JP2011237253A - Light receiver - Google Patents
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- JP2011237253A JP2011237253A JP2010108268A JP2010108268A JP2011237253A JP 2011237253 A JP2011237253 A JP 2011237253A JP 2010108268 A JP2010108268 A JP 2010108268A JP 2010108268 A JP2010108268 A JP 2010108268A JP 2011237253 A JP2011237253 A JP 2011237253A
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Abstract
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この発明は、例えばバックホウなどの建設車両のバケットやアームにレベル検出手段を取り付け、基準となるレーザ光をレベル検出手段で検知し、このレベル検出手段の情報をオペレーターに表示するようにしたレーザレベル検出システムに関する。 In the present invention, for example, a level detection means is attached to a bucket or arm of a construction vehicle such as a backhoe, a reference laser beam is detected by the level detection means, and information on the level detection means is displayed to the operator. Relates to the detection system.
従来から、バックホウのアームにレベルセンサを取り付け、レーザ投光器のレーザ光をそのレベルセンサで受光し、このレベルセンサの受光位置に基づいて適正高さからのずれを表示する建設機械用レーザ光検出装置が知られている。
しかしながら、このような建設機械用レーザ光検出装置は、アームに取り付けられた装置が垂直になった時点でチルトセンサが反応してランプが点灯し、その状態での高さに基づいて、その高さが適正高さから高いか低いかを表示する装置である。この装置において、所望する場所を高さ検知したい場合、その場所にアームを垂直に接地させるにはバケツの刃先をその場所に接地させてアームの傾斜を垂直になるようにバックホウを移動しながらアームを垂直方向に操作しなければならない。この操作は、走行動作、アーム操作、チルトセンサの点灯確認以上の３つの作業をしなければならないので面倒である。また別の方法では、所望する場所の近くで、バケットの刃先を所望する場所の高さより少し上方でアームをチルトセンサの点灯確認しながら垂直にする。それから所望する場所へ走行しバケットの刃先を接地させる。チルトセンサの点灯確認をして高さをみる。アームを垂直にしなければならないので、以上の作業が必須となる。
この改善策として本発明人は特願２００９−１４６１２１を開示している。この技術は、レーザ光を基準面に沿って出射する投光器と、レーザ光を受光する受光部を長手方向に沿って複数有し、アームに取り付けられる受光器と、アームの傾斜角度を検知する傾斜センサと、受光器および傾斜センサの検出信号に基づいて基準面からバケットの先端までの実際の掘削深さを演算し、これを予め設定された指定掘削深さと比較して掘削誤差を求めるものである。この技術を簡単に説明すると、アームに取り付けられた受光器からバケットの刃先までの距離と、所望する掘削高さからレーザ投光器までの距離を同じにして、傾斜分演算し、掘削誤差を求めるものである。
However, such a construction machine laser light detection device has a tilt sensor that reacts when the device attached to the arm is vertical, and the lamp is turned on. It is a device that displays whether the height is high or low from the appropriate height. In this device, if you want to detect the height of a desired location, in order to ground the arm vertically at that location, move the backhoe so that the blade tip of the bucket is grounded at that location and the inclination of the arm is vertical. Must be operated vertically. This operation is cumbersome because it requires three operations beyond running operation, arm operation, and confirmation of lighting of the tilt sensor. In another method, the arm is made vertical while confirming the lighting of the tilt sensor near the desired location and slightly above the height of the desired location at the blade edge of the bucket. Then run to the desired location and ground the bucket edge. Check the tilt sensor lighting and check the height. Since the arm must be vertical, the above work is essential.
As an improvement measure, the present inventor has disclosed Japanese Patent Application No. 2009-146121. This technology has a projector that emits laser light along a reference plane, a plurality of light receiving units that receive the laser light along the longitudinal direction, a light receiver that is attached to the arm, and an inclination that detects the inclination angle of the arm. Calculates the actual excavation depth from the reference plane to the tip of the bucket based on the detection signals of the sensor, the light receiver and the tilt sensor, and compares this with the preset designated excavation depth to obtain the excavation error. is there. Briefly explaining this technology, the distance from the light receiver attached to the arm to the blade edge of the bucket is the same as the distance from the desired excavation height to the laser projector, and the inclination is calculated to obtain the excavation error. It is.
