JPH0781482B2 - Method and device for measuring the wall shape of a continuous underground wall - 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 and a device for measuring the shape of a wall surface of an underground wall, which measures the accuracy of excavation and the shape of an excavated wall during the construction of an underground wall.

[0002]

2. Description of the Related Art FIG. 9 shows a conventional measuring device. In the figure, 1 is a receiver recorder, 2 is a winch, and 3 is a sensor. A winch 2 is installed on an excavation pit 4 for constructing a continuous underground wall. The distance on the wall surface is measured while suspending the sensor 3 using the sound wave sensor in the excavation pit 4, and the measurement result is received by the recorder 1
Then, as in the recording example shown in FIG. 11, the discharge destruction type record is printed by the receiving recorder 1. This makes it possible to see the cross section just below the point where it was hung.

[0003]

In the measuring device shown in FIG. 9, measurement cannot be performed during excavation, and after excavation, the excavator must be carried out from the excavation pit 4 and then measured.
Therefore, it takes a lot of time before the measurement, and the management of the excavation machine currently depends on the intuition and experience of the excavator operator.

[0004] Further, in one measurement, only the cross-section at the point of suspension is known, and many measurements must be performed to represent a surface such as a wall surface. Further, the recording is an analog representation of the distance signal from the sensor 3 which is an ultrasonic sensor as it is on the recording paper 6, and a person must read from the recording paper 6 to obtain the distance value.

In addition to this, since the stable liquid property in the excavation pit 4 is not uniform, it is necessary to constantly adjust the ultrasonic wave reception sensitivity while lowering the sensor 3, which is one of the error factors. . Also, the ultrasonic wave propagation speed differs depending on the stable liquid property and temperature, and it is necessary to constantly adjust the propagation speed in order to improve the measurement accuracy, but it cannot be adjusted at present.

The object of the present invention is to eliminate the inconveniences of the above-mentioned conventional examples, and to enable accurate measurement during excavation and immediately after excavation.
Since a quick response and quantitative excavation management can be realized, and easy-to-understand wall shape data are automatically obtained, a method and device for measuring the shape of a continuous underground wall surface that enables quick feedback to the construction. To provide.

[0007]

In order to achieve the above object, the present invention provides an excavator with a distance sensor including a plurality of or horizontally movable ultrasonic sensors and a correction sensor for measuring ultrasonic propagation velocity. The output data of the distance sensor and the correction sensor is introduced into the computer via the controller, and the output data of the displacement measuring device for measuring the position of the excavator is introduced into the computer, and the computer,
Calculate the posture of the excavator from the output data of the displacement measuring device,
Based on this, calculate the absolute position of the distance sensor, then correct the data of the distance sensor with the value of the ultrasonic wave propagation velocity determined by the correction sensor, and obtain the absolute position of the wall surface by the number of samplings by the distance sensor, The gist is to output a three-dimensional surface shape by surface interpolation of this data.

[0008]

According to the present invention, since the distance sensor is attached to the excavator and the displacement measuring device is combined, the measurement can be performed during the excavation and immediately after the excavation. Therefore, it is not necessary to carry the excavator out of the pit and a quick measurement can be performed. Will be possible. Also,
An operator during excavation can perform quantitative excavation management.

Further, by arranging a plurality of ultrasonic sensors in parallel on the excavator or by horizontally moving them to form a distance sensor and measuring with this, a large amount of data can be obtained during excavation, and this can also be obtained. By processing the image as it is on a computer and expressing it in three dimensions, human judgment is not required and quick feedback can be given to the construction.

In addition to the distance sensor, a correction sensor for measuring stable liquid properties and ultrasonic wave propagation velocity is simultaneously hung to correct the distance sensor, thereby obtaining optimum receiving sensitivity and accurate propagation velocity in real time. Therefore, the computer can correct the data accurately.

[0011]

Embodiments of the present invention will now be described in detail with reference to the drawings. FIG. 1 is a front view showing an embodiment of a method and apparatus for measuring the shape of a wall surface of an underground wall of the present invention, and 7 in the figure is an excavator for constructing an underground wall. In the illustrated example, the excavator 7 is suspended by the suspension wire 8 and has the rotary excavating drum at the tip, but the excavator 7 is not particularly limited to this and may be an excavator of other type such as an auger. .

