JP2554986B2 - Attitude display method of excavator for pneumatic caisson - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pneumatic caisson excavator for excavating the ground in the work chamber by unmanned remote control of the excavator under high pressure in the work chamber during the deposition of the pneumatic caisson. The attitude display method.

[0002]

2. Description of the Related Art As a conventional technique for displaying the attitude of a pneumatic caisson excavator of this type, for example, Japanese Patent Laid-Open No.
There are techniques described in Japanese Patent No. 165823 and Japanese Patent No. 3-221617.

In the prior art described in Japanese Patent Application Laid-Open No. 1-165823, a display, a plurality of sensors for detecting the amount of movement of a moving member of an excavation shovel for a pneumatic caisson, and respective movements based on output signals of these sensors are used. A posture calculation unit for calculating the movement amount of the member, and based on the movement amount calculated by the posture calculation unit, a shadow image of the excavation shovel for the pneumatic caisson corresponding to the movement amount obtained by the calculation is displayed on the display. And a display calculation unit that operates.

On the other hand, in the prior art described in Japanese Patent Laid-Open No. 3-221617, the working chamber at the bottom of the box forming the caisson is maintained in a pneumatic state, and the traveling, turning and arm are installed on the ceiling of the pneumatic working chamber. In the pneumatic caisson method in which the bottom of the work chamber is excavated by the excavation device that can be lifted up and down, and the bucket is raised and lowered freely, the caisson method is submerged, and the excavator and the TV camera installed in the pneumatic working chamber are attached to the excavator. A plurality of distance measuring sensors, a computer provided in the management and control room, a display unit for the excavation surface in the pneumatic work chamber, and a monitor TV in the pneumatic work chamber, and the distance is provided while the excavator is running. Measure the distance with the measuring sensor, analyze this data with a computer,
The height difference of the excavation surface in the pneumatic work chamber is graphically displayed on the display unit, while the monitor TV determines the excavation point, and the excavation device in the pneumatic work chamber is remotely operated from the ground control room. Further, in this conventional technique, the excavator is provided with a sensor for detecting a traveling distance, a turning angle, an elevation angle of an arm, an expansion / contraction amount, an elevation angle of a bucket, etc., and the data detected by these sensors are stored in a ground control room. It sends it to the installed computer, analyzes the data sent from the sensor by the computer, displays the position and orientation of the excavator in the pneumatic working room graphically, and monitors the excavator's movements in real time while the excavator is remote. I am trying to operate it.

[0005]

By the way, in displaying the posture of the pneumatic caisson excavator, it is particularly important that (1) the position of the boom of the excavator and the side wall of the work chamber during excavation near the side wall of the work chamber. Display the relationship clearly,
(2) When excavating the lower part of the blade of the caisson, the excavation depth from the lower end surface of the blade, that is, the positional relationship between the lower end surface of the caisson blade and the bucket tip of the excavator is clearly displayed. The positional relationship between the boom of the excavator and the side wall of the working room is
When the boom of the excavator enters the range where it can come into contact with the side wall of the work chamber, it is important for preventing contact of the boom or bucket of the excavator with the side wall of the work chamber and ensuring safety. Also,
The positional relationship between the lower end surface of the caisson blade and the tip of the bucket of the excavator is to excavate the lower part of the caisson blade to a uniform depth, in order to prevent the caisson from tilting and to minimize the amount of excess excavation. is important.

However, in each of the above-mentioned prior arts, the positional relationship between the boom of the excavator and the side wall of the working chamber is clearly displayed, and the positional relationship between the lower end surface of the caisson blade and the tip of the bucket of the excavator. There is no consideration for clearly displaying.

The present invention has been proposed in view of the above, and an object thereof is to provide the same positional relationship between the boom of the excavator and the side wall of the working chamber and the lower end surface of the caisson blade on the same screen. It is an object of the present invention to provide a posture display method for a pneumatic caisson excavator that can clearly display the positional relationship with the bucket tip portion of the excavator.

