Control system and control method

Abstract

To provide a system and method for easily determining locations where construction is actually required.SOLUTION: A control system includes: an acquisition unit 30 that acquires information regarding a position and attitude of a construction machine, measurement results obtained by measuring a shape of a construction target on which construction is to be performed by the construction machine, and detection results obtained by detecting the condition of the construction machine; a calculation unit 31 that uses the acquired information and the measurement results to calculate position coordinates of a selected location on the construction target, and uses the acquired information, the calculated position coordinates, and the detection results to calculate control variables for the construction machine to move elements used in construction by the construction machine to the selected location; and a control unit 32 that controls the construction machine based on the calculated control variables.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a system and method for controlling a construction machine. [Background technology]

[0002] In the construction of mountain tunnels, any insufficient digging after blasting is done by excavating the tunnel using construction machinery such as a breaker. Conventionally, the insufficient digging was checked visually by a person entering the tunnel face, but in order to improve safety and the working environment, a system has been adopted in which a 3D scanner is mounted on the construction machinery, the excavation shape is scanned, and the excavation over- or under-drilling is visualized (see, for example, Patent Documents 1 and 2). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-158637 A [Patent Document 2] JP 2022-151963 A Summary of the Invention [Problem to be solved by the invention]

[0004] In construction using the above system, the areas that need work are displayed on a contour map, and the operator operates the construction machine while checking the map. However, there was a problem that it was difficult to tell which areas of the actual construction target were the areas that needed work when displayed on a contour map. [Means for solving the problem]

[0005] The present invention has been made in consideration of the above-mentioned problems, and provides a system for controlling a construction machine, an acquisition means for acquiring information relating to the position and attitude of the construction machine, a measurement result obtained by measuring the shape of a work target from the construction machine, and a detection result obtained by detecting the state of the construction machine; a calculation means for calculating position coordinates of a selected location on the construction target using the acquired information and the measurement results, and for calculating a control amount for the construction machine for moving an element used in construction by the construction machine to the selected location using the acquired information, the calculated position coordinates, and the detection results; A control means for controlling the construction machine based on the calculated control amount. A control system is provided that includes: Effect of the Invention

[0006] According to the present invention, it is possible to easily determine locations that actually require construction. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a diagram showing an example of a construction machine. [Diagram 2] FIG. 1 is a diagram showing an example of the configuration of a measurement system that measures the shape of a construction target. [Diagram 3] FIG. 3 is a diagram showing an example of a contour diagram visualizing the measurement results of the measurement system shown in FIG. 2. [Figure 4] FIG. 2 is a diagram showing an example of a hardware configuration of a control system. [Diagram 5] FIG. 2 is a block diagram showing an example of a functional configuration of a control system. [Figure 6] A diagram showing how sensors are used to measure the angle information of each joint of a breaker, a construction machine. [Figure 7] A diagram showing how to select a target point on a contour map. [Figure 8] A diagram showing the selected hit location being clearly indicated by laser light. [Figure 9] 4 is a flowchart showing a flow of control of a construction machine executed by a control system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] FIG. 1 is a diagram showing an example of a construction machine. A construction machine is a machine used in civil engineering and construction work, and examples thereof include a drill jumbo, a road header, a concrete sprayer, a shoring construction machine, a breaker, a wheel loader, a shuffling loader, a hydraulic excavator, and a crane. Construction machines are used in mountain tunnel construction, construction and demolition of buildings, river and bridge construction, and the like. Below, the construction machine will be described as a breaker used in mountain tunnel construction, but is not limited to this.

[0009] Mountain tunnels can be excavated using excavating machines such as shield machines, but when there is hard rock that cannot be excavated by excavating machines, a drill jumbo is used as a boring machine to make multiple holes in the rock, dynamite is inserted, and the tunnel is excavated by blasting. After blasting, the crushed rocks, soil, and sand are transported as rubble by a rubble loading machine such as a shaft loader to the outside of the tunnel and removed.