従来技術においては、受光器は基準面と並行なレーザ光を受光するものまたは、所定の角度のみ受光するものであった。本発明は、受光器が傾斜状態においてもレーザ光を良好に受光する受光器の提供を目的とするものである。 In the prior art, the light receiver receives a laser beam parallel to the reference plane or receives only a predetermined angle. An object of this invention is to provide the light receiver which receives a laser beam favorably even if a light receiver is in an inclined state.
本発明の前記目的は、運転室を備える上部旋回体に対して上下方向に回動可能に設けられたブームと、前記ブームに対して上下方向に回動可能に設けられたアームと、前記アームに支持されたバケットとを備え、前記ブーム及びアームの駆動操作により前記バケットで土砂を掘削する建設機械を用いた掘削作業を支援する装置において、掘削箇所近傍に設置され、レーザ光を基準面に沿って出射する投光器からのレーザ光を受光する受光器であって、前記受光器は、バックホウのアームの長手方向に沿って脱着可能な取り付け金具を設け、前記取り付け金具にアームの長手方向に沿ってスライド可能にレールを設け、前記取り付け金具と前記レールの間に緩衝ゴムを設置し、レールに取り付けられた受光器がスライド可能で衝撃を緩和できることを特徴とする受光器により達成される。 The object of the present invention is to provide a boom that is pivotable in the vertical direction with respect to the upper swing body including the cab, an arm that is pivotable in the vertical direction with respect to the boom, and the arm. In a device that supports excavation work using a construction machine that excavates earth and sand with the bucket by the operation of driving the boom and arm. A light receiver that receives laser light emitted from a projector that emits along the longitudinal direction of the arm of the backhoe, and that the light receiver is provided with a detachable mounting bracket along the longitudinal direction of the arm. A slidable rail is provided, and a shock-absorbing rubber is installed between the mounting bracket and the rail, and the light receiver attached to the rail can slide to reduce the impact. It is achieved by the photo detector, wherein the door.
この受光器を構成する受光素子は、１列にアームの長手方向に並んで配置され、レーザ光の入射角度が小さくなるようにアーム回動方向に受光素子の受光面が傾斜して設置されたことを特徴としている。 The light receiving elements constituting the light receiver are arranged in a line in the longitudinal direction of the arm, and the light receiving surface of the light receiving element is inclined in the arm rotation direction so that the incident angle of the laser beam is reduced. It is characterized by that.
また、この受光器を構成する受光素子は、２および３に列アームの長手方向に並んで配置され、レーザ光の入射角度が小さくなるようにアーム回動方向に受光素子の受光面が傾斜して設置されたことを特徴としている。 The light receiving elements constituting the light receiver are arranged in the longitudinal direction of the row arms at 2 and 3, and the light receiving surface of the light receiving element is inclined in the arm rotation direction so that the incident angle of the laser beam is reduced. It is characterized by being installed.
或いは、この受光器において、アームの長手方向に並んだ受光素子が受光した際に、受光素子１個〜１０個のすくなくとも１個に対して、１個のＬＥＤランプが受光した受光素子の近くの位置で点灯することを特徴とした構成にしても良い。 Alternatively, in this light receiver, when the light receiving elements arranged in the longitudinal direction of the arm receive light, at least one of the light receiving elements 1 to 10 is located near the light receiving element received by one LED lamp. You may make it the structure characterized by lighting at a position.
受光器が傾斜状態においても、良好に受光できるようになったので、バックホウの車体を移動させなくとも所望する場所を検知でき、掘削作業中においてもアームの傾斜に拘わらず、掘削高さを検知できるので、より迅速に正確な掘削が可能となった。 Even if the receiver is tilted, it can receive light well, so it can detect the desired location without moving the body of the backhoe, and it can detect the excavation height regardless of the inclination of the arm even during excavation work. As a result, it became possible to excavate more quickly and accurately.
請求項２記載の発明によれば、受光素子が１列で作業可能であるから、受光素子の数が大幅に軽減でき、受光素子の回路規模を縮小できる。 According to the second aspect of the present invention, since the light receiving elements can be operated in one row, the number of light receiving elements can be greatly reduced, and the circuit scale of the light receiving elements can be reduced.
