JPH0652175B2 - Excavation status monitoring device for pipe burying machine - Google Patents

Description

The present invention relates to an excavation state monitoring device for a pipe burying machine.

“Conventional technology” Currently, in burying small-diameter pipes, propulsion methods are being used in place of conventional excavation methods.

This propulsion method will be described below with reference to FIGS. 3 and 4.

First, the starting shaft 2 and the reaching shaft 3 are provided in the ground 1.
A propulsion device 4 is arranged in the starting shaft 2. In the propulsion device 4, the buried machine 6 is arranged with the excavator 5 at the head. While operating the excavator 5 to consolidate the surrounding natural ground 1, for example, the propulsion device 4 is operated to cause the excavator 5 and the buried pipe 6 to penetrate into the natural ground 1. Thereafter, the buried pipes 6 are successively replenished and propelled one after another, and when the machine 5 finally reaches the reaching shaft 3, the buried pipes 6 are laid in the natural ground 1.

In such a propulsion method, burial accuracy is important. That is, the propulsion of the machine 5 and the buried pipe 6 must be performed along a predetermined planned buried line. For this reason, normally, the excavation state monitoring device detects the current position of the excavation machine 5 to detect and display how much the excavation machine 5 deviates from the planned burial line, and according to the deviation direction and the deviation amount. The direction of the excavator 5 is corrected to eliminate the deviation.

Hereinafter, the excavation state monitoring device described above will be described with reference to FIGS. 5 and 6.

This excavation state monitoring device includes a laser beam emitting device 7 installed in the starting shaft 2, a laser beam receiving device 8 installed in the excavator 5, and a CRT 10 as a display device. For example, when the light receiving surface on which the laser beam 11 hits is the xy plane, the laser beam receiving device 8 indicates the point hit by the laser beam 11, for example, the coordinates (x, y) of the point P in FIG. It is a device that outputs a corresponding electric signal. The CRT 10 is provided integrally with an operating device 9 for operating the excavator 5 installed on the ground, and is connected to the laser beam / light receiving device 8 by a wire 18 or the like. This CRT 10 is based on an electric signal of coordinates (x, y) of a point P obtained when the laser beam 11 hits the xy plane of the light receiving surface of the laser beam receiving device 8, and the point P is displayed on the display surface of the CRT 10. It is displayed as the amount of displacement on the xy plane. Next, the operation of this excavation state monitoring device will be described. First, the laser beam emitting device 7 emits the laser beam 11 toward the laser beam receiving device 8. Then, the laser beam 11 hits the xy plane of the light receiving surface of the laser beam receiving device 8, and the point P hit by the laser beam 11 is displayed as a position shift amount on the xy plane of the display surface of the CRT 10. . By constantly monitoring the information displayed on the CRT 10, the operator 16 can accurately grasp the deviation amount of the excavator 5 from the planned buried line. Therefore, it is possible to appropriately perform the driving operation for the direction correction so as to eliminate the deviation amount according to the deviation amount described above.

In such an excavation state monitoring device, the posture of the excavator 5 is detected in addition to the position detection of the excavator 5 in order to perform the delay operation for correcting the direction more accurately. . In this excavation state monitoring device, a pitching sensor 14 and a yawing sensor 15 made of an existing technical means such as a gyroscope are provided in the excavation machine 5, while an operating device 9 is provided.
A pitching display device 12 and a yawing display device 13 are provided integrally with each other, and an electric wire or the like 18 is arranged between the pitching display device 12 and the yawing display device 13 and the pitching sensor 14 and the yawing sensor 15. Next, the operation will be described. By the pitching sensor 14 and the yawing sensor 15, the vertical tilt amount (pitching amount) and the horizontal tilt amount (yawing amount) of the machine 5 are measured.
Is detected and the pitching amount and yawing amount are displayed on the pitching display device 12 and the yawing display device 13, respectively, the posture of the excavator 5 is detected and displayed in addition to the positional deviation amount of the excavator 5, and the direction correction is performed. It is possible to easily perform a driving operation for For example, as shown in FIG. 7 (a), it is assumed that the excavator 5 is inclined at an angle θx with respect to the planned burial line L due to uneven resistance of the ground 1 acting on the excavator 5. . If the propulsion is further continued in this posture, the amount of deviation from the planned burial line L will gradually increase, as shown in FIG. 7 (b). If the angle θx
If the horizontal tilt amount of the excavator 5 is not detected, that is, the yawing amount θx is not detected, the excavator 5 knows the horizontal tilt after the positional deviation becomes considerably large.
Even if the driving operation for direction correction is performed based on that, it is difficult to bury the buried pipe 6 with high accuracy. On the other hand, if the yawing amount θx can be known, the traveling direction of the excavator 5 can be known thereafter, so that the driving operation of the direction correction can be appropriately performed before the displacement becomes large, and the buried pipe The burial accuracy of 6 is improved. As described above, by performing the posture detection in addition to the position detection of the excavator 5, the burial accuracy of the burial pipe 6 can be further improved.

