JP2000120394A - Remote operating system and remote operating method of spraying operation in underground excavation - Google Patents

Abstract

PROBLEM TO BE SOLVED: To significantly improve the spraying operation carried out under an adverse environment and under an inefficient circumstances by remotely operating the spray of concrete. SOLUTION: A light wave range finder 11 for measuring the shape of the inside wall surface, spray robots 1A, 1B being remotely operated, and cameras 12A, 12B for monitoring the spraying operation are installed in a spray operation field F; and a computer 19 for data-processing the measurement signal measured by the range finder 11 and for displaying it by a monitor, a remote controller 21 for the spray robots 1A, 1B for remotely operating the spray robots 1A, 1B, and a monitor device 20 for displaying the images picked up by the cameras 12A, 12B are installed in a remote operation region R. The various signals between the device group installed in the spray operation field and the device group installed in the remote operation region are space- transmittably connected by means of radio waves by wireless communication.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention
The present invention relates to an operation system and a remote operation method for remotely performing a series of spraying operations performed for supporting a wall surface after excavation in tunnel excavation or underground space excavation such as a BM method.

[0002]

2. Description of the Related Art For example, in a mountain tunnel, a NATM (New A) having rock bolts inserted into the ground and shotcrete constructed along excavation walls as main support members is used.
ustrian Tunnelling Methed) method is the mainstream.

[0003] The tunnel excavation method includes a full cross section excavation and a tunnel upper half half section by dividing a tunnel cross section vertically.
TBM (Tunnel), a blasting method that excavates with explosives, such as a bench cut method that excavates by translating in the order of the lower half section
TB using a full-section excavator called Boring Machine)
There are various methods such as M construction method, mechanical excavation method using free section excavation which has a cutter part at the boom tip and excavates the cross section by operating this cutter boom,
In any case, when the excavation wall is supported, the rock bolt and the shotcrete are used as the supporting material instead of the conventional method using the steel arch member as the main supporting material.
The M method is actively used.

[0004]

Conventionally, in the above-mentioned spray concrete work, a boom for holding a spray nozzle is attached to a movable carriage such as a crawler type, a tire type or a rail type, and this boom operation is performed. The following problems were caused by the operator directly operating the spraying robot, which operated the spray nozzle, or by the worker holding the nozzle hose directly in his hand. Had occurred.

[0005] The spraying operation in the NATM method is an operation in a narrow space in a tunnel or an underground space. In addition, the worker is exposed to dust and spraying of sprayed concrete by a spraying material, and furthermore, an insufficient scaffolding environment. The work is done under very bad environment, such as the need to work under

Conventionally, with regard to spray thickness control, hitting a pin to an excavation wall in such a manner as to protrude by the design thickness into the inside of a tunnel pit, and if the pin is hidden by shotcrete, the design spray thickness is satisfied. In this method, the spray thickness can be satisfied at the place where the pin is installed, but does the intermediate part where the pin is not installed satisfy the design spray thickness? Can not judge.

The worker is exposed to the dangers of falling rocks from the face and side wall, falling of the sprayed material, flying objects, etc., and the hose is opened at a stretch after the sprayed material is clogged in the hose. However, there was a problem in terms of safety, such as that the horse could bounce and be hurt or blown off by the hose that bounced.

[0008] In the conventional operation by a spraying robot or a manual operation, much labor and time are required, and labor saving of the operation cannot be expected.

Accordingly, a main object of the present invention is to substantially improve the conventional spraying operation, which has been generally performed in a bad environment and inefficiently, in view of the various problems described above. is there.

Specifically, by providing a series of remote control systems for the spraying operation, the labor burden on the worker can be reduced, and the spraying can be managed in a favorable working environment away from the spraying place. To be. To ensure the safety of workers by eliminating falling rocks from the face, exfoliation of the sprayed material, scattering and work on poor scaffolds by unmanned operation. In addition, the spray thickness control, which had conventionally relied on visual inspection, has been mechanically and accurately performed, and it has been made possible to grasp the spray thickness in real time simultaneously with spraying. To get.

