JP2019167771A - Operation room monitoring system for caisson construction method - Google Patents

Abstract

To provide a monitoring system that detects and monitors space positions of moving bodies such as workers and heavyweight machines in an operation room of the bottom of a caisson that GPS signals cannot reach, and that generates alarms if necessary so as to be able to ensure safety.SOLUTION: A plurality of anchors 9 for UWB wireless communication are provided in an operation room, and respective tags 14 for UWB wireless communication are provided for a plurality of moving bodies including a worker M in the operation room. The monitoring system of the present invention performs positioning calculations based on information received in each of the anchors 9 and identifies the position of each worker M. The monitoring system monitors the position of the worker M using a coordinate screen 20 of a monitoring terminal device and sets a severe level off-limits area 24 and a minor level off-limits area 25 on the coordinate screen 20. When the worker M approaches these areas, the monitoring system operates alarm devices 15, 23 in order to generate alarms.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a work room monitoring system in a caisson method represented by a pneumatic caisson method, and in particular, grasps a spatial position of a moving body such as an operator or an excavator in a work room at the bottom of a caisson where a GPS signal does not reach. Related to monitoring systems.

  As this type of technology, for example, as described in Patent Document 1, an excavator in a work room at the bottom of the caisson (also referred to as a caisson box) is remotely operated with an operation panel on the ground remote control room. On the other hand, there is known an apparatus in which an image of a monitoring camera installed in a work room is monitored by a monitor in a remote operation room.

  As another technique, for example, as described in Patent Document 2, a measuring unit such as a laser distance sensor is mounted on an excavator in the work room at the bottom of the caisson, and the inside of the lower surface of the ceiling slab or the blade edge part. A device that measures the contact position between the peripheral surface and the ground over the entire circumference of the work chamber is known.

JP 2007-205128 A JP 2017-82463 A

  However, in the techniques described in Patent Documents 1 and 2, it is assumed that the work chamber is unmanned. For example, excavation by a manned excavator or other workers are resident. No safety measures have been taken into account, and there is still room for improvement.

  The present invention has been made paying attention to such problems, and grasps and monitors the spatial position of a moving body such as an operator or an excavator in the work room at the bottom of the caisson where GPS signals do not reach, and if necessary. A monitoring system that can ensure safety by issuing an alarm is provided.

  The present invention is based on the premise that the present invention is a system for monitoring the situation in the working room at the bottom of the caisson in the caisson method as represented by the pneumatic caisson method.

  In addition, transmitters that individually provide signals for UWB wireless communication provided to a plurality of moving bodies in the work chamber, and positioning areas are formed in the work chamber that are installed at a plurality of locations in the work chamber. In addition, a receiver for UWB wireless communication that receives a signal from the transmitter, and a positioning calculation based on information received at each receiver, the position of each mobile unit within the positioning area A positioning calculation unit for specifying the position, an alarm means provided in the work chamber, and a coordinate screen corresponding to the positioning area, and the position of each moving body based on position information from the positioning calculation unit And a monitoring control means for giving an operation command to the alarm means in accordance with the position information of each moving body.

  The UWB wireless communication is an abbreviation of <Ultra Wide Band> and refers to a super wide band wireless communication system. As a preferred mode, the plurality of moving bodies in the work chamber naturally includes workers in the work chamber in addition to heavy machinery such as an excavator. Further, the heavy machinery includes, for example, a type that moves along the guide rail installed on the ceiling of the work room, and a type that self-runs on the ground.

  The plurality of receivers are connected to each other by, for example, a wired LAN so that they can be synchronized with each other. In this case, the positioning calculation unit is incorporated in any one receiver. Otherwise, the positioning calculation unit may be incorporated in the monitoring control means.

  As a preferable aspect, the monitoring control means displays a fixed structure in the work chamber in addition to the position of each moving body, and includes position information of each moving body with respect to the fixed structure. In response, an operation command is given to the alarm means.

  As a more preferable aspect, the alarm by the alarm means is issued stepwise according to the approach distance between the moving bodies or between the moving body and the fixed structure.

  As a more preferable aspect, the timing at which an alarm is issued by the alarm means according to the approach distance between the mobile bodies or between the mobile body and the fixed structure can be variably set by the monitoring control means.