The device of the present invention comprises a displacement measuring device 13 for measuring the position of the excavator 7, a distance sensor 9, a correction sensor 10 for correcting data, an ultrasonic sensor controller 11 and a personal computer 14 on the ground. . On the excavator 7,
A distance sensor 9 including an ultrasonic sensor and a correction sensor 10 including an ultrasonic sensor are provided. The distance sensor 9 has a plurality of ultrasonic sensors arranged in parallel on both sides of the excavator 7, and the surface shape is measured by sequentially switching the ultrasonic sensors at time intervals that do not interfere with each other or by horizontally moving the ultrasonic sensors. To do.

Further, the correction sensor 10 is, as shown in FIG. 2, a transmission side sensor 10 which operates as a transmitter and a receiver, respectively.
a and a receiving-side sensor 10b, which are two ultrasonic sensors, are arranged at an integral interval (for example, 50 cm) with each other, and the magnitude of the transmission signal is constant at this time.

Further, the excavator 7 is provided with a controller 11. This controller 11 is a distance sensor 9 and a correction sensor.
The output of 10 is converted into an analog / digital signal and transmitted to a personal computer 14 which will be described later. For the correction sensor 10, the data from the receiving side sensor 10b is converted into a digital signal and the transmitting side sensor 10a and the receiving side sensor 10a are received. The amplification factor of the ultrasonic signal according to the property of the stabilizing liquid in the pit is calculated from the amount of ultrasonic transmission between the sensors 10b, the input voltage of the distance sensor 9 is automatically adjusted, and the time difference between transmission and reception is calculated. The ultrasonic propagation velocity is calculated and the correction data of the distance sensor is obtained.

Further, the controller 11 rectifies the received waveform for the distance sensor 9 as shown in FIG. 4 (b),
The effective range of the received signal is separated by gate processing (c), and then the maximum value of the received wave having a threshold voltage (Vl) or more set to several% to several tens% of the maximum measured voltage range (Vm) is obtained ( e), the time at that time is measured. The time (Tm) thus obtained is multiplied by the speed using the correction sensor 10,
The distance data is digitally converted by dividing by 2 (f).

In the figure, 13 is a displacement measuring device for measuring the position of the excavator, the main body of which is installed on the ground, but a displacement measuring sensor
12 is provided on the excavator 7. Further, the controller 11 and the displacement measuring device 13 are connected to a personal computer 14 installed on the ground by a signal cable 15. As the displacement measuring device 13, those disclosed in Japanese Patent Publication No. 59-30878 and Japanese Patent Publication No. 2-23673 can be used.

Next, the method for measuring the wall shape of the underground continuous wall of the present invention using the above measuring device will be described.
As described above, the distance sensor 9 provided in the excavator 7 is arranged by arranging a plurality of ultrasonic sensors in parallel and measuring them while sequentially switching them at time intervals that do not interfere with each other or by horizontally moving the ultrasonic sensors. The surface shape is measured, and the measurement is started during the excavation of the excavator 7 in the excavation pit 4 and immediately after the end of excavation.

The process flow is shown in FIG.
Data is sent to the controller 11 and digitally converted. The role of the correction sensor 10 has already been described above.
As shown in, the amplification factor of the ultrasonic signal according to the property of the stabilizing solution 16 in the pit is calculated from the size of the ultrasonic transmission amount between the transmitting side sensor 10a and the receiving side sensor 10b, and the input voltage of the distance sensor 9 is calculated. Is automatically adjusted, and the ultrasonic wave propagation velocity is calculated from the time difference between transmission and reception to obtain the correction data of the distance sensor 9.

All the data from the controller 11 and the displacement measuring device 13 are transmitted to the personal computer 14 on the ground.
The attitude of the excavator 7 is calculated from the data of 13, and the absolute position of each distance sensor 9 is calculated based on this. Next, the data of the distance sensor 9 is corrected by the value of the ultrasonic wave propagation velocity obtained by the correction sensor 10. As a result, the absolute position of the wall surface is obtained by the number of the respective ultrasonic sensors forming the distance sensor 9 or by the number of the ultrasonic sensors sampled while the ultrasonic sensor is moved horizontally, and the wall surface shape can be obtained by surface interpolation of this data.

