JP2001234555A - Position measuring system for excavating machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect parallel movement of an excavating machine. SOLUTION: The position measuring system for an excavating machine is substantially constituted of a torque reel 12, a measuring wire 13 let out of the reel, an encorder 14 measuring the wound off length of the built-in measuring wire in the torque reel, two CCD cameras 15 taking images of the measuring wire, and a computer 20 connected to the encorder. The computer 20 is provided with a image processing section 17 in which image data from the CCD cameras 15 are left to image processing to obtain the horizontal position of the measuring wire 13, a processor 18 operating the horizontal position of the excavating machine 1 by using the horizontal position and the wound of length of the measuring wire 13 measured by the encorder 14, and a CRT display 19 showing the horizontal position of the excavating machine 1 obtained in the processor.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an excavator position measuring system mainly applied to a horizontal multi-axis excavator.

[0002]

2. Description of the Related Art Among excavators for excavating the ground, a horizontal multi-shaft excavator called by the name of a hydrophrase excavator is an excavator suitable for deep excavation of about 100 m.

FIG. 8 is a side view showing a state where such a horizontal multi-shaft excavator 1 is suspended by a crane 3 via a suspension wire 2. As can be seen from the figure, the horizontal multi-shaft excavator 1 is provided with a hydraulic rotary cutter 5 at the lower end of a frame 4, and when excavating, the horizontal multi-shaft excavator 1 is By operating the rotary cutter 5 in this state, the excavation groove 7
The bottom of the is dug down.

Here, in order to control the excavation accuracy, it is indispensable to measure and control the attitude of the horizontal multi-axis excavator 1. The vertical accuracy is managed using an inclinometer attached to the frame 4. Was.

[0005]

Here, when the soil of the excavated ground is, for example, collapsible ground, the clearance between the horizontal multi-axial excavator 1 and the hole wall increases, and the horizontal multi-axial excavator 1 1 is in a state where it easily shifts in the horizontal direction while maintaining the vertical posture.

However, such horizontal translation cannot be measured by an inclinometer because the horizontal multi-axis excavator 1 is not inclined.
For this reason, a normal excavation state and a state shifted in the horizontal direction cannot be distinguished, and there has been a problem that it becomes difficult to perform the excavation as designed.

The present invention has been made in view of the above circumstances, and has as its object to provide an excavator position measuring system capable of detecting parallel movement of an excavator.

[0008]

To achieve the above object, a position measuring system for an excavator according to the present invention is defined in claim 1.
As described in, a torque reel installed on the ground,
A measuring wire fed from the torque reel and connected to an excavator at the tip, a feeding length measuring means for measuring a feeding length of the measuring wire, and a horizontal position of the measuring wire on a predetermined measurement horizontal plane. A horizontal position measuring means for measuring, an arithmetic processing means for arithmetically processing the horizontal position of the excavator from the dispensing length measured by the dispensing length measuring means and the horizontal position measured by the horizontal position measuring means, Display means for displaying the horizontal position of the excavator obtained by the arithmetic processing means.

In the position measuring system for an excavator according to the present invention, the horizontal position measuring means may include two CCD cameras for imaging the measuring wires from two different directions not parallel to each other in the measuring horizontal plane. And image processing means for performing image processing on image data from the CCD camera to obtain a horizontal position of the measurement wire.

The position measuring system for an excavator according to the present invention comprises two sets of the torque reel, the measuring wire, the feeding length measuring means, and the horizontal position measuring means, and a tip of each measuring wire. Are connected to two different points of the excavator, and the arithmetic processing means is configured such that the horizontal position of the excavator is evaluated at two positions at the tip of each of the measuring wires.

In the excavator position measuring system according to the present invention, a torque reel is provided so that even if the excavator moves up and down during excavation work, the measuring wire is not slackened or excessive tension is applied. Is appropriately operated to constantly apply an appropriate tension to the measurement wire. Here, the measurement wire is configured so that a fixed point is formed on the ground side. For example, if the measuring wire fed from the torque reel is hung on a predetermined fixed pulley and connected to an excavator, the measuring wire is fed in the feeding length and feeding direction (in a normal digging state, the measuring wire is fed vertically downward). But,
Irrespective of whether the excavator moves horizontally, the excavator always passes through the fixed pulley, so that the mounting position of the fixed pulley can be regarded as a fixed point.