  As another preferred embodiment, the heavy machine includes an excavator, and the excavator is equipped with a measuring means for measuring the shape of the excavation area in the work chamber in a non-contact manner, and The measurement result by the measuring means is captured by the monitoring control means, and the shape of the excavation area in the work chamber can be displayed visually on the coordinate screen.

  As another preferred embodiment, the alarm means issues an alarm in the work chamber at least by sound or light.

  Therefore, in the present invention, for example, when the heavy machines in the work room, or when the heavy machine and the worker approach each other, the warning means is activated to issue a warning.

  According to the present invention, while monitoring the position of a moving machine such as a heavy machine or a worker in the work room at the bottom of the caisson on the screen display, for example, when heavy machines or heavy machines and workers approach each other Since the alarm means is activated to issue an alarm, and the operator's attention is aroused, it is possible to contribute to the improvement of safety in the work room at the bottom of the caisson.

Explanatory drawing which shows the specific 1st form for implementing the working room monitoring system which concerns on this invention, and shows schematic structure in the working room in the caisson bottom part by a pneumatic caisson method. Plane explanatory drawing of the positioning area by UWB wireless communication in the working room shown in FIG. Functional block explanatory drawing of the monitoring terminal device shown in FIG. Explanatory drawing of the coordinate screen in the monitor of the monitoring terminal device shown in FIG. Explanatory drawing of the static off-limits area on the coordinate screen shown in FIG. FIG. 6 is a flowchart of an alarm issuing procedure in the static off-limit area shown in FIG. 5. FIG. FIG. 5 is an enlarged explanatory view of a dynamic entry prohibition area on the coordinate screen shown in FIG. 4. FIG. 2 is an explanatory diagram when it is assumed that there are two heavy machines in the work chamber shown in FIG. 1 and that both heavy machines are in contact with each other. Explanatory drawing of the coordinate screen when both heavy machinery approaches in the dynamic entry prohibition area shown in FIG. 10 is a flowchart of an alarm issuing procedure in the static off-limit area shown in FIG. 9. Functional explanatory drawing of the laser ranging sensor mounted in the heavy machine of FIG. Explanatory drawing of the example of a screen display with a monitor based on the measurement result in the laser distance sensor of FIG. FIG. 12 is also an explanatory diagram of a screen display example on a monitor based on a measurement result obtained by the laser distance sensor in FIG. 11.

  1 to 13 show a more specific first embodiment for carrying out the work room monitoring system in the caisson method according to the present invention, and particularly FIG. 1 shows a schematic structure of the work room at the bottom of the caisson in the pneumatic caisson method. Show.

  In FIG. 1, reference numeral 1 denotes an annular blade edge casing which is the bottom of the caisson casing. The blade edge housing 1 includes a ceiling slab 2 and a blade edge 3, and a region surrounded by the excavation bottom 4 is a work chamber 5. The working chamber 5 and the space above the ceiling slab 2 are connected by a material shaft 6 and a man shaft (not shown).

  In the work chamber 5, for example, a heavy machine 7 represented by an excavator (caisson excavator) is arranged. The heavy machine 7 travels along a guide rail (not shown) laid on the ceiling slab 2. In FIG. 1, only one heavy machine 7 is shown, but it goes without saying that a plurality of heavy machines 7 may be put into the work chamber 5. In addition to the rail-traveling heavy machinery 7, heavy machinery such as a self-propelled excavator that can freely travel on the ground with, for example, a crawler belt may be used. Furthermore, a soil removal bucket 8 is placed immediately below the material shaft 6 for soil removal through the material shaft 6.

  In the work room 5, at least two anchors 9 are arranged at a predetermined distance as a receiver for UWB wireless communication (abbreviation of Ultra Wide Band, which means an ultra wideband wireless communication system). Depending on the size of the working chamber 5, it is desirable to arrange three or more anchors 9. These anchors 9 are connected to each other by, for example, a wired LAN environment so that two-way communication can be performed in synchronization with each other, and a monitoring terminal device as a monitoring control means configured by a personal computer (PC) 10 via a HUB or the like. The monitoring terminal device 10 is installed, for example, in a monitoring room on the ground and is used for remote monitoring. The anchor 9 is also referred to as a sensor.

