JP2000046550A - Tracking/measuring device movement carriage for automatic tracking/measuring system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To adjust and move a tracking/measuring device of an automatic tracking/measuring system quickly and simply and to allow tracking from an arbitrary position according to an operation environment. SOLUTION: A movement carriage 20 comprising a crawler 21 is mounted with first and second lifts 23 and 24. An optical tracking/measuring device 12 is attached to the upper part of the first lift 23 while an operator stage 25 is provided to the upper part of the second lift 24. To detect a tracking target of an operation car main body, an outrigger 30 provided at four-corner parts of the movement carriage 20 is expanded for grounding, so that the first and second lifts 23 and 24 are operated to raise the tracking/measuring device 12 and the operator stage 25 to an appropriate level. After the adjustment operation with the tracking/measuring device 12 is completed, the operator stage 25 is lowered.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a truck for moving a tracking device of an automatic tracking measurement system, and more particularly, to an automatic tracking measurement system installed at a construction site for measuring the position and orientation of a working vehicle body. The present invention relates to a truck for moving a tracking device.

[0002]

2. Description of the Related Art It is known that an automatic tracking measurement system is installed at a construction site such as a tunnel to measure the position and attitude of a working vehicle body. For example, as shown in FIG. 3, a gantry 11 is suspended from the ceiling of a tunnel 10, an optical tracking measurement device 12 is installed on the gantry 11, and a tracking target 14 is mounted on a working vehicle body 13.
And the position of the tracking target 14 is detected by the tracking measurement device 12, whereby the working vehicle body 1 is mounted.
3 is configured to measure the position and orientation.

[0003] Here, adjustment of the tracking measurement device 12 is performed using an aerial work vehicle (not shown). In addition, when the work vehicle body 13 moves forward by a certain distance or more due to the progress of excavation, it is necessary to move the tracking measurement device 12 in the direction of the face. At that time, the aerial work vehicle is moved below the gantry 11, the tracking measuring device 12 and the gantry 11 are once removed, and the aerial work vehicle is moved by a predetermined distance in the direction of the face face, and then the tunnel is again moved. The gantry 11 is suspended from the ceiling 10 and the tracking measurement device 12 is installed.

[0004]

Conventionally, an aerial work vehicle is used for adjusting or relocating the tracking measuring device, but at that time, the passage is temporarily closed, so that the traffic of other working machines can be reduced. Can not be done. In addition, since it takes time to change the tracking measurement device, interference with other work is increased, which causes a delay in the work process.

[0005] Therefore, there arises a technical problem to be solved in order to easily and quickly perform adjustment and relocation in the tracking measurement device of the automatic tracking measurement system, and the present invention solves this problem. Aim.

[0006]

DISCLOSURE OF THE INVENTION The present invention has been proposed to achieve the above object. An optical tracking measurement device is installed at a construction site, and a tracking target is mounted on a working vehicle body. In an automatic tracking measurement system for detecting the position of a tracking target by the tracking measurement device and measuring the position and orientation of a working vehicle main body, a first and a second elevating device are mounted on a bogie provided with a traveling device. With the tracking measurement device attached to the first lifting device,
An object of the present invention is to provide a truck for moving a tracking measurement device of an automatic tracking measurement system in which an operator boarding table is installed on a second elevating device and further, outriggers are provided at four corners of the truck.

[0007]

An embodiment of the present invention will be described below in detail with reference to the drawings. For convenience of explanation, the same reference numerals are given to the same components as in the related art, and the description thereof will be omitted. FIG.
2 shows a tracking measuring device moving cart (hereinafter referred to as “moving cart”) 20. The moving cart 20 is provided with a crawler 21 as a traveling device, and the hydraulic device 22 operates the crawler 21. If driven, the mobile trolley 20 can move in the front-rear direction by itself.

[0008] A first elevating device 23 and a second elevating device 24 are mounted on the upper surface of the moving trolley 20.
The first elevating device 23 is provided on each of the left and right sides, and is configured such that a multi-stage type mast is expanded and contracted by a built-in hydraulic cylinder, and the optical tracking and measuring device 12 is provided above the first elevating devices 23 and 23. , 12 are mounted.

Each tracking measurement device 12 is provided with a tracking device and a lightwave distance meter, and the light emitted from the light emitting element of the tracking target mounted on the working vehicle body is tracked by the tracking measurement device 12. Light is received by the device. At this time, the tracking device of the tracking measurement device 12 detects the deviation between the received light image and the optical axis, drives the servo motor, and automatically tracks the tracking target. Further, light emitted from the lightwave distance meter of the tracking measurement device 12 is reflected by the reflecting prism of the tracking target, and the reflected light is received by the lightwave distance meter,
The distance between the tracking measurement device 12 and the tracking target is measured.

[0010] The working vehicle body is provided with one tracking target on each of the left and right sides.
The three-dimensional positions of the left and right tracking targets are detected and automatically tracked, and the position and orientation of the working vehicle body are continuously detected.

On the other hand, the second elevating device 24 has a structure in which a pantograph-type arm is expanded by a hydraulic cylinder.
An operator boarding table 25 is installed above the second lifting device 24. The worker boarding table 25 is surrounded by handrails 26 to ensure safety when working at high places.

