Construction machinery excavation location identification system and method for identifying excavation location

Abstract

To provide a drilling position specification system and a drilling position specification method of a construction machine that enable drilling while allowing an operator of the construction machine to accurately and efficiently specify a drilling position of the construction machine that may change as needed by himself / herself, and can suppresses the occurrence of irregularities and an outbreak part.SOLUTION: A drilling position specification system 100 for specifying a drilling position 17a in a construction machine 10 in which a work device 16 attached with an excavator 17 is mounted on a mounting position 15 in a travel truck 11 includes: a triaxial inertial sensor 21 which detects the roll angle, pitch angle and yaw angle of the work device 16 to specify the directional angle of the work device 16; multiple collimation targets 30; one surveyor 40 that automatically tracks the collimation target 30 which moves as the construction machine 10 moves, and measures the three-dimensional coordinates of the collimation target 30 on the basis of the reference point coordinates; and a control device 50 that specifies the drilling position on the basis of the detection data by the triaxial inertial sensor 21 and the survey data by the surveyor 40.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to an excavation position specifying system and an excavation position specifying method for construction machinery.

Background Art

[0002] In the construction of mountain tunnels, when excavating rock masses using construction machinery after blasting, irregularities such as a so-called overbreak (overbreak section) where the rock mass protrudes toward the center of the tunnel with respect to the designed excavation cross-section line of the tunnel, or a so-called underbreak (underbreak section) due to overexcavation, may occur. When such irregularities occur, in order to approach the designed excavation cross-section line, for the overbreak section, a hydraulic breaker is used to remove it, and for the underbreak section, measures are taken to promptly stop the excavation and minimize the depth of the concave portion. The conventional method for removing the overbreak section is a method in which an operator visually checks near the face and indicates the removal location to the operator of the construction machinery using a laser pointer or the like. Therefore, there is a risk of the operator being involved in a face collapse. In addition, the confirmation of the situation of the overbreak section and the underbreak section largely depends on the experience and skills of the operator and the operator of the construction machinery. Due to the occurrence of additional work due to insufficient removal of the overbreak section or an increase in the amount of concrete spraying associated with an excessive underbreak section, there is also a problem that the construction cost increases.

[0003] From the above, instead of the method in which an operator indicates to the operator of the construction machinery using a laser pointer or the like, the operator of the construction machinery himself / herself accurately and efficiently specifies the excavation position of the construction machinery that can change at any time each time, and excavates while doing so. Therefore, a construction machinery excavation position specifying system and an excavation position specifying method that have high construction safety, good workability, and can suppress the occurrence of overbreak sections and underbreak sections are desired.

[0004] Here, Patent Document 1 proposes a setting device and a setting method for the reference position and direction of an excavator. This setting device is for an excavator equipped with a rock drill, a boom supporting the construction machine with guide mounting, a detector for detecting the amount of movement of the movable parts of the construction machine and the boom, and a control device that automatically positions or displays the position of the construction machine based on the detection data from the detector. The device includes a calculation means that automatically tracks a prism installed on the construction machine and a prism that moves with the forward and backward movement of the construction machine, and calculates the deviation of the excavator's reference direction relative to the reference direction of excavation and the position of the excavator's reference point relative to the excavation face based on the calculated data of the prism position of the measurement point calculated from the detector's detection data and the measurement data of the prism position of two measurement points by an automatic tracking surveying instrument, and sets the data of the deviation of the excavator's reference direction and the position of the reference point relative to the excavation face in the control device. When performing excavation work, the excavator's trolley is positioned near the tunnel face, and the construction machine is moved so that the tip of the bit contacts a point on the tunnel face as the first measurement point. The calculation means calculates the prism position from the detector's detection data relative to the first measurement point, and the automatic tracking surveying machine automatically tracks the prism as it moves with the construction machine and measures the first measurement data of the prism position. Next, the construction machine is moved backward in its forward and backward direction to a second measurement point so that the tip of the bit is separated from the point on the tunnel face by a predetermined distance, and the automatic tracking surveying machine measures the second measurement data of the prism position. [Prior art documents] [Patent Documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2003-307085 [Overview of the project] [Problems that the invention aims to solve]

[0006] According to the reference position and direction setting device for an excavator described in Patent Document 1, the deviation of the excavator's reference direction and the position of the excavator's reference point relative to the excavation face can be easily determined, and the time required for preparing the excavator to pre-set data regarding the position of the reference point and the deviation of the reference direction in the control device can be shortened, thereby improving work efficiency. However, even if it is possible to shorten the time required for preparing the excavator in this way, this does not propose a system or method that can accurately identify the excavation position of the construction machine, which may change at any given time, while improving workability and suppressing the occurrence of over-excavation or over-drilling.

[0007] The present invention aims to provide a construction machine excavation position identification system and method that enable construction machine operators to accurately and efficiently identify the ever-changing excavation position of the construction machine each time they excavate, thereby increasing construction safety, improving workability, and suppressing the occurrence of over-excavation and over-drilling. [Means for solving the problem]

[0008] To achieve the above objective, one embodiment of the excavation position identification system for construction machinery according to the present invention is: In a construction machine in which a work device with an excavator attached to its tip is rotatably mounted at a mounting position on a traveling carriage, a construction machine excavation position identification system for identifying the excavation position of the excavator, A three-axis inertial sensor is provided at the aforementioned mounting position to detect the roll angle, pitch angle, and yaw angle of the work device and to determine the direction angle of the work device. Multiple sighting targets installed on the aforementioned construction machine, A surveying instrument that automatically tracks at least one of the sighting targets that moves in conjunction with the movement of the construction machine, and measures the three-dimensional coordinates of the sighting target based on the coordinates of a reference point whose three-dimensional coordinates are known, The invention is characterized by having a control device that identifies the excavation location based on the detection data from the three-axis inertial sensor and the surveying data from the surveying instrument.

