ground, and the central control device (8) includes a traffic processing device (9) and a communication device (10).
There is. In addition, (A) and (B) in Figure 2 are slave stations (transmitters (1) and (2)), and (C) is the master station (compaction machine (3)).
).
次に前記第１．２図に示す建設機械の自動運行装置の作
用を具体的に説明する。従局（送信器（１）（２） ”
） （Ａ） （Ｂ）のそれぞれから発射した電波を走行
中の親局（締固め機械（３） ） （Ｃ）の基準発信器
で受信して、従局（＾）（Ｂ）のそれぞれから発射した
電波の位相比較を行い、その結果得られた位相差を（Ａ
）−（Ｃ）間、及び（Ｂ）−（Ｃ）間の距離に換算して
。Next, the operation of the automatic operation system for construction machinery shown in FIG. 1.2 will be explained in detail. Slave station (transmitter (1) (2)
) The radio waves emitted from each of (A) and (B) are received by the reference transmitter of the moving master station (compaction machine (3)) and (C), and then emitted from each of the slave stations (＾) and (B). The phase difference of the radio waves is compared, and the phase difference obtained as a result is expressed as (A
)-(C) and (B)-(C).
それぞれの距離を半径とし且つ従局（Ａ） ＣＢ）を特
徴とする請求める。この２つの円の交点が親局（Ｃ）の
従局（＾）（Ｂ）からの走行位置データになる。この走
行位置データを親局（締固め機械（３））（Ｃ）の通信
装置（４）から地上に設置した中央制御装置（８）の通
信装置（１０）へ送る。このとき、同中央制御装置（８
）の運行処理装置（９）では、上記走行位置データと同
運行処理装置（９）に予め設定している設定走行コース
とのずれを演算して、その結果得られた走行ずれ補正値
を中央制御装置（８）の通信装置（ｌＯ）から親局（締
固め機械（３） ） （Ｃ）の通信装置（４）へ送り、
これを制御装置（６）により処理し。It can be claimed that each distance is a radius and the slave stations (A), CB) are characterized. The intersection of these two circles becomes the traveling position data from the slave station (^) (B) of the master station (C). This traveling position data is sent from the communication device (4) of the master station (compaction machine (3)) (C) to the communication device (10) of the central control device (8) installed on the ground. At this time, the central control device (8
)'s travel processing device (9) calculates the deviation between the travel position data and the set travel course preset in the travel processing device (9), and uses the resulting travel deviation correction value as the central Send from the communication device (lO) of the control device (8) to the communication device (4) of the master station (compaction machine (3)) (C),
This is processed by the control device (6).
その結果得られた制御信号により締固め機械（３）の操
舵用アクチュエータを制御して、締固め機械（３）を運
行処理装置（９）に予め設定している設定走行コース上
に自動的に走行させる。The control signal obtained as a result controls the steering actuator of the compaction machine (3), and automatically moves the compaction machine (3) along the set travel course preset in the travel processing device (9). Let it run.
（発明の効果）
本発明の建設機械の自動運行装置は前記のように地上に
設置した複数の送信器のそれぞれから発射した電波を走
行中の建設機械の基準発信器で受信して、上記各送信器
から発射した電波の位相比較を行い、その結果得られた
位相差を各送信器と建設機械との間の距離に換算して、
それぞれの距離を半径とし且つ各送信器を特徴とする請
求めて、この２つの円の交点を建設機械の各送信器から
の走行位置データとし、この走行位置データを建設機械
から地上に設置した運行処理装置へ送信し、ここで上記
走行位置データと同運行処理装置に予め設定している設
定走行コースとのずれを演算し、その結果得られた走行
ずれ補正値を建設機械の制御装置へ送信して、同制御装
置により建設機械の操舵用アクチュエータを制御するの
で、建設機械を運転者を必要とせずに、地上に設置した
運行処理装置に予め設定している走行コース上に自動的
に走行させることができる効果がある。(Effects of the Invention) The automatic operation device for construction machinery of the present invention receives the radio waves emitted from each of the plurality of transmitters installed on the ground with the reference transmitter of the running construction machine as described above. The phases of the radio waves emitted from the transmitters are compared, and the resulting phase difference is converted into the distance between each transmitter and the construction machine.
The intersection of these two circles is taken as the travel position data from each transmitter of the construction machine, and this travel position data is set on the ground from the construction machine. The data is sent to the operation processing device, where the deviation between the above travel position data and the set travel course preset in the operation processing device is calculated, and the resulting travel deviation correction value is sent to the control device of the construction machine. The control device then controls the steering actuator of the construction machinery, so the construction machinery can be automatically guided along the travel course preset in the operation processing device installed on the ground, without the need for a driver. It has the effect of making it run.
第１図は本発明に係わる建設機械の自動運行装置の一実
施例を示す斜視図、第２図はその作用説明図である。
（１） （２）・・・送信器、（３）・・・建設機械、
（６）・・・制御装置、（９）・・・運行処理装置。FIG. 1 is a perspective view showing an embodiment of an automatic operation system for construction machinery according to the present invention, and FIG. 2 is an explanatory diagram of its operation. (1) (2)...Transmitter, (3)...Construction machinery,
(6)...Control device, (9)...Operation processing device.
Claims (1)
ずれ補正値を算出する運行処理装置と、上記走行ずれ補
正値に基づいて建設機械を所定の走行状態に操作する制
御装置とを具えていることを特徴とした建設機械の自動
運行装置。A driving processing device that calculates a travel deviation correction value by comparing a travel position of the construction machine with a set travel course, and a control device that operates the construction machine to a predetermined travel state based on the travel deviation correction value. An automatic operation device for construction machinery that is characterized by the following:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13469489A JPH032431A (en) | 1989-05-30 | 1989-05-30 | Automatic operation device of construction machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13469489A JPH032431A (en) | 1989-05-30 | 1989-05-30 | Automatic operation device of construction machinery |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH032431A true JPH032431A (en) | 1991-01-08 |
Family
ID=15134410
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP13469489A Pending JPH032431A (en) | 1989-05-30 | 1989-05-30 | Automatic operation device of construction machinery |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH032431A (en) |
-
1989
- 1989-05-30 JP JP13469489A patent/JPH032431A/en active Pending
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