JPH0796782B2 - Construction management method in pneumatic caisson method - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a construction management method for controlling an excavator in a pneumatic working chamber and determining an excavation site in a pneumatic caisson method.

[Conventional technology]

As is well known, the pneumatic caisson method is a method that uses the principle of preventing the entry of water into the working room by the pressure of air, and an airtight working room is installed at the bottom of the box that forms the caisson, and compressed air is installed here. It is a major feature that people who are engaged in excavation work enter this pneumatic work room and work by preventing the intrusion of groundwater by sending in.

In addition, since the excavated ground in the pneumatic work chamber is in a dry state, work can be performed as on the ground, work can be performed while directly monitoring the excavation surface, obstacles can be easily removed, and there is no drop in groundwater level. There are advantages that the open caisson method does not have, such as not affecting the surrounding ground, being able to accurately and safely manage the sedimentation, and being able to directly check the condition of the final supporting ground by a ground proof test.

However, since a person enters the pneumatic working room to perform the work, the working time is greatly saved. For example, in the case of a working pressure of 3 atm, the working time under pressure is limited even if the work is limited to once a day. Is 3.5 hours, decompression time is about 2.5 hours,
Two workers are required for 8 hours a day.

Therefore, the Applicant first realized completely unmanned work in the pneumatic work room, and made it possible to achieve a further system by allowing a series of management and operations to be performed only in the central control room on the ground. Japanese Patent Application No. Sho 63-10523 (JP-A-1-187228)
As proposed.

It is equipped with an excavator that can run, swivel, raise and lower arms, extend and retract, and raise and lower a bucket on the ceiling of the pneumatic chamber at the bottom of the caisson, and a TV camera inside the excavator and the pneumatic chamber. Install.

And, in the central management control room on the ground, the excavation monitoring monitor screen that displays the image from the TV camera, the work room monitoring monitor screen, the computer, the printer and the excavation operation panel are installed, and the detection values from various sensors are displayed on the computer. Introduced to calculate the excavation pattern in which the resistance and load of the caisson are balanced, and according to the excavation pattern, operate the excavation mechanism remotely with the excavation operation panel while watching the excavation monitoring monitor screen and the work room monitoring monitor screen, and then excavate. Control the air supply flow valve with the operation panel to automatically sink the caisson, and computerize various information during the natural subsidence during the excavation, and feed it back to repeat the excavation and the automatic subsidence while performing settlement control. That is the content.

[Problems to be Solved by the Invention]

However, in the deposit control system of the pneumatic caisson of Japanese Patent Application No. 63-10523, the judgment of the excavation site was based solely on the surveillance by the TV camera.

The object of the present invention is to eliminate the inconveniences of the above-mentioned conventional examples, to significantly improve work efficiency, safety, and accuracy of sunkness as compared with remote operation only by monitoring with a television camera, and to make measured values always accurate data. It is to provide a construction management method in the obtained pneumatic caisson method.

[Means for Solving the Problems]

In order to achieve the above-mentioned object, the present invention maintains the working chamber at the bottom of the box forming the caisson in a pressurized state, and allows traveling, turning, raising / lowering of the arm, extension / contraction, and raising / lowering of the bucket installed on the ceiling of the pressurized working chamber. In the pneumatic caisson method in which the bottom of the work chamber is excavated by a different excavator and the box is sequentially sunk, a TV camera is installed in the excavator and the pneumatic working chamber, and the excavator also has a mileage, a turning angle, and an arm elevation. A measuring sensor for detecting the angle, the amount of arm extension and contraction, the bucket elevation angle, etc., each correction proximity switch corresponding to these measuring sensors, and a correction reference sensor for correcting the measurement value from the mileage measuring sensor. Is provided, and the mileage measuring sensor and the correction reference sensor are connected to a computer provided in the excavator, and Is provided a computer connected to the management control chamber of the personal computer, and the other of the measuring sensor and proximity switches for each correction connected to the management control chamber of the personal computer, running of the drilling device,
The actual operation of the excavator is performed by measuring the rotation, elevation of the arm, extension and contraction, and elevation of the bucket with each measurement sensor and returning the measured value to the default value or the value of the origin by operating each correction proximity switch. The error of the measured value must be kept below a certain value, and by constantly measuring the distance of the certain section with the correction reference sensor, the computer of the excavator can change the working pressure based on this value. A corresponding accurate distance measurement value is calculated, and the computer in the ground control room analyzes it based on the accurate measurement value obtained in this way, and the height difference of the excavation surface in the pneumatic working room is displayed graphically. On the other hand, a monitor TV that monitors the pneumatic work chamber installed in the control room is also used to determine the location of the excavation, and the movement of the excavator in the pneumatic work chamber from the ground management control room is performed in real time. The drilling apparatus while monitoring the ground is intended to be required to remotely.