[0009] According to this embodiment, a 3-axis inertial sensor is installed at the mounting position of the work device on the traveling carriage to detect the roll angle, pitch angle, and yaw angle of the work device and determine the direction angle of the work device. At least one of the multiple sighting targets (e.g., 360-degree prisms) installed on the construction machine is automatically tracked by a single surveying instrument with known 3D coordinates. This makes it possible to determine the excavation position of the construction machine using the detection data from the 3-axis inertial sensor and the surveying data from the surveying instrument. This allows the operator of the construction machine to accurately and efficiently determine the excavation position each time and perform excavation. This eliminates the need for workers to give instructions to the operator of the construction machine using laser pointers, etc., thereby improving construction safety and suppressing the occurrence of over-excavation and over-drilling. Furthermore, since surveying equipment installed behind construction machinery (on the tunnel entrance side) is automatically tracked unmanned, excavation work only requires the operation of the construction machinery operator, thus reducing the number of workers. If the construction machinery can achieve unmanned movement and operation (including remote control from a management facility outside the tunnel), it becomes possible to achieve fully automated excavation work that completely eliminates the need for workers inside the tunnel.

[0010] For example, when the mobile vehicle is stationary before excavation begins, a surveying instrument located behind it sights multiple (e.g., two) sighting targets on the mobile vehicle to determine the three-dimensional coordinates and direction angle of the mobile vehicle, and to determine the three-dimensional coordinates of the excavator at the tip of the work device. Subsequently, as the mobile vehicle moves and rotates while excavating, the surveying instrument automatically tracks one sighting target at all times, thereby determining the three-dimensional coordinates of that sighting target on the construction machine. It is preferable to use a total station capable of automatic tracking (automatic tracking total station) as the surveying instrument. Here, "working device" includes, for example, a unit configuration of a boom and arm, or a configuration of a boom only. Furthermore, a 3-axis inertial sensor is installed at the mounting position of the working device on the traveling carriage to detect the roll angle, pitch angle, and yaw angle of the working device and determine the direction angle of the working device. By accumulating the detected data from the 3-axis inertial sensor in real time, and combining it with the survey data regarding the 3D coordinates of the measured sighting target, it becomes possible to determine the excavation position of the excavator each time.

[0011] Examples of construction machinery to which the excavation location identification system of this embodiment applies include heavy machinery equipped with a boom and an arm, which are working devices, each fitted with various attachments including a hydraulic breaker, and which also have a traveling body and a rotating body.

[0012] Furthermore, in another embodiment of the excavation location identification system for construction machinery according to the present invention, The aforementioned three-axis inertial sensor is characterized by comprising a three-axis accelerometer and a three-axis gyroscope.

[0013] According to this embodiment, the 3-axis inertial sensor includes a 3-axis accelerometer and a 3-axis gyroscope, and the 3-axis gyroscope, in particular, contributes to improving the accuracy of determining the direction angle (yaw angle) of the work device. Here, the 3-axis accelerometer and the 3-axis gyroscope form a 6-axis inertial sensor.

[0014] Furthermore, another embodiment of the excavation position identification system for construction machinery according to the present invention is: The aforementioned work device is characterized by comprising multiple joints, and each joint being equipped with at least one acceleration sensor for measuring the pitch angle.

[0015] According to this embodiment, each of the multiple joints of the work device is equipped with at least one acceleration sensor that measures the pitch angle. Based on the detection data from the three-axis inertial sensor installed at the mounting position of the work device on the traveling carriage and the detection data from the acceleration sensors of each joint, it becomes possible to determine the direction angle of the excavator with even greater precision. Here, "an acceleration sensor with at least one axis that measures the pitch angle" means that in addition to a single-axis acceleration sensor that measures the pitch angle, a two-axis acceleration sensor that measures the pitch angle and roll angle, and a three-axis acceleration sensor that measures the pitch angle, roll angle, and yaw angle are also included.

[0016] Furthermore, in another embodiment of the excavation location identification system for construction machinery according to the present invention, The control device performs the first control and the second control. The first control is, This control system, while the construction machine is performing excavation work, controls the surveying machine to sight one of the sighting targets to acquire the target coordinates, and determines the excavation position of the excavator based on the surveying data related to the target coordinates and the detection data from the three-axis inertial sensor. The second control is, The control is characterized by the following: when the construction machine is stopped, the surveying machine is controlled to sequentially sight the plurality of sighting targets, a plurality of target coordinates unique to each sighting target is acquired, a new directional angle is determined for the construction machine and / or the work device based on the surveying data relating to the plurality of target coordinates, and the new directional angle is given to the three-axis inertial sensor.

[0017] According to this embodiment, the second control by the control device executes a control to sequentially sight multiple (e.g., two) sighting targets with the surveying instrument when the construction machine is stopped, acquires target coordinates unique to each sighting target, identifies a new direction angle for the construction machine and work equipment based on the surveying data relating to the multiple target coordinates, resets the error caused by the accumulation of detection data from the 3-axis inertial sensor, and resets the initial value of the direction angle of the work equipment with high accuracy. This makes it possible to accurately determine the excavation position of the excavator by the first control after the construction machine starts operating. For example, when the three-axis inertial sensor is a six-axis inertial sensor including a three-axis gyro sensor, the gyro sensor is likely to have cumulative errors because the sensor is constantly rotating. Therefore, the second control is effective particularly for resetting (resetting the initial value) the cumulative errors of the three-axis gyro sensor.

[0018] Also, in another aspect of the excavation position identification system for construction machinery according to the present invention, the plurality of sighting targets are provided with sighting availability means for executing the availability or unavailability of sighting by the surveying instrument, the control device, in the first control, further executes control to make only one of the plurality of sighting targets available for sighting and make the other sighting targets unavailable for sighting, in the second control, it is characterized in that sequential control is executed such that only one sighting target is made available for sighting and the other sighting targets are made unavailable for sighting so that the plurality of sighting targets are sighted one by one in order, and then the sighting target that is available for sighting is made unavailable for sighting, and the sighting target that is unavailable for sighting is made available for sighting.

[0019] According to this aspect, the sighting target is provided with sighting availability means. In the second control, only one sighting target is made available for sighting and the other sighting targets are made unavailable for sighting so that a plurality of (for example, two) sighting targets are sighted one by one in order, and then the sighting target that is available for sighting is made unavailable for sighting, and the sighting target that is unavailable for sighting is made available for sighting. By executing such sequential control, when sequentially sighting a plurality of sighting targets with one surveying instrument, it is possible to effectively prevent accidentally sighting another sighting target different from the sighting target to be sighted. Here, as the sighting availability means, there are forms in which the sighting target is housed in a cover and is in an unavailable state for sighting, and the sighting target is lifted and lowered by an actuator to protrude from the cover to be in an available state for sighting, or forms in which the cover surrounding the sighting target is lifted and lowered by an actuator so that the sighting target is in an available state and an unavailable state for sighting, and the like.