6 to 8 show examples of output diagrams of the personal computer 14. 6 is a sectional view of an arbitrary line (α in FIG. 7), FIG. 7 is a bird's-eye view, and FIG. 8 is a contour map. In this way, the personal computer 14 three-dimensionally represents the excavation shape and outputs it on the printer or the CRT display screen.

[0021]

As described above, since the method and apparatus for measuring the shape of the wall surface of the underground wall of the present invention can be measured during excavation and immediately after the end of excavation, it is not necessary to carry the excavator out of the pit, It eliminates the need for extra work for measurement like the one shown in Fig. 1 and saves manpower and time. Surface data can be obtained during excavation, and it can be processed by computer processing and expressed in three dimensions for construction. On the other hand, quick feedback can be provided, construction efficiency can be improved, and construction accuracy can be improved.

Furthermore, since the signal from the ultrasonic sensor is digital, it can be processed as it is by a computer, human error is reduced because human judgment is not necessary, and data can be stored easily, and if necessary, a chart can be provided. Can be output.

Further, by suspending the correction sensor at the same time, optimum receiving sensitivity and accurate propagation velocity are obtained in real time, and accurate data correction can be carried out to improve measurement accuracy.

[Brief description of drawings]

FIG. 1 is a front view showing an embodiment of a method and apparatus for measuring a wall surface shape of an underground wall of the present invention.

FIG. 2 is an explanatory diagram of a correction sensor.

FIG. 3 is an explanatory diagram showing a flow of processing.

FIG. 4 is an explanatory diagram showing a digital conversion procedure of data of a distance sensor.

FIG. 5 is an explanatory diagram showing a role of a correction sensor.

FIG. 6 is an explanatory diagram showing an example of output on a personal computer.

FIG. 7 is an explanatory diagram showing another example of output on a personal computer.

FIG. 8 is an explanatory diagram showing still another example of output from the personal computer.

FIG. 9 is an explanatory diagram showing a conventional device.

FIG. 10 is a perspective view of a sensor portion of a conventional device.

FIG. 11 is a front view of recording paper of a conventional device.

[Explanation of symbols]

1 ... Reception recorder 2 ... Winch 3 ... Sensor 4 ... Drilling pit 5 ... Wire 6 ... Recording paper 7 ... Excavator 8 ... Suspension wire 9 ... Distance sensor 10 ... Correction sensor 10a ... Sending side sensor 10b ... Reception side sensor 11 … Controller 12… Sensor for displacement measurement 13… Displacement measuring device 14… Personal computer 15… Signal cable 16… Stabilizer

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Claims (2)

[Claims] 1. An excavator is provided with a distance sensor using an ultrasonic sensor and a correction sensor for measuring an ultrasonic propagation velocity, and output data of the distance sensor and the correction sensor are introduced into a computer via a controller, Further, the output data of the displacement measuring device for measuring the position of the excavator is introduced into a computer, the computer calculates the posture of the excavator from the output data of the displacement measuring device, and the absolute position of the distance sensor is calculated based on this. Then, the data of the distance sensor is corrected by the value of the ultrasonic wave propagation velocity obtained by the correction sensor, the absolute position of the wall surface is obtained by the number of samplings by the distance sensor, and this data is interpolated in three dimensions. A method for measuring the wall shape of a continuous underground wall, which is characterized by outputting the surface shape. 2. A displacement measuring device for measuring the position of an excavator, a distance sensor provided by a plurality of or horizontally movable ultrasonic sensors provided in the excavator, and an ultrasonic wave propagation velocity by an ultrasonic sensor also provided in the excavator. The sensor for correction, the controller that converts the output of these sensors into a computer by analog-digital conversion, the data from the displacement measuring device and the data from the controller are transmitted, and based on the data of the displacement measuring device Underground continuous wall wall shape characterized by comprising a personal computer that calculates the absolute position of the distance sensor and outputs the wall shape based on the data corrected by the ultrasonic wave propagation velocity value found by the correction sensor Measuring device.