[0010] The tunnel face, which is the tip of a tunnel excavated by blasting, has an insufficient portion (a dent) that protrudes inward from the designed cross section, and in order to construct a tunnel with the designed cross section, the dent must be removed. A breaker is a construction machine used to remove the dent.

[0011] The breaker 10 includes a crawler 11 as a traveling device, a main body 12 that is arranged on the crawler 11 and has an engine and an operation room where an operator operates it, a boom 13 and an arm 14 that constitute an arm portion connected to the main body 12, and a chisel 16 that is attached to the tip of the arm 14 by using a bracket 15 as an attachment. The bracket 15 has a mechanism for reciprocating the chisel 16, which is a tapered rod-shaped member that strikes rocks and the like to break them down by the reciprocating motion of the bracket 15.

[0012] The breaker 10 changes the rotation angle of the main body 12 and the angles of the joints of the arm 14, boom 13, and chisel 16, applies the chisel 16 to the strike point, which is a selected part on the face side to be worked on, and removes the strike by crushing it with the impact of the chisel 16. Hereinafter, one end of each of the two members is rotatably connected, and the connected part where the two members bend is called a "joint". Hereinafter, the joint between the arm 14 and the bracket 15 will be called the "chisel 16 joint", the joint between the arm 14 and the boom 13 will be called the "arm 14 joint", and the joint between the main body 12 and the boom 13 will be called the "boom 13 joint".

[0013] The angles of the joints of the boom 13, the arm 14, and the chisel 16 are changed by cylinders 17-19 connected between the main body 12 and the boom 13, between the boom 13 and the arm 14, and between the arm 14 and the bracket 15. The cylinder 17 changes the angle of the attachment to the arm 14, i.e., the chisel 16, the cylinder 18 changes the angle of the arm 14 to the boom 13, and the cylinder 19 changes the angle of the boom 13 to the main body 12. The cylinders 17-19 are actuators that convert energy into reciprocating motion. A sensor is attached to each joint as a detection means for detecting the state of the breaker 10, i.e., each angle.

[0014] The crawler 11 and the main body 12 are connected to each other by a turning mechanism 20 such as a swivel joint so that the main body 12 can turn relative to the crawler 11. A sensor is also attached to the turning mechanism 20 as a detection means for detecting the state of the breaker 10, i.e., the turning angle of the main body 12.

[0015] 2 is a diagram showing an example of the configuration of a measurement system that measures the excavation shape of a tunnel face as a construction target. The measurement system 30 includes a 3D scanner 31 as a three-dimensional shape measurement means. The measurement system 30 is mounted on the main body 12 of the breaker 10. The 3D scanner 31 aims at a spherical target, the position coordinates of which have been measured in advance, that is placed at the tunnel entrance side of the excavated tunnel. The position coordinates of the spherical target are absolute coordinates, and are expressed, for example, by latitude, longitude, and altitude.

[0016] The 3D scanner 31 is, for example, a time-of-flight (ToF) type scanner that irradiates a laser beam on a measurement object and acquires information on the relative distance and angle from the 3D scanner 31 to the measurement object in a non-contact manner. The angle is the angle of the irradiation direction when the laser beam is moved up, down, left, and right with respect to the initial irradiation direction of the laser beam set in advance. The 3D scanner 31 measures the distance to the measurement object by irradiating the laser beam and measuring the time until the reflected light reflected by the measurement object is received, and calculates the angle from the moving direction of the laser beam. Note that the 3D scanner 31 is not limited to a ToF type scanner, and may be a scanner of another type.

[0017] The 3D scanner 31 is installed via a stand 32. An elastic member such as air rubber for vibration isolation is attached to the stand 32 to reduce vibrations transmitted from the breaker 10. Since the 3D scanner 31 is a precision instrument, it is surrounded by a protective box 33 to protect it from collisions and damage caused by flying rock fragments, etc.