[0020] Furthermore, in another embodiment of the excavation location identification system for construction machinery according to the present invention, The control device stores the time required from when the three-axis inertial sensor starts operating until the accumulated error reaches the error threshold. The cabin of the aforementioned construction machine is equipped with an operator terminal. During excavation work, before the required time has elapsed, a command signal is transmitted from the control device to the operator terminal to stop the construction machine and execute the second control.

[0021] According to this embodiment, the time required until the cumulative error of the 3-axis inertial sensor reaches an error threshold is stored in the control device, and a command signal is transmitted to the operator terminal equipped in the cabin of the construction machine to stop the construction machine and execute the second control before the required time has elapsed, thereby enabling the high-precision identification of the excavation position of the excavator in the first control to be continued. In this case, it is preferable that the operator terminal is equipped with alarm means such as a buzzer, a light indicator, or notification of the remaining time until the required time is reached.

[0022] Furthermore, in another embodiment of the excavation location identification system for construction machinery according to the present invention, At least the operator terminal is equipped with a display unit, The display unit shows the tunnel's design excavation cross-section line. The three-dimensional coordinates obtained when the tip of the excavator is brought into contact with multiple excavation positions on the actual excavation cross-section line in the excavation cross-section are plotted on the display unit, thereby identifying the over-excavated portion that is excavated more than the designed excavation cross-section line and the contact portion that is insufficiently excavated relative to the designed excavation cross-section line.

[0023] According to this embodiment, the design excavation cross-section line of the tunnel is displayed on the operator terminal's display unit, and the three-dimensional coordinates of the excavator's tip when it contacts multiple excavation positions on the actual excavation cross-section line in the excavation cross-section are plotted on the display unit and superimposed on the design excavation cross-section line. This allows the construction machine operator to quickly identify the location and extent of over-excavation and contact points. As a result, over-excavation can be eliminated by additional excavation in contact points, and further excavation can be quickly stopped in over-excavation areas.

[0024] Furthermore, in another embodiment of the excavation location identification system for construction machinery according to the present invention, The aforementioned construction machine is equipped with a 3D scanner, Based on the distance data to the excavation cross-section acquired by the 3D scanner, the three-dimensional coordinates of multiple points on the excavation cross-section are identified, the actual excavation cross-section line is created, and it is displayed on the display unit.

[0025] According to this embodiment, an actual excavation cross-section line is created based on distance data to the excavation cross-section acquired by a 3D scanner equipped in the construction machine, and displayed on the display unit, thereby enabling the creation of an actual excavation cross-section line with high accuracy. By superimposing the design excavation cross-section line and the actual excavation cross-section line displayed on the display unit, the operator can accurately confirm the location and extent of over-excavation and contact areas.

[0026] Furthermore, in another embodiment of the excavation location identification system for construction machinery according to the present invention, The aforementioned trolley has a lower traveling body and an upper rotating body that is stacked on the lower traveling body so as to be rotatable. The mounting position is set on the upper rotating body, and the work device is rotatably mounted thereto.

[0027] According to this embodiment, even in a configuration where the traveling carriage has an upper rotating body that is stacked on the lower traveling body so as to be rotatable, and a working device is rotatably attached to a mounting position on the upper rotating body, that is, even in a traveling carriage where the direction angle and three-dimensional coordinates of the excavator change each time due to the rotation of the upper rotating body, the excavation position of the excavator can be determined with high precision each time.

[0028] Furthermore, one embodiment of the method for determining the excavation location of construction machinery according to the present invention is: A method for determining the excavation position of a construction machine, wherein a work device with an excavator attached to its tip is rotatably mounted at a mounting position on a traveling carriage, and the excavation position of the excavator is determined by the method for determining the excavation position of the construction machine. Step A involves, when the construction machine is stopped, sequentially sighting multiple sighting targets provided by the construction machine with a single surveying instrument to determine the initial value of the directional angle between the construction machine and the work device. The invention is characterized by having step B, in which the construction machine is operated to perform excavation work, during which the surveying instrument automatically tracks one of the sighting targets, and a three-axis inertial sensor, which is installed at the mounting position of the work device on the construction machine and detects the roll angle, pitch angle, and yaw angle of the work device, is used to determine the direction angle of the work device, and the excavation position is determined based on the detection data from the three-axis inertial sensor and the surveying data from the surveying instrument.

[0029] According to this embodiment, when the construction machine is stopped, a single surveying instrument sequentially sights multiple sighting targets on the construction machine to determine the initial values ​​of the direction angles between the construction machine and the work device. After the construction machine is started, the surveying instrument automatically tracks one sighting target, and a 3-axis inertial sensor that detects the roll angle, pitch angle, and yaw angle of the work device, installed at the mounting position of the work device on the construction machine, determines the direction angle of the work device. This makes it possible to determine the excavation position of the excavator, enabling the operator of the construction machine to accurately and efficiently determine the ever-changing excavation position of the construction machine each time while excavating.

[0030] Furthermore, other embodiments of the method for determining the excavation location of construction machinery according to the present invention include: The time required from the start of operation of the three-axis inertial sensor until the cumulative error exceeds the error threshold is set. During excavation work, the construction machine is stopped before the required time elapses, the surveying instrument is used to sight the plurality of sighting targets in sequence, a new directional angle is determined for the construction machine and / or the work device based on the plurality of target coordinates unique to each sighting target, and after the new directional angle is given to the three-axis inertial sensor, the next excavation work is performed.

[0031] According to this embodiment, by setting the time required until the cumulative error of the 3-axis inertial sensor reaches an error threshold, stopping the construction machine before the required time has elapsed, identifying a new directional angle for the construction machine and / or work device, and then performing excavation after assigning the new directional angle to the 3-axis inertial sensor, it is possible to continue to accurately determine the excavation position of the excavator. [Effects of the Invention]

[0032] According to the excavation position identification system and method for construction machinery of the present invention, the operator of the construction machinery can accurately and efficiently identify the excavation position of the construction machinery, which may change at any given time, while excavating. This results in high construction safety, good workability, and suppression of the occurrence of over-excavation and over-drilling. [Brief explanation of the drawing]

[0033] [Figure 1] This is a perspective view showing an example of a construction machine that constitutes the excavation location identification system according to the embodiment. [Figure 2] This is a configuration diagram of an example of an excavation location identification system according to the embodiment. [Figure 3] This is a schematic diagram illustrating the initial digging point and the over-digging area. [Figure 4] This figure shows an example of the hardware configuration of a control device. [Figure 5] This figure shows an example of the functional configuration of a control device. [Figure 6A] This diagram shows an example of a means for enabling or disabling sighting, and illustrates a state in which the sighting target is not visible. [Figure 6B] This diagram shows an example of a means for determining whether a target can be sighted or not, and illustrates the state in which the sighted target is sightable. [Figure 7A] This figure shows another example of a sighting enable / disable mechanism, where the sighting target is in a state where it is not sightable. [Figure 7B] This figure shows another example of a sighting enable / disable means, where the sighting target is in a sightable state. [Figure 8] This figure shows an example of the display screen on an operator terminal. [Modes for carrying out the invention]

[0034] The excavation location identification system and method for construction machinery according to the embodiment will be described below with reference to the attached drawings. In this specification and drawings, substantially identical components may be denoted by the same reference numerals to avoid redundant explanations.

