JPH0652176B2 - 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. 11 and 12.

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. This propulsion device 4 includes a guide 27 installed in the starting shaft 2 and its guide.
The original push jack 20 fixed in 27 and the original push jack 20
The guide rod 27 is fixed to the tip of the piston rod and is guided by the guide 27 so as to be slidable in the same direction as the driving direction of the push lever 20. Propulsion device 4
The buried pipe 6 is placed on the former push ring 21 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. Hereinafter, the buried pipes 6 are successively added and propelled, and finally the excavator 5
The buried pipe 6 is laid in the natural ground 1 at the point where it reaches the reaching shaft 3.

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.

The above-mentioned excavation state monitoring device will be described below with reference to FIGS. 13 and 14.

The 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. In the laser beam receiving device 8, for example, when the light receiving surface on which the laser beam 11 hits is an xy plane, the point on which the laser beam 11 hits, for example, the coordinates (x, y) of point R 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 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 by hitting the xy plane of the light receiving surface of the laser beam receiving device 8 with the laser beam 11, and displays the point P 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 strikes the xy plane of the light receiving surface of the laser beam receiving device 8, and the laser beam 11
The point P hit by 11 is displayed as the amount of displacement on the xy plane of the display surface of the CRT 10. And the operator 16
By constantly monitoring the information displayed on T10, the amount of deviation of the excavator 5 from the planned buried line can be accurately grasped. 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 more accurately perform the driving operation for correcting the direction. . 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, and 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 position 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. 15 (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. . When the propulsion is further continued in this posture, the amount of deviation from the planned burial line L gradually increases as shown in FIG. 15 (b). If the angle θx is the amount of inclination of the machine 5 in the horizontal direction,
That is, if the yaw amount θx is not detected, the horizontal displacement of the excavator 5 will be known after the positional displacement has become considerably large, and even if the driving operation for direction correction is performed based on this, it is quite accurate. 6 cannot be buried. 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-described conventional excavation state monitoring is performed by the excavator 5
Since it is necessary to dispose the laser beam receiving device 8 pitching sensor 14 and the yawing sensor 15 inside the laser beam receiving device 8, the laser beam receiving device 8, especially in the management installation machine for burying the embedded pipe 6 having a diameter of 300 mm or less, There is a problem in securing the installation space for the bitching sensor 14 and the yawing sensor 15.

The present invention is intended to provide a digging state monitoring transmission of a management equipment that solves the above problems.

[Means for Solving Problems] The invention according to claim 1 (hereinafter referred to as the first invention) detects a position of an excavator on an excavation line and outputs a position detection signal thereof. Position detection unit, the digging propulsion amount detection unit that detects the digging propulsion amount of the excavator and outputs the digging propulsion amount detection signal, based on the signal input from the position detection unit and the digging propulsion amount detection unit, Deviation of the position detector with respect to the planned buried line, and data of the amount of deviation of the position detector and deviation of the position detector at the position returned to the starting shaft side by a preset distance along the planned buried line From the amount data, a calculation unit that outputs the difference between the horizontal and vertical shift amounts of the data, and a shift amount of the position detection unit that is connected to the calculation unit and the horizontal and vertical directions. Set the difference in And a display unit that displays the inclination of the excavation line with respect to the planned line.

Further, the invention described in claim 2 (hereinafter referred to as the second invention) includes a position detection unit that detects the position of the machine and outputs the position detection signal, and the excavation propulsion of the machine. It is connected to the excavation propulsion amount detection unit that detects the amount and outputs the excavation propulsion amount detection signal, its position detection unit and the excavation propulsion amount detection unit, and is input from the position detection unit and the excavation propulsion amount detection unit at predetermined time intervals. Based on the signal, the current deviation amount of the excavator with respect to the planned buried line, and a calculation unit that outputs a predicted position deviation amount of the excavator that is expected after a predetermined distance is excavated, and the arithmetic unit is connected to the excavation machine. And a display unit that displays the current positional deviation amount and the predicted positional deviation amount.

"Operation" The first invention detects the pitching amount and yawing amount of the excavator, that is, the posture of the excavator without using the pitching sensor and the yawing sensor, and detects the displacement of the excavator in addition to the displacement amount of the excavator. The posture can also be displayed on the display unit.

The second invention also detects the pitching amount and yawing amount of the excavator, that is, the posture of the excavator without using the pitching sensor and the yawing sensor, and detects the displacement of the excavator in addition to the positional deviation amount of the excavator. The attitude can also be displayed on the display unit, and the display unit displays the current displacement amount of the machine and the predicted displacement amount with respect to the planned buried line.