Next, during the excavation work, the feeding length of the measuring wire is measured in real time by the feeding length measuring means. The feeding length of the measuring wire can be measured directly by an encoder built in the torque reel, for example, or in some cases indirectly from the encoder built in the winch of the hanging wire that suspends the excavator. It is also possible to measure.

On the other hand, the horizontal position of the measuring wire on a predetermined measuring horizontal plane is measured in real time by horizontal position measuring means. The measurement horizontal plane for measuring the horizontal position may be set arbitrarily in the ground space between the fixed point of the measurement wire and the excavator. For example, it can be set between a fixed pulley on which a measuring wire is hung and the ground surface.

Next, the horizontal position of the excavator is determined by using the feeding length of the measuring wire measured by the feeding length measuring means and the horizontal position of the measuring wire on the horizontal plane measured by the horizontal position measuring means. The arithmetic processing is performed by the arithmetic processing means. That is, the vertical distance between the fixed point and the measurement horizontal plane is D ₀ , the vertical distance between the fixed point and the excavator is D ₁ , the horizontal displacement of the measurement wire in the measurement horizontal plane from the vertical reference line passing through the fixed point is δ ₁ , if the horizontal displacements [delta] ₂ of the excavator from the vertical reference line, the horizontal position of the excavator, [delta] ₂ = excavation from the vertical reference line by using a _{(D 1 / D 0) ·} δ 1 becomes geometric relationships It can be obtained as the horizontal displacement δ ₂ of the machine.

Next, the horizontal position of the excavator is displayed in real time on display means such as a liquid crystal display and a CRT display.

The configuration of the horizontal position measuring means is arbitrary. For example, two CCD cameras for imaging the measuring wire from two different directions that are not parallel to each other in a measuring horizontal plane, and the CCD cameras Image processing means for performing image processing on image data from a camera to obtain a horizontal position of the measurement wire. In addition, other than such a configuration, it is possible to configure with a laser, a light receiving / emitting element, and the like.

As for the torque reel, the measuring wire, the feeding length measuring means and the horizontal position measuring means, one set is sufficient if the horizontal position of the excavator is determined as a position represented by one point. If the tip of each measurement wire is connected to two different points of the excavator while the combination is provided, and the arithmetic processing means is configured such that the horizontal position of the excavator is evaluated at two places at the tip of each measurement wire, It is possible to evaluate the horizontal position of the excavator at two places, that is, to obtain two components of the overall position and the twist.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a position measuring system for an excavator according to the present invention will be described below with reference to the accompanying drawings. It is to be noted that the same reference numerals are given to components and the like that are substantially the same as those in the conventional technology, and description thereof will be omitted.

(First Embodiment)

FIG. 1 is an overall view and a block diagram showing a position measuring system for an excavator according to this embodiment. As can be seen from these figures, the position measuring system of the excavator according to the present embodiment includes a torque reel 12, a measuring wire 13 fed from the torque reel, and a feeding length of the measuring wire built in the torque reel 12. Encoder 14 as a feeding length measuring means for measuring the height, and two CCD cameras 15 and 15 for imaging the measuring wire 13
And a computer 20 to which the CCD camera and the encoder 14 are connected.

Here, the torque reel 12 and the CCD cameras 15 and 15 are mounted on a gantry 16 installed near the ground opening of the excavation groove 7, and the torque reel 12
The measurement wire 13 drawn out from the cradle is once hung on a fixed pulley 11 supported by a gantry 16 via a support member (not shown), and then its tip is connected to the excavator 1. The gantry 16 is preferably configured to be able to run on a rail laid along, for example, the excavation groove 7 or the planned place.