  In the present embodiment, as shown in FIG. 1, two anchors 9 are installed in the form of an overhead view of the ceiling slab 2 in the work room 5. Therefore, as shown in FIG. 2, a two-dimensional positioning area having two X-Y-Z coordinate axes in which two anchors 9 are located on a diagonal line in a plan view of the work chamber 5 is formed in the work chamber 5. Forming.

  On the other hand, in the heavy machine 7 shown in FIG. 1, at least three tags 11a, 11b, and 11c are installed in the longitudinal direction as transmitters for UWB wireless communication, and non-contact measuring means is provided. A two-dimensional laser distance sensor 12 is mounted. The heavy machine 7 is equipped with an in-vehicle alarm device 13 as alarm means. As the in-vehicle type alarm device 13, a device capable of generating an alarm with sound and light is used. Here, for example, a “patlight” capable of alarming in conjunction with lamp lighting (including blinking) and buzzer sounding. (Registered trademark) is used. The function of the laser distance measuring sensor 12 will be described later.

  In addition, each worker M in the work room 5 carries a tag 14 as a transmitter for UWB wireless communication and a portable alarm device 15 as an alarm device one by one. As this portable alarm device 15, for example, a wristwatch type device that can issue an alarm by sound (alarm) and vibration (vibration) by giving an operation command by wireless LAN communication or the like, or sound (alarm) In addition to vibrations (vibrations), light (lights on) can be used to generate alarms. Typical examples of the portable alarm device 15 include “Silwatch” and “Cubelight”, which are trade names of Tokyo Shintomo Co., Ltd.

  Each tag 11a, 11b, 11c, 14 in the work chamber 5 constantly transmits a pulse signal at a predetermined period together with a unique ID signal that can be received by any of the plurality of anchors 9, and the plurality of tags 11a, 11b, 11c, and 14 form a positioning system using UWB wireless communication together with the plurality of anchors 9 described above.

  A three-dimensional positioning system using UWB wireless communication is publicly known. For example, each anchor 9 receives a unique pulse signal transmitted from one of a plurality of tags 11a, 11b, 11c, and 14, and Based on the reception angle for each anchor 9, the reception time difference between the anchors 9 and the like, by performing a positioning calculation at a plurality of points according to the number of anchors 9, the corresponding tags 11a, 11b, 11c, 14 The coordinate position is calculated in real time in order to specify the three-dimensional coordinate position of XYZ.

  A positioning calculation function unit (positioning calculation unit) necessary for three-dimensional positioning calculation is incorporated in one of the two anchors 9, for example, the anchor 9A. Therefore, the anchor 9A in which the positioning calculation unit is incorporated is called a master anchor (or master sensor), and the other anchor 9B is called a slave anchor (or slave sensor). Then, the calculated three-dimensional coordinate position information of each tag 11a, 11b, 11c, 14 is taken into the monitoring terminal device 10 in real time.

  The tags 11a, 11b, 11c, and 14 that transmit unique pulse signals can be used simultaneously up to several tens. From the above positioning principle, the positioning accuracy increases as the number of anchors 9 increases.

  FIG. 3 shows details of the monitoring terminal device 10 as monitoring control means. This monitoring terminal device 10 generally includes a position coordinate display function unit 16, an alarm device interlocking function unit 17, a cross-section information display function unit 18, and a monitor (display) 19 as display means. Yes. When the display of the monitoring screen is selected according to the mode selection operation on the monitor 19, the XY two-dimensional coordinate screen 20 as shown in FIG. 4 corresponding to the positioning area shown in FIG. 2 can be displayed. It has become.

  The monitor 19 may also serve as a touch panel that allows input by a touch operation, separately from input means such as a keyboard. In that case, necessary information can be input from the monitor 19 as well as an input means such as a keyboard. A plurality of monitors 19 can be used in combination.

  The XY two-dimensional coordinate screen 20 shown in FIG. 4 includes an XY two-dimensional positioning area and a predetermined scale ratio among three-dimensional positioning areas having XYZ coordinate axes by two anchors 9. It corresponds with. Therefore, when the coordinate screen 20 is displayed, the positions of the tags 11a, 11b, 11c, and 14 in the work chamber 5 are displayed on the coordinate screen 20 in real time with marks (icons) having a predetermined size. Visible.

