JP2945990B2 - Method for detecting position of excavator body or the like - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for detecting a position of a moving body, for example, a body of a tunnel excavator.

[0002]

2. Description of the Related Art In an excavator in which a telescopic cutting boom having a cutting drum is mounted on a main body of an excavator having self-propelled means such as a crawler, the receiver is turned on the main body of the excavator. A method of freely mounting and receiving the fixed laser beam installed in the tunnel by the light receiver and automatically detecting the position and inclination of the excavator body with respect to the tunnel axis is described in JP-A-4-38399. ing.

However, in the above-described method of detecting the position and orientation of the excavator body, the operation of matching the laser target with the reference laser beam must be performed manually. Then, it is necessary to interrupt the excavation operation and re-align the laser target with the laser beam, whereby the positioning of the cutting drum cannot be performed correctly, the vibration resistance is low and there is no practical life, and the position and orientation detection accuracy is poor. , There was a problem.

[0004]

SUMMARY OF THE INVENTION A method for constantly detecting the position of an excavator body during excavation work in real time and more accurately is provided, thereby improving the excavation accuracy and excavation efficiency of a conventionally known excavator and operating the excavator. It is intended to facilitate operability.

[0005]

According to the present invention, there is provided a method for detecting the position of an excavator body or the like, comprising: a tracking light emitting body and a distance measuring reflector on a moving body such as an excavator body of the excavator. use the target, as well as installing a gyro compass and a two-axis inclinometer for azimuth measurement, the tunnel axis in place in the tunnel
A laser sight that emits a reference laser beam in parallel and a C that automatically and continuously tracks the tracking target
CD camera or the PSD camera, and a light wave rangefinder
Install an integrated tracking / measuring device,
The distance to the laser sight and the position of the tracking target are obtained by a measuring device, the coordinates of the center of the revolving unit are obtained by the attitude data from the gyro compass and the two-axis inclinometer, and the numerical control of the tip of the cutter drum is performed. The position is calculated.

[0006]

FIG. 1 is an explanatory view of an embodiment of a method for detecting the position of an excavator body according to the present invention. In the figure, 1 is an excavator body of an excavator, 2 is a telescopic excavation boom mounted on the excavator body so as to be swivelable on its reference longitudinal axis 3, and 4 is a tracking target provided on the excavator body. Reference numeral 5 denotes a laser sight which is installed at an appropriate position in the tunnel and emits a reference laser beam 6 for measuring a tunnel cross section parallel to the tunnel axis.
Is a tracking and measuring device installed in the tunnel. Reference numeral 16 denotes a two-axis inclinometer and a gyrocompass. The tracking target 4 has a tracking lamp 8 and a reflection sheet (prism) 9 as shown in FIG. The tracking / measuring device 7 is shown in FIG.
As shown in the figure, the lightwave distance meter 10 and C
And a CD camera (or PSD element camera) 11. The light wave distance meter 10 and the CCD camera 11 are integrated, and the horizontal rotation plate 1 is rotatably mounted on the substrate 12.
3 is attached to a vertical rotation shaft 15 supported by a pair of columns 14 standing upright.

FIG. 4 is an explanatory view of coordinate axes set for measuring the position of the excavator body in the tunnel. That is, the X axis extends in the vertical direction of the tunnel section, the Y axis extends in the horizontal direction of the tunnel section, and the Z axis extends in the axial direction of the tunnel. In addition, the pitching angle, which is an azimuth detecting element of the excavator body, is + when the front of the excavator body is upward, + when the rolling angle is down when the right side as viewed from the cutting face is +,
The yawing angle is defined as + when the body of the excavator facing the face is rotating clockwise with respect to the tunnel axis.

The tracking / measuring device 7 is installed with reference to the reference laser beam 6, so that the distance D between the laser sighting device 5 and the tracking / measuring device 7 is measured by the lightwave distance meter 10 of the tracking / measuring device 7. For example, the position coordinates (X ₁ , Y
₁ , 0) to the position coordinates (X ₁ ,
Y ₁ , Z ₁ ) can be obtained.

FIG. 5 is an explanatory diagram of a method for calculating the position of the excavator body based on the measurement values of the tracking / measuring device 7. The vertical angle measured by the tracking / measuring device 7 is θ ₁ , the horizontal angle is θ ₂ , the distance to the target is L, and the coordinates of the position P ₁ of the tracking / measuring device are (X ₁ , Y ₁ , Z ₁ ). Then, the coordinates of the position P ₂ of the target installed on the excavator body (X ₂ ,
Y ₂ , Z ₂ ) is obtained by Expression 1.

[0010]

(Equation 1)

FIG. 6, FIG. 7, FIG. 8, and FIG. 9 are explanatory diagrams showing the relationship between the center position of the bogie revolving unit and the target. The coordinates of the target are (X ₂ , Y ₂ , Z ₂ ), and the revolving unit center coordinates. Is (X ₃ , Y ₃ , Z ₃ ). The distance between the center of the revolving superstructure in the direction in which the bogie travels and the target is L ₁ , the distance between the center of the revolving superstructure in the crossing direction of the bogie and the target is L _2, and the inclination of the bogie at this time is pitching angle θ ₁ and rolling angle θ. _2, the yawing angle θ _3. Then, when the rolling angle is corrected, it is as shown in Expression 2, and when the pitching angle is corrected, it is as shown in Expression 3.