The computer 20 has a CCD camera 1
An image processing unit 17 is provided as image processing means for obtaining the horizontal position of the measurement wire 13 by performing image processing on the image pickup data from 5 and 15.
Together with the D cameras 15, 15, it functions as a horizontal position measuring means for measuring the horizontal position of the measuring wire 13 on a predetermined measuring horizontal plane.

Further, the computer 20 has a feed length of the measuring wire 13 measured by the encoder 14 and C
An arithmetic processing unit 18 as arithmetic processing means for arithmetically processing the horizontal position of the excavator 1 by using the horizontal positions of the measurement wires 13 on the measurement horizontal plane measured by the CD cameras 15, 15 and the image processing unit 17; And a CRT display 19 as display means for displaying the horizontal position of the excavator 1 obtained by the arithmetic processing unit.

FIG. 2 shows the arrangement of the CCD cameras 15 and 15. As can be seen in the figure, the CCD cameras 15 and 15 have two different axes 2 that are not parallel to each other.
The gantry 1 is mounted so that the measurement wire 13 can be imaged from each of directions 1 and 22 (in the figure, x and y axes orthogonal to each other).
6, two different shafts 21 and 22 are included in a measurement horizontal plane sandwiched between the fixed pulley 11 and the gantry 16.

In the excavator position measuring system according to the present embodiment, during the excavation operation, even if the excavator 1 moves up and down, the measuring wire 13 is not slackened or excessive tension is applied. Then, the torque reel 12 is appropriately operated to always apply an appropriate tension to the measurement wire 13.

Here, the measuring wire 13 is fed out from the torque reel 12, is hooked on a fixed pulley 11, and is connected to the excavator 1. Therefore, the measurement wire 13 always passes through the fixed pulley 11 irrespective of the feeding length and the feeding direction (they are fed vertically downward in a normal excavation state, but are fed obliquely downward when the excavator 1 moves horizontally). Therefore, the mounting position of the fixed pulley 11 becomes a fixed point of the measurement wire 13.

Next, during the excavation work, the feeding length of the measuring wire 13 is measured in real time by the encoder 14, and the horizontal position of the measuring wire 13 on the above-mentioned measuring horizontal plane is measured by the CCD cameras 15, 15 and the image processing unit. Measure in real time at 17.

Next, the horizontal position of the excavator 1 is calculated by an arithmetic processing unit 18 using the feeding length measured by the encoder 14 and the horizontal position measured by the CCD cameras 15 and 15 and the image processing unit 17. I do.

That is, as shown in FIG.
The vertical distance between the (installed position of the fixed pulley 11) and the measurement horizontal plane 31 is D ₀ , the vertical distance between the fixed point O and the excavator 1 is D ₁ , and the vertical distance between the fixed reference point 32 and the vertical reference line 32 passing through the fixed point O If the horizontal displacement of the measuring wire 13 is δ ₁ and the horizontal displacement of the excavator 1 from the vertical reference line 32 is δ ₂ ,
The horizontal position of the excavator 1 can be obtained as a horizontal displacement δ ₂ of the excavator 1 from the vertical reference line 32 using a geometric relationship of δ ₂ = (D ₁ / D ₀ ) · δ ₁ .

Note that such calculation is performed separately for each of the x-axis and the y-axis, and among the calculated horizontal displacements of the excavator 1, x
The axis component is δ _2x and the y-axis component is δ _2y .

Next, the horizontal position of the excavator 1 is displayed on the CRT display 19 in real time as shown in FIG.

As described above, according to the excavator position measuring system according to the present embodiment, when the excavator 1 is displaced in the horizontal direction, the measuring wire 13 that is obliquely inclined is measured, and this is measured by the geometrical method. Excavator 1
Can be measured.

Conventionally, the inclination of the excavator 1 itself could be measured by an inclinometer, but it was not possible to measure the horizontal movement of the excavator 1. In this case, the procedure of measuring the hole wall with ultrasonic waves had to be repeated, and the excavation efficiency had to be reduced. However, according to the excavator position measurement system according to the present embodiment, the excavator 1 It is possible to estimate the state of the hole wall without raising the excavation, and it is possible to improve the excavation accuracy without lowering the excavation efficiency.