[0018] At least three spherical targets are placed. The 3D scanner 31 can change the direction of laser light irradiation, and irradiates laser light toward the tunnel entrance to obtain information on the distance and angle from the 3D scanner 31 to the spherical surface of the spherical target. The position coordinates of the center of the spherical target are measured as absolute coordinates by a total station, and the radius is known, so the distance to the center can be calculated by adding the radius to the distance to the spherical surface measured by the 3D scanner 31.

[0019] In addition, since the position coordinates of the center of the spherical target are measured in advance as absolute coordinates, the position coordinates of the 3D scanner 31 can be calculated as absolute coordinates from the distance and angle information acquired by the 3D scanner 31.

[0020] In addition, since the position coordinates of the center of the spherical target are measured in advance as absolute coordinates, the yawing, rolling, and pitching of the breaker 10 can be calculated from the angle information acquired by the 3D scanner 31. Yawing refers to rotation around the up and down of the breaker 10, whose front-back, left-right, and up-down directions are fixed, rolling refers to rotation around the front-back of the breaker 10 as an axis, and pitching refers to rotation around the left-right of the breaker 10 as an axis.

[0021] The measurement system 30 may include a calculation means 34 for calculating the position, yawing, rolling, and pitching of the breaker 10. The calculation means 34 may be any means capable of calculating the position, yawing, rolling, and pitching of the breaker 10 from the information acquired by the 3D scanner 31, and may be, for example, a personal computer (PC), a smartphone, a tablet terminal, or the like. The 3D scanner 31 sights three spherical targets, calculates its own position, yawing, rolling, and pitching, and performs corrections using the calculated values, thereby reducing measurement errors. For this reason, the 3D scanner 31 is placed on a stand 32, allowing tilt. The 3D scanner 31 may be placed on an automatic horizontal holding stand that automatically holds the horizontal level by an actuator, instead of the stand 32.

[0022] The measurement system 30 changes the orientation of the 3D scanner 31 from the tunnel portal side to the face side, scans the excavation shape on the face side, and acquires point cloud data. The point cloud data is data obtained by measuring the distance and orientation from the 3D scanner 31 mounted on the breaker 10 to multiple points on the face side. The calculation means 34 performs three-dimensional analysis of the acquired point cloud data, visualizes the spatial distribution represented by isopleths connecting points of the same value as a contour diagram shown in FIG. 3, and displays it on the display unit. The display unit may be provided in the calculation means 34, or may be a display device or the like separate from the calculation means 34. The contour diagram shows the excess or deficiency of excavation in color in comparison with the design cross section. In the example shown in FIG. 3, the entire circumferential direction of the face side of the tunnel is shown three-dimensionally in the center, and the side wall parts of the circumferential direction of the face side of the tunnel are shown planarly on the left and right, and the top part of the circumferential direction of the face side of the tunnel is shown planarly on top of that.

[0023] Conventionally, the areas on a contour diagram that have not been dug sufficiently are identified as hit areas, and the actual hit areas corresponding to the hit areas on the contour diagram are identified by rotating the body 12 of the breaker 10 and changing the angles of each joint of the boom 13, arm 14, and chisel 16, and the tip of the chisel 16, which is an element of the construction machinery used for construction, is brought close to the hit area, and the chisel 16 is used to strike the hit area, breaking it up and removing the hit area.

[0024] However, in the visualized contour diagram, it is difficult to see where on the actual face the points that need to be remedied are, and it is not easy to determine the actual points of remedy.

[0025] Then, the actual position coordinates of the hit point selected on the contour diagram are calculated, and using the calculated position coordinates, information on the position and attitude of the breaker 10, and angle information from each sensor, a control amount for the breaker 10 for moving the chisel 16, which is an element of the breaker 10, to the selected hit point is calculated, and the breaker 10 is controlled based on the calculated control amount.