[Embodiment] Hereinafter, three of the embodiments of the excavation state monitoring device for a pipe burying machine according to the first invention will be described with reference to FIGS. 1 to 8.
An embodiment of the excavation state monitoring device for a pipe burying machine according to the second invention will be described with reference to FIGS. 9 and 10.

1 to 6 show a first embodiment of the excavation state monitoring apparatus of the first invention, FIG. 1 is a block diagram, and FIG. 2 is a laser beam emitting apparatus and a laser beam receiving apparatus and xy.
FIG. 3 is an explanatory view showing the relationship with the z coordinate, FIG. 3 is a partial side view showing the propulsion device and the excavation propulsion amount detection unit, FIG. 4 is a conceptual diagram of the memory of the calculation unit, and FIG. FIG. 6 is an explanatory diagram of the calculation method, and FIG. 6 is an explanatory diagram showing a method for detecting the attitude of the excavator.

In the figure, the same reference numerals as those in FIGS. 11 to 12 indicate the same parts.

Then, in the excavation state monitoring device of the present invention in this embodiment, as shown in FIG. 2, the laser beam 11 emitted by the laser beam emitting device 7 is the z axis, and is orthogonal to the z axis horizontally. The axis is the x-axis, and the axis perpendicular to the z-axis is the y-axis. Then, x− of the light receiving surface of the laser beam light receiving device 8 fixed to the excavator 5
The signal corresponding to the coordinates (x, y) of the point P obtained by hitting the laser beam 11 on the y plane represents the amount of displacement of the excavator 5, and P on the xy plane of the display surface of the CRT 10.
Displayed as a point (x, y).

Then, in the excavation state monitoring device of the present invention, the excavation propulsion amount detection unit is arranged in the propulsion device 4, as shown in FIG. That is, the rotary potentiometer 22 is fixedly installed on the guide 27 of the fixed portion of the propulsion device 4, the proximal end of the wire 23 is wound around the potentiometer 22, and the tip of the wire 23 is attached to the propulsion device 4.
Fix it to the original push ring 21 of the slide part. In this excavation propulsion amount detection unit, the original push jack 20 extends, the original push ring 21 slides, the wire 23 is pulled out from the potentiometer 22, and the potentiometer 22 rotates. As a result, a signal corresponding to the extension of the original push jack 20, that is, the amount of propulsion of the excavator 5 is obtained, and the signal is output. The output from the potentiometer 22 substantially coincides with the z-axis of the xyz coordinates shown in FIG. The position signals x and y of the excavator 5 and the excavation propulsion amount signal z of the excavator 5 output from the potentiometer 22 and the laser beam receiving device 8 are functions of time, and x (t), y ( t) and z (t).

The laser beam receiving device 8 and the potentiometer 22 are
Connect the D converter 24. The AD converter 24 inputs the signals x (t), y (t), z (t) output from the laser beam receiving device 8 and the potentiometer 22, and outputs the signal x
(t), y (t), z (t) are AD-converted, and a signal x is obtained at predetermined time intervals.
Output as n, yn, zn.

This AD connects the arithmetic unit 25 to the converter 24. This calculation unit
25 is a signal x output from the AD converter 24 at predetermined time intervals
Input n, yn, zn and store. In the calculation unit 25, as shown in FIG. 4, signals x, y, from the AD converter 24 are generated every one second, for example, at the start of excavation (t = 0).
Enter z and store. In FIG. 4, the subscript n is n.
This is the meaning of the data in seconds.

Then, in this calculation unit 25, at the time of time n seconds,
Perform operations (1) and (2). Note that this calculation is performed every 1 second.

Here, x (z = zn-Δz) and y (z = zn-Δz) mean the value z (zn−Δz) which is the value zn traced back from the value zn of z at time n.
It is assumed to mean the x and y signals corresponding to z).
Then, as is clear from FIG. 5, Txn in the equation (1) represents the gradient (= tan θ) of the tangent line (represented by the broken line) at z = zn of the curve x (z). .
The meaning of Txn will be described in more detail with reference to FIG.
In the figure, the solid line curve is the locus that follows the center of the excavator 5, that is, the center of the laser beam receiving device 8 in this case, and is the excavation line that connects the points corresponding to the aforementioned x1 to xn.
The broken line in the figure is the tangent to the excavation line as described above, and the laser beam receiving device 8 is fixed to the excavator 5, so that this tangent line coincides with the direction of the excavator 5. Therefore, above
Txn represents the amount of tilt of the machine 5 at the time t = n in the xz plane (horizontal plane), that is, the amount of yawing. Similarly, Tyn in the equation (2) represents the pitching amount of the machine 5.

