Patent Publication Number: US-6209232-B1

Title: Construction machine with function of measuring finishing accuracy of floor face smoothed thereby

Description:
TECHNICAL FIELD 
     This invention relates to a construction machine with a laser measuring instrument, and more particularly to a construction machine with a laser measuring instrument suitable for use for measurement of a finished floor face. 
     BACKGROUND ART 
     Conventionally, as shown in FIG. 8. a construction machine (working machine)  115  such as a hydraulic excavator includes a lower traveling member  100  including a right track  100 R and a left track  100 L which can be driven independently of each other, and a working machine body section (working machine body)  102  with an operator cab  101  mounted for rotation in a horizontal plane on the lower traveling member  100 . Further, a boom  103  is mounted for pivotal motion in a vertical direction on the working machine body section  102 , and a stick  104  is mounted for pivotal motion similarly in a vertical direction on the boom  103 . 
     A pair of boom driving hydraulic cylinder apparatus (liquid pressure cylinder apparatus)  105  (only one is shown in FIG. 8) for driving the boom  103  are provided in a juxtaposed relationship between the working machine body section  102  and the boom  103 , and a stick driving hydraulic cylinder apparatus (liquid pressure cylinder apparatus)  106  for driving the stick  104  is provided between the boom  103  and the stick  104 . 
     It is to be noted that a bucket  108  which is driven by a hydraulic cylinder apparatus  107  is removably mounted at an end of the stick  104 . 
     Further, the left track  100 L and the right track  100 R mentioned above include traveling motors  109 L and  109 R (refer to FIG. 10) serving as power sources independent of each other, respectively, and a revolving movement by the working machine body section  102 , a pivotal movement by the boom  103  and the stick  104  and driving of the bucket  108  are operated under the control of a hydraulic control circuit apparatus  111  hereinafter described with reference to FIG. 10 as a hydraulic pump is driven by an engine (internal combustion engine) not shown. 
     By the way, the operator cab  101  is constructed in such a manner as shown, for example, in FIG.  9 . The operator cab  101  includes a seat  101 A on which an operator is to be seated, a left lever  101 B, a right lever  101 C, a console  101 D, a left pedal  101 L, a right pedal  101 R, an instrument panel  101 E and a safety lock lever  101 F. 
     Here, the left lever  101 B, right lever  101 C, left pedal  101 L and right pedal  101 R mentioned above are provided to control movements of the working machine  115  (traveling, revolving movement, pivotal movement of the boom, pivotal movement of the stick or pivotal movement of the bucket). 
     For example, if an operator manually operates the left and right levers  101 B and  101 C forwardly or rearwardly and leftwardly or rightwardly, then the hydraulic cylinder apparatus  105  to  110  are driven under the control of the hydraulic control circuit apparatus  111  so that a revolving movement, a pivotal movement of the boom, a pivotal movement of the stick or a pivotal movement of the bucket can be performed. 
     In the meantime, if the left pedal  101 L is treadled down, then the amount of the treadling movement is transmitted to the left side traveling motor  109 L via the hydraulic control circuit apparatus  111  to drive the left track  100 L to rotate, but if the right pedal  101 R is treadled down, then the amount of the treadling movement is transmitted to the right track  100 R via the hydraulic control circuit apparatus  111  to drive the right track  100 R to rotate so that the working machine  115  can travel (travel straightforwardly, travel along a leftwardly or rightwardly curved line or turn backwardly). 
     For example, if both of the right track  100 R and the left track  100 L are rotated at an equal speed in a forward direction, then the working machine  115  advances straightforwardly, but if the left track  100 L is rotated at a higher speed than the right track  100 R, then the working machine  115  advances along a leftwardly curved line. However, if the right track  100 R is rotated at a higher speed than the left track  100 L, then the working machine  115  advances along a rightwardly curved line, but if both of the right track  100 R and the left track  100 L are rotated at an equal speed in a reverse direction, then the working machine  115  can travel backwardly. 
     It is to be noted that the aforementioned revolving movement signifies a rotational movement of the working machine body section  102  by a revolving motor  110  which is hereinafter described with reference to FIG.  10 . 