Further, in order to ensure the safety of the workers, the spraying work, which could not be performed in parallel with other congested work, can be performed in parallel with other work.
The aim is to save labor for workers and to realize economical tunnel construction.

[0012]

SUMMARY OF THE INVENTION A remote control system for spraying work in underground excavation proposed to solve the above-mentioned problem is provided at a spraying work site; for measuring the inner wall shape of a spraying work site. A light rangefinder, a remotely operated spraying robot, and a camera for monitoring the measuring operation by the lightwave rangefinder and the spraying operation by the spraying robot; Data processing of the measurement signal measured by the rangefinder,
A computer for displaying on a monitor, a remote control operation device for the spraying robot for remotely controlling the spraying robot, and a monitor device for displaying an image photographed by the camera; Various signals between the equipment group installed at the work site and the equipment group installed at the remote operation site can be transmitted spatially by radio waves by wireless communication or wired transmission by signal cable. It is assumed that.

In this case, the signal between the spraying robot installed at the spraying work site and the remote control operating device for the spraying robot installed at the remote operation site can be spatially transmitted by radio waves by wireless communication. It is preferable that spread spectrum communication is used as a wireless communication system for connection.

On the other hand, the remote control method of the spraying operation is as follows.
At the spraying work site; a lightwave ranging finder for measuring the inner wall surface shape of the spraying work site, a remotely operated spraying robot, a measuring operation by the lightwave ranging finder, and a spraying by the spraying robot A camera for monitoring the work is provided at a remote operation site; a computer for processing the measurement signal measured by the lightwave range finder and displaying the information on a monitor; and remotely operating the spraying robot. Control device for the spraying robot for
A monitor device for displaying an image captured by the camera is provided, and various signals between the device group provided at the spraying work site and the device group provided at a remote operation site are wirelessly transmitted. Connected to enable spatial transmission by radio waves by communication or wired transmission by signal cable, measure the shape of the excavated surface immediately after excavation by the lightwave range finder, and process this by a computer installed at a remote operation site Then, while drawing the raw moat shape line on the computer monitor, based on the raw moat shape line, the design spraying thick shape line is drawn inside the raw moat shape line. At any point in time or concurrently with the spraying operation by the spraying robot, the shape measurement by the lightwave distance measuring instrument is performed. It is characterized by being drawn on a pewter monitor as current spraying thick shape lines, and remotely controlling the spraying robot while checking the current spraying status based on each of the shape lines. is there.

The term "spraying" in the present invention includes spraying of various materials such as mortar spraying in addition to general concrete spraying.

[0016]

Embodiments of the present invention will be described below in detail with reference to the drawings.

[First Embodiment] FIG. 1 is an overall conceptual view showing a concrete spraying operation on a tunnel wall surface according to the present invention, FIG. 2 is a plan view thereof, and FIG. 3 is a front view thereof.

The tunnel excavation method according to the first embodiment is a blasting method in which a perforation is formed in a face by a drilling machine such as a drill jumbo (not shown), an explosive is loaded into the face, and the rock is sequentially destroyed by blasting. This is an example, and the excavation waste is loaded into a waste transport vehicle such as a dump truck by the wheel loader 10 or the like and carried out of the mine.

After the concrete is sprayed by the spraying robots 1A and 1B on the excavated wall surfaces as shown in the figure, the rock bolts 5, 5.
Is installed and the ground is supported. The spraying robots 1A and 1B may be only one, and may be moved over almost the entire width of the tunnel.

In the present embodiment, bracket supports 4, 4,... Are mounted on the excavated tunnel side walls, and traveling rails 7, 7 are laid on the bracket supports 4, 4,. Further, a self-propelled mobile scaffold 3 that is movable along the longitudinal direction of the tunnel across the two rails 7 is traversed, and the spraying robot 1A, 1B and the support erector 2 are provided, and the shotcrete 6 and a steel arch member (not shown) are constructed sequentially following the excavation.