[0012]

(Equation 2)

[0013]

(Equation 3)

If the target and the revolving unit center position are on the same plane, the revolving unit center coordinates are expressed by Equation (4).

[0015]

(Equation 4)

As described above, a position measurement system that uses a laser beam to set a station at its irradiation position and tracks a target mounted on a bogie from the station, and a posture measurement system using a gyrocompass and a two-axis inclinometer. Thereby, the bogie revolving unit center coordinates can be obtained. After obtaining the revolving unit center coordinates, the tip position of the cutter drum can be calculated by numerical control (NC control), and the cutting position of the excavator can be accurately managed.

[0017]

According to the present invention, the position (coordinate value) of the excavator body can be detected continuously and with higher accuracy as compared with a conventionally known method, so that the excavation accuracy and excavation efficiency of the tunnel can be improved. The work for measuring the position of the excavator body can be performed in a very short time. Since the tracking target is composed of a reflector and a luminous body, it is hardly affected by the vibration of the excavator. Since the position of the body of the excavator is automatically detected, and the driver does not need to perform the position detecting operation during the operation, even an unskilled driver can excavate a precise tunnel section in the same manner as a skilled driver.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of one embodiment of a method for detecting a position of an excavator body according to the present invention.

FIG. 2 is a perspective view of a tracking target.

FIG. 3 is a perspective view of a tracking / measuring device.

FIG. 4 is an explanatory view of a tunnel coordinate axis.

FIG. 5 is an explanatory diagram of a method of calculating a position of an excavator body based on a measurement value of a tracking / measuring device.

FIG. 6 is an explanatory diagram showing a relationship between a bogie revolving unit center position and a target.

FIG. 7 is an explanatory diagram showing a relationship (rolling angle) between a bogie revolving unit center position and a target.

FIG. 8 is an explanatory view showing a relationship (pitching angle) between a bogie revolving unit center position and a target.

FIG. 9 is an explanatory diagram showing a relationship (yawing angle) between a bogie revolving unit center position and a target.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Excavator main body 2 Telescopic cutting boom 4 Tracking target 5 Laser sight 6 Laser beam 7 Tracking-measurement device 10 Lightwave distance meter 11 CCD camera

──────────────────────────────────────────────────続 き Continuing on the front page (73) Patent holder 000140982 2-5-8 Kita-Aoyama, Minato-ku, Tokyo, Japan (73) Patent holder 000005924 Mitsui Miike Manufacturing Co., Ltd. 2-1-1 Nihonbashi Muromachi, Chuo-ku, Tokyo No. 1 (72) Inventor Masaru Osumi 5-27-1, Tendai, Inage-ku, Chiba-shi, Chiba Pref.Kanto Regional Construction Bureau Chiba National Highway Construction Office (72) Inventor Takeshi Yuge Tendai 5, Inage-ku, Chiba-shi, Chiba Chome 27-1, Chiba National Highway Construction Office, Ministry of Construction, Kanto Regional Construction Bureau (72) Inventor, Hiroo Iso 2-10-2, Otowa, Bunkyo-ku, Tokyo Inside the Advanced Construction Technology Center (72) Inventor, Takashi Okada Tokyo 2-1 Tsukudo-cho, Shinjuku-ku, Tokyo, Japan Kumagai Gumi (72) Inventor Kotaro Matsueda Kumagaya-gumi, 2-1 Tsukudo-cho, Shinjuku-ku, Tokyo (7 2) Inventor Tsutomu Sato 3062-1, Sanashita, Tanaji, Sagamihara-shi, Kanagawa Prefecture Tokyu Construction Co., Ltd.Technical Research Laboratory (72) Inventor Ken Ken Endo 3062-1, Soneshita, Tanaji, Sagamihara-shi, Kanagawa Tokyu Construction Co., Ltd. (72) Inventor Mitsuro Higo 2-5-8 Kitaaoyama, Minato-ku, Tokyo Co., Ltd. (72) Inventor Kazuyuki Sakata 2-5-8 Kitaaoyama, Minato-ku, Tokyo Co., Ltd. (72) Inventor Yasushi Yasuku 2-28 Asahicho, Omuta-shi, Fukuoka Prefecture Mitsui Miike Works Miike Works (72) Inventor Sumio Yamada 2-28 Asahimachi, Omuta-shi Fukuoka Prefecture Mitsui Miike Works Miike Works (56) reference Patent flat 5-107064 (JP, a) JP flat 6-213662 (JP, a) JP flat 5-118849 (JP, a) (58 ) investigated the field (Int.Cl. ⁶ G01C 15/00-15/14 E21D 9/06 301

Claims (1)

(57) [Claims] 1. A tracking target having a luminous body for tracking and a reflecting mirror for distance measurement, a gyro compass for azimuth measurement, and a two-axis inclinometer are installed on a moving body such as an excavator body of an excavator. In place in the tunnel, parallel to the tunnel axis
A laser sight for emitting a reference laser beam and a CCD camera for automatically and continuously tracking the tracking target
Camera or PSD element camera and light wave distance meter integrated
The tracking / measuring device is installed, and the distance to the laser sight and the position of the tracking target are obtained by the tracking / measuring device , and the revolving unit is obtained from attitude data from the gyrocompass and the two-axis inclinometer. A position detecting method for an excavator body or the like, wherein a center coordinate is obtained and a position of a tip end of a cutter drum is calculated by numerical control.