[0026] Specifically, the current rotation angle of the main body 12 and angle information of each joint of the boom 13, arm 14, and chisel 16 are obtained from the sensors, and the rotation angle of the main body 12 and the angle of each joint of the boom 13, arm 14, and chisel 16 that will most closely approximate the angle at which the tip of the chisel 16 can efficiently deliver a blow to the hitting point based on the calculated position coordinates are calculated, and the main body 12 etc. are controlled so that these angles are achieved.

[0027] This automatically moves the tip of the chisel 16 so as to approach the actual strike location, making it easy to determine the actual strike location. In addition, after the movement, if the tip of the chisel 16 strikes the strike, the strike can be automatically removed, leading to the automation of strike removal.

[0028] FIG. 4 is a diagram showing an example of a hardware configuration of a control system that performs the above control. The control system is configured with an information processing device such as a PC, a tablet terminal, a smartphone, etc. The control system is not limited to one device, and may be configured with two or more devices that are communicatively connected by a cable, a network, etc. FIG. 4 shows an example in which the control system is configured with a PC. The network may be either wired or wireless.

[0029] Like a general computer, the control system 40 includes a CPU (Central Processing Unit) 41, a ROM (Read Only Memory) 42, a RAM (Random Access Memory) 43, a HDD (Hard Disk Drive) 44, a display 45, a keyboard 46, a pointing device 47, an external device connection I / F 48, and a network I / F 49. The control system 40 may include other hardware such as a microphone, a camera, and a speaker.

[0030] The CPU 41 controls the overall operation of the control system 40. The ROM 42 stores programs used to drive the CPU 41. The RAM 43 provides a working area for the CPU 41. The HDD 44 stores various programs and data to be executed by the CPU 41. The storage device is not limited to the HDD 44 and may be an SSD (Solid State Drive) or the like.

[0031] The display 45 displays a cursor, a window, characters, images, etc. The keyboard 46 is an input means having a plurality of keys for inputting characters, numbers, etc. The pointing device 47 is an input means such as a mouse or a touch pad for moving the cursor and selecting a processing target. The external device connection I / F 48 is an interface for connecting various external devices. The network I / F 49 is an interface for performing data communication using a network. Each of these components is connected to one another via a bus, and data, etc. are exchanged.

[0032] 5 is a block diagram showing an example of a functional configuration of the control system 40. The control system 40 includes an acquisition unit 50, a reception unit 51, a calculation unit 52, and a control unit 53 as functional units for realizing the functions thereof. These functions can be realized by a processing circuit such as a CPU executing a program stored in a storage device included in the control system 40. Some or all of these functions may be realized using hardware such as an ASIC (Application Specific Integrated Circuit).

[0033] The acquisition unit 50 acquires information on the position and attitude of the breaker 10 from the measurement system 30. The information on the position of the breaker 10 is the position coordinates of the breaker 10, and the position coordinates are absolute coordinates. The information on the attitude of the breaker 10 is information on the yawing, rolling, and pitching of the breaker 10. The acquisition unit 50 also acquires the measurement results of the measurement system 30 measuring the shape of the excavation face from the measurement system 30. The measurement results are point cloud data measuring the distances and directions to multiple points on the face side. Furthermore, the acquisition unit 50 acquires the current rotation angle of the main body 12 shown in FIG. 6 and angle information of each joint of the boom 13, arm 14, and chisel 16 from each sensor as the state of the breaker 10.

[0034] The rotation angle of the main body 12 can be, for example, 0° when the main body 12 faces the same direction as the traveling direction of the crawler 11 as a reference position, -10° when rotated 10° to the left from that reference position, and +10° when rotated 10° to the right. Similarly, the angles of the joints of the boom 13, arm 14, and chisel 16 can be set to 0° as a reference position and can be angles when rotated up or down in the vertical direction from that reference position.

[0035] 5 again, the receiving unit 51 receives a location selected by the operator on the contour diagram displayed on the display unit of the measurement system 30. The calculation unit 52 calculates the position coordinates of the selected location of the excavation face received by the receiving unit 51, using the measurement result and information related to the position and attitude of the breaker 10.