Specifically, on the self-propelled movable scaffold 3, a traveling rail 8 is provided on the front side thereof along the tunnel width direction.
2 that can be moved along the traveling rail 8
The two spraying robots 1A and 1B are installed, and a traveling rail 9 is also provided on one rear side thereof along the tunnel width direction.
The support erector 2 which is movable along the traveling rail 9 is arranged, and a steel arch member is sequentially installed in the tunnel width direction on the excavated wall surface, and then concrete is sprayed on the wall surface to lining the wall. I do. This steel arch member plays the role of ground support until the shotcrete hardens and reinforcement of the shotcrete after hardening,
It is employed as an aid to the NATM method, and may be omitted if the ground is good.

When the concrete spraying on the tunnel wall surface is completed, the operation for placing the lock bolt is started. Drilling for inserting the lock bolts is performed by a drilling machine (not shown) along the radial direction of the tunnel, and the lock bolts 5, 5,... Are inserted and fixed to the ground.

The work steps from tunnel excavation to concrete spraying and rock bolting have been outlined above. In this method, concrete spraying work after excavation is performed from a remote place such as the rear side of a tunnel or outside a tunnel. It is performed by remote control.

More specifically, as shown in FIGS. 3 and 4, a laser range finder 11 is provided at the center of the front edge of the self-propelled movable scaffold 3 at the spraying work site F. Are arranged so as to collimate the tunnel face, and CCD cameras 12A and 12B are arranged on both sides thereof, respectively. Further, the arm operation of the spraying robots 1A and 1B is controlled based on the control by the robot control panel 14. It has become so.

The measurement signals from the laser range finder 11 and the video signals from the CCD cameras 12A and 12B are transmitted to a management work vehicle 26 on the rear side of the mine where a supervisor and a driver are present, respectively. A monitoring wireless transmitter 14 and a measuring wireless transmitter 13 are provided.
The video signal and the measurement signal are modulated into specific frequency radio waves so that they can be wirelessly transmitted by the monitoring radio transmitter 14 and the measurement radio transmitter 13, respectively, and then transmitted to the tunnel space from radio transmission antennas 13A and 14A, respectively. It is sent to. On the other hand, the radio receiver 15 connected to the robot control panel 16 receives the control radio signal transmitted from the work vehicle 16 by the receiving antenna 15A, demodulates the signal, and then inputs the control radio signal to the robot control panel 16 so that the radio wave is transmitted. Wearing robots 1A and 1B are controlled.

On the other hand, as shown in FIG. 5, the remote facility R, in this example, the management work vehicle 26 is provided with a receiving antenna 17A for receiving video signals from the CCD cameras 12A and 12B. And a monitor device 20 for monitoring and displaying a video signal, and a receiving antenna 18A for receiving a measurement signal from the laser range finder 11. A radio receiver 18 and a computer 19 for data processing of the measurement signal and displaying the result on a monitor are provided. Further, in order to remotely control the spraying robots 12A and 12B, a robot remote control operation device 21 is provided. Is provided.

The signal communication system between the spraying work site F and the management work vehicle 26 includes a measurement signal wireless transmission system and a monitor signal wireless transmission system sent from the spraying work site F to the management work vehicle 26. There are three wireless transmission systems, a blowing robot control signal wireless transmission system sent from the management work vehicle 26 to the spraying work site F. In particular, the latter wireless transmission system for the blowing robot control uses signal communication. Spread spectrum communication (commonly referred to as SS communication) is used from the viewpoints of ensuring the stability of the device and preventing malfunction.

This spread spectrum communication is a type of multiplex communication based on code division, and is generally applied to a modulated wave obtained by appropriately converting a code system such as clock frequency modulation or code conversion of a code. This is a communication method based on a dual modulation method of information modulation and spread modulation, in which the spread signals are multiplied. Upon reception, the received radio wave is multiplied by the same spread signal as that on the transmission side, and if the phases of the codes match, the signal is collected in the original frequency band and the primary modulated wave is demodulated.