[0008]

In order to achieve the above object, the present invention provides a method for displaying the attitude of a pneumatic caisson excavator 11 when excavating by an excavator 11 installed on a ceiling 4 of a working chamber of a caisson 1. Position, direction and boom 1 of the excavator 11 in the working chamber 2 of the caisson 1
3 direction, length, elevation angle, reverse direction of bucket 14,
The posture of the excavator 11 such as the open / closed state is detected, and the excavator body 1 is detected based on the detected values and the shape and size of the caisson frame.
When the relative position between the bucket tip portion 14 'and the caisson blade outer peripheral tip 9 as viewed from the side of 2 is calculated and the bucket 14 enters the range in which it can contact the work chamber side wall 7', the posture of the excavator 11 is changed. In addition, the relative positional relationship between the excavator 11 and the side wall 7'of the working chamber and the legal excavation limit below the caisson blade 6 depending on the horizontal distance between the bucket tip portion 14 'and the caisson blade outer peripheral tip 9 are shown. A line 31 shown and a virtual extension line 30 on the outer surface of the caisson 1 are displayed on the screen 29.

Further, in order to achieve the above object, according to the present invention, a horizontal distance L and a vertical distance H from the bucket tip portion 14 'to the caisson blade outer peripheral tip 9 are displayed in a posture display image. Is displayed numerically.

[0010]

In the present invention, at least the position of the excavator main body 12, the length and posture of the boom 13, and the position and posture of the bucket 14 in the working chamber 2 are detected, and the detected values are stored. On the other hand, the shape and dimensions of the caisson body are stored in advance. Next, the detected value and the shape and size of the caisson frame are taken out, and the relative position of the boom 13, the bucket 14 and the working chamber side wall 7'as seen from the side surface along the length direction of the boom 13 from both values, and the bucket. Tip 14 ',
The relative position with respect to the caisson blade outer peripheral tip 9 is calculated. Then, the calculation result is displayed as an image on the same screen.

As described above, according to the present invention, the positional relationship between the boom 13 and the bucket 14 of the excavator 11 and the working chamber side wall 7'can be clearly recognized, so that the boom 13 and the bucket 14 of the excavator 11 can be seen in the working chamber. When entering the range where the side wall 7'can be contacted, the boom 13 to the work chamber side wall 7 ',
It becomes possible to prevent contact of the bucket 14 and ensure safety. Further, according to the present invention, the positional relationship between the lower end surface of the caisson blade 6 and the bucket tip portion 14 'can be clearly recognized, so that the lower portion of the caisson blade 6 is excavated to a uniform depth, and the caisson 1 is also provided. It is possible to minimize the amount of excess excavation while preventing the inclination of. In the present invention, the two types of positional relationships can be confirmed by looking at a single screen.

Further, according to the present invention, in the image of the posture display,
A line 31 below the caisson blade 6 indicating the legal drilling limit,
Since the virtual extension line 30 on the outer surface of the caisson 1 is displayed, the operator of the excavator 11 is able to display the line 3 displayed in the image when excavating near the lower end of the caisson blade 6.
Since the excavator 11 can be operated while looking at 0 and 31 and the bucket 14, it is possible to prevent the trouble such as the inclination of the caisson 1 due to excessive excavation and to minimize the amount of excess excavation.

In the present invention, the horizontal distance L from the bucket tip portion 14 'to the caisson blade tip outer peripheral tip 9 and the bucket tip portion 14' to the caisson blade tip outer peripheral tip 9 are displayed in the posture display image. The distance H in the vertical direction is displayed numerically. Therefore, the operator of the excavator 11 can visually operate the excavator 11 by visually recognizing the image and the numerical values of the two types of distances L and H, and thus the excavation depth and the amount of excess excavation, and the work chamber side wall 7'and the excavation. It is possible to grasp the distance from the machine 11 and then proceed with the excavation work.

[0014]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a conceptual diagram of an embodiment of the method of the present invention, FIGS. 2A, 2B and 2C are diagrams showing various cases of displaying the position and orientation of the caisson and the excavator, and FIG. It is an enlarged view of a display example of the relationship between the caisson and the excavator seen from the plane.