[0036] The display unit of the measurement system 30 may be equipped with a touch panel and may be used in common as the reception unit 51 of the control system 40. In this case, the reception unit 51 can display a contour diagram as shown in Fig. 7 and receive the selection of the hit point from the operator.

[0037] In FIG. 7, a cursor 60 for selecting a hit location is shown on the contour diagram, and the operator uses the pointing device 47 to move the cursor 60 and selects the area indicated by a circle as a hit location 61.

[0038] The position coordinates of the selected point can be calculated as relative coordinates with respect to the center of the tunnel cross section, for example. However, this is not limiting, and the coordinates of the hit point may be calculated as absolute coordinates.

[0039] 5 again, the calculation unit 52 uses the acquired information on the position and attitude, the calculated position coordinates, and the angle information acquired from each sensor to calculate the rotation angle of the main body 12 and the angles of each joint of the boom 13, the arm 14, and the chisel 16 as control variables for the breaker 10 for moving the chisel 16 used for taking the bite to the selected bite location. Then, the calculation unit 52 transmits each angle information to the control unit 53 as the calculated control variables.

[0040] The control unit 53 receives each angle information from the calculation unit 52 and controls the breaker 10 to achieve each angle. Specifically, the control unit 53 instructs the main body 12 to rotate to achieve the rotation angle received from the calculation unit 52, and instructs the cylinders 17 to 19 to expand and contract to achieve the angle of each joint.

[0041] The calculation unit 52 calculates the rotation angle of the main body 12 and the angles of each joint of the boom 13, arm 14, and chisel 16 that will bring the tip of the chisel 16 of the breaker 10 closest to the angle that can efficiently deliver an impact to the excavation site based on the calculated position coordinates.

[0042] The angle at which impact can be efficiently transmitted to the excavation point is an angle of approximately 90° with respect to the tangent line passing through the excavation point of the arch-shaped tunnel excavation surface, and the direction is the normal direction toward the center of the tunnel cross section. Therefore, the calculation unit 52 makes the tip of the chisel 16 face from the center of the tunnel cross section toward the hit point protruding toward the center of the tunnel cross section, and calculates the angle of each joint when the tip is closest to the hit point. Note that, depending on the arrangement positions of the hit point and the breaker 10, it may not always be possible to face the tip of the chisel 16 in the normal direction. In such a case, the angle of each joint can be calculated so that the tip of the chisel 16 faces the direction closest to the normal direction in relation to the arrangement positions of the hit point and the breaker 10.

[0043] The closest point of the chisel 16 is when it is located within a predetermined distance from the striking point, for example, when it is within 1 cm of the striking point. Note that this is just an example and is not limited to within 1 cm. Also, the angles of each joint are calculated to be as uniform as possible, for example, within a range of 10°. Note that this angle range is just an example and is not limited to within 10°.

[0044] Under the control of the control unit 53, the main body 12 is rotated to the calculated rotation angle, and the angles of the boom 13, arm 14, and chisel 16 joints are changed to the angles of each joint. This causes the tip of the chisel 16 to automatically move toward the selected strike point and to be positioned within a specified distance from the strike point. This allows the chisel 16 to indicate the actual strike point, making it easy to determine where the actual strike point is. Also, by striking the chisel 16 at the moved position, the strike can be automatically removed.

[0045] The contour diagram is displayed in different colors based on the tunnel design cross section and the results of shape measurement by the 3D scanner 31, and it is possible to understand which area needs to be constructed from the contour diagram. Therefore, the area to be constructed is not limited to being selected by the operator, but can also be selected automatically.

[0046] The calculation unit 52 extracts the range where work needs to be done from the contour diagram, and where it is necessary to carry out the alignment. If it matches the design cross section, it is set to 0m, if it has been excavated 0.1m more than the design cross section, it is set to -0.1m, taking the negative value, and if it has been excavated 0.1m less than the design cross section, it is set to +0.1m, taking the positive value. The range where alignment is necessary is the area where excavation is insufficient, which is set to the positive value.