In this spread spectrum communication, the power density per unit frequency is reduced to 1/100 to 1/1000 because the bandwidth is increased to 100 to 1000 times the normal transmission bandwidth at the time of spread modulation. Therefore, the signal is buried in noise or signals of other channels and cannot be picked up from the noise unless the code used for spreading modulation is known. This is the communication method used for

In this remote operation system, various advantages are brought about by adopting the spread spectrum communication as the remote operation signal of the spray robots 1A and 1B. That is, the communication distance can be extended, and the communication distance is not easily affected. Because the receiving side multiplies the spread signal to reliably extract only the target signal, it is hardly affected even in an environment with a lot of noise and interference such as noise, and can receive the signal stably. There is no malfunction of the robots 1A and 1B. There is no effect on other communication devices. Furthermore, even in the same frequency band, the number of channels can be ensured by the number of types of spread signals, and control of the spraying robots 1A and 1B having a plurality of control units such as sliding movement in the tunnel width direction and operation of arm arms at a plurality of locations. It is suitable as a communication system, for example.

On the other hand, the measurement signal radio transmission system and the monitor signal radio transmission system transmit a weak radio wave, a specific low power radio system or the above-mentioned spread spectrum communication system directly, or if there is a distance, the radio wave is transmitted. 1
As shown in (2), the radio relay station 22 is installed and the radio waves are transmitted spatially to the management work vehicle 26 while relaying radio waves.

In this embodiment, the transmission of the measurement signal, the transmission of the monitor signal, and the transmission of the control signal of the spraying robot are all performed by a radio transmission system in order to save labor in laying cables and eliminate unnecessary considerations for laying cables during various operations. However, when a wireless transmission method cannot be adopted under various conditions, wired transmission using a signal cable may be adopted.

In the following, the method of remote control of the spraying operation will be described according to the operation procedure. When excavation for a predetermined section length is completed, this section is started as one spraying target section. CCD camera 12A, 1
The monitor image by the 2B is continuously displayed at least during the spraying operation, that is, during the measurement of the spraying thickness by the laser range finder 11 and the spraying operation by the spraying robots 1A and 1B. To be displayed.

In the operation, first, the shape of the excavated surface is measured by the laser range finder 11.

As the laser range finder 11, it is desirable to use an automatic laser range finder which automatically tracks a measurement point along a circumferential direction if it is set in a predetermined collimation direction. As shown in the figure, the self-propelled movable scaffold 3 is moved forward while measuring the distance to the face by the laser range finder 11 and positioned at a predetermined position.
Measure the moat surface along the circumference of the tunnel,
The shape measurement data is wirelessly transmitted to the management work vehicle 26 via the measurement wireless transmitter 13. In the management work vehicle 26, these shape measurement data (horizontal angle, vertical angle and distance for each point) are subjected to data processing by the computer 19, and as shown in FIG.
On top of this, the moat-shaped line 23 is drawn, and based on the moat-shaped line 23, the design spray thick line 2
4 is drawn.

After the completion of the moat shape measurement, the spraying robots 1A and 1B are subsequently operated by the robot remote controller 21 to start concrete spraying. As shown in FIG. 2, the spraying concrete is supplied to the spraying robots 1 </ b> A and 1 </ b> B by arranging the spraying material pumping equipment 62 at the rear side of the tunnel, for example, at a distance of 50 to 100 m. Robot 1A,
It is desirable to prevent the worker working around the spraying material pumping equipment 62 from being affected by dust by pumping to 1B.