In the embodiments shown in these figures, a pneumatic caisson having a circular cross section is targeted. The caisson 1 has a work chamber 2, a slab 3, a work chamber ceiling surface 4 which is a lower surface of the slab 3, an excavated earth and sand carrying port 5 provided in the slab 3, and a caisson blade opening 6. There is.

A rail 10 for an excavator is fixed to the ceiling surface 4 of the working chamber, and the excavator 1 is mounted on the rail 10.
1 is suspended and supported.

The excavator 11 is provided with an excavator body 12, a boom 13, and a bucket 14. The excavator body 12 is movably supported along the rail 10,
Moreover, it is attached so that it can rotate. The boom 13
Is configured to be extendable and retractable. The bucket 14 is configured to be reversible and openable / closable.

An operation room 15 is installed outside the caisson 1, for example, on the ground. In the operation room 15, a remote operation device 16, a monitor 17, a computer 18, a CRT 19 as a display device, and a storage device 20 are installed.

On the other hand, inside the working chamber 2, the camera 2
1 and monitoring cameras 22a to 22c are installed.
The camera 21 takes an image of the ground 28 in the working room 2 and sends the imaged image to the remote operation device 16 in the operation room 15 through the optical fiber cable 25. As shown in FIG. 3, the monitoring cameras 22a to 22c are arranged at an interval of 120 ° in the circumferential direction from a reference point when viewed from a plane, and photograph the excavator 11, and the image is also captured by the optical fiber cable 25. It is adapted to be sent to the remote control device 16 through the.

On the other hand, in the excavator 11, as shown in FIG. 1, non-contact type sensors 23a to 23f are appropriately installed at respective parts. The sensor 23a detects the position of the excavator 11, the sensor 23b detects the direction of the boom 13,
The sensor 23c detects the elevation angle of the boom 13, the sensor 23d detects the length of the boom 13, the sensor 23e detects the reverse direction of the bucket 14, and the sensor 23f detects the open / closed state of the bucket 14. Then, the detected values are respectively sent through the optical fiber cable 26 to the operation room 1.
It is adapted to be sent to the monitor 17 and the computer 18 in 5.

An inclinometer 24 is installed on the upper surface of the slab 3 of the caisson 1 as shown in FIG. The inclinometer 24 measures the inclination angle of the caisson 1 and sends the measured value to the computer 18 through an optical fiber cable 27.

Next, an example of the method of the present invention will be described with reference to the operation of each of the above-mentioned parts.

In the case of this pneumatic caisson, the inside of the working chamber 2 is pressurized. Then, the excavator 11 is remotely controlled by the remote control device 16 provided in the operation room 15, the excavator 11 is caused to travel along the rail 10, the excavator body 12 is swung, and the boom 13 is extended and retracted and raised. , The bucket 14 is operated to excavate the ground 28 in the work chamber 2, the bucket 14 is inverted and opened / closed, and the excavated soil is transferred to the excavated sediment transport bucket (not shown). The excavated earth and sand carry-out port 5 provided in the slab 3 is pulled up to the ground and discharged.

During excavation of the ground 28 by the excavator 11,
The excavation state (degree) of the ground 28 is photographed by the camera 21 installed in the work room 2, and the image is sent to the remote control device 16 provided in the operation room 15 through the optical fiber cable 25. Further, the position and posture of the excavator 11 are photographed by the monitoring cameras 22a to 22c installed in the working chamber 2 at intervals of 120 ° in the circumferential direction when viewed from the plane, and this photographing is also performed by the optical fiber cable 25. To the remote control device 16 through. Further, the tilt angle of the caisson 1 is measured by an inclinometer 24 installed on the upper surface of the slab 3, and the measured value is sent to the computer 18 through an optical fiber cable 27, and the computer 18 sends a CRT.
19 and display.

By the way, in this embodiment of the attitude display method of the pneumatic caisson excavator according to the present invention, it is executed as follows.