     By the way, the hydraulic control circuit apparatus  111  mentioned above includes, as shown in FIG. 10, hydraulic control valves  111 - 1  to  111 - 6  for transmitting control amounts to the hydraulic cylinder apparatus  105  to  107 , traveling motors  109 L and  109 R and revolving motor  110 , respectively. 
     The control valve  111 - 1  is switched by a pilot hydraulic pressure received from the right lever  101 C via a pilot oil path  112 - 1  to control the hydraulic pressure of the boom driving hydraulic cylinder apparatus  105  via an oil path  113 - 1  to drive the boom driving hydraulic cylinder apparatus  105  to extend or contract to drive the boom  103 . 
     Similarly, the control valve  111 - 2  is switched by a pilot hydraulic pressure received from the right lever  101 C via a pilot oil path  112 - 2  to control the hydraulic pressure acting upon the hydraulic cylinder apparatus  107  via an oil path  113 - 2  to drive the hydraulic cylinder apparatus  107  to extend or contract to drive the bucket  108 . 
     Meanwhile, the control valve  111 - 3  receives a pilot hydraulic pressure from the left pedal  101 L via a pilot oil path  112 - 3  to control the hydraulic pressure at the left side traveling motor  109 L through an oil path  113 - 3  to drive the left track  100 L to rotate. 
     Similarly, the control valve  111 - 4  receives a pilot hydraulic pressure from the right pedal  101 R via a pilot oil path  112 - 4  to control the hydraulic pressure at the right side traveling motor  109 R via an oil path  113 - 4  to drive the right track  100 R to rotate. 
     Further, the control valve  111 - 5  receives a pilot hydraulic pressure from the left lever  101 B through a pilot oil path  112 - 5  to control the hydraulic pressure at the revolving motor  110  via an oil path  113 - 5  to drive the working machine body section  102  to rotate. 
     Meanwhile, the control valve  111 - 6  is switched by a pilot hydraulic pressure received from the left lever  101 B via a pilot oil path  112 - 6  to control the hydraulic pressure acting upon the stick driving hydraulic cylinder apparatus  106  via an oil path  113 - 6  to drive the stick driving hydraulic cylinder apparatus  106  to extend or contract to drive the stick  104 . 
     It is to be noted that the oil paths  113 - 1  to  113 - 6  described above are communicated with the hydraulic pump which is driven by the engine not shown and a reservoir tank via the hydraulic control valves  111 - 1  to  111 - 6 , and also the pilot oil paths  112 - 1  to  112 - 6  are communicated with the hydraulic pump and the reservoir tank mentioned above. 
     By such a construction as described above, in order to operate the boom  13 , the stick  104  or the bucket  108 , the levers  101 B and/or  101 C as boom operating members, stick operating members or bucket operating members in the operator cab  101  are suitably manually operated forwardly or backwardly and leftwardly or rightwardly to cause a pilot hydraulic pressure to act upon the control valve  111 - 1 ,  111 - 6  or  111 - 2  via the pilot oil path  112 - 1 ,  112 - 6  or  112 - 2  to drive the boom driving hydraulic cylinder apparatus  105 , the stick driving hydraulic cylinder apparatus  106  or the bucket driving hydraulic cylinder apparatus  107  to extend or contract. 
     Consequently, for example, if the boom driving hydraulic cylinder apparatus  105  is driven to extend or contract, then a boom raising operation (in a direction indicated by an arrow mark a) or a boom lowering operation (in a direction indicated by an arrow mark b) can be performed. Or, if the stick driving hydraulic cylinder apparatus  106  is driven to extend or contract, then a stick-out movement (in a direction indicated by an arrow mark c) or a stick-in movement (in a direction indicated by an arrow mark d) can be performed. Further, if the hydraulic cylinder apparatus  107  is driven to extend or contract, then a bucket dumping movement (opening movement, in a direction indicated by an arrow mark e) or a bucket curling operation (dragging-in movement, in a direction indicated by an arrow mark f) can be performed. 
     Accordingly, by using the working machine  115  and moving the end of a blade of the bucket  108  along a predetermined locus, various working operations such as, for example, excavation, loading or floor face finishing can be performed. 
     By the way, for example, in order to measure the accuracy of a floor face V at a location where excavating and floor face finishing operations have been performed by the working machine  115  described above with respect to an aimed floor face W by the hydraulic excavator itself as seen in FIG. 11, operating members such as the boom  103 , stick  104  and bucket  108  are set at predetermined positions using a laser beam irradiated in parallel to the aimed floor face W from the outside of the construction machine. 