[Action]

According to the present invention, each measuring sensor for measuring the traveling distance, the turning angle, the arm elevation angle, the arm extension / contraction amount, and the bucket depression angle is installed in the excavator, and the measurement points are different from each other. In the case of a measurement sensor, the excavator of the excavator is fixed so that this sensor faces the caisson blade edge part, and the excavator travels on the rail so that the excavation shape of the caisson edge edge part is continuous. To be measured.

In this way, it is possible to quantitatively grasp the excavation status of the caisson blade edge, which has an important effect on the caisson deposit management. Moreover, since the correction proximity switch is provided with each of these measurement sensors, By operating the proximity switch for operation, the measured value can be returned to the default value or the value at the origin so that the error between the actual operation of the excavator and the measured value can be suppressed to a certain value or less, and the deposit management can be performed accurately. be able to.

In addition to this, since the correction reference sensor constantly measures the distance in a certain section, the accuracy of the measurement by the mileage measurement sensor is calculated by calculating the accurate measured value of the distance corresponding to the change in working pressure. Can be increased.

In addition, the data for deposit management can be immediately fed back to the operator of the excavator. In this way, even if the excavator is operated remotely from the ground, the position of the excavator in the pneumatic working chamber,
Since the angle of the arm, the condition of the bucket, etc. can be monitored on the ground in real time, it is difficult to judge with only the monitoring TV camera, etc., detailed information on the position and orientation of the excavating machine can be obtained, and the remote control can be performed smoothly and completely. Can be done.

〔Example〕

 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a side view of an essential part showing an embodiment of a construction management method in the pneumatic caisson method of the present invention, FIG. 2 is an overall external view explanatory view, in which 1 is a box forming a caisson body, 1a Is a bottom plate thereof, 1b is a cutting edge, and 2 is a pneumatic working chamber formed by the cutting edge 1b.

The bottom plate 1a is provided with a hole to which the material lock 3 is connected and a hole to which the man lock 4 is connected, and the end of the air supply pipe 6 of the compressor 5 is also opened in the pressure working chamber 2 below the bottom plate 1a. In the figure, reference numeral 7 denotes an earth-moving bucket that is lowered into the pneumatic working chamber 2 through the material lock 3, and reference numeral 8 denotes a lock control panel of the material lock 3.

The excavation device provided in the pneumatic working chamber 2 includes a bottom plate 1a.
A traveling rail 10 was provided on the lower surface of the above, that is, on the ceiling of the pneumatic working chamber 2, and an excavator 11 was movably provided there. The excavator 11
Is an arm that can be extended and retracted via a rotating disk 13 on a traveling carriage 12 that is suspended on a traveling rail 10 and moves freely.
A shovel type bearing 14 is supported, and a bucket 15 is provided at the tip of the arm 14 so that the bucket 15 can be tilted up and down, and the working range extends to every corner of the pneumatic working chamber 2.

An excavator camera 16 with a TV camera is attached to the excavator 11, and a box camera 17 with a TV camera is attached to the lower surface of the bottom plate 1a in the pneumatic working chamber 2.

Although the above is the same as the above-mentioned conventional example, the present invention is an ultrasonic sensor 18A, 18B, 18C, as a distance measuring sensor in the excavator 11.
18D is provided for measuring the blade edge, and ultrasonic sensor 1
9 was provided as a reference sensor for correction, and a computer 20 was attached.

The ultrasonic sensors 18A, 18B, 18C and 18D for measuring the blade edge have different measurement points.

Although four ultrasonic sensors are used in this embodiment, the number of ultrasonic sensors, angles, etc. can be variously selected according to the purpose. Further, it is conceivable to use an optical sensor such as an infrared sensor or another sensor as a distance measuring sensor instead of the ultrasonic sensor.

In the figure, reference numeral 26 is a management control room provided on the ground, in which a personal computer 27 and a printer connected thereto are provided.
28, and a CRT excavation monitoring monitor TV 30 connected to the excavator camera 16 with a coaxial cable 29, and a CRT working room monitoring monitor TV 31 connected with the coaxial cable 29 to the Hakouchi camera 17 are installed. An operation panel 33 for remotely controlling 11 and adjusting an opening of an air supply flow valve 32 provided in the middle of the air supply pipe 6 was installed.