  More specifically, the position of the reference point in the length direction of the heavy machine 7 is obtained based on the positional information of the three tags 11a, 11b, and 11c mounted on the heavy machine 7, and the reference point Are displayed on the coordinate screen 20 by the mark 21 of the heavy machine 7, for example. Similarly, based on the position information of the tag 14 carried by the worker M, the position of the worker M is displayed as a mark 22 on the coordinate screen 20. In calculating the position of the reference point in the length direction of the heavy machinery 7, an offset process of a preset offset amount is executed.

  Therefore, if the heavy machine 7 or the worker M moves in the work room 5, the tags 11a, 11b, 11c mounted on the heavy machine 7 or the tag 14 carried by the worker M will move. Accordingly, the positions of the marks 21 and 22 on the coordinate screen 20 are also moved. The shapes of the marks 21 and 22 are merely examples for making it easy to intuitively recognize the positions of the tags 11a, 11b, 11c, and 14 attached to the moving body such as the heavy machinery 7 and the worker M. For example, if the position of the tags 11a, 11b, 11c, and 14 is simply indicated, a mark such as “◯”, “□”, “×”, or “Δ” may be used. .

  As described above, the heavy machine 7 shown in FIG. 1 has the tags 11a, 11b, and 11c at three positions, that is, the front end position, the rear end position, and the intermediate position. Then, by performing a predetermined calculation based on the three-dimensional position information of each tag 11a, 11b, 11c, the size and orientation of the heavy machine 7 are specified according to the position of the reference point in the longitudinal direction of the heavy machine 7, A mark 21 is displayed on the coordinate screen 20. Depending on the environment in the working chamber 5, it may be sufficient to provide the front and rear two tags on the heavy machine 7. However, in order to improve the positional accuracy, the three tags 11a and 11b in the front and rear direction as described above. 11c are preferably provided side by side.

  On the other hand, the material shaft 6 shown in FIG. 1 and the earth discharging bucket 8 placed immediately below the material shaft 6 can be regarded as a fixed position fixed structure that does not move in plan view. On the other hand, at a position immediately below the material shaft 6 where the soil removal bucket 8 is placed, so as to prevent the heavy machinery 7 and the worker M from coming into contact with the soil removal bucket 8, it is regarded as a dangerous area and so-called entry prohibition. It is desirable to be an area. Therefore, a stationary alarm device 23 is arranged near the earth discharging bucket 8 as alarm means capable of generating an alarm with sound and light, for example, as described above. As the stationary alarm device 23, the same one as the on-vehicle alarm device 13 described above is used.

  Furthermore, in the present embodiment, as shown in FIG. 5, on the coordinate screen 20 of the monitoring terminal device 10 shown in FIG. 4, a circular heavy entry with a radius r1 is placed outside the projection shape of the material shuff 6. A prohibited area 24 is set. Further, a light entry prohibition area 25 having a radius r2 (r2> r1) is set outside the heavy entry prohibition area 24.

  The heavy entry prohibition area 24 and the light entry prohibition area 25 are used for drawing on the monitoring terminal device 10 side after temporarily acquiring the planar position information of the material shaft 6 including the earth discharging bucket 8. Is set to be concentric with the projected shape of the material shaft 6. Since the heavy entry prohibited area 24 and the light entry prohibited area 25 are areas that do not move in principle, they can be regarded as so-called static entry prohibited areas. Further, by setting the heavy entry prohibition area 24 and the light entry prohibition area 25 on the coordinate screen 20, the position of the material shaft 6 including the soil removal bucket 8 as a fixed structure in the work chamber 5 is indirectly displayed visually. Will be. Of course, the projected shape of the material shaft 6 may be displayed visually by a drawing process on the coordinate screen 20.

  In addition, in order to acquire planar position information of the material shaft 6, for example, a tag is temporarily placed near the earth removal bucket 8 immediately below the material shaft 6. In addition, the sizes of the radii r1 and r2 of the heavy entry prohibited area 24 and the light entry prohibited area 25 can be arbitrarily changed by an operation on the monitoring terminal device 10 side.