     In particular, an operator of the construction machine manually operates the levers  101 B and/or  101 C to drive the boom  103 , stick  104  and bucket  108  so that the laser beam may be received at a predetermined angle (for example, at the right angle) by a laser receiver mounted on the working machine  115   
     Consequently, by setting, by manual operations, the boom  103 , stick  104  and bucket  108  at such positions that the laser beam parallel to the aimed floor face W may be received at the predetermined angle by the laser receiver, the accuracy of the finished floor face can be measured. 
     However, when the accuracy of the floor face V at the location at which the working operation has been performed is measured by the hydraulic excavator itself using such a technique as described above, since the positions of the boom  103 , stick  104  and bucket  108  are set while the operator visually observers the receiving angle of the laser beam at the laser receiver from within the operator cab  101 , depending upon the mounted location of the laser receiver, it is difficult to visually observe whether or not the receiving angle of the laser beam at the laser receiver is accurately equal to the predetermined angle. 
     Accordingly, there is a subject that the boom  103 , stick  104  and bucket  108  as the operating members cannot be accurately set at the positions mentioned above, and an error in measurement sometimes occurs also upon measurement of the accuracy of the finished floor face. 
     Further, the operator must manually operate the levers  101 B and/or  101 C as manually operable members to drive the three operating members of the boom  103 , stick  104  and bucket  108 , and there is another subject that a technique in manual operation for position setting for measurement is very difficult. 
     The present invention has been made in view of such subjects as described above, and it is an object of the present invention to provide a construction machine with a laser measuring instrument by which operating members can be driven so that a laser beam can be received at the right angle automatically and accurately. 
     DISCLOSURE OF THE INVENTION 
     To this end, a construction machine with a laser measuring instrument of the present invention which includes a construction machine body, a working apparatus provided on the construction machine body and including a plurality of arm members connected to each other like an arm for performing a desired working operation, an end working member mounted for pivotal motion on one of the arm members which is positioned on a free end side of the arm, and a cylinder apparatus for driving the arm members and the end working member, and a manually operable member for driving the cylinder apparatus of the working apparatus to operate the plurality of arm members and end working member, is characterized in that it comprises an array type laser receiver mounted on the arm member positioned on the free end side of the arm for receiving a laser beam parallel to an aimed floor face irradiated from a laser apparatus disposed at a position spaced away from the construction machine, posture detection means for detecting a posture of the construction machine, and control means for controlling the working apparatus based on a result of detection by the posture detection means so that the array type laser receiver may receive the laser beam from the laser apparatus at a predetermined angle. 
     Further, the construction machine with a laser measuring instrument may be constructed such that the posture detection means includes an inclination angle sensor for detecting an inclination angle of the construction machine body, and a plurality of angle sensors for detecting angles of the plurality of arm members and end working member. 
     Furthermore, the construction machine with a laser measuring instrument may be constructed such that the control means includes a setting unit in which an installation condition of the laser apparatus is set, a posture calculation section for calculating, based on the installation condition of the laser apparatus set by the setting unit and the result of detection by the posture detection means, a posture of the construction machine with which the array type laser receiver can receive the laser beam from the laser apparatus at the predetermined angle, and a control section for controlling the working apparatus in response to a manual operation of the manually operable member which operates a particular one of the arm members so that the construction machine may have the posture calculated by the posture calculation section. 
     In this instance, the posture calculation section may be constructed such that it calibrates a difference between an installation height of the laser apparatus and a height of a laser light receiving point in a condition wherein the end working member contacts with the floor face to calculate the posture of the construction machine 
     Meanwhile, another construction machine with a laser measuring instrument of the present invention which includes a construction machine body, a working apparatus provided on the construction machine body and including a plurality of working members for performing a desired operation, and a working apparatus operating member for operating the plurality of working members of the working apparatus, is characterized in that it comprises an array type laser receiver mounted on the working apparatus for receiving a laser beam parallel to an aimed floor face irradiated from a laser apparatus disposed at a position spaced away from the construction machine, posture detection means for detecting a posture of the construction machine, and control means for controlling the working apparatus based on a result of detection by the posture detection means so that the array type laser receiver may receive the laser beam from the laser apparatus at a predetermined angle. 