The computing unit 25 outputs a signal at the position P point (xn, yn) of the excavator 5 at time n seconds as a positional deviation amount, and also at the same time at time n seconds, the yawing amount Txn of the excavator 5 and Outputs the pitching amount Tyn.

The display unit 26 is connected to the calculation unit 25. This display unit 26
As shown in FIG. 13 described above, the CRT 10 provided in the operating device 9
And a pitching display device 12 and a yawing display device 13. The positional deviation amount P (xn, yn) output from the calculation unit 25,
Enter the yawing amount Txn and the pitching amount Tyn respectively.
CRT10, yawing display device 13, pitching display device 12
To display.

The excavation state monitoring device of the first invention in this embodiment is
Due to the above-mentioned configuration, the position shift amount P of the excavator 5 is
The yaw amount Txn and the pitching amount Tyn of the excavator 5 can be displayed together with (xn, yn). Therefore,
The driving operation for correcting the direction of the excavator 5 can be accurately and easily performed. Moreover, the yaw amount Txn and the pitching amount T of the excavator 5 are calculated by the position detection unit and the calculation unit without using the pitching sensor and the yawing sensor.
yn can be displayed in small diameter tubes, especially diameter 30
Even in the pipe burying machine for burying the buried pipe 6 of 0 mm or less, it is not necessary to secure the installation space for the pitching sensor and the yawing sensor. Therefore, the problem of the installation space of the pitching sensor and the yawing sensor is solved.

FIG. 7 is a front view of a display unit showing a second embodiment of the excavation state monitoring device of the first invention.

The display unit 26A includes a CRT 10 for displaying the amount of displacement and a digital display unit 28A for the amounts of displacement X, Y, the yawing amount TX, and the pitching amount TY. Then, the present positional deviation amount (xn, yn) is displayed as a spot P on the CRT 10, and the positional deviation amounts X and Y, the yawing amount TX, and the pitching amount TY are digitally displayed. By doing so, the display surface of the operating device 9 can be made small, and detailed data of the positional deviation amount, yawing amount, and pitching amount can be grasped.

FIG. 8 is a front view of a display section showing a third embodiment of the excavation state monitoring device of the first invention.

This display portion 26B is similar to that of the second embodiment described above in that the CRT1
0 and a digital display unit 28B. Then, the current position shift amount (xn, yn) is displayed as spot P on the CRT 10, and the past data (x1, y1) (x2, y2) ... Remaining in the memory shown in FIG. 4 is also displayed. To do. The spot of the past data is displayed smaller than the spot P of the current position shift amount (xn, yn). By doing so, the operator 16 can clearly imagine the excavation state of the excavator 5 from the past to the present, and can perform the driving operation for correcting the direction more accurately.

FIG. 9 is a block diagram showing an embodiment of the excavation state monitoring device of the second invention, and FIG. 10 is a front view of the display portion thereof.

In the drawings, the same reference numerals as those in FIGS. 1 to 8 indicate the same parts.

Therefore, in the excavation state monitoring device of the present invention in this embodiment, the calculation unit 25 performs the calculations of the following expressions (3) and (4).

xn ′ ＝ xn ＋ lzTx ………………………… (3) yn ′ ＝ yn ＋ lzTy …………………… (4) xn ′ and yn ′ thus obtained are the current displacement (X
If n, yn) changes as it is, it represents a predicted value that the shift amount will be (xn ', yn') when the machine 5 advances by lz. This predicted position deviation amount P'point (x
n ', yn') is output together with the current position shift amount P point (xn, yn).

The display unit 26C of this embodiment includes a CRT 10 and a digital display unit 28C, like the display units 26A and 26B described above. Then, on the CRT 10, the current displacement amount (xn, yn) is used as the spot P of the black circle, and the predicted displacement amount (xn ', y
n ') is displayed as a spot P'of a white circle and the past data (x
Also displays 1, y1) (x2, y2) .... The spots of the past data are displayed smaller than the spot P of the current displacement amount (xn, yn) and the spot P'of the predicted displacement amount (xn ', yn').

The excavation state monitoring device of the second invention in this embodiment is
With the configuration as described above, the yawing amount Txn and the pitching amount Tyn of the excavator 5 can be displayed without using the pitching sensor and the yawing sensor, as in the excavation state monitoring device of the first invention. Therefore, it is possible to solve the problem of the installation space of the pitching sensor and the yawing sensor in the pipe burying machine having a small diameter. In particular, in the second invention, the current position shift amount P (xn,
yn) and the predicted shift amount P '(xn', yn ') are displayed, the excavation state of the excavator 5 can be easily and accurately displayed without displaying the pitching amount Tyn and the yawing amount Txn. You can figure it out. Therefore, the burden on the operator can be reduced, and the display unit 26C can be downsized.