  The positional coordinate display function unit 16 of the monitoring terminal device 10 shown in FIG. 3 constantly monitors the positional relationship between the heavy off-limits area 24 and the light off-limits area 25 and the heavy machinery 7 and the worker M. . When the tag 14 carried by the worker M enters the heavy entry prohibition area 24 or the light entry prohibition area 25, the alarm device interlocking function unit 17 of the monitoring terminal device 10 functions and is immediately installed. An operation command is output to the type alarm device 23 and the portable alarm device 15, and the alarm devices 15 and 23 are operated to issue an alarm.

  For example, when the worker M enters the light entry prohibited area 25 that is a static entry prohibited area, the worker M is placed near the carrying type alarm device 15 carried by the worker M and the earthing bucket 8. Each stationary alarm device 23 is activated. In the portable alarm device 15 carried by the worker M, sound (alarm) and vibration (vibration), or light (lights on) are added to the alarm (alarm) and the alarm is issued for about 10 seconds. In addition, the stationary alarm device 23 placed near the earth discharging bucket 8 issues an alarm by turning on a yellow light and sounding a buzzer, for example. Further, on the coordinate screen 20 of the monitor 19 in the monitoring terminal device 10, the color scheme inside the light entry prohibition area 25 is switched to yellow and displayed.

  Further, for example, the same applies when the worker M enters the heavy off-limit area 24 that is a static off-area. However, in the stationary alarm device 23 placed near the earth discharging bucket 8, in order to enhance the alerting effect, for example, an alarm is generated by turning on a red light and sounding a buzzer. Further, on the coordinate screen 20 of the monitor 19 in the monitoring terminal device 10, the color scheme inside the severe entry prohibition area 24 is switched to red and displayed. In other words, at least by changing the light lighting color of the stationary alarm device 23 from yellow to red, a stepwise alarm according to the approach distance is possible.

  FIG. 6 is a flowchart showing the alarm issuing procedure by the portable alarm device 15 in such a static entry prohibition area. Further, the alarm issuing procedure by the stationary alarm device 23 is shown in FIG. In addition, the timing of the alarm in the portable alarm device 15 and the stationary alarm device 23 can be easily changed by changing the radii r1 and r2 of the heavy entry prohibited area 24 and the light entry prohibited area 25 on the coordinate screen 20. Is possible.

  The severe entry prohibition area and the severe entry prohibition area as described above are similarly set around the heavy machine 7 that is a moving body.

  7 shows a state where a part of the coordinate screen 20 of the monitor 19 of FIG. 4 is cut out and enlarged. For example, assuming that there are a plurality of heavy machines 7 in the work room 5, on the coordinate screen 20, A heavy entry prohibition area 26 having a radius r11 is set with the reference point in the longitudinal direction of the mark 21 of the heavy machine 7 as the center point. Further, a light entry prohibition area 27 having a predetermined radius r12 (r12> r11) is set concentrically outside the heavy entry prohibition area 26. The heavy entry prohibition area 26 and the light entry prohibition area 27 are concentrically formed by an input operation for drawing on the monitoring terminal device 10 side based on a reference point in the longitudinal direction of the heavy machine 7 which is a moving body. Is set. The sizes of the radii r11 and r12 of the heavy off-limit area 26 and the light off-limit area 27 can be arbitrarily changed by an operation on the monitoring terminal device 10.

  The heavy entry prohibition area 26 and the light entry prohibition area 27 around the heavy machine 7 move on the coordinate screen 20 while remaining concentric with the movement of the heavy machine 7 which is a moving body. Therefore, the heavy entry prohibition area 26 and the light entry prohibition area 27 around the heavy machinery 7 can be regarded as dynamic entry prohibition areas, unlike the static entry prohibition area on the material shaft 6 side including the earthing bucket 8. it can. The heavy entry prohibition area 26 and the light entry prohibition area 27 are individually set for each heavy machine 7 in the work room 5.