請求項３記載の発明によれば、受光素子が２および３列並んでいるから、より広範囲のレーザ光を入射角度の少ない状態で受光できるようになった。 According to the invention described in claim 3, since the light receiving elements are arranged in two and three rows, a wider range of laser light can be received with a small incident angle.
請求項４記載の発明によれば、ＬＥＤランプが点灯することで、オペレーターがレーザ光の高さを、大まかに把握することができ、ＬＥＤランプが点灯しない場合、レーザ光が障害物で遮られて受光していないか、投光器がレーザ光を投光していないか、受光器がレーザ光を受けているにもかかわらず故障して作動しないか、レーザ光の高さから受光器が外れているか、以上の４つの点に関して、素早く判断して作業に復帰できるようになった。 According to the invention described in claim 4, when the LED lamp is lit, the operator can roughly grasp the height of the laser beam. When the LED lamp does not illuminate, the laser beam is blocked by an obstacle. Is not receiving light, the projector is not projecting laser light, the receiver is receiving laser light, does not work because of malfunction, or the receiver is off the height of the laser light With regard to the above four points, it is now possible to quickly judge and return to work.
図１は、本発明の受光器の斜視図である。図１において、１０は受光器、１１は受光素子、１３はＬＥＤランプ、１４は緩衝ゴム、１５はレール、１６は取り付け金具、２はバックホウのアーム、３はブーム、４はバケットである。本発明の受光器とレーザ光を基準面に沿って出射する投光器を合わせて掘削支援装置となる。本発明の受光器１０は、レール１５を支持する取り付け金具１６と、受光器１０をスライド可能にするレール１５と、取り付け金具１６とレール１５とをつないで衝撃を緩衝する役目をする緩衝ゴム１４と、受光器１０を取り付けレール１５に沿った任意の位置で固定できるノブとから構成されている。レール１５は、投光器の出射するレーザ光に合わせて受光器１０を移動させる場合に、受光器１０をスライドさせる役目をする。図４のようにレール１５の受光器側の断面が、方形状や図８のように円状でもスライド可能ではずれなければ、形状は、どんなものでもかまわない。また、ノブは、受光器１０をレール１5に締め付けて固定するものであるが、衝撃のための緩みを防止するために、レール１５側のノブのねじ部先端接触面に、凹凸を設けて確実に固定できるようにするとよい。 FIG. 1 is a perspective view of a light receiver of the present invention. In FIG. 1, 10 is a light receiver, 11 is a light receiving element, 13 is an LED lamp, 14 is a buffer rubber, 15 is a rail, 16 is a mounting bracket, 2 is a backhoe arm, 3 is a boom, and 4 is a bucket. The light receiving device of the present invention and the projector that emits the laser light along the reference plane are combined to form an excavation support device. The light receiver 10 of the present invention includes a mounting bracket 16 that supports the rail 15, a rail 15 that enables the light receiver 10 to slide, and a buffer rubber 14 that serves to buffer the impact by connecting the mounting bracket 16 and the rail 15. And a knob capable of fixing the light receiver 10 at an arbitrary position along the mounting rail 15. The rail 15 serves to slide the light receiver 10 when the light receiver 10 is moved in accordance with the laser light emitted from the projector. As long as the cross section on the light receiver side of the rail 15 as shown in FIG. 4 is not square or slidable as shown in FIG. 8, the shape may be any shape. Also, the knob fastens the light receiver 10 to the rail 15 and fixes it, but in order to prevent loosening due to impact, the knob 15 on the rail 15 side is provided with unevenness on the tip contact surface of the knob. It is good to be able to fix to.
緩衝ゴム１４は、取り付け金具１６とレール１５とをつないで衝撃を緩衝する役目をするもので、取り付け金具１６から、２〜３か所柱状に緩衝ゴム１４が伸びてレール１５を支持している。緩衝ゴム１４の断面は、円状でなくともよい。バックホウのアーム２、ブーム３、バケット４の回動方向の衝撃を緩衝できる。また、旋回方向の衝撃は、バックホウの旋回動作はゆっくり停止し、またゆっくり旋回するようになっているのでバックホウの旋回方向の衝撃は、ほとんど無い。 The buffer rubber 14 serves to buffer the impact by connecting the mounting bracket 16 and the rail 15, and the buffer rubber 14 extends from the mounting bracket 16 in two or three columnar shapes to support the rail 15. . The cross section of the buffer rubber 14 may not be circular. The impact in the rotational direction of the backhoe arm 2, boom 3, and bucket 4 can be buffered. Further, as for the impact in the turning direction, the turning operation of the backhoe is slowly stopped, and since the turning is made slowly, there is almost no impact in the turning direction of the backhoe.