"Problems to be Solved by the Invention" However, the above-mentioned conventional excavation state monitoring device is CR
T10, pitching display device 12 and yawing display device
Since the position shift amount, the pitching amount, and the yawing amount are separately displayed in 13, the position shift amount, the pitching amount, and the yawing amount can be obtained only as separate information, and the operator 16 Has a problem that the state of the excavator 5 cannot be easily imaged from these separate information.

The present invention is intended to provide a digging progress monitoring device for a pipe burying machine that solves the above-mentioned problems.

"Means for Solving Problems" The present invention does not achieve the above-mentioned object, and therefore, a position detection unit that detects the current position of the excavator with respect to the planned buried line and outputs the position detection signal, A posture detection unit that detects the vertical tilt amount and the horizontal tilt amount of the machine and outputs the posture detection signal, and based on the signals input from the position detection unit and the posture detection unit, excavates the planned buried line. A calculation unit that outputs the current position deviation amount of the machine and the predicted position deviation amount of the machine, which is assumed after the machine has excavated a predetermined distance from the current position until its posture, and the excavation obtained by the calculation unit. The present invention is characterized by including a display unit that simultaneously displays the current positional deviation amount of the machine and the predicted positional deviation amount.

[Operation] According to the present invention, the display unit displays the current positional deviation amount of the excavator with respect to the planned burial line, and the predicted positional deviation amount expected after excavation for a predetermined distance from the current position until the posture. Since it is displayed at the same time, the operator can easily and accurately grasp how much the direction of the machine can be brought closer to the planned buried line, and as a result, the buried pipe can be buried accurately. it can.

[Embodiment] An embodiment of the excavation state monitoring device for a pipe burying machine according to the present invention will be described below with reference to FIGS. 1 and 2.

FIG. 1 is a block diagram showing an embodiment of the excavation state monitoring device for a pipe burying machine according to the present invention, and FIG. 2 is a flow chart showing the operation sequence of the arithmetic unit.

In the figure, the same symbols as those in FIGS. 3 to 7 indicate the same components.

Therefore, in the excavation state monitoring device of the present invention in this embodiment, the arithmetic unit 17 is provided between the CRT 10 and the laser beam receiving device 8, the pitching sensor 14 and the yawing sensor 15. The calculation unit 17 includes an electric signal output from the laser beam receiving device 8 at the current position P (x, y) of the excavator 5 and the excavator 5 output from the pitching sensor 14.
Of the yawing sensor 15
And the electric signal of the yawing amount θx of the machine 5 output from In addition, the current position P of the machine 5
An electric signal whose point (x, y) is the current position deviation amount and an electric signal whose P ′ point (x ′, y ′) obtained by the following equations (1) and (2) is the predicted position deviation amount , And an electric signal of an arrow A connecting the current position shift amount P point (x, y) and the predicted position shift amount P ′ amount (x ′, y ′).

Where x ′ = x + ltan θx (1) y ′ = y + ltan θy (2) The x ′ and y ′ thus obtained are the current deviations (x,
If y) changes as it is, it represents a predicted value that the amount of deviation will be (x ', y') when the machine 5 advances by l.

The excavation state monitoring device of the present invention in this embodiment has the above-mentioned configuration, and its operation will be described below with reference to the flow chart of FIG.

First, the laser beam light receiving device 8 outputs an electric signal at the current position P (x, y) of the excavator 5. In addition, from the pitching sensor 14 and the yawing sensor 15 to the excavator 5
The electric signals of the pitching amount θy and the yawing amount θx are output. Next, these electric signals (x, y), θy,
θx is input to the calculation unit 17 (see FIG. 2A). In the calculation unit 17, first, an electric signal at the current position P point (x, y) of the excavator 5 is output as the current position shift amount (see FIG. 2B). Also, based on the above electrical signals (x, y), θy, θx, the above equations (1) and (2)
The predicted position shift amount P'point (x ', y') is calculated by the formula and the electric signal thereof is output (see FIG. 2C).
Further, an electric signal of an arrow A connecting between the current position shift amount P point (x, y) and the predicted position shift amount P'point (x ', y') is output (Fig. 2 (d)). See). Then, based on the electric signals (x, y), (x ', y'), A, on the xy plane of the display surface of the display unit 10, the current position shift amount P point and the predicted position shift amount Point P'and arrow A are displayed respectively.