In addition, as shown in FIG. 4, the excavator 11 includes a mileage measuring sensor 41, a turning angle measuring sensor 42, an arm depression / elevation angle measuring sensor 43, an arm extension / contraction amount measuring sensor 44, and a bucket depression / elevation angle measurement. Sensor 45 is provided, and a proximity switch 46 for correcting the turning angle, a proximity switch 47 for correcting the arm elevation angle, a proximity switch 4 for correcting the amount of arm expansion and contraction.
8. Provide a proximity switch 49 for bucket elevation angle correction.

Incremental optical rotary encoders are used for the sensors 41 to 45. However, since the measured values with the rotary encoder have an accumulated error, the proximity switches are operated together with the high frequency oscillation type proximity switches 46 to 49. Each time, the measured value was returned to the default value or the value at the origin.

By using the proximity switches 46 to 49, the error between the actual operation of the excavator 11 and the measured value can be suppressed to a certain value or less, and the monitor system becomes accurate.

FIG. 5 is a block diagram showing an embodiment of the present invention. The sensors 41 to 45 and the proximity switches 46 to 49 are connected to the personal computer 27 by the measurement / control cable 22, and the ultrasonic sensors 18A and 18B. , 18C, 18D and correction reference sensor. The ultrasonic sensor 19 is connected to the personal computer 27 via the computer 20.

Accurately grasping the position of the excavator 11 inside the caisson is an important matter for preventing contact and collision between the excavator 11 and other equipment, cables, wires, etc. in the pneumatic working chamber 2. is there. Therefore, in the travel distance measuring sensor 41, since the coordinates of the excavator traveling rail 10 installed on the ceiling are accurately known, the excavator 11 and the traveling rail are
By measuring the positional relationship of 11, the accurate position of the excavator 11 in the pneumatic working chamber 2 is obtained. This sensor
A gear 41 meshes a gear with a chain 21 installed on a traveling rail 10 to measure a traveling distance on the chain 21. In addition, there are several checkpoints on the rail to prevent accumulated error of the mileage, and proximity switches 50-54 are installed here.
Was installed, and the measured value was reset to the default position each time this point was passed.

As described above, the ultrasonic sensors 18A, 18B, 18C and 18D have different measurement points. Therefore, as shown in FIG. 3, the excavator 11 is fixed so that the sensors 18A, 18B, 18C, and 18D face the caisson blade, and the excavator 11 travels on the rail 10 to cause the caisson blade to move. The excavation shape of the part is continuously measured.

In addition, since the air density changes in the pneumatic working chamber 2, the sound velocity changes, and the measured values of the ultrasonic sensors 18A, 18B, 18C, 18D may not show the correct distance value. Therefore, the ultrasonic sensor 19, which is a reference sensor for correcting the measured value, is installed. This ultrasonic sensor 19 is arranged so as to always measure the distance to the reflector located at a distance of 1 m from the sensor, and the ultrasonic sensor 18A of the blade portion is measured by this measurement value.
By correcting the measurement values of 18B, 18C, 18D, the correct distance value can be calculated no matter how the working pressure changes.

The distance measurement value of this ultrasonic sensor 18A, 18B, 18C, 18D is
It is sent to the personal computer 27 of the central management control room 26 via the computer 20, but it is analyzed by the computer 27 and the height difference of the excavation surface in the pneumatic working chamber 2 is displayed graphically.

The state of this graphic display is shown in FIGS. 6a and 6b, and the excavation state of the caisson blade portion is displayed in a developed view as shown in FIG. 6a and a sectional view as shown in FIG. 6b. From this display screen, it is possible to determine the location where the excavation is insufficient and the location where the caisson is tilted when the excavation is corrected.

Further, the monitor televisions 30 and 31 are used together to determine the location of the excavation, and the excavator 11 in the pneumatic working room 2 is remotely operated from the ground management control room 26.

Regarding the remote control of the excavator 11, the signals from the sensors 41 to 45 are analyzed by the computer 27, and the position and orientation of the excavator 11 in the pneumatic working chamber 2 are shown in FIGS. 7 and 8. As shown in the graphic, the movement of the excavator 11 is monitored in real time on the ground.

In this way, the excavator 11 in the screen moves in real time according to the actual operation, and the excavator 11 and other devices in the pneumatic working room 2
Accurately display the positional relationship with cables, wires, etc. Furthermore, the operator can obtain more detailed and reliable information by using it in combination with the monitor televisions 30 and 31 for monitoring.