[0035] [Excavation location identification system and method for construction machinery according to the embodiment] An example of an excavation location identification system and method for a construction machine according to the embodiment will be described with reference to Figures 1 to 8. Here, Figure 1 is a perspective view showing an example of a construction machine constituting the excavation location identification system according to the embodiment, and Figure 2 is a configuration diagram of an example of the excavation location identification system according to the embodiment. Figure 3 is a schematic diagram illustrating the target area and the over-excavation area.

[0036] The construction machine 10 in the illustrated example to which the excavation position identification system 100 is applied is a heavy machine (a hydraulic excavator equipped with a hydraulic breaker as an attachment) to which a hydraulic breaker 17 (an example of an excavator) is attached as an attachment to the tip of the arm 16c of the work device 16. Here, the construction machine may be a heavy machine equipped with a hydraulic breaker as in the illustrated example, or a construction machine with a traveling body and a rotating body, such as a drill jumbo, which has multiple booms equipped with excavation rods that can be rotated.

[0037] The construction machine 10 has a traveling carriage 11 comprising a lower traveling body 12 equipped with left and right crawlers that are driven by hydraulic motors (not shown), an upper rotating body 13 stacked on the lower traveling body 12 so as to be rotatable in the horizontal plane in the Z1 direction, and a working device 16 mounted on the mounting position 15 of the upper rotating body 13 so as to be rotatable in the vertical plane in the Z2 direction.

[0038] The upper rotating body 13 is equipped with an operator cabin 14, which houses the engine, hydraulic pump, hydraulic oil tank (none of which are shown), etc. The operator cabin 14 is also equipped with an operator terminal 70 (see Figure 8), which will be described below.

[0039] The working device 16 includes a boom 16a attached to the mounting position 15, a boom cylinder 16b that rotates the boom 16a in the pitch direction relative to the main body of the upper slewing body 13, an arm 16c, an arm cylinder 16d that rotates the arm 16c in the pitch direction relative to the boom 16a, and an attachment cylinder 16e that rotates the attachment in the pitch direction relative to the arm 16c, and is equipped with joints formed by these multiple cylinders. A hydraulic breaker 17 is attached to the tip of the arm 16c, and the tip of the hydraulic breaker 17 is a chisel tip 17a (excavation position), and the excavation position identification system 100 is a system that identifies the three-dimensional coordinates of this chisel tip 17a as the three-dimensional coordinates of the excavator 17 during excavation.

[0040] A three-axis inertial sensor 21 is installed at the mounting position 15 of the work device 16 on the upper rotating body 13. The three-axis inertial sensor 21 in the illustrated example is a six-axis inertial sensor that includes a three-axis acceleration sensor and a three-axis gyroscope. In this specification, "three-axis inertial sensor" means an inertial sensor that includes three or more acceleration sensors and gyroscopes.

[0041] On the other hand, single-axis acceleration sensors 22 are installed at multiple joint locations of the work device 16 (rotating mounting locations at the tip of each cylinder), with single-axis acceleration sensor 22A installed at the tip of the boom cylinder 16b, single-axis acceleration sensor 22B installed at the tip of the arm cylinder 16d, and single-axis acceleration sensor 22C installed at the tip of the attachment cylinder 16e.

[0042] As shown in Figure 2, multiple (two in the illustrated example) sighting targets 30A and 30B are installed behind the upper rotating body 13. These sighting targets 30 are 360-degree prisms that enable sighting from 360 degrees.

[0043] Figure 2 shows the situation in which a construction machine 10 is excavating the bedrock G in a mountain tunnel T after blasting. In the mountain tunnel T, a total station 40 (an example of a surveying instrument) capable of automatically tracking a sighting target 30 is installed on the tunnel wall on the tunnel entrance side of the construction machine 10. A control device 50, which is electrically connected to the total station 40 via a cable 45, is also installed on the tunnel entrance side.

[0044] The total station 40 has its own three-dimensional coordinates set based on the reference point coordinates of a reference point B whose three-dimensional coordinates are known, and it automatically tracks the sighting target 30 and measures its three-dimensional coordinates.

[0045] Thus, the excavation position identification system 100 is formed by a construction machine 10 on which a working device 16 equipped with an excavator 17 at its tip is rotatably mounted, a 3-axis inertial sensor 21 (a 6-axis inertial sensor is shown in the illustrated example) installed at the mounting position 15 of the working device 16 on the construction machine 10, a total station 40 that automatically tracks multiple sighting targets 30 provided on the construction machine 10, and a control device 50.

[0046] The control device 50 is equipped with a communication antenna 58 and acquires detection data from the 3-axis inertial sensor 21 and detection data from the 1-axis acceleration sensors 22 installed at each joint of the work device 16 via wireless communication in the X3 direction. In addition, it acquires survey data regarding the 3D coordinates of the sighting target 30, which are measured and internally calculated by the total station 40 via cable 45, in the X4 direction.

[0047] As shown in Figure 2, the axial direction of the tunnel T is the X direction, the direction perpendicular to the X direction in the horizontal plane is the Y direction, and the vertical direction perpendicular to these is the Z direction. The angle of the working device 16 in the XZ plane (vertical plane) is the pitch angle θp, the angle of the working device 16 in the YZ plane (vertical plane) is the roll angle θr, and the angle of the working device 16 in the XY plane (horizontal plane) is the yaw angle θy.