     Accordingly, with the construction machines with a laser measuring instrument of the present invention, since the control means can control the working apparatus automatically and accurately based on a result of detection from the posture detection means so that the array type laser receiver can receive the laser beam from the laser apparatus at the right angle, there is an advantage that, while facilitating manual operations of an operator, measurement of a finished floor can be performed with a high degree of accuracy without being influenced by an inclination of the construction machine body. 
     Further, since the posture calculation section calibrates the difference between the installation height of the laser apparatus and the height of the laser light receiving point in a condition wherein the end working member contacts with the floor face to calculate the posture of the construction machine, measurement of the position of the blade end of the bucket can be performed using only detection information from the posture detection means, and also there is an advantage that measurement is facilitated very much. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     FIG. 1 is a block diagram illustrating functions of a construction machine with a laser measuring instrument according to an embodiment; 
     FIGS. 2 and 3 are schematic side elevational views showing appearances of the construction machine with a laser measuring instrument according to the present embodiment; 
     FIG. 4 is a view showing a hydraulic control circuit apparatus employed in the construction machine with a laser measuring instrument according to the present embodiment; 
     FIG. 5 is a schematic side elevational view illustrating operation of the construction machine with a laser measuring instrument according to the present embodiment; 
     FIG. 6 is a flow chart illustrating operation of the construction machine with a laser measuring instrument according to the present embodiment; 
     FIG. 7 is a view illustrating actions and effects of the construction machine with a laser measuring instrument according to the present embodiment; 
     FIG. 8 is a schematic side elevational view showing a construction machine such as a hydraulic excavator; 
     FIG. 9 is a schematic perspective view, partly in section, showing an operator cab of a construction machine such as a hydraulic excavator: 
     FIG. 10 is a view illustrating a hydraulic control circuit apparatus for use with a construction machine such as a hydraulic excavator: and 
     FIG. 11 is a view schematically illustrating an accuracy of a floor face at a location at which a working operation has been performed with respect to an aimed floor face. 
    
    
     BEST MODE FOR CARRYING OUT THE INVENTION 
     In the following, an embodiment of the present invention is described with reference to the drawings. FIGS. 1 to  7  show a construction machine with a laser measuring instrument according to an embodiment of the present invention, and FIG. 1 is a block diagram illustrating functions of the construction machine with a laser measuring instrument according to the present embodiment, FIGS. 2,  3  and  5  are schematic side elevational views showing appearances of the construction machine with a laser measuring instrument according to the present embodiment, FIG. 4 is a view showing a hydraulic control circuit apparatus employed in the construction machine with a laser measuring instrument according to the present embodiment, FIG. 6 is a flow chart illustrating operation of the construction machine with a laser measuring instrument according to the present embodiment, and FIG. 7 is a view illustrating actions and effects of the construction machine with a laser measuring instrument according to the present embodiment. 
     The construction machine with a laser measuring instrument according to the present embodiment has a basic construction basically similar to that described hereinabove with reference to FIG.  8 . It is to be noted that same reference symbols in FIGS. 1 to  7  as those in FIGS. 8 to  10  denote similar elements. 
     In particular, also the construction machine  10  with a laser measuring instrument according to the present embodiment includes, as shown in FIGS. 2 and 3, a construction machine body  11  including a lower traveling member  100  as a traveling section having tracks  100 L and  100 R and a working machine body section  102  as an upper body member provided on the lower traveling member  100 , a boom  103  and a stick  104  as an arm member provided on the construction machine body  11 , a bucket  108  as an end working member mounted for pivotal motion on the stick  104 , and cylinder apparatus  105  to  107  for driving the boom  103 , stick  104  and bucket  108  mentioned above. 
     Accordingly, a working apparatus  12  is formed from the construction machine body  11 , boom  103 , stick  104 , bucket  108  and cylinder apparatus  105  to  107  mentioned above. 
     Further, the construction machine  10  shown in FIGS. 2,  3  and  5  includes, as described hereinabove with reference to FIG. 9, levers  101 B and  10 C as manually operable members for operating the boom  103 , stick  104  and bucket  108  by driving the cylinder apparatus  105  to  107  of the working apparatus  12 . 
