JPH076795B2 - A method for detecting the position of a fuselage in an automatic tunnel excavator - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a body position detecting method for an automatic excavator for excavating a tunnel or a tunnel.

[0002]

2. Description of the Related Art In an automatic excavator in which a telescopic cutting boom having a cutting drum is mounted on a body of an excavator having a self-propelled means such as a crawler so as to be capable of swinging, a laser target is provided on the body of the excavator. , The laser target is matched with a fixed reference laser beam installed in the tunnel to detect the machine body position of the excavator with respect to the reference tunnel axis, and the cutting drum position during cutting based on the detection value of the machine body position detector. The one that corrects and corrects the tunnel to be excavated,
It is described in JP-A-62-220696 and is conventionally known. However, in this conventionally known one,
The task of matching the laser target to the reference laser beam is done visually by the driver, which is time consuming and difficult to achieve accurate matching. If the excavator's airframe moves due to vibrations or reaction forces caused by excavation even after it is once aligned, it is necessary to stop the work and align the laser target with the laser beam again, which causes an error in the cutting drum position. There is a drawback that it is not possible to excavate an accurate tunnel cross section.

A light receiver is mounted on the machine body so that it can be swung up and down, and the position and inclination of the excavator with respect to a fixed reference laser beam installed in the tunnel are always automatically detected by the light receiver, and cutting is performed based on the detection result. By automatically correcting and controlling the position of the drum, regardless of the displacement of the aircraft due to movement / vibration or reaction force of the aircraft during excavation,
An automatic excavator that always automatically excavates a tunnel having a predetermined cross section is also described in Japanese Patent Application No. 2-145858 filed previously by the present applicant. However,
This automatic excavator requires the driver to manually operate the laser target that receives the laser beam when the excavator's fuselage is significantly displaced.Positioning of the cutting drum when the excavator's fuselage moves during excavation. Can not be correct,
There is a drawback that the installation place of the laser beam is limited.

[0004]

DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention An object of the present invention is to constantly position the excavator even if the excavator body moves during excavation.
That is, by providing a method capable of detecting the vertical displacement amount and lateral displacement amount of the machine body with respect to the reference tunnel axis and the deflection angle of the machine body vertical axis with respect to the reference tunnel axis, the drawbacks of the above-described conventional automatic excavator are eliminated. To do.

[0005]

[Means for Solving the Problems] A horizontally rotating laser light emitter that emits a laser beam that rotates in a horizontal plane (meaning a plane parallel to the reference bottom plate of the tunnel) in a proper place in the tunnel, and a parallel to the tunnel axis. And a vertically rotating laser emitter for emitting a laser beam rotating along a vertical surface (meaning a surface perpendicular to the reference bottom plate of the tunnel).
On the machine body of the excavator, a horizontal laser detector having a large number of laser detection elements arranged in the vertical direction to detect a horizontally rotating laser beam, and a vertical rotation laser arrayed in a direction orthogonal to the longitudinal axis of the machine body. A pair of vertical laser detectors with multiple laser detectors for beam detection are attached, and during excavation, the horizontal laser beam detector detects the vertical displacement of the aircraft with respect to the reference tunnel axis, and the vertical laser beam detector provides reference. A method for detecting the lateral displacement and deflection angle of the airframe with respect to the tunnel axis.

[0006]

1 is a perspective view for explaining an embodiment of the present invention, FIG. 2 is a side view of the same, and FIG. 3 is a top view of the same. In the figure, reference numeral 1 is a machine body of an excavator having a traveling crawler 2, and 3 is a telescopic cutting boom which is attached to the front portion of the machine body 1 so as to be able to control elevation and turning, and has a cutting drum 4 at its tip. The telescopic cutting boom 3 is telescopically controlled by the control device. Also, in the figure, reference numerals 5 and 6 denote a large number of laser detecting elements which are mounted in parallel with each other at appropriate positions on the machine body 1 at predetermined intervals in the front-rear direction and arranged in a direction orthogonal to the longitudinal axis of the machine body 1. The vertical laser detector has, 7 is a horizontal laser detector having a large number of laser detecting elements mounted in proper positions on the machine body 1 and arranged in a row in the vertical direction, and 8 is a horizontal tilt angle of the machine body 1 of the excavator. Left and right tilt angle detector, 10 is a display device, 11 is a horizontal laser light emitter attached at an appropriate position on the side wall of the tunnel, 12, 1
2 is a horizontal rotating laser beam which is emitted from a horizontal laser emitter and rotates in a horizontal plane, 13 is a vertical laser emitter which is mounted at a proper position on a tunnel ceiling, and 14 and 14 are emitted from a vertical laser emitter and rotate in a vertical plane. It is a vertically rotating laser beam. A solid-state light receiving element is usually used as the laser detecting element, but other light receiving devices can also be used.