[0048] When the construction machine 10 is stopped, the total station 40 sequentially sights two sighting targets 30A and 30B in the X1 and X2 directions, acquiring multiple target coordinates unique to each sighting target 30A and 30B. Based on the survey data relating to the two target coordinates, the three-dimensional coordinates of the mounting position 15 of, for example, the work device 16 of the construction machine 10 are determined, and furthermore, the direction angle of the work device 16 is determined.

[0049] Furthermore, when the construction machine 10 is performing excavation work, the total station 40 automatically tracks and sights one of the sighting targets 30, and the target coordinates of the sighting target 30 are acquired. In addition, detection data from the 3-axis inertial sensor (6-axis inertial sensor) 21 at the mounting position 15 of the work device 16 and detection data from the 1-axis acceleration sensors 22 at each joint of the work device 16 are transmitted to the control device 50 in the X3 direction, and based on this survey data and detection data, the 3D coordinates of the chisel tip 17a (excavation position) of the hydraulic breaker 17 attached to the work device 16 are identified.

[0050] In other words, the excavation position identification system 100 detects the roll angle θr, pitch angle θp, and yaw angle θy of the work device 16 to determine the direction angle of the work device 16. A three-axis inertial sensor 21 is installed at the mounting position 15 of the work device 16. The three-axis inertial sensor 21 cumulatively reads the direction angle of the work device 16, which changes as the construction machine 10 rotates and moves, starting from the initial value of the direction angle set when the machine is stopped. By continuously accumulating the detected data inside the three-axis inertial sensor 21, it becomes possible to identify the chisel tip 17a (excavation position) of the hydraulic breaker 17 during construction, in conjunction with the survey data regarding the three-dimensional coordinates of the surveyed sighting target 30.

[0051] As shown in Figure 3, in the construction of the mountain tunnel T, when excavating the rock mass G using construction machinery 10 after blasting, irregularities such as a contact point A, where the actual excavation cross-section line L2 protrudes towards the center of the tunnel T relative to the design excavation cross-section line L1 at the tunnel face K, and over-excavated areas D due to over-excavation may occur. The excavation position identification system 100 is a system that, under the control of the control device 50 described in detail below, can accurately identify the three-dimensional coordinates of the chisel tip 17a of the hydraulic breaker 17 during excavation work, thereby suppressing the occurrence of contact points A and over-excavated areas D.

[0052] Here, the actual excavation cross-section line L2 is created based on the three-dimensional coordinates of multiple chisel tips 17a. Although not shown in the illustration, the construction machine 10 may also be equipped with a 3D scanner. In this configuration, the three-dimensional coordinates of multiple points on the excavation cross-section are identified based on distance data to the excavation cross-section acquired by the 3D scanner, and the actual excavation cross-section line is created based on the identified multiple three-dimensional coordinates.

[0053] Next, with reference to Figures 4 to 8, the control device 50 constituting the drilling location identification system 100 will be described, along with an example of a drilling location identification method according to the embodiment. Here, Figure 3 is a diagram showing an example of the hardware configuration of the control device, and Figure 4 is a diagram showing an example of the functional configuration of the control device.

[0054] As shown in Figure 3, the control device 50 is composed of an information processing device (computer) such as a personal computer (PC). The computers constituting the control device 50 are interconnected by a connection bus 56 and include a CPU (Central Processing Unit) 51, main memory 52, auxiliary storage 53, communication IF 54, and input / output IF (interface) 55. The main memory 52 and auxiliary storage 53 are recording media that can be read by the computer. Note that each of the above components may be provided individually, or some of the components may be omitted.

[0055] The CPU 51 is also called an MPU (Microprocessor) or processor, and it may be a single processor or a multiprocessor. The CPU 51 is a central processing unit that controls the entire control unit 50, which consists of a computer. For example, the CPU 51 expands a program stored in the auxiliary storage device 53 into an executable format in the working area of ​​the main memory device 52, and controls peripheral devices through the execution of the program, thereby providing a function that matches a predetermined purpose.

[0056] The main memory 52 stores computer programs executed by the CPU 51 and data processed by the CPU 51. The main memory 52 includes, for example, flash memory, RAM (Random Access Memory), and ROM (Read Only Memory). The auxiliary memory 53 stores various programs and various data on a recording medium that can be read and written freely, and is also called an external memory. The auxiliary memory 53 stores, for example, the OS (Operating System), various programs, various tables, etc. The OS includes, for example, a communication interface program that exchanges data with external devices connected via the communication IF 54. External devices include, for example, a total station 40, a 3-axis inertial sensor 21, a 1-axis acceleration sensor 22, an operator terminal 70 in the operator cabin 14, and a personal computer (not shown) for construction management installed in a management facility outside the tunnel that is connected to a network.

[0057] The auxiliary storage device 53 is used, for example, as a storage area that assists the main memory 52, and stores computer programs executed by the CPU 51, data processed by the CPU 51, etc. The auxiliary storage device 53 is a silicon disk containing non-volatile semiconductor memory (flash memory, EPROM (Erasable Programmable ROM)), a hard disk drive (HDD), a solid-state drive, etc. Examples of auxiliary storage devices 53 include drives for removable recording media such as CD drives, DVD drives, and BD drives, and examples of removable recording media include CDs, DVDs, BDs, USB (Universal Serial Bus) memory, SD (Secure Digital) memory cards, etc.

[0058] The input / output IF55 is an interface for inputting and outputting data between the control device 50 and the connected equipment. For example, keyboards, pointing devices such as touch panels and mice, and input devices such as microphones are connected to the input / output IF55. The control device 50 receives operation instructions from the operator operating the input device via the input / output IF55.

[0059] Furthermore, the input / output IF55 is connected to display devices such as liquid crystal displays (LCDs) and electroluminescent (EL) panels, as well as output devices such as printers and speakers. For example, it displays the pre-set design excavation cross-section line L1 at the currently under construction face K, the actual excavation cross-section line L2 currently under construction, and, if there are contact points A or over-excavation points D, their locations and the length of the contact point at contact point A and the length of the over-excavation point at over-excavation point D. The operator terminal 70 also has a similar input / output IF, and its display unit displays the same information as the control device 50.

[0060] The communication IF54 is an interface between the control device 50 and the cables and networks to which it is connected. The communication IF54 receives measurement data from the 3-axis inertial sensor 21 and the 1-axis acceleration sensor 22 via various networks such as the internet, wireless networks such as mobile phone networks, dedicated networks such as VPNs (Virtual Private Networks), and LANs (Local Area Networks), and transmits specific data regarding the actual excavation cross-section line, the contact area, the over-excavated area, etc., to a personal computer for construction management located in the management facility.