     The boom  103  and the stick  104  as an arm member are provided on the construction machine body  11  and connected to each other like an arm so as to perform a desired working operation, and the bucket  108  as an end working member is mounted for pivotal motion on the stick  104  as an arm member positioned on the free end side. 
     The stick  104  has, similarly to that described hereinabove with reference to FIG. 8, a light receiver  114  mounted thereon in such a manner as to receive a laser beam L irradiated in parallel to an aimed floor face W from a laser transmitter (laser apparatus)  120  as a laser apparatus disposed at a position spaced away from the construction machine  10 . It is to be noted that the light receiver  114  is formed from an array type laser receiver wherein a plurality of light receiving elements are arranged in an array 
     Further, Further, while the construction machine according to the present embodiment includes pilot pressure control valves  5 - 1 ,  5 - 2  and  5 - 4  as solenoid valves for controlling operations of the boom  103 , stick  104 , bucket  108  and so forth, a control system for controlling pilot pressures for the pilot pressure control valves  5 - 1 ,  5 - 2  and  5 - 4  has such a construction as shown, for example, in FIG.  1 . 
     Here, reference numeral  1  denotes a setting section, and this setting section  1  includes an installation condition setting unit (setting unit)  1   a  for setting installation conditions of the laser transmitter  120  when, for example, the accuracy of a finished floor face is to be measured, and further includes a measuring switch  1   b  for starting actual measurement. The aimed angle setting unit  1   a  is provided, for example, on an instrument panel  101 E in the operator cab  101  while the measuring switch  1   b  can be provided, for example, on one of the manually operable levers  101 B and  101 C. 
     Particularly, the aimed angle setting unit  1   a  described above sets the angle of the aimed floor face as an angle of the laser beam L irradiated from the laser transmitter  120  and the installation height of the laser transmitter  120  as installation conditions. 
     Furthermore, reference symbols  3 - 1  to  3 - 3  denote each an angle sensor, and the angle sensor  3 - 1  detects the angle of the boom  103  with respect to the working machine body section  102  based on a driving condition of the boom driving hydraulic cylinder apparatus  105 . The angle sensor  3 - 2  detects an angle of the stick  104  with respect to the boom  103  based on a driving condition of the stick driving hydraulic cylinder apparatus  106 . The angle sensor  3 - 3  detects an angle of the bucket  108  with respect to the stick  104  based on a driving condition of the hydraulic cylinder apparatus  107 . 
     Meanwhile, reference numeral  4  denotes an inclination angle sensor, and this inclination angle sensor  4  detects an inclination of the construction machine  10  itself, that is, an inclination angle of the construction machine body  11  with respect to the horizontal plane, and the inclination angle sensor  4  and the angle sensors  3 - 1  to  3 - 3  described above function as posture detection means for detecting the posture of the construction machine  10 . 
     A controller  2  controls driving of the working apparatus  12  based on angle detection information from the angle sensors  3 - 1  to  3 - 3 , an inclination of the construction machine  10  itself detected by the inclination angle sensor  4  and angle information of the aimed floor face from the setting section  1  so that the array type laser receiver  114  can receive the laser beam L from the laser transmitter  120  at a predetermined angle (for example, at the right angle), and the controller  2  and the setting section  1  described above function as control means. 
     In other words, the controller  2  calculates, based on the detection information of the sensors described above, angles of the boom  103 , stick  104  and bucket  108  with which the array type laser receiver  114  can receive the laser beam L from the laser transmitter  120  at the right angle, and controls the pilot pressure control valves  5 - 1 ,  5 - 2  and  5 - 4  so that the calculated angles of the boom  103 , stick  104  and bucket  108  may be reached. 
     It is to be noted that, in this instance, the boom  103  is driven in response to a manual operation of the operator side, and the controller  2  can calculate angles of the stick  104  and the bucket  108  to be controlled in response to the driven condition of the boom  103  and control the pilot pressure control valves  5 - 1 ,  5 - 2  and  5 - 3  based on a result of the calculation. 
     In particular, the controller  2  has a function as a posture calculation section for calculating, based on the installation conditions of the laser transmitter  120  set by the installation condition setting unit  1   a  and the result of detection by the sensors  3 - 1  to  3 - 3  and  4  described above, a posture of the construction machine  10  with which the array type laser receiver  114  can receive the laser beam from the laser transmitter  120  at the right angle and has another function as a control section for controlling the stick  104  and the bucket  108  in response to a manual operation of the lever  101 B, which operates the boom  103  as a particular arm member, so that the construction machine  10  may have the posture calculated by the controller  2 . 