[0007]

## EQU1 ## h ₃ = h ₁ + (l ₁ cos θ ₂ -h ₄ ) cos α

In FIG. 2, the forward inclination angle of the body 1 of the excavator during tunnel excavation with respect to the reference bottom plate 15 of the tunnel is α, and the height from the lower surface of the body 1 to the laser detection point A of the horizontal laser detector 7 is h ₂ , The vertical distance between points A and E is h ₄ , the elevation angle of the telescopic cutting boom 3 is θ2, and the length from the elevation / rotation center E of the telescopic cutting boom 3 to the center F of the cutting drum is l _1. From the bottom plate 15 to the center F of the cutting drum
The height h _{3 up to} is calculated by Equation 1 above.

[0009]

[Equation 2]

In FIG. 3, the vertically rotating laser beam 14 is shown.
And the vertical plane 16 passing through the tunnel axis is l ₃ , the distance between the laser detection point B of the front vertical laser detector 5 and the vertical plane 17 passing through the vertical axis of the body 1 is S1, and the rear vertical laser is If the distance between the laser detection point C of the detector 6 and the vertical plane 17 passing through the longitudinal axis of the machine body 1 is S2, and the distance between the front vertical laser detector 5 and the rear vertical laser detector 6 is l ₄ , then The declination γ with respect to the tunnel axis is calculated by the above mathematical formula 2.

[0011]

## EQU00003 ## l ₇ = (l ₆ cosθ ₁ -S ₁ ) cosγ + (l ₅ + l ₆ sinθ ₁ ) sinγ

In FIG. 3, the distance between the turning center D of the telescopic cutting drum 3 and the laser detection point B of the front vertical laser detector is ₁₅ , the distance between the turning center D and the cutting drum F is ₁₆ , and the telescopic cutting boom. Turning angle of 3 (vertical plane 1 passing through the longitudinal axis of the aircraft 1
If the rotation angle with respect to 7 is θ1, then the distance l ₇ between the rotation surface of the vertically rotating laser beam 14 and the center F of the cutting drum is calculated by the above-mentioned formula 3.

[0013]

The horizontal laser detector and the vertical laser detector detect the horizontal rotation laser beam and the vertical rotation laser beam at all times to detect the displacement amount with respect to the tunnel axis of the aircraft even when the aircraft is moving. Since the cutting position of the cutting drum can be automatically corrected based on the result, the accuracy of the tunnel excavation cross section and the excavation efficiency can be improved.

Since both the vertical and horizontal laser detectors may have laser beam detection elements arranged in a line on a straight line,
A laser beam detector that has a simple structure and is inexpensive can be used.

Since a rotating laser beam is used, restrictions on the installation place of the laser beam emitter are reduced.

[Brief description of drawings]

FIG. 1 is a perspective view for explaining the principle of the present invention.

FIG. 2 is a side view of the same.

FIG. 3 is a top view of the same.

FIG. 4 is a block diagram of an embodiment of a machine body position detection apparatus using the machine body position detection method of the present invention.

[Explanation of symbols]

 1 Body of excavator 3 Telescopic cutting boom 4 Cutting drum 5 Front vertical laser detector 6 Rear vertical laser detector 7 Horizontal rotation laser detector 10 Display device 11 Vertical rotation laser light emitter 13 Horizontal rotation laser light emitter

Claims (1)

[Claims] 1. A horizontally rotating laser light emitting device which emits a laser beam rotating along a horizontal plane, and a vertically rotating laser light emitting device which emits a laser beam rotating along a vertical plane parallel to the tunnel axis, at appropriate positions in a tunnel. And a horizontal laser detector having a large number of laser detection elements arranged in a row in the vertical direction on the machine body of the excavator, and a row in the direction orthogonal to the vertical axis of the machine body. Attached with a pair of vertical laser detectors with multiple laser detection elements to detect the vertically rotating laser beam placed, and during excavation, the horizontal laser beam detector detects the vertical displacement of the fuselage with respect to the reference tunnel axis, Detecting the machine body position in an automatic excavator characterized by detecting the lateral displacement and deflection angle of the machine body with respect to the reference tunnel axis with a laser beam detector. How to get out.