[0061] As shown in Figure 5, the control device 50, through the execution of a program by the CPU 51, provides various functions, at least including the communication unit 102, the control mode switching unit 104, the sighting enable / disable means drive unit 106, the surveying instrument control unit 108, the excavation position / direction angle identification unit 110, the display unit 112, and the storage unit 114. Here, at least a portion of the above processing functions may be provided by a DSP (Digital Signal Processor), a GPU (Graphics Processing Unit), etc. Similarly, at least a portion of the above processing functions may be provided by a dedicated LSI (large scale integration) such as an FPGA (Field-Programmable Gate Array), a numerical arithmetic processor, an image processing processor, or other digital circuits.

[0062] The communication unit 102 acquires survey data relating to the three-dimensional coordinates of the sighting target 30, measured by the total station 40, and the acquired three-dimensional coordinate data of the sighting target 30 is stored in the storage unit 114. Furthermore, the communication unit 102 acquires detection data relating to the direction angle of the work device 16 at the mounting position 15 of the upper slewing body 13, detected by the three-axis inertial sensor 21, and detection data relating to the pitch angle θp of the boom 16a, arm 16c, etc., detected by the one-axis acceleration sensors 22 at each joint of the work device 16, and these are stored in the storage unit 114. In other words, the communication unit 102 performs data transmission and reception using both wireless and wired communication.

[0063] The control mode switching unit 104 switches between two control modes: first control and second control. In the first control, the surveying instrument control unit 108 performs control to sight one sighting target 30 on the total station 40 while the construction machine 10 is performing excavation work, thereby acquiring the target coordinates.

[0064] The drilling position and direction angle identification unit 110 performs control to identify the three-dimensional coordinates (drilling position) of the chisel tip 17a of the hydraulic breaker 17 based on survey data related to the target coordinates, detection data from the 3-axis inertial sensor 21, and detection data from the 1-axis acceleration sensor 22. In other words, the first control identifies the direction angle of the hydraulic breaker 17 and the three-dimensional coordinates of the chisel tip 17a.

[0065] Meanwhile, the second control, performed by the surveying instrument control unit 108, executes a control to sequentially sight the two sighting targets 30A and 30B with respect to the total station 40 when the construction machine 10 is stopped, thereby acquiring two target coordinates specific to the sighting targets 30A and 30B.

[0066] The excavation position and direction angle identification unit 110 identifies the three-dimensional coordinates of the construction machine 10 and the mounting position 15 based on survey data relating to the coordinates of two targets, re-identifies the direction angle of the work device 16 (identification of a new direction angle), and performs control to assign a new direction angle to the three-axis inertial sensor 21.

[0067] In the second control, since one total station 40 sequentially sights two sighting targets 30A and 30B, it is possible to mistakenly sight the other sighting target 30 that is different from the one that is intended to be sighted. To resolve this issue, the sighting enable / disable means drive unit 106 drives the sighting enable / disable means provided on the sighting target 30.

[0068] Here, Figures 6 and 7 show examples of different forms of sight-enabling / deactivating means. The sight-enabling / deactivating means 60A shown in Figures 6A and 6B comprises a square steel pipe 61, a stroke motor 62 mounted inside the square steel pipe 61, a rod 63 mounted to the stroke motor 62 so as to be able to move up and down in the Y1 direction, and a cover 64 mounted above the rod 63.

[0069] The lower end of a rod 31 is attached to the upper rotating body 13 of the construction machine 10, and a 360-degree prism 30 (sight target) is attached to the upper end of the rod 31.

[0070] When the 360-degree prism 30 is to be made unsightable, the cover 64 completely encloses the 360-degree prism 30, as shown in Figure 6A. On the other hand, when the 360-degree prism 30 is to be sightable, the cover 64 is lowered in the Y2 direction by the drive control of the stroke motor 62 by the sightability enable / disable means drive unit 106, as shown in Figure 6B, thereby exposing the 360-degree prism 30 to the outside.

[0071] On the other hand, the sighting enable / disable means 60B shown in Figure 7 has a 360-degree prism 30 attached to the upper end of a rod 63 that is raised and lowered in the Y1 direction by a stroke motor 62.

[0072] When the 360-degree prism 30 is to be made unsightable, the 360-degree prism 30 is completely surrounded by the square steel pipe 61, as shown in Figure 7A. On the other hand, when the 360-degree prism 30 is to be sightable, the rod 63 is raised in the Y3 direction by the drive control of the stroke motor 62 by the sightability enable / disable means drive unit 106, as shown in Figure 7B, thereby exposing the 360-degree prism 30 to the outside.

[0073] Regardless of the form of the sighting enable / disable means 60 shown in Figures 6 and 7, in the second control, by alternately driving the stroke motors 62 of both sighting targets 30A and 30B with the sighting enable / disable means drive unit 106, sequential control can be performed in which only one sighting target 30 is made sightable and the other sighting target 30 is made unsightable, then the sightable sighting target 30 is made unsightable, and the unsightable sighting target 30 is made sightable.

[0074] This control prevents accidentally aiming at the other sighting target 30 when sequentially sighting two sighting targets 30 with a single total station 40, rather than the one that is intended to be sighted.

[0075] The 3-axis inertial sensor 21, which determines the direction angle of the work device 16 when the construction machine 10 is in operation, is initially assigned the direction angle determined when the construction machine 10 is stopped. Subsequently, as the construction machine 10 operates, the 3-axis inertial sensor 21 accumulates detection data in real time to determine the direction angle of the working work device 16 during operation, and together with the 3D coordinates of the sighting target 30, the 3D coordinates of the chisel tip 17a of the hydraulic breaker 17 are determined. Therefore, the 3-axis inertial sensor 21 may accumulate errors (also called drift errors) over time. In the case of a 6-axis inertial sensor including a 3-axis gyro sensor, as shown in the illustrated example, this accumulation error is even more likely to occur because the gyro sensor is constantly rotating.

[0076] Therefore, the control device 50, through its second control, acquires survey data for the two target coordinates when the construction machine 10 is stopped, identifies a new directional angle for the construction machine 10 and the work device 16 based on this survey data, and assigns a new directional angle to the 3-axis inertial sensor 21. This resets the cumulative error of the detection data by the 3-axis inertial sensor 21 and resets the initial value of the directional angle for subsequent operation of the work device 16.