As described above, in the excavation state monitoring device of the present invention, the current displacement amount P point (x, y) of the excavator 5 and the predicted displacement amount P'point (x ', y') are simultaneously displayed. Therefore, the operator 16 can easily and accurately understand how much and in what direction the excavator 5 should be corrected to bring it closer to the planned buried line. As a result, the burden on the operator 16 is reduced. Also, the conventional current position shift amount P point (x, y),
Since the pitching amount θy and the yawing amount θx are separately displayed, they are collectively displayed on one CRT 10, so that the display unit of the operating device 9 can be downsized.

Further, since the arrow A is connected between the current position shift amount P point (x, y) and the predicted shift amount P'point (x ', y'), the excavation state of the excavator 5 can be more easily achieved. Can be grasped.

If the prediction distance l in the above equations (1) and (2) is made variable, the prediction deviation amount can be greatly evaluated according to the required burying accuracy. Further, if the value of l can be changed by the above equations (1) and (2), the embedding accuracy in the horizontal direction and the embedding accuracy in the vertical direction can be selected separately.

"Effects of the Invention" As is clear from the above embodiments, since the excavation state monitoring device for a pipe burying machine of the present invention displays the predicted positional deviation amount in addition to the current positional deviation amount, The state can be grasped easily and accurately. As a result, the burden on the operator can be reduced. Further, the display unit can be downsized.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of the excavation state monitoring device for a pipe burying machine according to the present invention, and FIG. 2 is a flow chart showing the operation sequence of the arithmetic unit. 3 and 4 are explanatory views of the propulsion method, FIG. 5 is a schematic view showing a conventional excavation state monitoring device, and FIG. 6 is a perspective view of a laser beam receiving device. 7 (a) and 7 (b) are explanatory views showing the excavation state of the excavator. 5 ... excavator, 7 ... laser beam emitting device, 8 ... laser beam receiving device, 10 ... CRT, 14 ... pitching sensor, 15 ... yaw sensor, 17 ... arithmetic unit, P
(X, y) ... Current position shift amount, P '(x', y ')
…… Predicted position shift amount, θy …… Pitching amount, θx …… Yawing amount.

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Takaaki Fukumoto 1-1-6 Uchisaiwaicho, Chiyoda-ku, Tokyo Japan Telegraph and Telephone Public Corporation (72) Inventor Osamu Matsuo 1-1-6 Uchisaiwai-cho, Chiyoda-ku, Tokyo Date (72) Inventor, Kojiro Ogata, Kojiro Ogata, 650, Jinmachi, Tsuchiura, Ibaraki Hitachi Construction Machinery Co., Ltd., Tsuchiura Plant (72) Inventor, Naoki Takeshi, 650, Kachimachi, Tsuchiura, Ibaraki Hitachi Construction Machinery Co., Ltd. Tsuchiura Plant (72) Inventor Masao Suda 650, Kazunachi-cho, Tsuchiura City, Ibaraki Prefecture Tsuchiura Plant, Hitachi Construction Machinery Co., Ltd. (56) Reference JP-A-56-90210 (JP, A)

Claims (2)

[Claims] 1. A position detector for detecting a current position of a machine to a planned buried line and outputting a position detection signal thereof, and a posture for detecting a vertical tilt amount and a horizontal tilt amount of the machine. Based on the posture detection unit that outputs a detection signal and the signals input from the position detection unit and the posture detection unit,
A calculation unit that outputs a current position deviation amount of the excavator with respect to the planned burial line and a predicted position deviation amount of the excavator that is expected after the excavator has advanced a predetermined distance from its current position to its posture,
An excavation state monitoring device for a pipe burying machine, comprising: a display unit that simultaneously displays a current displacement amount and a predicted displacement amount of the excavator obtained by the calculation unit. 2. The present displacement amount of the excavator on the display unit,
Claim 1 characterized in that it is configured to display a predicted positional deviation amount of the machine after excavating a predetermined distance and an arrow connecting the current positional deviation amount and the predicted positional deviation amount. An excavation progress monitoring device for a pipe burying machine according to the item.