JP5097258B2 - Excavator position measurement method - Google Patents

Description

  The present invention relates to a method capable of accurately grasping the position (depth) of the excavator and the excavation direction when the excavator is used for digging in a substantially vertical direction.

Conventionally, when digging a vertical pit in a substantially vertical direction using an excavator, by measuring the distance from a reference point such as the ground surface to the underground excavator by using a wire that is sequentially drawn out, The position of the excavator has been grasped.

  However, the measurement method using the conventional wire as described above can be applied when the bottom of the shaft can be seen from the reference point on the ground surface, but the shaft is bent. When it became impossible to see, it was difficult to measure with a measuring method using a wire or the like. Also, even if it is possible to measure the depth to the bottom of the shaft with a measurement method using a wire etc., because the excavator can not grasp the excavation direction, the excavator may go in an unintended direction, There was a problem that excavation along a desired planned line was difficult.

Therefore, as shown in FIG. 2, by using the level meter 5 using the communication pipe, the position of the excavator 1 can be measured even when the vertical shaft is bent and cannot be seen. .
In FIG. 2, the excavator 1 performs excavation by rotating a cutter 1 </ b> A provided on the lower surface, and necessary equipment is installed in the outer shell 1 </ b> B of the excavator 1.
And after digging a predetermined depth, excavation is stopped temporarily, a segment is assembled, and the wall surface of a vertical shaft is comprised.
The inclinometer 3 is composed of two inclinometers arranged in a perpendicular direction on the measurement target surface M set at the upper end of the excavator 1.
The gyro 4 is fixed to the excavator 1.

The level meter 5 includes a fluid supply unit 5A installed at a predetermined height on the measurement reference plane GL side, a fluid pressure measurement unit 5B installed on the measurement target point P side, and a communication pipe 5C that connects the two in communication. It consists of and.
Since the fluid pressure measured in the fluid pressure measuring unit 5B changes according to the depth of the excavator 1, the depth of the excavator 1 can be accurately grasped at any time by accurately measuring the fluid pressure. is there.

As described above, the measurement data from the inclinometer 3, the measurement data from the gyro 4, and the measurement data from the level meter 5 are transmitted to the ground measurement device 6 through the data transmission device 2.
The ground measurement device 6 can analyze and analyze the transmitted measurement data using the analysis processing device 6A, and can maintain and grasp the position and the excavation direction of the excavator 1.
However, more accurate measurement has been required than a level meter using a communication pipe.

Therefore, the present invention has been made for the purpose of providing a technique capable of accurately grasping the position and excavation direction of an excavator even in a bent vertical shaft.

The excavator position measuring method according to claim 1 according to the present invention comprises:
At least three mirrors whose positions are specified in advance are arranged facing downward, and the mirrors are mounted by laser beam distance measuring means respectively installed at at least three specific points on the measurement target surface set in the excavator. Collimating and measuring the distance from each specific point to each mirror,
A procedure for measuring an inclination angle of the excavator based on position information of each mirror and distance information from each specific point to each mirror;
It includes a procedure for calculating the position and excavation direction of the excavator based on the distance from each specific point to each mirror and the inclination angle of the excavator.

In claim 2,
According to the progress of excavation, a procedure for measuring by the excavator position measuring method according to claim 1,
The method includes a procedure for obtaining a trajectory of the excavator based on the position and excavation direction of the excavator measured a plurality of times.

In claim 3,
Method of measuring the position of an excavator that digs up in a substantially vertical direction by alternately repeating an operating state in which excavation proceeds by an excavator and a stop state in which excavation by the excavator is temporarily stopped to perform work such as segment construction In
In the operating state of the excavator, the trajectory of the excavator is obtained based on the position and excavation direction of the excavator measured by the excavator position measurement method according to claim 2;
When the excavator is stopped, the trajectory of the excavator is corrected based on the position and excavation direction of the excavator measured by the excavator position measuring method according to claim 1.

According to the excavator position measuring method of the present invention, even when the excavator at the bottom of the vertical shaft cannot be seen from the reference point on the ground surface, the laser beam type distance measuring means installed on the excavator is used to determine the specific position. By collimating the mirror and measuring the distance, it is possible to excavate while accurately and ascertaining the position and direction of the excavator as needed.
The excavator's position and excavation direction measured while the excavator is in operation are corrected with the data measured using the laser beam distance measuring means when the excavator temporarily stops and the segment is constructed, so that it is always accurate. Measurement is now possible.

It is explanatory drawing explaining the position measuring method of the excavator concerning this invention. It is explanatory drawing of the position measuring method of the excavator by the level meter using a communicating pipe. It is explanatory drawing of the position measuring method of the said excavator. It is explanatory drawing of the position measuring method of the said excavator.