[0047] The calculation unit 52 extracts an area where the marking is required, and divides the extracted area into a plurality of rectangular areas of a predetermined size. The calculation unit 52 can select the divided areas as the marking points in order. The size of the divided areas may be any size. Furthermore, the order in which the divided areas are selected may be any order.

[0048] The hit point can be easily determined by automatically moving the tip of the chisel 16 using the calculated coordinates, but this method is not limited to this. For example, as shown in FIG. 8, a total station 70 permanently installed on the tunnel cross section can be used as an irradiation means, laser light can be irradiated from the total station 70, and the point where the laser light is reflected can be clearly indicated as the hit point. The laser light is, for example, red light, and the red shining point on the face side can be clearly indicated as the hit point. Note that the color is not limited to red, and may be blue or green, etc., as long as it can clearly indicate the hit point. The total station 70 can be a total station that has surveyed a spherical target.

[0049] 8, the tunnel axis direction is the X-axis direction, the direction perpendicular to the X-axis direction from one side wall of the tunnel to the other side wall is the Y-axis direction, and the vertical direction from the ground to the top of the tunnel is the Z-axis direction, and three points are clearly indicated as hit points by laser light. In this example, a total station 70 is used as the irradiation means, but the irradiation means is not limited to the total station 70.

[0050] Control by the control system 40 will be described with reference to Fig. 9. After blasting, the system waits until the dust concentration in the tunnel has sufficiently decreased, and after the dust concentration has sufficiently decreased, the measurement system 30 measures the position coordinates of the breaker 10 as absolute coordinates, and measures yawing, rolling, and pitching. After measurement is started by the measurement system, control is started from step 100, and the acquisition unit 50 acquires the position information, yawing, rolling, and pitching information of the breaker 10 from the measurement system 30.

[0051] The measurement system 30 scans the excavation face to measure the shape of the excavation face. In step 102, the acquisition unit 50 acquires the measurement results of the shape of the excavation face from the measurement system 30. In step 103, the acquisition unit 50 acquires the rotation angle of the main body 12 and angle information of each joint of the arm 14, the boom 13, and the chisel 16 from each sensor. Note that the acquisition of the angle information in step 103 may be performed before step 101, simultaneously with step 101, between steps 101 and 102, or simultaneously with step 102.

[0052] In step 104, the reception unit 51 receives the selection of the hit point on the contour diagram by the operator. If the calculation unit 52 automatically selects the hit point, step 104 is not necessary.

[0053] In step 105, the calculation unit 52 calculates the position coordinates of the selected hit point. In step 106, the calculation unit 52 calculates the rotation angle of the main body 12 and the angles of each joint of the boom 13, arm 14, and chisel 16 that will bring the tip of the chisel 16 of the breaker 10 closest to the angle at which a strike can be efficiently transmitted to the hit point. In step 107, the control unit 53 controls the main body 12, etc., so that the calculated rotation angle and angle of each joint are achieved.

[0054] In step 108, it is determined whether there are no more hit points to select. If there are no more hit points to select, the process proceeds to step 109, where the control ends. If there are more hit points to select, the process returns to step 103.

[0055] So far, we have explained cases where the operator selects the hit location and cases where the hit location is selected automatically, but the control system 40 may be configured to allow the user to set whether the hit location is selected manually or automatically.

[0056] The control shown in Fig. 9 can be applied to the control of hydraulic excavators in general as construction machinery. Hydraulic excavators can perform various tasks such as excavation, crushing, loading, and unloading by changing the attachments attached via brackets. The breaker 10 is a hydraulic excavator with a chisel 16 attached as an attachment.

[0057] The control system and control method of the present invention have been described in detail with reference to the embodiments shown in the drawings. However, the present invention is not limited to the above-described embodiments, and can be modified within the scope of what a person skilled in the art can conceive, such as other embodiments, additions, modifications, deletions, etc., and any aspect is within the scope of the present invention as long as it achieves the functions and effects of the present invention.