In this embodiment, the horizontal movement of the excavator 1 is x
In order to evaluate both the axis and the y-axis, two CCD cameras 15 are used. However, if it is sufficient to grasp only the horizontal movement along the x-axis direction, for example, one CCD camera 15 may be used correspondingly. Needless to say, it is enough.

(Second Embodiment)

Next, a second embodiment will be described. In addition, the same reference numerals are given to components and the like that are substantially the same as those of the prior art and the first embodiment, and description thereof is omitted.

FIG. 5 is an overall view and a block diagram showing the position measuring system of the excavator according to the present embodiment. As can be seen from these drawings, the position measuring system of the excavator according to the present embodiment includes torque reels 12a and 12b, and measurement wires 13a fed from the respective torque reels.
13b, encoders 14a and 14b, which are built in the torque reels 12a and 12b and measure the feeding length of each measuring wire, and two CCD cameras 15a and 15a for imaging the measuring wire 13a.
And two CCD cameras 15b and 15b for imaging the measurement wire 13b, and a computer 20 to which the CCD cameras and encoders 14a and 14b are connected.

Here, the torque reels 12a, 12b and CC
The D cameras 15a and 15b are attached to mounts 16a and 16b installed near the ground opening of the excavation groove 7, respectively, like the torque reel 12 and the CCD camera 15 of the first embodiment. Measuring wires 13a, 13b which are respectively fed out
Is suspended once on fixed pulleys 11a and 11b supported on the gantry 16a and 16b via a support member (not shown), and then their ends are connected to two different points of the excavator 1. The gantry 16a, 16b is preferably configured to be able to run on a rail laid along, for example, the excavation groove 7 or its planned place.

The computer 20 is provided with an image processing section 17 as image processing means for processing the image data from the two sets of CCD cameras 15a and 15b to obtain the horizontal positions of the measuring wires 13a and 13b. The image processing unit 17 includes two sets of CCD cameras 15a and 15b and measurement wires 13a on a predetermined measurement horizontal plane.
It functions as horizontal position measuring means for measuring the horizontal position of 13b.

Also, the computer 20 includes measurement wires 13a, 1a, 1b,
3b payout length and two sets of CCD cameras 15a and 15b
And an arithmetic processing unit 18 as arithmetic processing means for arithmetically processing the horizontal position of the excavator 1 at two different positions using the horizontal positions of the measurement wires 13a and 13b on the measurement horizontal plane measured by the image processing unit 17. And a CRT display 19 as display means for displaying the horizontal position of the excavator 1 obtained by the arithmetic processing unit.

FIG. 6 shows two sets of CCD cameras 15a, 15
This figure shows the arrangement status of b, since the content is the same as that of the first embodiment arranged symmetrically, and a detailed description is omitted here.

In the excavator position measuring system according to the present embodiment, the torque reel 12
a, 12b are appropriately operated to measure wires 13a, 13
b, an appropriate tension is always applied thereto, and in this state, the extension lengths of the measurement wires 13a, 13b are measured in real time by the encoders 14a, 14b, respectively, and the measurement wires 13 in the measurement horizontal plane described above are measured.
The horizontal positions of a and 13b are determined by two sets of CCD cameras 15a and 1b.
5b and the image processing unit 17 measure in real time.

Next, the horizontal length of the excavator 1 is measured using the feeding length measured by the encoders 14a and 14b and the horizontal position on the horizontal plane measured by the two sets of CCD cameras 15a and 15b and the image processing unit 17. The position is calculated by the calculation processing unit 18.

Next, the horizontal position of the excavator 1 is displayed on the CRT display 19 in real time as shown in FIG. When the horizontal position of the excavator 1 is calculated, the procedure of the first embodiment only needs to be applied to the respective measuring cables 13a and 13b in the same manner, and the description thereof is omitted here. As can be seen from the figure, the horizontal positions δ _2x , δ _{2y at the} point A and the horizontal positions δ ′ _2x , δ ′ at the point B different from the point A can be seen.
It differs from the first embodiment in that it is evaluated as _2y .