     It is to be noted that the construction machine shown in FIG. 2 shows a case wherein the working apparatus  12  is controlled to be driven so that the array type laser receiver  114  may receive the laser beam L from the laser transmitter  120  at the right angle, and the construction machine in FIG. 3 shows another case wherein the working apparatus  12  is controlled to be driven so that the array type laser receiver  114  may receive the laser beam L from the laser transmitter  120  at an angle other than the right angle. 
     Meanwhile, the pilot pressure control valves  5 - 1 ,  5 - 2  and  5 - 4  are interposed in pilot oil paths  112 - 1 ,  112 - 2 ,  112 - 5  and  112 - 6  as shown in FIG. 4, respectively, and control pilot hydraulic pressures to be supplied to hydraulic control valves  111 - 1 ,  111 - 2 ,  111 - 5  and  111 - 6  in accordance with control information from the controller  2 . Consequently, the boom  103 , stick  104  and bucket  108  are controlled to be driven in response to control signals from the controller  2 . 
     It is to be noted that, in FIG. 2, reference symbol  103 A denotes a boom foot pin which connects the boom  103  for pivotal motion to the construction machine body  11 , and the posture of the construction machine  10  can be calculated from angle detection information from the angle sensors  3 - 1  to  3 - 3  with respect to an origin provided by the position of the boom foot pin  103 A. 
     In the construction machine with a laser measuring instrument according to the embodiment of the present invention having the construction described above, if an excavating or floor face finishing operation (slope face shaping operation) is performed by the construction machine  10 , then the construction machine  10  can measure an accuracy of a floor face a(ground surface) V at a location for which the working operation has been performed with respect to the aimed floor face W. 
     Here, it is assumed that the laser transmitter  120  is set so that it may irradiate the laser beam L parallel to the angle α of an aimed floor face at the height H from the aimed floor face. 
     First, an operator of the construction machine  10  sets, prior to measurement of the floor face finishing accuracy mentioned above, the distance H between the ground surface and the laser together with the angle α mentioned above as an installation condition of the laser transmitter  120  to the controller  2  via the installation condition setting unit  1   a  (step S 1 ). 
     Here, when measurement of the finished floor face is to be started, the operator manually operates the switch  1   b . When the controller  2  receives, from the switch  1   b  described above, a signal representing that measurement should be started (YES route of step S 2 ), the controller  2  receives angle detection information of the boom  103 , stick  104  and bucket  108  from the three angle sensors  3 - 1  to  3 - 3  and body inclination angle detection information from the inclination angle sensor  4  and detects the posture of the construction machine  10  at present from the detection information (step S 3 ). 
     The controller  2  calculates, based on the posture of the construction machine  10  at present detected as described above and the angle α from the above-described setting section  1   a , postures of the stick  104  and the bucket  108  with which the laser beam L from the laser transmitter  120  may be incident at the right angle to the array type laser receiver  114  and controls the pilot pressure control valves  5 - 2  and  5 - 4  so that the stick  104  and the bucket  108  may have the thus calculated postures (step S 4 ). 
     In particular, if the pilot pressures are controlled by the pilot pressure control valves  5 - 2  and  5 - 4 , then the stick driving hydraulic cylinder apparatus  106  and the bucket driving hydraulic cylinder apparatus  107  are driven under the control the hydraulic control circuit apparatus  111  so that the stick  104  and the bucket  108  are positioned to the postures described above. 
     After the stick  104  and the bucket  108  are driven so that the array type laser receiver  114  may receive the laser beam L at the right angle in this manner, the operator manually operates the lever  100 C to drive the boom  103  so that the bucket blade end (bucket tip) may be contacted with a point for measurement. 
     In this instance, the controller  2  controls the stick  104  and the bucket  108  to be driven in response to a movement of the boom  103  so that the angle formed by the array type laser receiver  114  and the incident laser beam L may maintain the right angle (step S 5 ). 
     In other words, the operator can set the position of the working apparatus  12  only by an upward or downward movement of the boom  103  via the lever  101 C so that the laser beam L may be received accurately by the array type laser receiver  114 . 