[0058] Therefore, according to the present invention, it is possible to provide (1) a system for controlling a construction machine, comprising: an acquisition means for acquiring information regarding the position and attitude of the construction machine, measurement results obtained by measuring the shape of a construction object to be constructed by the construction machine, and detection results obtained by detecting the state of the construction machine; a calculation means for calculating position coordinates of a selected location on the construction object using the acquired information and the measurement results, and for calculating a control amount of the construction machine for moving an element to be used in construction by the construction machine to the selected location using the acquired information, the calculated position coordinates, and the detection results; and a control means for controlling the construction machine based on the calculated control amount.

[0059] According to the present invention, it is possible to provide the control system described in (1) above, (2) in which the construction machine is a hydraulic excavator equipped with an arm, a boom and a main body, an attachment is attached to the tip of the arm, the construction target is a tunnel face, and the calculation means calculates as the control variables the rotation angle of the main body for moving the attachment to the location as the elements, the angle of the arm relative to the boom, the angle of the boom relative to the main body, and the angle of the attachment relative to the arm.

[0060] According to the present invention, it is possible to provide a control system as described in (2) above, (3) in which the hydraulic excavator is a breaker to which a chisel is attached as the attachment, the selected point is a selected hit point, and the calculation means calculates the rotation angle of the main body, the angle of the arm relative to the boom, the angle of the boom relative to the main body, and the angle of the attachment relative to the arm so that the tip of the chisel faces in a normal direction toward the center of the tunnel cross section relative to the selected hit point and is located within a predetermined distance from the selected hit point.

[0061] According to the present invention, (4) it is possible to provide a control system according to any one of (1) to (3) above, which includes an acceptance means for displaying the measurement results as a contour diagram and accepting the selection of the location where construction work is to be performed.

[0062] According to the present invention, (5) it is possible to provide a control system as described in any one of (1) to (3) above, in which the calculation means extracts an area in which construction is required from the design cross section of the tunnel and the measurement results, divides the extracted area into one or more areas, and sequentially selects the divided areas as locations for construction.

[0063] According to the present invention, it is possible to provide (6) a control system as described in any one of (1) to (5) above, which includes an illumination means for illuminating light onto position coordinates of a selected location on the construction target calculated by the calculation means, thereby clearly indicating the selected location.

[0064] Furthermore, according to the present invention, (7) a control method can be provided, which includes the steps of acquiring information regarding the position and attitude of the construction machine, measurement results of measuring the shape of a construction object to be constructed by the construction machine, and detection results of detecting a state of the construction machine, calculating position coordinates of a selected location on the construction object using the acquired information and the measurement results, and calculating a control amount of the construction machine for moving an element to be used in construction by the construction machine to the selected location using the acquired information, the calculated position coordinates, and the detection results, and controlling the construction machine based on the calculated control amount.

[0065] According to the present invention, it is possible to provide the control method described in (7) above, (8) in which the construction machine is a hydraulic excavator equipped with an arm, a boom and a main body, an attachment is attached to the tip of the arm, the construction target is a tunnel face, and in the calculating step, the elements calculated as the control variables are the rotation angle of the main body for moving the attachment to the location, the angle of the arm relative to the boom, the angle of the boom relative to the main body, and the angle of the attachment relative to the arm.

[0066] According to the present invention, it is possible to provide a control method as described in (8) above, (9) in which the hydraulic excavator is a breaker to which a chisel is attached as the attachment, the selected point is a selected hit point, and in the calculating step, the rotation angle of the main body, the angle of the arm relative to the boom, the angle of the boom relative to the main body, and the angle of the attachment relative to the arm are calculated so that the tip of the chisel faces in a normal direction toward the center of the tunnel cross section relative to the selected hit point and is positioned within a predetermined distance from the selected hit point.