図２は、バックホウのアーム傾斜時における受光角度の状態図である。図３は、本発明の受光器の受光素子が傾斜している状態の斜視図である。図４は、本発明の受光素子が一列である受光器の断面図である。本発明の受光器１０は、長尺状の支持体の凹部に一列に受光素子１１が並べられている。アーム２の長手方向一列に並べられた受光素子１１は、等間隔で複数配置されており、投光器６からレーザ光を受けた受光素子１１が固有の受光信号を出力することにより、受光器１０における長手方向の受光位置を特定することができる。受光素子１１の間隔は、例えば１０ミリ間隔であり、それを一列に８０個配置する。受光器１０の長さは８０センチ程度となる。受光器１０の検出分解能は、測定対象が土や石などであるから例えば±２０ミリ程度でよく、受光器１０に配置された受光素子１１の数を少なくして、低コスト化を図ることができる。また、アーム２を伸ばした状態では、受光器１０へのレーザ光の入射角度が水平面に対して４０度程度になるため、レーザ光の検出を確実にするために、指向特性が広い（本発明では１２０度の指向特性をもつもので図示している）受光素子１１を好ましく用いることができる。 FIG. 2 is a state diagram of a light receiving angle when the arm of the backhoe is tilted. FIG. 3 is a perspective view showing a state in which the light receiving element of the light receiver of the present invention is inclined. FIG. 4 is a cross-sectional view of a light receiver in which the light receiving elements of the present invention are arranged in a row. In the light receiver 10 of the present invention, the light receiving elements 11 are arranged in a line in the recess of the long support. A plurality of light receiving elements 11 arranged in a line in the longitudinal direction of the arm 2 are arranged at equal intervals, and the light receiving elements 11 that have received the laser light from the projector 6 output a specific light receiving signal. The light receiving position in the longitudinal direction can be specified. The interval between the light receiving elements 11 is, for example, an interval of 10 mm, and 80 of them are arranged in a line. The length of the light receiver 10 is about 80 cm. The detection resolution of the light receiver 10 may be, for example, about ± 20 mm because the object to be measured is soil or stone, and the number of light receiving elements 11 arranged in the light receiver 10 can be reduced to reduce the cost. it can. Further, in the state where the arm 2 is extended, the incident angle of the laser beam to the light receiver 10 is about 40 degrees with respect to the horizontal plane, so that the directivity is wide to ensure the detection of the laser beam (the present invention). The light receiving element 11 (shown with a directional characteristic of 120 degrees) can be preferably used.
図２において、Ｚ方向は垂直方向で、実線はアーム２が４０度傾斜している状態である。２点鎖線は、アーム２が垂直の状態である。Ｓは、アーム２が４０度傾斜している状態での受光素子１１への垂直方向である。またＳは、入射角がゼロ方向である。受光器１０の長手方向に、Ｓが垂直になるように受光素子１１を取り付けた場合、アーム２が４０度傾斜すると受光素子１１への入射角は、４０度となる。入射角を小さくして受光素子１１の出力を上げるために、受光素子１１をＢ（アーム傾斜角度の半分で例えば２０度）の角度だけ下方に傾斜させる。ようするにアーム２の傾斜方向（ＸＹ方向）に対してＺ軸を２０度傾斜させる。こうすることによって、アーム２が垂直時では水平レーザ光の入射角が２０度となり、アーム２が２０度傾斜時では入射角がゼロ、アーム２が４０度傾斜時では入射角が２０度となる。よって入射角を少なくでき、受光素子１１の出力を大きくできる。 In FIG. 2, the Z direction is the vertical direction, and the solid line is the state in which the arm 2 is inclined by 40 degrees. A two-dot chain line is a state in which the arm 2 is vertical. S is a direction perpendicular to the light receiving element 11 when the arm 2 is inclined by 40 degrees. S is the direction in which the incident angle is zero. When the light receiving element 11 is attached so that S is perpendicular to the longitudinal direction of the light receiver 10, when the arm 2 is inclined by 40 degrees, the incident angle to the light receiving element 11 is 40 degrees. In order to reduce the incident angle and increase the output of the light receiving element 11, the light receiving element 11 is inclined downward by an angle of B (half the arm inclination angle, for example, 20 degrees). Thus, the Z axis is inclined 20 degrees with respect to the inclination direction (XY direction) of the arm 2. By doing so, the incident angle of the horizontal laser beam is 20 degrees when the arm 2 is vertical, the incident angle is zero when the arm 2 is inclined 20 degrees, and the incident angle is 20 degrees when the arm 2 is inclined 40 degrees. . Therefore, the incident angle can be reduced and the output of the light receiving element 11 can be increased.