If the prediction distance lz in the above equations (3) and (4) is made variable, the prediction deviation amount can be evaluated large or small according to the required burial accuracy. Furthermore, if the value of lz can be changed by the above equations (3) and (4), 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, the excavation state monitoring device for a pipe burying machine according to the present invention does not use the pitching sensor and the yawing sensor, but uses the position detecting section and the calculating section to detect the excavator. Since the yawing amount and the pitching amount can be displayed, it is not necessary to secure a space for installing the pitching sensor and the yawing sensor even in a pipe burying machine for burying a small-diameter pipe, particularly a buried pipe having a diameter of 300 mm or less. Therefore, the problem of the installation space of the pitching sensor and the yawing sensor is solved. Further, the excavator and the buried pipe can be downsized.

In particular, the excavation state monitoring device of the second invention displays the predicted positional deviation amount in addition to the current positional deviation amount, so that the excavation state of the machine can be easily and accurately grasped. 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, FIG. 2 is an explanatory view showing the relationship between a laser beam emitting device and a laser beam receiving device, and xyz coordinates, and FIG. 3 is a partial side view showing a propulsion device and an excavation propulsion amount detection unit. 4 and FIG. 4 are conceptual diagrams of the memory of the arithmetic unit,
FIG. 5 is an explanatory diagram of the arithmetic system of the arithmetic unit, and FIG. 6 is an explanatory diagram showing a method for detecting the attitude of the excavator. FIG. 7 is a front view of a display unit showing a second embodiment of the excavation state monitoring device of the first invention. FIG. 8 is a front view of a display section showing a third embodiment of the excavation state monitoring device of the first invention. 9th
FIG. 10 is a block diagram showing an embodiment of the excavation state monitoring device of the second invention, and FIG. 10 is a front view of its display portion. 11th
FIG. 12 and FIG. 12 are explanatory views of the propulsion method, FIG. 13 is a schematic view showing a conventional excavation state monitoring device, and FIG. 14 is a perspective view of a laser beam receiving device. FIGS. 15 (a) and 15 (b) are explanatory views showing the excavation state of the excavator 4 ... Propulsion device, 5 ... Excavator, 7 ... Laser beam emitting device, 8 ... Laser beam receiving device , 10 …… CRT, 20
...... Former push jack, 21 ...... Former push ring, 22 ...... Potentiometer, 23 ...... Wire, 25 …… Calculator, 26,26A, 26
B, 26C ... Display, P (xn, yn) ... Current position shift amount,
P '(xn', yn ')-predicted position shift amount, Txn-yawing amount, Tyn-pitching 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. Inside the Tsuchiura Plant (72) Inventor Masao Suda 650 Jinrachicho, Tsuchiura City, Ibaraki Prefecture Hitachi Construction Machinery Co., Ltd. Inside the Tsuchiura Plant

Claims (2)

[Claims] 1. A position detector for detecting the position of a machine on the excavation line and outputting a position detection signal thereof, and a amount of propulsion for detecting the amount of propulsion of the machine and outputting a detection signal for the amount of propulsion. Based on the signal input from the detection unit, the position detection unit and the excavation propulsion amount detection unit, the deviation amount of the position detection unit with respect to the planned buried line, and the data of the deviation amount of the position detection unit and the planned buried line From the data of the amount of deviation of the position detection unit at the position returned to the start shaft side by a preset distance, a calculation unit that outputs the difference between the amount of deviation in the horizontal direction and the vertical direction of those data, respectively. A display unit that is connected to the calculation unit and displays the amount of displacement of the position detection unit and the difference between the amounts of displacement in the horizontal and vertical directions as the slope of the excavation line with respect to the planned buried line. To bury the pipe Of excavation status monitoring device. 2. A position detecting section for detecting a position of a machine and outputting a position detection signal thereof, and a digging amount detecting section for detecting a digging amount of a digging machine and outputting the digging amount detection signal. , The current displacement amount of the excavator with respect to the planned burial line and the predicted displacement amount of the excavator expected after excavation for a predetermined distance based on the signal input from the position detection unit and the excavation propulsion amount detection unit at predetermined time intervals. And a display unit that is connected to the calculation unit and that displays the current positional deviation amount and the predicted positional deviation amount of the excavator, and monitors the excavation state of the pipe burying machine. apparatus.