[0067] According to the present invention, (10) it is possible to provide the control method according to any one of (7) to (9) above, which includes a step of displaying the measurement results as a contour diagram and accepting selection of the location where construction work will be performed.

[0068] According to the present invention, (11) it is possible to provide a control method as described in any one of (7) to (9) above, in which, in the calculating step, a range in which construction is required is extracted from the design cross section of the tunnel and the measurement results, the extracted range is divided into one or more areas, and the divided areas are selected in sequence as locations for construction.

[0069] According to the present invention, it is possible to provide a control method described in any one of (7) to (11) above, which includes (12) a step of irradiating light by an irradiation means onto the calculated position coordinates of the selected location on the construction target, thereby clearly indicating the selected location. [Explanation of symbols]

[0070] 10...Breaker 11. Crawler 12...Main body 13. Boom 14…Arm 15…Bracket 16…Chisel 17~19…Cylinder 20...Turning mechanism 30…Measuring system 31…3D scanner 32…Frame 33…Protection box 34...Arithmetic means 40…Control system 41...CPU 42...ROM 43…RAM 44…HDD 45…Display 46…Keyboard 47...Pointing device 48…External device connection interface 49...Network I / F 50…Acquisition part 51…Reception 52...Arithmetic section 53...Control unit 60…Cursor 61…Attacking point 70…Total station

Claims

1. A system for controlling a construction machine, comprising: an acquisition means for acquiring information regarding the position and attitude of the construction machine, a measurement result obtained by measuring the shape of a construction target on which construction is to be performed by the construction machine, and a detection result obtained by detecting the state of the construction machine; a calculation means for calculating position coordinates of a selected location on the construction target using the acquired information and the measurement results, and for calculating a control amount of the construction machine for moving an element used in construction by the construction machine to the selected location using the acquired information, the calculated position coordinates, and the detection results; a control means for controlling the construction machine based on the calculated control amount; a control system.

2. The construction machine is a hydraulic excavator having an arm, a boom, and a main body, and an attachment is attached to the tip of the arm, The construction target is a tunnel face, 2. The control system according to claim 1, wherein the calculation means calculates as the control variables the rotation angle of the main body for moving the attachment to the location as the elements, the angle of the arm relative to the boom, the angle of the boom relative to the main body, and the angle of the attachment relative to the arm.

3. The hydraulic excavator is a breaker having a chisel attached as the attachment, and the selected location is a selected hit location, The control system described in claim 2, wherein the calculation means calculates the rotation angle of the main body, the angle of the arm relative to the boom, the angle of the boom relative to the main body, and the angle of the attachment relative to the arm so that the tip of the chisel faces in a direction closest to a normal direction toward the center of the tunnel cross section relative to the selected hit point, and the tip of the chisel is positioned within a predetermined distance from the selected hit point.

4. The control system according to any one of claims 1 to 3, further comprising a reception means for displaying the measurement results as a contour diagram and receiving a selection of a location to be worked on.

5. The control system according to any one of claims 1 to 3, wherein the calculation means extracts an area in which construction is required from the design cross section of the tunnel and the measurement results, divides the extracted area into one or more areas, and sequentially selects the divided areas as locations in which construction is to be performed.

6. The control system according to any one of claims 1 to 3, further comprising an illumination means for illuminating the position coordinates of the selected location on the construction target calculated by the calculation means with light to clearly indicate the selected location.

7. A method for controlling a construction machine, comprising: A step of acquiring information regarding the position and attitude of the construction machine, a measurement result obtained by measuring a shape of a construction target on which construction is to be performed by the construction machine, and a detection result obtained by detecting a state of the construction machine; a step of calculating position coordinates of a selected location on the construction target using the acquired information and the measurement results, and calculating a control amount of the construction machine for moving an element used in construction by the construction machine to the selected location using the acquired information, the calculated position coordinates, and the detection results; controlling the construction machine based on the calculated control amount; A control method comprising:

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