Further, outriggers 30, 30, 30, 30 are provided at four corners of the moving carriage 12, and when the tracking measurement device 12 tracks a tracking target, each outrigger 30 is extended and grounded. Accordingly, the configuration is such that the stability of the moving carriage 12 can be ensured.

When the tracking measurement device 12 detects a tracking target of the working vehicle main body, the outriggers 30 at the four corners are first extended and grounded as shown in the figure. Next, the first elevating device 23 is operated to raise the tracking measurement device 12 to an optimum height. Before and after this,
The collimating direction of the tracking measurement device 12 is adjusted such that the second lifting device 24 is operated to raise the operator's boarding platform 25, and the tracking measurement device 12 detects the tracking target and can automatically track.

After the adjustment work is completed, the operator's board 2
5 is lowered. Since the tracking measurement device 12 and the worker boarding platform 25 are installed on independent lifting devices 23 and 24, respectively, only the worker boarding platform 25 can be moved up and down. Tracking measurement device 1 when going up and down
No adverse effect such as vibration is exerted on 2.

Here, when the working vehicle body advances a predetermined distance or more due to the progress of excavation, the tracking measurement device 12
Must be moved in the direction of the face. When that happens,
First, the first elevating device 23 is contracted so that the tracking measuring device 12
Is lowered, and the tracking measurement device 12 is removed and placed in a predetermined storage box. Next, if the crawler 21 is grounded by contracting the outriggers 30 at the four corners and the crawler 21 is driven by the operation of the hydraulic device 22, the moving carriage 2
0 travels in the direction of the face.

When the moving vehicle 20 moves to a place where the tracking measurement device 12 is to be newly installed, the driving of the crawler 21 is stopped to stop the traveling of the moving vehicle 20, and the outrigger 30 is extended. To ground. here,
Instead of the tracking measurement device 12, a standard target (not shown) is mounted on the upper part of the first elevating device 23, and the first elevating device 23 is operated to raise the standard target to an optimum height. In this state, the standard target is collimated from behind the tunnel, and the coordinates of the standard target are measured.

Next, the operator lifts the operator's board 25 by operating the second lifting device 24, removes the standard target, and replaces the standard target with the tracking measurement device 12. At this time, since the standard target and the tracking measurement device 12 have the same collimation height, the coordinates of the standard target become the coordinates of the tracking measurement device 12 as they are. Then, the coordinates of the measured standard target are input, and the tracking measurement device 12 collimates the collimation base point behind the tunnel, thereby constructing the coordinates in the tunnel. At this time, when the roadbed is inclined, the amount of extension of the outrigger 30 is different between front, rear, left and right,
The horizontality of the tracking measurement device 12 can be adjusted by a horizontal adjustment table provided in the tracking measurement device 12.

Hereinafter, as described above, the tracking measurement device 12
The collimating direction is adjusted so as to automatically track the vehicle toward the tracking target of the working vehicle body. In this way, the work of changing the tracking measurement device 12 can be performed in a short time.

The present invention can be variously modified without departing from the spirit of the present invention, and it goes without saying that the present invention extends to the modified ones.

[0020]

As described in detail in the above embodiment of the present invention, the present invention mounts a tracking measuring device on a self-propelled movable carriage so as to be able to move up and down. Position and can be installed at an optimal height. At this time, by raising and lowering the operator's boarding platform, adjustment of the tracking measurement device can be easily performed, and the refilling operation is completed in a short time.

In this manner, interference with other work is eliminated when the tracking measurement device is adjusted or relocated, and the work process can be shortened, and tracking can be performed from any position according to the work environment.

[Brief description of the drawings]

FIG. 1 shows an embodiment of the present invention and is a front view of a truck for moving a tracking measurement device.

FIG. 2 shows the embodiment of the present invention and is a side view of a truck for moving the tracking measurement device.

FIG. 3 is an explanatory diagram of a conventional automatic tracking measurement system.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 12 Tracking measuring device 13 Work vehicle body 14 Tracking target 20 Tracking measuring device Moving trolley (moving trolley) 21 Crawler 23 First lifting device 24 Second lifting device 25 Worker boarding platform 30 Outrigger

 ────────────────────────────────────────────────── ─── Continuing from the front page (72) Kazuhiko Kameda 2-1 Tsukudo-cho, Shinjuku-ku, Tokyo Kumagaya Gumi Tokyo head office (72) Koichi Hashimoto 2-1 Tsukudo-cho, Shinjuku-ku, Tokyo Kumagaya Gumi Tokyo head office

Claims (1)

[Claims] 1. An optical tracking measurement device is installed at a construction site, a tracking target is mounted on a working vehicle body, and a position of the tracking target is detected by the tracking measurement device to determine a position of the working vehicle body. In an automatic tracking measurement system for measuring the position and attitude, a first and a second lifting device are mounted on a bogie provided with a traveling device, and the tracking measurement device is mounted on a first lifting device, and a second A truck for moving a tracking device of an automatic tracking measurement system, wherein an operator's board is installed on the lifting device, and outriggers are provided at four corners of the truck.