Robot 1 for spraying along the circumferential direction of the tunnel
At any time during operation of concrete spraying by operating A and 1B, the booms of the spraying robots 1A and 1B are moved to a position where they do not interfere with the measurement, and after being sprayed by the laser ranging finder 11, Performs shape measurement (thickness measurement). This shape measurement data is subjected to data processing by the computer 19 in the same manner as in the above-described moat shape measurement.
The result is drawn on the computer monitor 19A as the current spray thickness line 25.

The operator can see at a glance the three shape lines displayed on the computer monitor 19A, that is, the shape lines of the moat shape line 23, the design spray thickness line 24, and the current spray thickness line 25. Then, as shown in FIG. 8, the current spraying condition can be grasped. Then, as shown in FIG. 8, the shape is measured at an arbitrary time, and the current spraying thickness is compared with the design spraying thickness while spraying. Work proceeded, and when the design spray thickness was partially reached, the spray robots 1A and 1B were remotely controlled so as to increase the area of the area where the spray thickness was insufficient,
Concrete is sprayed according to the design spray thickness over the entire circumference in the tunnel circumferential direction.

[Second Embodiment] Next, an example in which the present invention is applied to tunnel excavation using a TBM will be described with reference to FIGS.
This will be described in detail with reference to FIG.

As in the first embodiment, a laser range finder, a remotely controllable spraying device,
A CD camera is provided, while a computer, a remote control operating device for the spraying robot, and a monitor device for the camera are installed in a management work vehicle (not shown) as in the first embodiment, and the spraying operation is remotely controlled. However, in the second embodiment, the structure of the spraying robot and the system for measuring the sprayed thickness by a laser range finder are completely different.

As shown in FIG. 9, on the rear side of the TBM 30, a circumferential rail member 33, a spray nozzle holding device 34 that can move around the tunnel along the circumferential rail member 33, and further spray. A concrete spraying device 32 composed of a pair of left and right laser rangefinders 56A and 56B integrally attached to the nozzle holding device 34 is provided, and the spraying thickness measurement and spraying work are further installed on the rear side of the tunnel. It is constantly monitored by the CCD cameras 29A and 29B.

The shears excavated by the cutter head 31 of the TBM 30 are transported out of the pit by a shear transport device 27 installed along the rear side of the tunnel from the TBM 30. The concrete spraying device 32 is fixed as a support member.

As shown in FIG.
7, a pair of left and right grooved rails 37A, 37B arranged with their openings facing inward are fixed along the longitudinal direction of the tunnel with respect to the lower surface of the support stand 28, and this grooved rail 37A,
A traveling base 39 which is fitted with a roller in the groove of 37B and is movable along the longitudinal direction of the tunnel is provided, and a circumferential rail member 33 is fixedly supported by a hanging bracket 40 provided on the lower surface side of the traveling base 39. A spray nozzle holding device 34 is mounted on the circumferential rail member 33.

The above-mentioned circumferential rail member 33 is provided with the above-mentioned spray nozzle holding device 34 as a running body along a circular locus line having a substantially constant distance inside the tunnel circumferential wall H.
In this embodiment, a ring-shaped rail member is used. In this example, the TBM3 having a circular excavation cross section is used.
0, the circumferential rail member 33
However, in the case of a tunnel having a compound circular cross section using a free-section excavator, for example, a circumferential rail member processed into a similar reduced shape according to the compound tunnel cross-sectional shape is used.

The circumferential rail member 33 is movable in the longitudinal direction of the tunnel so that the spraying operation can be performed continuously over a predetermined range in the longitudinal direction of the tunnel. As shown in FIG.
7B at the front end and the rear end, respectively.
Sprocket bracket 41 supporting 3A, 43B
A and 41B are arranged and fixed, gear fixing tools 42A and 42B are fixed to the front side and rear side of the traveling base body 40, respectively, and the chain 35 having one end fixed to the gear fixing tool 42A is turned by the sprockets 43A and 43B. Between the driving sprocket 45a of the motor 45 fixedly supported on the lower surface side of the one sprocket bracket 43B and the sprocket 43B. The circumferential rail member 33 can be moved in the longitudinal direction of the tunnel together with the traveling base 40 by rotating the drive chain of the motor 45 in the forward and reverse directions.