     Thereafter, if the bucket tip is adjusted to (contacted with) the point for measurement by a manual operation by the operator, then the array type laser receiver  114  transfers position information of the light receiving point (height information K from the lower end of the array type laser receiver  114 ; refer to FIG. 2) to the controller  2 . 
     The controller  2  adds the position information of the light receiving point and length information J from the bucket tip to the lower end of the array type laser receiver  114  (refer to FIG. 2) to calculate the height M of the laser light receiving point from the actual position of the ground surface with which the bucket tip is contacted (step S 6 ). 
     The controller  2  compares the thus calculated value M with the height H of the laser beam L from the aimed floor face set by the installation condition setting unit la in advance (step S 7 ), and displays the difference between the heights M and H mentioned above as a comparison result on the instrument panel  101 E and can determine the difference as a measurement result of the accuracy of the finished floor face (step S 8 ). 
     Thereafter, the height y from the bucket tip contacting point to the boom foot position in a condition wherein the construction machine  10  is in an arbitrary posture is measured based on the angle detection information from the angle sensors  3 - 1  to  3 - 3  and length information of the boom  103 , stick  104  and bucket  108  inputted in advance as seen in FIG. 2,  3  or  5  (step S 9 ). 
     In particular, by using this value y, a value equivalent to the value M which makes a reference for comparison when the accuracy of the finished floor face is measured in a condition wherein the construction machine  10  is in an arbitrary posture can be calculated, and the accuracy of the finished floor face can be measured through comparison of this value equivalent to M and H described above. 
     In this instance, when the height M from the bucket tip contacting point to the laser light receiving point when the blade end (bucket tip) of the bucket  108  is contacted with the actual floor face in a condition wherein the laser beam L is received at the right angle by the laser receiver  114  and the height y from the bucket tip contacting point to the boom foot position calculated from the angle detection information from the angle sensors  3 - 1  to  3 - 3  at the point of time are different from each other, the controller  2  calculates the difference E=M−y between them (from the NO route of step S 10  to step S 11 ). 
     By using this value E, the origin when the accuracy of the finished floor face is to be measured can be calibrated from the boom foot position to the laser light receiving position. In other words, the value y+E obtained by adding the value E mentioned above to y calculated from the angle detection information from the angle sensors  3 - 1  to  3 - 3  in a condition wherein the construction machine  10  is in an arbitrary posture can be determined as the height (value equivalent to M mentioned above) from the bucket tip contacting point to the height of the laser light receiving position. 
     In other words, the controller  2  can calibrate the difference E between the height M from the bucket contacting point to the laser light receiving point and the height y from the bucket tip contacting point to the boom foot position calculated from the angle detection information from the angle sensors  3 - 1  to  3 - 3  in a condition wherein the blade end (bucket tip) of the bucket  108  actually contacts with the actual floor face while the laser beam L is being received at the right angle by the laser receiver  114  to calculate the posture of the construction machine  10 . 
     In particular, as seen in FIG. 5, the controller  2  can calculate the difference E between the height y from the origin provided by the position of the boom foot pin  103 A to the bucket tip contacted with the ground surface and the height M from the laser light receiving point to the bucket tip and calibrate the origin for posture calculation of the construction machine  10  described above by using this value E (step S 11 ). 
     When the origin for posture calculation is calibrated in this manner or the values M and y mentioned above are equal to each other (YES route of step S 10 ), by detecting the postures of the boom  103 , stick  104  and bucket  108  based on the angle detection information from the angle sensors  3 - 1  to  3 - 3  and the inclination angle sensor  4  without measuring the light receiving position of the laser beam L, the accuracy of an arbitrary position on the finished floor face can be measured (step S 12 ). 
     In particular, the accuracy of the finished floor face can be measured by comparing the value y+E obtained by adding the value E mentioned above to the height y from the bucket tip contacting point to the boom foot position and the reference height H from the aimed floor face based on the information from the angle sensors  3 - 1  to  3 - 3  in a condition wherein the bucket tip is contacted with the ground surface at an arbitrary position on the finished floor face with each other to discriminate whether or not the finished floor face is finished at the same level with the aimed floor face. 