[0077] Furthermore, the memory unit 114 also stores an error threshold related to the cumulative error of the 3-axis inertial sensor 21. For example, since the cumulative error of a 3-axis acceleration sensor or a 3-axis gyro sensor can increase significantly in about 5 minutes, potentially reducing the accuracy of the 3D coordinates of the chisel tip 17a, the error threshold for the cumulative error of the 3-axis inertial sensor 21 is set to about 5 minutes, and the control device 50 counts the elapsed time since the construction machine 10 started operating.

[0078] The elapsed time data is transmitted via the communication unit 102 to the operator terminal 70 in the operator cabin 14, and the display screen shows the elapsed time or the remaining time until the error threshold is reached. The operator of the construction machine 10 stops the operation of the construction machine 10 before this remaining time elapses, and the control device 50 performs a second control to reset the initial value of the direction angle of the 3-axis inertial sensor 21. This resets the accumulated error inside the 3-axis inertial sensor 21, and by then starting the operation of the construction machine 10, it becomes possible to continue to accurately determine the 3D coordinates of the chisel tip 17a of the hydraulic breaker 17.

[0079] The first and second control methods provided by this control device 50 enable highly accurate identification of the direction angle of the hydraulic breaker 17 and the three-dimensional coordinates of the chisel tip 17a, thereby suppressing the occurrence of over-excavation and over-excavation.

[0080] Figure 8 shows an example of the display on the display screen 72 of the operator terminal 70 installed in the operator cabin 14 of the construction machine 10.

[0081] As shown in the figure, the display screen 72 shows the pre-set design excavation section line L1 at the current tunnel face K (a tunnel face located at a predetermined longitudinal position in the longitudinal direction of the tunnel). In addition, the actual excavation section line L2 at this tunnel face K is displayed superimposed on the design excavation section line L1.

[0082] Furthermore, as the operator excavates while viewing the display screen 72, the three-dimensional coordinates (P0(xp, yp, zp)) at which the chisel tip 17a of the hydraulic breaker 17 makes contact with any excavation position on the actual excavation cross-section line L2 are plotted on the display screen 72 each time.

[0083] Furthermore, by superimposing the design excavation section line L1 and the actual excavation section line L2, the display screen 72 shows the positions of the target area and the over-excavation area, as well as the lengths of the target area and the over-excavation area. In the illustrated example, multiple 3D coordinates of the target area are displayed as points P1 to P5, and the lengths of each target area are displayed as t1 to t5. On the other hand, multiple 3D coordinates of the over-excavation area are displayed as points P6 to P10, and the lengths of each over-excavation area are displayed as s1 to s5.

[0084] Furthermore, the remaining time until the initial value of the directional angle is set is displayed, and the operator continues excavating until this remaining time has elapsed, stops the construction machine 10, and, in order to reset the cumulative error of the 3-axis inertial sensor 21, performs a second control by the control device 50 to reset the initial value of the directional angle of the work device 16.

[0085] For example, if the survey data transmitted from the total station 40 and the detection data from the 3-axis inertial sensor 21 and the 1-axis acceleration sensor 22 do not change, the control device 50 determines that the construction machine 10 has stopped, automatically switches the control mode from the first control to the second control, and performs various controls to reset the initial value of the direction angle of the work device 16.

[0086] After the initial value of the directional angle of the work device 16 is reset, the control device 50 automatically switches the control mode from second control to first control, sends a command signal to the operator terminal 70 indicating that the reset of the initial value is complete, and the operator terminal 70 notifies the operator that it is OK to start operating the construction machine 10 based on this command signal.

[0087] According to the construction machine excavation position identification system 100, instead of workers giving instructions to the construction machine operator with a laser pointer or the like, the operator of the construction machine 10 can accurately and efficiently identify the excavation position of the work device 16 of the construction machine 10, which may change at any given time, as they excavate. This results in higher construction safety, better workability, and suppression of the occurrence of over-excavation and over-drilling.

[0088] Furthermore, since the total station 40 installed on the tunnel entrance side of the construction machine 10 automatically tracks the machine unmanned, the excavation work only requires the operator of the construction machine 10, thus reducing the number of workers. If the construction machine 10 can achieve unmanned travel and operation, it will be possible to achieve fully automated excavation work that completely eliminates the need for workers inside the tunnel T.

[0089] Furthermore, the excavation position determination method for construction machinery according to the embodiment is an excavation position determination method to which the excavation position determination system 100 is applied. First, as step A, when the construction machinery 10 is stopped, the two sighting targets 30 provided on the construction machinery 10 are sequentially sighted with a total station 40 to determine the initial value of the direction angle between the construction machinery 10 and the work device 16. At this time, as explained with reference to Figures 6 and 7, since the two sighting targets 30 are equipped with sighting enable / disable means 60, when sequentially sighting the two sighting targets 30 with a total station 40, it is possible to prevent accidentally sighting the other sighting target 30 that is different from the sighting target 30 that is intended to be sighted.

[0090] Next, in step B, the construction machine 10 is operated to perform excavation work. At that time, the total station 40 automatically tracks one sighting target 30, and a 3-axis inertial sensor 21, which is installed at the mounting position 15 of the work device 16 on the construction machine 10 and detects the roll angle, pitch angle, and yaw angle of the work device 16, determines the direction angle of the work device 16. Based on the detection data from the 3-axis inertial sensor 21 and the survey data from the total station 40, the excavation position of the excavator 17 during excavation work is determined.

[0091] In this construction process, the required time for the 3-axis inertial sensor 21 to start operating and for the cumulative error to exceed an error threshold is set. During excavation, the construction machine 10 is stopped before the required time has elapsed, the total station 40 is used to sight two targeting targets 30A and 30B in sequence, and a new directional angle for the construction machine 10 and work device 16 is determined based on the two target coordinates unique to each targeting target 30A and 30B. After assigning the new directional angle to the 3-axis inertial sensor, the next excavation is performed.

[0092] The method for determining the excavation position of the construction machinery also allows the operator of the construction machinery 10 to accurately and efficiently determine the excavation position of the work device 16 of the construction machinery 10, which may change at any given time, thereby achieving excavation work with high construction safety and good workability.