The spray nozzle holding device 34 mounted on the circumferential rail member 33 is described in detail in FIGS.
As shown in FIG. 3, a driving pinion gear 4 that comes into contact with the inner surface of the circumferential rail member 33 is provided on the traveling portion of the apparatus main body 35.
8 and pressing rollers 49A and 49B that come into contact with the outer surface side of the circumferential rail member 33, and the circumferential rail member 33 is formed by the driving pinion gear 48 and the pressing rollers 49A and 49B.
And the circumferential rail member 3
3, the drive pinion gear 48 meshes with a rack gear 33a formed on the inner surface of the circumferential rail member 33, and the drive pinion gear 48 is rotated by a motor 47. It is movable along the circumferential rail member 33.

The rear end of the nozzle holder 51 holding the spray nozzle 50 is supported by a spray angle control cylinder 52 so that the spray angle of the spray nozzle 50 can be adjusted to an arbitrary angle. Nozzle holder 51
A swinging rod 53 is provided on the rear upper surface of the nozzle holder 51 so as to protrude upward, and converts the rotational movement of the gear 55 rotated by the motor 54 into a rectilinear reciprocating operation of the swinging rod 53 to thereby move the nozzle holder 51. The swinging operation is continuously performed, and the concrete can be sprayed at a predetermined width S by running the spray nozzle holding device 34 in one line.

On the other hand, laser rangefinders 56A and 56B are disposed and fixed at the front and rear positions in the traveling direction with respect to the spray nozzle position when viewed from the front with respect to the spray nozzle holding device 34, respectively. The measurement of the sprayed thickness can be performed in parallel. At the time of spraying, the spray nozzle holding device 34 is alternately moved in the clockwise direction and the counterclockwise direction, so that the laser range finder 56A (56B) is located on the rear side in the moving direction. The sprayed thickness after spraying is measured by the measurement data from.

In this case, the pair of left and right laser rangefinders 56A and 56B are used simultaneously, and the laser rangefinder 56 located on the front side with respect to the moving direction of the spray nozzle holding device 4 is used.
A (56B) may be used to measure the thickness before spraying, and the laser rangefinder 56B (56A) located on the rear side may measure the thickness after spraying. In the process of moving the spray nozzle holding device 34 around the tunnel while spraying, by measuring both the spray thickness before spraying and the spray thickness after spraying, the spray nozzle holding device 34 is measured. It is possible to know in real time the spraying thickness sprayed by one traveling process by the step 34, and thus it becomes easy to manage the amount and pressure of the sprayed concrete.

The spraying operation is performed by dusting with a spray material,
Since the laser rangefinders 56A and 56B are contaminated with dust and scattered concrete in a very short time because the measurement is performed in a bad environment such as the scattering of concrete. In particular, when concrete adheres to the laser emitting portion, it becomes impossible to measure. Therefore, in the present invention, as shown in FIG. 14, the storage box 60 having the laser emitting opening 60a as an opening.
The laser range finder main body 61 is housed therein, and an air inlet 60b is provided at the rear side of the storage box 60 so that air is constantly supplied into the storage box 60 at least during the spraying operation. The supplied air is supplied to the laser emitting port 60a.
Concrete and dust scattered by the rebound will cause the storage box 60 to generate an air flow that flows out to the outside.
And the laser rangefinder body 61 always performs measurement in a good condition.

In the actual spray thickness measurement, as in the first embodiment, first, the spray nozzle holding device 34 is moved around the tunnel without spraying the excavated raw surface. After running once, the shape of the moat surface along the circumference of the tunnel is measured. This measurement data is subjected to data processing by a computer (not shown).
As shown in FIG. 5, a rough moat-shaped line 57 is drawn on the computer monitor 19A, and
7, the design spray shape line 58 is drawn inside. In addition, the position of the spray nozzle holding device 34 is also displayed on the computer monitor 19A at the same time.