As described above, according to the excavator position measuring system according to the present embodiment, when the excavator 1 is displaced in the horizontal direction, the measurement wires 13a, 13
By measuring b and geometrically processing it,
The horizontal movement of the excavator 1 can be measured.

Further, according to the excavator position measuring system according to this embodiment, the two torque reels 12a and 12a
b, two measurement wires 13a, 13b, two encoders 14a, 14b and two sets of CCD cameras 15a,
15b and an image processing unit 17 and the ends of the measurement wires 13a and 13b are connected to two different points of the excavator 1, and the arithmetic processing unit 18 is connected to the excavator 1 so that the horizontal position of the measurement wire 13a is Since it is configured to be evaluated at two places at the tip of 13b, not only the entire movement of the excavator 1 but also the torsion component around the vertical axis can be measured, and the excavation accuracy can be further improved. .

[0047]

As described above, according to the position measuring system for an excavator according to the present invention, when the excavator is displaced in the horizontal direction, the obliquely inclined measuring wire is measured and processed geometrically. By doing so, the horizontal movement of the excavator can be measured. Therefore, the state of the hole wall can be estimated without raising the excavator, and the excavation accuracy can be improved without lowering the excavation efficiency.

[0048]

[Brief description of the drawings]

FIG. 1 is a diagram of a position measuring system of an excavator according to a first embodiment, (a) is an overall view, and (b) is a block diagram.

FIG. 2 is a diagram showing an arrangement state of a CCD camera;
(a) is a perspective view, (b) is a plan view.

3A and 3B are diagrams showing a procedure for obtaining a horizontal position of an excavator shifted horizontally, wherein FIG. 3A is an overall view and FIG. 3B is a detailed view.

FIG. 4 shows a state in which the horizontal position of the excavator 1 is displayed on a CRT display 19 which is a display means;
(a) is a front view of a display screen, (b) is a perspective view showing a coordinate system.

FIG. 5 is a diagram of an excavator position measuring system according to a second embodiment, where (a) is an overall view and (b) is a block diagram.

FIG. 6 is a perspective view showing an arrangement state of a CCD camera.

FIG. 7 shows a state where the horizontal position of the excavator 1 is displayed on a CRT display 19 which is a display means;
(a) is a front view of a display screen, (b) is a perspective view showing a coordinate system.

FIG. 8 is a side view showing a state where the excavator 1 is suspended by the crane 3;

[Explanation of symbols]

Reference Signs List 1 excavator 12, 12a, 12b torque reel 13, 13a, 13b measuring wire 14, 14a, 14b encoder (extending length measuring means) 15, 15a, 15b CCD camera (horizontal position measuring means) 17 image processing section (horizontal) (Position measuring means) 18 Arithmetic processing unit (arithmetic processing means) 19 CRT display (display means)

Claims (3)

[Claims] 1. A torque reel installed on the ground, a measuring wire fed from the torque reel and connected to an excavator at a tip, and a feeding length measuring means for measuring a feeding length of the measuring wire. A horizontal position measuring means for measuring a horizontal position of the measuring wire on a predetermined measurement horizontal plane, and the excavation from a dispensing length measured by the dispensing length measuring means and a horizontal position measured by the horizontal position measuring means. An excavator position measuring system, comprising: an arithmetic processing means for arithmetically processing the horizontal position of the excavator; and a display means for displaying the horizontal position of the excavator obtained by the arithmetic processing means. 2. The CCD camera according to claim 1, wherein said horizontal position measuring means comprises: two CCD cameras for imaging said measurement wires from two different directions which are not parallel to each other in said measurement horizontal plane;
The excavator position measuring system according to claim 1, further comprising image processing means for performing image processing on image data from a camera to obtain a horizontal position of the measurement wire. 3. The excavator includes two sets of the torque reel, the measuring wire, the payout length measuring means, and the horizontal position measuring means, and connects the tip of each measuring wire to two different points of the excavator; The arithmetic processing means,
The excavator position measuring system according to claim 1, wherein a horizontal position of the excavator is evaluated at two positions at a tip of each of the measurement wires.