[0093] Other embodiments may be used in which other components are combined with the configurations listed in the above embodiments, and the present invention is not limited in any way to the configurations shown herein. In this regard, modifications can be made without departing from the spirit of the present invention, and can be appropriately determined according to the application form. [Explanation of symbols]

[0094] 10: Construction machinery 11: Running bogie 12: Lower running body 13: Upper rotating body 14: Operator's Cabin 15: Mounting position 16: Working equipment 16a: Boom 16b: Boom Cylinder 16c: Arm 16d: Arm Cylinder 16e: Attachment Cylinder 17: Hydraulic breaker (for tunneling) 17a: Excavation location (chisel tip) 21: 3-axis inertial sensor (6-axis inertial sensor) 22:1-axis accelerometer 30, 30A, 30B: Sighting target (360-degree prism) 31: Rod 40: Surveying equipment (total station) 45: Cable 50: Control device 58: Communication antenna 60,60A,60B: Sighting impossible means 61: Square steel pipe 62: Actuator (stroke motor) 63: Rod 64: Cover 70: Operator terminal 72:Display screen 100: Excavation location identification system (Excavation location identification system for construction machinery) 102: Communications Department 104: Control mode switching section 106: Sight-enabling / unsight-enabling means drive unit 108: Surveying equipment control unit 110: Excavation location and direction angle identification section 112: Display section 114: Storage section B: Reference point T: Mountain tunnel (tunnel) G: Natural ground (bedrock) K: Post L1: Design excavation section line L2: Actual excavation cross-section line A: Hit area D: Excess digging section

Claims

1. In a construction machine in which a work device with an excavator attached to its tip is rotatably mounted at a mounting position on a traveling carriage, a construction machine excavation position identification system for identifying the excavation position of the excavator, A three-axis inertial sensor is provided at the aforementioned mounting position to detect the roll angle, pitch angle, and yaw angle of the work device and to determine the direction angle of the work device. Multiple sighting targets installed on the aforementioned construction machine, A surveying instrument that automatically tracks at least one of the sighting targets that moves in conjunction with the movement of the construction machine, and measures the three-dimensional coordinates of the sighting target based on the coordinates of a reference point whose three-dimensional coordinates are known, The control device identifies the excavation location based on the detection data from the three-axis inertial sensor and the surveying data from the surveying instrument. The control device performs the first control and the second control. The first control is, The control involves, while the construction machine is performing excavation work, executing a control to cause the surveying machine to sight one of the sighting targets to acquire the target coordinates, and then determining the excavation position of the excavator based on the surveying data related to the target coordinates and the detection data from the three-axis inertial sensor. The second control is, A construction machine excavation position determination system, characterized in that, when the construction machine is stopped, the system controls the surveying machine to sequentially sight the plurality of sighting targets, acquires a plurality of target coordinates unique to each sighting target, determines a new direction angle for the construction machine and / or the work device based on the surveying data relating to the plurality of target coordinates, and provides the three-axis inertial sensor with the new direction angle.

2. The excavation position identification system for construction machinery according to claim 1, characterized in that the three-axis inertial sensor comprises a three-axis acceleration sensor and a three-axis gyro sensor.

3. The excavation position identification system for a construction machine according to claim 1 or 2, characterized in that the work device comprises a plurality of joints, and each joint is provided with at least one acceleration sensor for measuring the pitch angle.

4. The aforementioned plurality of sighting targets are equipped with sighting enable / disable means for enabling or disabling sighting by the surveying instrument, The control device is In the first control, further control is performed to make only one of the plurality of sighting targets sightable and the other sighting targets unsightable. The excavation position identification system for a construction machine according to claim 1 or 2, characterized in that, in the second control, sequential control is performed such that the plurality of sighting targets are sighted one by one in order, by making only one sighting target sightable and the other sighting targets sightless, then making the sightable sighting target sightless, and the sightless sighting target sightable.

5. The control device stores the time required from when the three-axis inertial sensor starts operating until the accumulated error reaches the error threshold. The cabin of the aforementioned construction machine is equipped with an operator terminal. The excavation position identification system for a construction machine according to claim 4, characterized in that, during excavation work, before the required time has elapsed, a command signal is transmitted from the control device to the operator terminal to stop the construction machine and execute the second control.

6. At least the operator terminal is equipped with a display unit, The display unit shows the tunnel's design excavation cross-section line. The excavation position identification system for a construction machine according to claim 5, characterized in that the three-dimensional coordinates when the tip of the excavator is brought into contact with a plurality of excavation positions on the actual excavation cross-section line in the excavation cross-section are plotted on the display unit, thereby identifying the over-excavated portion that is excavated more than the designed excavation cross-section line and the contact portion that is insufficiently excavated relative to the designed excavation cross-section line.

7. The aforementioned construction machine is equipped with a 3D scanner, The excavation position identification system for a construction machine according to claim 6, characterized in that, based on distance data to the excavation cross-section acquired by the 3D scanner, the three-dimensional coordinates of multiple locations on the excavation cross-section are identified, the actual excavation cross-section line is created, and the line is displayed on the display unit.

8. The aforementioned trolley has a lower traveling body and an upper rotating body that is stacked on the lower traveling body so as to be rotatable. The excavation position identification system for a construction machine according to claim 1 or 2, characterized in that the mounting position is set on the upper rotating body and the working device is rotatably mounted.

9. A method for determining the excavation position of a construction machine, wherein a work device with an excavator attached to its tip is rotatably mounted at a mounting position on a traveling carriage, and the excavation position of the excavator is determined by the method for determining the excavation position of the construction machine. Step A involves, when the construction machine is stopped, sequentially sighting multiple sighting targets provided by the construction machine with a single surveying instrument to determine the initial value of the directional angle between the construction machine and the work device. A method for determining the excavation position of a construction machine, comprising step B: operating the construction machine to perform excavation work, during which the surveying instrument automatically tracks one of the sighting targets, and a three-axis inertial sensor installed at the mounting position of the work device on the construction machine to detect the roll angle, pitch angle, and yaw angle of the work device to determine the direction angle of the work device, and determining the excavation position based on the detection data from the three-axis inertial sensor and the surveying data from the surveying instrument.

10. The time required from the start of operation of the three-axis inertial sensor until the cumulative error exceeds the error threshold is set. The method for determining the excavation position of a construction machine according to claim 9, characterized in that, during excavation work, the construction machine is stopped before the required time has elapsed, the surveying instrument is sequentially sighted on the plurality of sighting targets, a new directional angle is determined for the construction machine and / or the work device based on a plurality of target coordinates unique to each sighting target, the new directional angle is given to the three-axis inertial sensor, and then the next excavation work is performed.

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