That is, the shape and size of the caisson frame are stored in the storage device 20 in advance. Then, during excavation of the ground 28 in the work room 2, the computer 18 causes the storage device 20 to operate.
Take in data on the shape and dimensions of caisson 1 from.

During the excavation of the ground 28, the sensor 23 of the sensors 23a to 23f installed in each part of the excavator 11 is used.
a detects the position of the excavator 11, the sensor 23b detects the direction of the boom 13, the sensor 23c detects the elevation angle of the boom 13, the sensor 23d detects the length of the boom 13, and the sensor 23e detects the bucket. 14
Of the bucket 14 is detected by the sensor 23f.
The open / closed state of the device is detected, and the detected values are sent to the monitor 17 and the computer 18 through the optical fiber cable 26.

Here, the computer 18 uses the data on the shape and size of the caisson 1 loaded from the storage device 20 and the detection values sent from the sensors 23a to 23f to (1) run along the length direction of the boom 13. The relative position of the boom 13 and the work chamber side wall 7'as seen from the side,
(2) Relative position between the bucket tip 14 ', the caisson blade tip 8 on the inner surface side of the caisson blade 6, and the caisson blade outer peripheral tip 9; (3) Work with the work chamber peripheral wall 7 as seen from a plane The position of the excavator 11 in the chamber 2 and the direction of the boom 13, (4) the horizontal distance L from the bucket tip 14 'to the caisson blade outer peripheral tip 9, (5) the bucket tip 14' to the caisson blade 6 is a vertical distance H to the lower end surface of 6, and (6) when excavating near the lower end of the caisson blade 6, a virtual extension line 30 extending downward from the outer surface of the caisson 1, (7) caisson blade When excavating below 6, the lines 31 etc. showing the legal excavation limit are calculated, and the calculation result is sent to the CRT 19.

Therefore, the CRT 19 displays necessary images, lines and numerical values on the screen 29 as follows, for example.

That is, when the boom 13 of the excavator 11 is heading toward the caisson blade 6 and excavating near the lower end of the caisson blade 6, as shown in FIG.
The relative position between the boom 13 and the working chamber side wall 7'as seen from the side surface along the length direction of the boom 13 of the excavator 11, the bucket tip portion 14 ', and the caisson blade tip end portion on the inner surface side of the caisson blade tip 6. 8, the relative position with the caisson blade outer peripheral tip 9 is displayed in real time on most of the screen 29,
In the same image, the virtual extension line 30 on the outer surface of the caisson 1
And a line 31 below the cutting edge 6 of the caisson 1 showing the legal excavation limit, and in the same image, the bucket tip 14 '
To the caisson blade outer peripheral tip 9 in the horizontal direction L
And the vertical distance H from the bucket tip portion 14 'to the lower end surface of the caisson blade mouth 6 are numerically displayed. And
If the bucket 14 enters beyond the virtual extension line 30, the computer 18 sends a control signal to an alarm device (not shown) to issue an alarm.
Further, the CRT 19 is provided in the work chamber peripheral wall 7 and the work chamber 2 in a plan view as shown in detail in FIG. 3 in the upper right of the screen 29 of FIGS. 2A, 2B and 2C, for example. Excavator 1
The position of 1 and the direction of the boom 13 are displayed as an image.

Regarding the legal excavation limit, the lower part of the blade is 5 in the high pressure work safety and health regulation Article 25-3.
It is stipulated that you should not dig deeper than 0 cm.

As described above, the CRT 19 is used in this embodiment.
On the screen 29 of the excavator 11 as shown in FIG.
When the boom 13 of the excavator 11 faces the direction of the caisson blade 6 and is excavating near the lower end of the caisson blade 6, the boom 13 of the excavator 11 along the length direction of the boom 13 and the bucket An image showing a relative positional relationship between the work piece 14 and the side wall 7'of the work chamber and the caisson blade 6 is displayed in real time. Therefore, the operator of the excavator 11 operates the excavator 11 while looking at these images, so that even if the boom 13 of the excavator 11 is within the range in which the boom 13 can come into contact with the work chamber side wall 7 ', the work chamber side wall 7' It is possible to excavate while preventing the boom 13 and the bucket 14 from contacting the ‘′, and since the lower part of the caisson blade mouth 6 can be excavated to a uniform depth, the caisson 1 can be prevented from tilting and the amount of excess excavation can be minimized. It is possible to limit it.