図４は、本発明の受光素子が一列である受光器の断面図である。図５は、本発明の受光素子が一列である受光器を、バックホウ上部から見た受光角度を示す図である。図５の中で、Ｘ方向付近は、受光素子１１の出力が半値程度になるので、アーム２が傾斜した場合、出力が半値以下に下がって、受光できない場合がある。そのために、図示Ａの角度だけ、正面側へ振ってやる。図６は、受光素子の半値角検討図である。ＯＧは受光素子１１に対して垂直、∠ＦＯＧ＝∠ＧＯＤ＝６０度、∠ＨＯＣ＝４０度、ＯＦ＝ＯＩ＝ＯＨ＝ＯＣ＝Ｒとして、ＯＩをＸＹ方向、∠ＨＯＣをアーム２の傾斜角度とする。受光素子１１がレーザ光を受けて、半値以上の出力を出せる範囲を１２０度の範囲とすると、ＯＩをＸＹ方向に合わせると、アーム２の傾斜時には半値角から外れる。そのため、ＯＥをＸＹ方向に合わせると受光できる。ようするにθの角度だけ正面側に振らなければならない。バックホウ５の車体の傾斜がある場合には、角度のずれがあるので、θ＋余裕角度＝Ａだけ補正しなければならない。本発明においては、Ａは５度程度が良い。 FIG. 4 is a cross-sectional view of a light receiver in which the light receiving elements of the present invention are arranged in a row. FIG. 5 is a view showing a light receiving angle of a light receiver in which the light receiving elements of the present invention are arranged in a row as viewed from the upper part of the backhoe. In FIG. 5, in the vicinity of the X direction, the output of the light receiving element 11 is about half value, so when the arm 2 is tilted, the output falls below the half value and light reception may not be possible. For this purpose, it is shaken toward the front side by an angle of A in the figure. FIG. 6 is a diagram for examining the half-value angle of the light receiving element. OG is perpendicular to the light receiving element 11, ∠FOG = ∠GOD = 60 degrees, ∠HOC = 40 degrees, OF = OI = OH = OC = R, OI is the XY direction, ∠HOC is the inclination angle of the arm 2 To do. Assuming that the range in which the light receiving element 11 receives laser light and can output more than half value is a 120 degree range, when the OI is adjusted in the XY direction, the arm 2 deviates from the half value angle. Therefore, light can be received by aligning OE in the XY directions. Therefore, it must be swung to the front side by an angle of θ. If there is an inclination of the vehicle body of the backhoe 5, there is an angle shift, and it is necessary to correct only θ + the margin angle = A. In the present invention, A is preferably about 5 degrees.
防護ガラス１２は、作業中に石や木の接触が考えられるので強化されたガラスもしくは、強化プラスチックなどが好まれる。 The protective glass 12 is preferably made of tempered glass or reinforced plastic because contact with stones or wood can be considered during the work.