When the measurement of the moat shape is completed, the spray nozzle holding device 34 is operated to start the concrete spraying operation. At the same time as the concrete spraying, the sprayed thickness measurement is performed by the laser rangefinders 56A and 56B, and the shape measurement data is processed by the computer in the same manner as the above-mentioned moat shape measurement, and is displayed on the computer monitor 19A. It is drawn as an attached thickness shape line 59. The operator tunnels the spraying nozzle holding device 34 while grasping the current spraying status based on the raw moat shape line 57, the design spraying thick shape line 58, and the current spraying thick shape line 59 displayed on the computer monitor A. The spraying is performed by controlling the movement in the circumferential direction, and the concrete is sprayed according to the design spraying thickness over the entire circumference in the tunnel circumferential direction.

[Third Embodiment] In this third embodiment, an example of a remote control system for spraying in the most advanced upper half advanced bench cut method by mechanical excavation will be outlined with reference to FIG.

When the excavation of the upper half face has been completed for a predetermined section using an excavator such as a cutter loader (not shown), the spraying robot 1C is positioned at the front face of the face, and the concrete is placed on the excavation wall surface. Spray.

The detailed configuration of the apparatus for remotely controlling the spraying operation, the spraying operation procedure, and the method for managing the spraying thickness have already been described.
The spraying robot 1C includes CCD cameras 12A and 12B on both sides of the front surface of the running base, and a laser range finder 11 at the upper center position of the running base. The video signal and the measurement signal are wirelessly transmitted to the management worker 26 by the transmitter and the wireless transmitter for measurement, and the boom of the spraying robot 1C is controlled by the remote control operation device for the robot installed in the management work vehicle 26. Remotely controlled by radio signals.

To supply the sprayed concrete to the spraying robot 1C, a spraying material pumping equipment 62 is disposed at the rear side of the tunnel pit, for example, at a position of 50 to 100 m away, and the spraying material carrier 63 moves the spraying material from the plant. The blown concrete is once supplied to the spraying material pumping equipment 62.
And sprayed from here to the spraying robots 1A and 1B so that workers are not affected by dust.

[0057]

As described above, according to the present invention, the following advantages are provided by realizing the remote control system for the spraying operation.

By remote control of a series of spraying operations,
Spray management can be performed in a favorable working environment away from the spraying place by reducing the labor burden of the worker.

The unmanned operation makes it possible to ensure the safety of workers by eliminating falling rocks from the face, exfoliation of the sprayed material, scattering, work on a poor scaffold, and the like.

Since the spraying thickness management, which has conventionally depended on visual observation, can be performed mechanically with high precision and the spraying status can be grasped in real time, the spraying concrete lining body can be used. Quality is improved.

The concrete spraying work can be performed in parallel with other congested work, and the ground can be stabilized early and the construction period can be shortened.

The labor saving of workers can be achieved and an economical tunnel construction can be realized.

[Brief description of the drawings]

FIG. 1 is an overall conceptual diagram showing a concrete spraying operation state in a first embodiment.

FIG. 2 is a plan view thereof.

FIG. 3 is a front view thereof.

FIG. 4 is a system conceptual diagram of a remote operation system.

FIG. 5 is a diagram of equipment in a management work vehicle 26.

FIG. 6 is a diagram showing a measurement procedure performed by a laser rangefinder 11;

FIG. 7 is a spray status display diagram on a computer monitor A.

FIG. 8 is a flowchart of a blowing management.

FIG. 9 is an overall conceptual diagram showing a concrete spraying operation state in the second embodiment.

10 is an overall side view of the concrete spraying device 32. FIG.

FIG. 11 is a front view thereof.

12 is an enlarged side view of the spray nozzle holding device 34. FIG.

FIG. 13 is an enlarged rear view of the spray nozzle holding device.

FIG. 14 is a structural diagram of a laser range finder.