     In other words, since the posture of the construction machine  10  can be detected only from the angle detection information from the angle sensors  3 - 1  to  3 - 3  described above, even if the array type laser receiver  114  does not receive the laser beam L at the right angle, the value y+E equivalent to the height M from the bucket tip to the laser light receiving point can be calculated, and consequently, measurement using the laser beam L (measurement of the position of the bucket tip) can be performed in an arbitrary posture of the construction machine  10  by performing calibration of the displacement from the floor face of the construction machine  10  (calibration of the origin for posture calculation) can be performed. 
     It is to be noted that, if the construction machine  10  moves after calibration of the origin for posture calculation is performed, then in order to effect measurement of the finished ground floor at the position after the movement, such calibration of the position of the origin as described above must be performed again. 
     In particular, for example, if the construction machine  10  first performs measurement at a position Q and then moves to another position P as seen in FIG.  7  and tries to effect measurement, then since the positional relationship between the aimed floor face and the construction machine  10  changes, measurement of the position of the bucket tip cannot be performed only with the angle detection information from the angle sensors  3 - 1  to  3 - 3 . 
     In this instance, after the construction machine  10  moves, the accuracy of the finished floor face can be measured readily by performing calibration of the origin for posture calculation described above in accordance with the necessity after the position of the working apparatus  12  with which the laser beam L enters the array type laser receiver  114  at the right angle is set using the laser beam L from the laser transmitter  120 . 
     It is to be noted that, where measurement of the accuracy of the finished floor face using the angle detection information from the angle sensors  3 - 1  to  3 - 3  described above is performed principally, the measurement of the finished floor face using the laser receiver  114  (steps S 7  and S 8 ) can be omitted suitably. 
     In this manner, with the construction machine with a laser measuring machine according the embodiment of the present invention, since the controller  2  can control the working apparatus  12  automatically and accurately based on a result of detection from the angle sensors  3 - 1  to  3 - 3  and the inclination angle sensor  4  so that the array type laser receiver  114  may receive the laser beam L from the laser transmitter  120  at the right angle, there is an advantage that, while facilitating manual operations of an operator (only upward or downward movement of the boom  103 ), measurement of the finished floor face (measurement of the position of the bucket tip) can be performed with a high degree of accuracy without being influenced by the inclination of the construction machine body  11 . 
     Further, since the controller  2  calibrates the difference between the installation height H of the laser transmitter  120  and the height M of the laser light receiving point in a condition wherein the bucket  108  contacts with the floor face to calculate the posture of the construction machine  10 , measurement of the position of the blade end of the bucket can be performed using only the detection information from the angle sensors  3 - 1  to  3 - 3 , and there is another advantage that measurement is facilitated remarkably. 
     It is to be noted that, while, in the embodiment described above, the array type laser receiver  114  is mounted on the stick  104 , the mounted position of the array type laser receiver  114  is not limited to this, and the array type laser receiver  114  may be mounted at an arbitrary position on the boom  103 , stick  104  or bucket  108  as the working apparatus  12 . 
     Further, while, in the embodiment described above, a case wherein a hydraulic excavator is applied L as the construction machine  10  is described in detail, it is a matter of course that the present invention can be applied to any other construction machine than this. 
     Furthermore, while, in the present embodiment, the controller  2  controls the boom  103 , stick  104  and bucket  108  so that the laser beam L may be received at the right angle by the laser receiver  114 , the control is not limited to this, and the boom  103 , stick  104  and bucket  108  may be controlled so that the laser beam L may be received at an angle other than the right angle by the laser receiver  114 . 
     In this instance, when measurement of the position of the blade end of the bucket is performed based on the angle detection information from the angle sensors  3 - 1  to  3 - 3 , a trigonometric function may be used suitably to effect measurement of a finished floor face similar to that in the case of the present embodiment described above. 
     INDUSTRIAL APPLICABILITY OF THE INVENTION 
     Where the present invention is used when measurement of a finished floor face is to be performed, since a working apparatus can be controlled automatically and accurately so that an array type laser receiver may receive a laser beam from a laser apparatus at the right angle, measurement of the finished floor face can be performed with a high degree of accuracy without being influenced by an inclination of the body of the construction machine while facilitating manual operations of an operator. Accordingly, the present invention contributes to improvement in accuracy in measurement of such a finished floor face, and it is considered that the utility of the present invention is very high.