図７は、本発明の受光素子が２列の受光器の断面図である。図９は、本発明の受光素子が２および３列である受光器を、バックホウ上部から見た受光角度を示す図である。受光素子１１が２列の場合、図示のようにＸＹ方向左半分全て受光できる。また二つの受光素子１１の受光範囲が重複しているので、受光素子１１の出力が半値以上で検出することができる。受光素子１１が一列の場合と同様に、アーム２傾斜方向（ＸＹ方向）にＺ軸を２０度傾斜させる。バックホウ５の運転室側の受光素子１１は、受光素子の面が上を向くように傾斜させ、運転室反対側の受光素子１１は、受光素子の面が下を向くように傾斜させる。また、オペレーター側には、ＬＥＤランプ１３が見えるように設置されている。 FIG. 7 is a cross-sectional view of a light receiver having two rows of light receiving elements according to the present invention. FIG. 9 is a view showing a light receiving angle when a light receiver having two and three light receiving elements according to the present invention is viewed from above the backhoe. When the light receiving elements 11 are in two rows, all the left half in the XY direction can receive light as shown in the figure. In addition, since the light receiving ranges of the two light receiving elements 11 overlap, the output of the light receiving element 11 can be detected at a half value or more. Similarly to the case where the light receiving elements 11 are arranged in a row, the Z axis is inclined 20 degrees in the arm 2 inclination direction (XY direction). The light receiving element 11 on the cab side of the backhoe 5 is inclined so that the surface of the light receiving element faces upward, and the light receiving element 11 on the opposite side of the cab is inclined so that the surface of the light receiving element faces downward. Moreover, it is installed on the operator side so that the LED lamp 13 can be seen.
図８は、本発明の受光素子が３列の受光器の断面図である。図９は、本発明の受光素子が２および３列である受光器を、バックホウ上部から見た受光角度を示す図である。図９で示すように、３列の場合２７０度を超える範囲まで受光することができる。アーム２がある方向は、アーム２がレーザ光を遮るので、受光できない。また、バックホウ５の車体方向も受光できない。３列の受光器１０の場合、受光器１０の設置位置がアーム２のオペレーター側の角から４５度の方向で外へ出ている。１列、２列同様にオペレーター側よりＬＥＤランプ１３が見えるように設置されている。掘削支援装置の場合、受光器の長手方向延長上にバケットの刃先を合わせて、アイマークを設定しなければならないが、３列の受光素子の場合アーム２の角から４５度内側に受光器１０が伸びているが、１及び２列同様に受光器の長手方向延長上にバケットの刃先を設定すればよいので、１〜３列同様に設定可能である。受光素子が１および２列の場合と同様に、アーム２傾斜方向（ＸＹ方向）にＺ軸を入射角度が少なくなるように２０度程度傾斜させる。 FIG. 8 is a cross-sectional view of a light receiver having three rows of light receiving elements according to the present invention. FIG. 9 is a view showing a light receiving angle when a light receiver having two and three light receiving elements according to the present invention is viewed from above the backhoe. As shown in FIG. 9, in the case of three rows, light can be received to a range exceeding 270 degrees. The direction in which the arm 2 is present cannot receive light because the arm 2 blocks the laser beam. Further, the vehicle body direction of the backhoe 5 cannot be received. In the case of the three rows of light receivers 10, the installation positions of the light receivers 10 are out in the direction of 45 degrees from the operator side corner of the arm 2. It is installed so that the LED lamp 13 can be seen from the operator side in the same manner as in the first and second rows. In the case of the excavation support device, it is necessary to set the eye mark by aligning the cutting edge of the bucket on the longitudinal extension of the light receiver, but in the case of three rows of light receiving elements, the light receiver 10 is located 45 degrees inside the angle of the arm 2. However, since it is only necessary to set the blade edge of the bucket on the extension in the longitudinal direction of the light receiver as in the first and second rows, it can be set in the same manner as in the first to third rows. As in the case of the first and second light receiving elements, the Z-axis is tilted by about 20 degrees in the arm 2 tilt direction (XY direction) so as to reduce the incident angle.