In this embodiment, the position of the excavator 11 in the work chamber peripheral wall 7 and the work chamber 2 and the direction of the boom 13 in plan view are displayed on the same screen 29 in addition to the two types of positional relationship. As a result, the operator can operate the excavator 11 accurately while seeing such information, and thus the excavation safety can be improved.

Further, in this embodiment, the horizontal distance L from the bucket tip portion 14 'to the caisson blade outer peripheral tip 9 and the bucket tip portion 14' to the caisson blade are shown in the image showing the two types of positional relationship. Since the vertical distance H to the lower end surface of the mouth 6 is displayed numerically, the operator can operate the excavator 11 while watching the image and the numerical values of the two types of distances L and H. Therefore, it is possible to proceed with the excavation work after accurately ascertaining the excavation depth and the amount of excess excavation, and the distance between the work chamber side wall 7'and the excavator 11.

Moreover, in this embodiment, when excavating the vicinity of the lower end of the caisson blade 6, the virtual extension line 30 outside the caisson 1 is displayed in the image showing the two types of positional relationship. When the bucket 14 enters beyond the virtual extension line 30, an alarm is issued so that the operator of the excavator 11 is displayed in the image during excavation near the lower end of the caisson blade 6. The excavator 11 can be operated while looking at the virtual extension line 30 and the bucket 14, and attention can be given by issuing an alarm, so that the amount of excess excavation can be minimized. .

In this embodiment, a line 31 indicating the legal excavation limit below the caisson blade 6 is displayed in the image showing the positional relationship between the two types.
Since the operator of No. 1 can operate the excavator 11 while looking at the line 31 showing the legal excavation limit and the bucket 14 in the image, the caisson 1 by excavating beyond the line 31 showing the legal excavation limit 1 It is possible to proceed with excavation work while resolving troubles such as slopes.

Next, FIG. 2B is from FIG. 2A to FIG.
2C is an image in the process of shifting to FIG. 2C or FIG. 2C and is viewed from the side surface along the length direction of the boom 13 of the excavator 11 displayed in this image 29. In the image, not only the work room side wall 7'moves but also the boom 1
The width of the working chamber side wall 7'is also changed according to the direction of 3, so that the relationship between the bucket tip portion 14 'and the inner peripheral surface of the caisson 1 can be clearly understood.

Next, FIG. 2 (C) shows a case where the boom 13 of the excavator 11 faces the vicinity of the center of the caisson 1, that is, the case where the excavator 11 faces the center line c direction in FIG. 3, for example. In this case, there is no danger of contact between the bucket tip portion 14 'and the work chamber side wall 7'including the caisson blade 6, and the distance between the bucket tip portion 14' and the work chamber side wall 7'exceeds the posture display area. , The work chamber side wall 7'is not displayed in the image.

The method of the present invention is not limited to the circular caissons shown in the drawings, but can be applied to caissons of any shape such as rectangular or oval.

[0041]

According to the invention described in claim 1 of the present invention,
Excavator 11 for pneumatic caisson when excavating by the excavator 11 installed on the ceiling 4 of the working room of the caisson 1
In the attitude display method of 1, the attitude of the excavator 11 such as the position and direction of the excavator 11 in the working chamber 2 of the caisson 1, the direction of the boom 13, the length, the elevation angle, the reverse direction of the bucket 14, the open / closed state, and the like are detected. Then, the relative position between the bucket tip portion 14 ′ and the caisson blade outer peripheral tip 9 when viewed from the side surface of the excavator body 12 is calculated based on these detected values and the shape and size of the caisson body, and the bucket 14 is operated by the bucket 14. When it comes into contact with the side wall 7 ', in addition to the posture of the excavator 11, the bucket tip 14' and the caisson blade outer peripheral tip 9 are added.
The image of the relative positional relationship between the excavator 11 and the working chamber side wall 7'according to the horizontal distance between the excavator 11 and the working chamber side wall 7'is clearly shown. The boom 1 of the excavator 11 can be visually recognized.
When 3 enters the range where it can contact the work chamber side wall 7 ',
The boom 13 is prevented from coming into contact with the work chamber side wall 7 ', and safety is ensured, and the positional relationship between the lower end surface of the caisson blade 6 and the bucket tip 14' is clearly visible. As a result, it is possible to excavate the lower part of the caisson blade mouth 6 to a uniform depth, and to prevent the caisson 1 from tilting while minimizing the amount of overburden. There is also an effect that can be confirmed by looking at one screen.