〔The invention's effect〕

As described above, the construction management method in the pneumatic caisson construction method of the present invention can quantitatively grasp the excavation state of the caisson blade portion that has an important influence on the caisson deposition management, and perform the deposition management accurately. As a result, remote operation can be performed smoothly, safely and accurately.

In the work under high pressure of pneumatic caisson method,
Although there are many problems such as work time restrictions, safety, working environment, etc., according to the present invention, it is possible to construct a caisson with a depth which has been conventionally limited by using ground remote control. is there.

[Brief description of drawings]

FIG. 1 is a side view of an essential part showing an embodiment of a construction management method in the pneumatic caisson method of the present invention, FIG. 2 is an overall external view explanatory drawing, FIG. 3 is an explanatory view of the essential part, and FIG. Is a side view of the excavator, FIG. 5 is a block diagram showing an embodiment, and FIG.
FIG. 6 is a development view graphically showing the excavation state of the caisson blade portion, FIG. 6b is a sectional view of the same as above, FIG. 7 is a plan view graphically showing the movement of the excavator, and FIG. 8 is a side view of the same. 1 ... Box, 1a ... Bottom plate 1b ... Blade edge, 2 ... Pneumatic work chamber 3 ... Material lock, 4 ... Man lock 5 ... Compressor, 6 ... Air pipe 7 ... Exhaust bucket, 8 …… Lock control panel 10 …… Traveling rail, 11 …… Excavator 12 …… Traveling vehicle, 13 …… Swivel disk 14 …… Arm, 15 …… Bucket 16 …… Excavator camera, 17 …… Hakouchi camera 18A, 18B, 18C, 18D, 19 …… Ultrasonic sensor 20 …… Computer, 21 …… Chain 22 …… Measurement / control cable 26 …… Ground control room, 27 …… Personal computer 28 …… Printer, 29… … Coaxial cable 30 …… Excavation monitoring monitor TV, 31 …… Workroom monitoring monitor TV 32 …… Air flow valve, 33 …… Operating panel 41 to 45 …… Sensor, 46 to 49 …… Proximity switch 50 to 54… …Proximity switch

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Katsumasa Kawamoto 1-2-7 Moto-Akasaka, Minato-ku, Tokyo Kashima Construction Co., Ltd. (72) Inventor Tatsuro Sato 1-2-2 Moto-Akasaka, Minato-ku, Tokyo 7 Kashima Construction Co., Ltd. (72) Inventor Yoshiro Ikeda 1-14 Kanda Iwamotocho, Chiyoda-ku, Tokyo Shiraishiuchi (72) Inventor Toshio Sakuma 1-14 Kandaiwamoto-cho, Chiyoda-ku, Tokyo Shiraishinai (56) References JP-A-1-137017 (JP, A) JP-A-2-13615 (JP, A)

Claims (1)

[Claims] 1. A work chamber at the bottom of a box forming a caisson is maintained in a pneumatic state, and work is performed by an excavating device installed on a ceiling of the pneumatic working chamber and capable of freely moving, turning, raising and lowering an arm, extending and retracting, and raising and lowering a bucket. In the pneumatic caisson method in which the bottom of the chamber is excavated and the box is sequentially sunk, a TV camera is installed in the excavator and the pneumatic working room, and the excavator also has a mileage, a turning angle, an arm elevation angle, and an arm extension / contraction amount. , A measuring sensor for detecting the bucket depression angle, etc.,
Each correction proximity switch corresponding to these measurement sensors and a correction reference sensor for correcting the measurement value from the mileage measurement sensor are provided, and the mileage measurement sensor and the correction reference sensor are provided. Connected to a computer provided in the excavator, further, the computer provided in the excavator is connected to a personal computer in the management control room, other measurement sensors and each proximity switch for correction and the personal computer in the management control room Connected, the traveling of the excavator, turning, elevation of the arm, extension and contraction, and elevation of the bucket are measured by each measurement sensor, and this measurement value is set to the default value or the value of the origin by operating each correction proximity switch. The error between the actual operation of the excavator and the measured value must be kept below a certain value and the correction reference sensor By constantly measuring the distance in a certain section, the computer of the excavator calculates an accurate measured value of the distance corresponding to the change of the working pressure based on this value, and the accurate value thus obtained is obtained. Based on the measured values, the computer in the control room on the ground analyzes it and graphically displays the height difference of the excavation surface in the pneumatic working room.
This excavator is used while monitoring the movement of the excavator inside the pneumatic control room in real time from the ground control room to determine the location of the excavation by using a monitor TV that monitors the pneumatic work chamber installed in the control room. A construction management method in the pneumatic caisson method characterized by remote control.