Below, the excavator position measurement method according to the present invention will be described in detail with reference to FIG. 1 showing the embodiment thereof.
FIG. 1 is a diagram for explaining a method for measuring the position of an excavator according to the present invention.
In FIG. 1, laser light type distance measuring means 43A, 43B, and 43C are installed at at least three specific points on the measurement target surface 42 set in the excavator 41, respectively.
Mirrors 44A, 44B, and 44C are arranged facing downward at specific positions whose positions have been specified in advance.

In the excavator position measurement method according to the first embodiment, the mirrors 44A, 44B, and 44C are collimated by the laser beam distance measuring means 43A, 43B, and 43C, and from each specific point to each mirror 44A, 44B, and 44C. Measure the distance.
By measuring the distances from the three laser beam type distance measuring means 43A, 43B, 43C to the respective mirrors 44A, 44B, 44C, the inclination angle of the measurement target surface 42 can be known.
Therefore, the excavation direction perpendicular to the measurement target surface 42 can also be known.

  In this case, the position and excavation direction of the excavator can be known by using at least three laser beam type distance measuring means. The distance measurement by the laser beam type distance measuring means is preferably performed in a state where the excavator is stationary, that is, at the time of segment construction.

  Also, according to the progress of excavation by the excavator, the position of the excavator is measured a plurality of times by the above-described excavator position measurement method, and the trajectory of the excavator is based on the position and the excavation direction of the excavator measured multiple times. Therefore, it is possible to know the movement trajectory and the current position of the excavator.

In addition, by exchanging the operation state in which excavation is progressed by the excavator and the stop state in which excavation by the excavator is temporarily stopped and work such as segment construction is repeated alternately, excavation that digs up in a substantially vertical direction is performed. In this case, measurement is performed as follows in the operating state and the stopped state of the excavator.
First, in the operating state of an excavator that advances excavation by the excavator, the trajectory of the excavator is obtained based on the position and excavation direction of the excavator measured by the excavator position measurement method described above.

Next, when the excavator is in a stopped state in which excavation by the excavator is temporarily stopped to perform operations such as segment construction, the position and excavation direction of the excavator measured by the laser beam distance measuring means as described above are used. Based on the above, the trajectory of the excavator is corrected.
In this way, the most accurate excavator position and trajectory can always be measured.

As described above, the data measured by the laser beam distance measuring means installed in the excavator 41 is transmitted to the ground measuring device 6 via the data transmission device 2 as in the example shown in FIG.
The measurement device 6 on the ground analyzes and analyzes the transmitted measurement data using the analysis processing device 6A, and maintains and grasps the position of the excavator 41 and the excavation direction.
On the display screen 6B of the analysis processing device 6A, as shown in FIG. 3A, the planned excavation axis XY and the excavation direction (arrow) of the excavator 41 ′ at the present time in FIG. The excavation axis corresponding to the corresponding excavation axis is graphically displayed as the cross axis X′Y ′ in FIG.

By using the excavator position measurement method with the above configuration, as shown in FIG. 4, even when digging while avoiding obstacles instead of digging in the vertical direction, the position cannot be collimated from the ground reference plane. As a result, the current position and excavation direction of a certain excavator 1 can be grasped at any time, and appropriate control can be performed.

41 excavator 42 measurement target surfaces 43A, 43B, 43C laser beam type distance measuring means 44A, 44B, 44C mirror 2 data transmission device 6 measuring device 6A analysis processing device

Claims (3)

At least three mirrors whose positions are specified in advance are arranged facing downward, and the mirrors are mounted by laser beam distance measuring means respectively installed at at least three specific points on the measurement target surface set in the excavator. Collimating and measuring the distance from each specific point to each mirror,
A procedure for measuring an inclination angle of the excavator based on position information of each mirror and distance information from each specific point to each mirror;
An excavator position measurement method comprising: a step of calculating a position and an excavation direction of the excavator based on a distance from each specific point to each mirror and an inclination angle of the excavator. According to the progress of excavation, a procedure for measuring by the excavator position measuring method according to claim 1,
A method for measuring the position of an excavator, comprising a procedure for obtaining a trajectory of the excavator based on the position and direction of excavator measured a plurality of times. Method for measuring the position of an excavator that digs up in a substantially vertical direction by alternately repeating an operating state in which excavation is advanced by an excavator and a stop state in which excavation by the excavator is temporarily stopped to perform work such as segment construction. In
In the operating state of the excavator, the trajectory of the excavator is obtained based on the position and excavation direction of the excavator measured by the excavator position measurement method according to claim 2;
The excavator position is characterized in that, when the excavator is stopped, the trajectory of the excavator is corrected based on the excavator position and the excavation direction measured by the excavator position measurement method according to claim 1. Measurement method.

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