Further, since the line 31 showing the legal excavation limit below the caisson blade 6 and the virtual extension line 30 on the outer surface of the caisson 1 are displayed, the caisson blade 6 is shown.
When excavating near the bottom end of the excavator 11, the operator of the excavator 11 can operate the excavator 11 while looking at the lines 30 and 31 and the bucket 14 displayed in the image. The effect is that the amount of overburden can be minimized while preventing it in advance.

According to the second aspect of the present invention, the horizontal distance L and the vertical distance H from the bucket tip portion 14 'to the caisson blade outer peripheral tip 9 are displayed in the posture display image. Is displayed numerically, and the excavator 11
The operator can visually operate the excavator 11 by visually observing the image and the numerical values of the two types of distances L and H. Therefore, the excavation depth and the amount of excess excavation, and the distance between the work chamber side wall 7'and the excavator 11 can be determined. There is an effect that the excavation work can be carried out accurately and the excavation work can be advanced.

[Brief description of drawings]

FIG. 1 is a conceptual diagram showing an embodiment of the method of the present invention.

2 (A), (B), and (C) are diagrams showing various cases of displaying the position and orientation of a caisson and an excavator, respectively.

FIG. 3 is an enlarged view showing a display example of a relationship between a caisson and an excavator as seen from a plane.

[Explanation of symbols]

 1 Caisson 2 Working Room 4 Working Room Ceiling 6 Caisson Blade 7 Working Room Perimeter Wall 7'Working Room Side Wall 8 Caisson Blade Tip 9 Caisson Blade Outer Tip 10 Rail 11 Excavator 12 Excavator Main Body 13 Boom 14 Bucket 14 ' Bucket tip part 15 Operation room 16 Remote control device 17 Monitor 18 Computer 19 CRT 20 Storage device 23a-23f Sensor 28 Ground 29 Screen 30 Virtual extension line 31 Line showing legal excavation limit

Claims (2)

(57) [Claims] 1. A method for displaying the attitude of a pneumatic caisson excavator (11) when excavating with an excavator (11) installed on a ceiling surface (4) of a working room of a caisson (1), comprising: Excavator (1 in working room (2)
The position and direction of 1), the direction of the boom (13), the length, the elevation angle, the reverse direction of the bucket (14), the opening / closing state, and other postures of the excavator (11) are detected, and these detected values and the caisson frame are detected. Depending on the shape and dimensions of
Bucket tip (1 when viewed from the side of the excavator body (12)
4 ′) and the relative position of the caisson blade outer peripheral tip (9) are calculated, and when the bucket (14) enters the range in which it can come into contact with the working chamber side wall (7 ′), the posture of the excavator (11) is changed. In addition, the bucket tip (14 ') and the caisson blade outer peripheral tip (9)
A line (3) showing the relative positional relationship between the excavator (11) and the side wall (7 ') of the working chamber and the legal excavation limit below the caisson blade (6) according to the horizontal distance from
1) and a virtual extension line (30) of the outer surface of the caisson (1) are displayed on a screen (29), the attitude display method of a pneumatic caisson excavator. 2. The horizontal distance (L) from the bucket tip (14 ') to the caisson blade outer peripheral tip (9) and the vertical distance (H) are numerically represented in the image of the posture display. The method for displaying the attitude of a pneumatic caisson excavator according to claim 1, wherein the method is displayed.