  The positional coordinate display function unit 16 of the monitoring terminal device 10 shown in FIG. 3 constantly monitors the positional relationship between the heavy off-limit area 26 and the light off-limit area 27 and the heavy equipment 7 and the worker M. . When the reference point of another heavy machine 7 or the tag 14 carried by the worker M enters the heavy entry prohibited area 26 or the light entry prohibited area 27, the alarm device interlocking function of the monitoring terminal device 10 The unit 17 functions and immediately outputs an operation command to the vehicle-mounted alarm devices 13 of both heavy machines 7 to operate the vehicle-mounted alarm devices 13.

  For example, in the case where there are a plurality of heavy machines 7 in the work room 5 and particularly when the heavy machines 7 are opposite to each other as shown in FIG. Such contact between heavy machines 7 must be avoided.

  Therefore, on the assumption of the relationship of FIG. 7, for example, as shown in FIG. 9, when another heavy machine 7 enters the light entry prohibition area 27 of one heavy machine 7, the vehicle mounted on both heavy machines 7. Each type alarm device 13 is operated, and for example, an alarm is generated by turning on a yellow light and sounding a buzzer. At the same time, on the coordinate screen 20 of the monitoring terminal device 10, the color scheme inside the both light entry prohibition areas 27 is switched to yellow and displayed.

  Further, for example, when another heavy machine 7 enters the heavy entry prohibition area 26 of one heavy machine 7, the vehicle-mounted alarm devices 13 mounted on both heavy machines 7 are respectively operated, for example, a red light An alarm shall be issued with lighting and buzzer sound. At the same time, on the coordinate screen 20 of the monitoring terminal device 10, the color scheme inside both heavy entry prohibition areas 26 is switched to red and displayed. In this way, by changing at least the light lighting color of the in-vehicle type alarm device 13 from yellow to red, a stepwise alarm according to the approach distance is possible.

  On the other hand, for example, when the worker M enters the light entry prohibition area 27 of the heavy machine 7, the portable alarm device 15 carried by the worker and the vehicle-mounted alarm device 13 mounted on the heavy machine 7 are provided. It is assumed that the portable alarm device 15 is activated and emits an alarm for about 10 seconds by adding sound (alarm) and vibration (vibration), or adding light (lighting on) to them. Moreover, in the vehicle-mounted type alarm device 13 mounted on the heavy machine 7, for example, an alarm is generated by turning on a yellow light and sounding a buzzer. At the same time, on the coordinate screen 20 of the monitoring terminal device 10, the color scheme inside the light entry prohibition area 27 is switched to yellow and displayed.

  Further, for example, when the worker M enters the heavy entry prohibition area 26 of the heavy machine 7, the portable alarm device 15 carried by the worker M and the vehicle-mounted alarm device 13 mounted on the heavy machine 7 are provided. It is assumed that the portable alarm device 15 is activated and emits an alarm for about 10 km by adding sound (alarm) and vibration (vibration), or light (lights on) to them. Moreover, in the vehicle-mounted alarm device 13 mounted on the heavy machine 7, for example, an alarm is generated by turning on a red light and sounding a buzzer. At the same time, on the coordinate screen 20 of the monitoring terminal device 10, the color scheme inside the severe entry prohibition area 26 is switched to red and displayed.

  The alarm issuing procedure by the in-vehicle alarm device 13 in such a dynamic entry prohibition area is as shown in FIG. Further, the alarm issuing procedure by the portable alarm device 15 is as shown in FIG. As is clear from FIG. 10, if the worker M or the heavy equipment 7 that has entered the heavy off-limit area 26 exits from the light off-limit area 27 in addition to the heavy off-limit area 26, the vehicle-mounted alarm at that time The operation of the device 13 will be stopped.

  As shown in FIG. 11, the two-dimensional laser ranging sensor 12 mounted on the heavy machine 7 shown in FIG. 1 can scan the excavation surface in the work chamber 5 and measure the shape of the excavation surface. It can be done. Information acquired by measurement is transmitted to and accumulated in the monitoring terminal device 10. Then, by performing a predetermined calculation based on the information acquired by the laser distance sensor 12 and the position information of the heavy machine 7, as shown in FIG. 12, the shape of the excavation completed ground and the amount of remaining soil are monitored. Visible display is possible on the monitor 19 of the apparatus 10. Further, for example, the position of a crawler-type heavy machine 37 involved in excavation can be displayed in an overlapping manner, or can be visually displayed in a three-dimensional shape as shown in FIG. These functions are executed by the cross-section information display function unit 18 by mode switching of the monitoring terminal device 10 shown in FIG.