15 is a spray status display diagram on a computer monitor A. FIG.

FIG. 16 is an overall conceptual diagram showing a concrete spraying operation state in the third embodiment.

[Explanation of symbols]

1A, 1B: spraying robot, 2: erection erector,
3 ... self-propelled mobile scaffold, 4 ... bracket support, 5 ... lock bolt, 6 ... shotcrete, 7 ... rail, 11
… Laser rangefinder, 12A ・ 12B… CCD camera, 1
3 ... wireless transmitter for measurement, 14 ... wireless transmitter for monitor, 1
5: Wireless receiver, 16: Robot control panel, 17: Measurement wireless receiver, 18: Monitor wireless receiver, 19: Computer, 19A: Computer monitor, 20: Monitor device, 23: Unlined wire, 24: Design spray thickness line, 25: Current spray thickness line, 29A / 29B: CCD
Camera, 32: concrete spraying device, 33: circumferential rail member, 34: spray nozzle holding device, 56A / 5
6B: Laser rangefinder

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Toshimitsu Takamichi 4-12-20 Nihonbashi Honcho, Chuo-ku, Tokyo Inside Sato Industry Co., Ltd. (72) Inventor Hitoshi Namura 4--12 Nihonbashi Honcho, Chuo-ku, Tokyo 20 Sato Kogyo Co., Ltd. (72) Inventor Shoichi Ando 4-12-20 Nihombashi Honcho, Chuo-ku, Tokyo F-term (reference) 2D055 BA06 CA01 DB02 DB06 LA17 5K012 AA01 AB05 AB10 AC09 AC11 BA02 5K059 AA02 BB01 BB03

Claims (3)

[Claims] At a spraying work site, a light wave distance measuring instrument for measuring an inner wall shape of a spraying work site, a remotely operated spraying robot, a measuring operation by the light wave distance measuring instrument and the blowing operation A camera for monitoring the spraying operation by the attaching robot, at a remote operation site; a computer for processing the measurement signals measured by the lightwave range finder and displaying on a monitor; A spray robot remote control device for remotely controlling the robot, and a monitor device for displaying an image captured by the camera, a device group provided at the spraying work site, Various signals between the equipment group installed in the operation part can be transmitted spatially by radio waves by wireless communication or can be transmitted by wire using a signal cable. Remote control system of the spraying operations in underground excavation, characterized in. 2. A signal between a spraying robot installed at a spraying work site and a remote control operating device for a spraying robot installed at a remote operation part is connected so as to be able to spatially transmit by radio waves by wireless communication. 2. The remote control system for spraying work in underground excavation according to claim 1, wherein spread spectrum communication is used as the wireless communication system. 3. A spraying work site; a light wave rangefinder for measuring the inner wall shape of a spraying work site, a remotely operated spraying robot, a measuring operation by the lightwave rangefinder, and the blowing operation. A camera for monitoring the spraying operation by the attaching robot, at a remote operation site; a computer for processing the measurement signals measured by the lightwave range finder and displaying on a monitor; A spray robot remote control device for remotely controlling the robot, and a monitor device for displaying an image captured by the camera, a device group provided at the spraying work site, Connect various signals between the equipment group installed in the operation part so that they can be spatially transmitted by radio waves by wireless communication or wired transmission by signal cables. The shape of the excavated surface immediately after excavation is measured by a lightwave range finder, the data is processed by a computer installed at the remote operation site, and the excavated shape line is drawn on a computer monitor. Draw a design spray thickness line inside the raw moat shape line based on, at any time during the spraying operation by the spraying robot thereafter,
Or, in parallel with the spraying operation by the spraying robot, the shape measurement by the lightwave range finder is performed, and the measurement data during the spraying operation is drawn as the current spraying thick shape line on the computer monitor. A remote control method for a blowing operation in underground excavation, wherein a remote control of the blowing robot is performed while checking a current blowing condition based on a line.