  As described above, according to the work room monitoring system of the present embodiment, the situation in the work room 5 can be remotely monitored by the monitoring terminal device 10, while the light entry prohibition areas 25 and 27 in the work room 5 are provided. Alternatively, it is possible to greatly contribute to the improvement of safety in the work room 5 by issuing an alarm for the approach of the heavy machine 7 or the worker M to the severe entry prohibition areas 24 and 26.

  Moreover, since the shape of the excavation completion ground and the amount of remaining soil can be visually displayed as needed, it is excellent in convenience.

  Here, in the above-described embodiment, the case where the vehicle-mounted alarm device 13 is disposed in the heavy machine 7 and the stationary alarm device 23 is disposed near the earth discharging bucket 8 has been described, but these are merely examples, The arrangement position of the alarm device is not particularly limited. For example, instead of the vehicle-mounted alarm device 13 and the stationary alarm device 23, alarm devices equivalent to the vehicle-mounted alarm device 13 and the stationary alarm device 23 may be arranged at a plurality of locations on the ceiling slab 2.

DESCRIPTION OF SYMBOLS 1 ... Blade part housing 5 ... Working room 6 ... Material shaft (fixed structure)
7 ... Heavy machinery (moving body)
8 ... Soil removal bucket (fixed structure)
9 ... Anchor (receiver for UWB wireless communication)
9A ... Master anchor (positioning calculation unit)
9B ... Slave anchor 10 ... Monitoring terminal device (monitoring control means)
11a, 11b, 11c... Tag (transmitter for UWB wireless communication)
12 ... Laser distance sensor (measuring means)
13 ... On-vehicle alarm device (alarm means)
14 ... Tag (transmitter for UWB wireless communication)
15 ... Portable alarm device (alarm means)
19 ... Monitor 20 ... Coordinate screen 23 ... Stationary alarm device (alarm means)
M ... Worker (moving body)

Claims (7)

A system for monitoring the situation in the work room at the bottom of the caisson in the caisson method,
A transmitter that emits a signal for UWB wireless communication provided individually to a plurality of moving bodies in the work chamber;
A receiver for UWB wireless communication that is installed at a plurality of locations in the work chamber to form a positioning area in the work chamber, and receives a signal from the transmitter;
A positioning calculation unit that performs a positioning calculation based on the reception information at each receiver, and identifies the position of each moving body within the positioning area;
Alarm means provided in the work chamber;
A coordinate screen corresponding to the positioning area is provided, and the position of each moving body is visibly displayed based on the position information from the positioning calculation unit, and the alarm means according to the position information of each moving body Monitoring control means for giving an operation command to
A work room monitoring system in the caisson method characterized by comprising:   The work room monitoring system in the caisson method according to claim 1, wherein the plurality of moving bodies in the work room include heavy machinery and workers. The monitoring control means includes
In addition to the position of each moving body, a fixed structure in the work chamber is displayed,
The work room monitoring system in the caisson method according to claim 1 or 2, wherein an operation command is given to the alarm means in accordance with position information of each moving body with respect to the fixed structure. .   The caisson method according to claim 3, wherein the alarm by the alarm means is issued stepwise according to the approach distance between the moving bodies or between the moving body and the fixed structure. Work room monitoring system in   5. The timing for issuing an alarm by the alarm means according to the approaching distance between the mobile bodies or between the mobile body and the fixed structure can be variably set by the monitoring control means. The work room monitoring system in the caisson method described in 1. The heavy machinery includes an excavator,
The excavator is equipped with measurement means for measuring the shape of the excavation area in the working chamber in a non-contact manner,
The measurement result by the measuring means is taken into the monitoring control means,
The work room monitoring system in the caisson method according to any one of claims 2 to 5, wherein the shape of the excavation area in the work room can be visually displayed on the coordinate screen.   The work room monitoring system in the caisson method according to any one of claims 1 to 6, wherein the alarm means issues an alarm in the work room at least by sound or light.

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