図１０は、バックホウの掘削作業方向と投光器および受光器の設置位置説明図である。各作業内容に対して、バックホウ５の移動方向、投光器６の設置高さを説明してある。投光器６の設置高さは、所望する掘削深さの１．５〜２Ｍ（バックホウ５の大きさで決まってくる長さである）程度上方で投光しなければならない。そのために、簡単に投光器６を設定するために本発明人は、エレベータ式三脚や法面用三脚を開示しています。また、本発明の受光器１０はバックホウ５の作業方向を考えて、投光器６を設置しなければならない。図９に各作業別に分けて図示する。大きく分けて直線方向で掘削する場合と、広い面を整地または掘削する場合に分かれる。バックホウ５の掘削作業方向が、直線方向に関しては、掘削開始地点付近ＸＹ方向よりやや受光器１０側に投光器６を設置すると後は、バックホウ５が掘削しながら下がるので、レーザ光を受光することができる。また、宅地などの広い面の場合は、図９の建築基礎の図で説明すると、投光器６を左の隅（上側の直線を掘削するために直線よりやや下側）に設置して矢印の方向で掘削しなければならない。しかし、Ｄ方向の掘削に関しては受光できない場合がある。その場合、投光器６の移動が必要となる。受光素子１１が一列である場合、正面Ｘ方向よりほぼ１２０度程度受光角度があれば、上記の作業は、ほとんど可能となる。 FIG. 10 is an explanatory diagram of the backhoe excavation work direction and the installation positions of the projector and the light receiver. The moving direction of the backhoe 5 and the installation height of the projector 6 are explained for each work content. The installation height of the projector 6 must be projected upward about 1.5 to 2M (the length determined by the size of the backhoe 5) of the desired excavation depth. Therefore, in order to easily set the projector 6, the present inventor has disclosed an elevator tripod and a slope tripod. In addition, the light receiver 10 of the present invention must be provided with the projector 6 in consideration of the working direction of the backhoe 5. FIG. 9 shows each work separately. There are two types of excavation: straight excavation and wide terrain or excavation. As for the excavation work direction of the backhoe 5, with respect to the linear direction, after the projector 6 is installed on the light receiver 10 side slightly from the XY direction near the excavation start point, the backhoe 5 is lowered while excavating, so that the laser beam can be received. it can. In the case of a large area such as a residential land, as illustrated in the building foundation diagram of FIG. 9, the projector 6 is installed at the left corner (slightly below the straight line to excavate the upper straight line) and the direction of the arrow Must be drilled in. However, it may not be possible to receive light for excavation in the D direction. In that case, the projector 6 needs to be moved. When the light receiving elements 11 are arranged in a row, the above work is almost possible if there is a light receiving angle of about 120 degrees from the front X direction.
図１１は、本発明の受光器のＬＥＤランプの配置図である。図１１においては、受光素子１１が５個に対してＬＥＤランプ１３が１個取り付けられている。オペレーターが見える位置に、受光素子１１が１個〜１０個の少なくとも１個にたいして１個のＬＥＤランプ１３が、受光した受光素子１１の近傍で点灯するようになっている。ＬＥＤランプ１３が点灯することで、オペレーターがレーザ光の高さを、大まかに把握することができる。また、ＬＥＤランプ１３が点灯しない場合、レーザ光が障害物で遮られて受光していないか、投光器がレーザ光を投光していないか、受光器１０がレーザ光を受けているにもかかわらず故障して作動しないか、レーザ光の高さから受光器１０が外れているか、以上の４つの点に関して、素早く判断できる。 FIG. 11 is a layout diagram of LED lamps of the light receiver of the present invention. In FIG. 11, one LED lamp 13 is attached to five light receiving elements 11. One LED lamp 13 is lit in the vicinity of the received light receiving element 11 for at least one of the light receiving elements 11 at the position where the operator can see. When the LED lamp 13 is turned on, the operator can roughly grasp the height of the laser beam. Further, when the LED lamp 13 is not turned on, the laser beam is blocked by an obstacle and is not received, the projector does not project the laser beam, or the light receiver 10 receives the laser beam. It is possible to quickly determine whether or not the device malfunctions and whether the light receiver 10 is out of the height of the laser beam.
本発明においては、アーム２の傾斜角度を４０度に設定してきたが、実際バックホウ５は、もっと傾斜可能なので、傾斜角度設定を５０度にして受光素子１１の傾斜を２５度位にしても良い、また、バックホウ５は、後ろへ下がりながら掘削する機械なので１箇所仕上げると後ろへ下がって、また仕上げるという動作を繰り返して掘削する。そこで、後ろへ下がった状態ではアーム２傾斜角度が４０〜５０度の場所は仕上がっている。その仕上がった場所からまた、直線掘削するものであるから、アーム２の傾斜角度が１０〜３０度位傾斜した状態が多く検知されるようになる。高さ検知する頻度が多い角度は、１０〜３０度と思われるので受光素子１１の傾斜を５〜１５度位にしても良い。また、掘削誤差は、受光器のレーザ光を受光した位置からバケットの刃先までの距離に、傾斜計の角度を演算して垂直高さを出すものであるから、傾斜計の誤差も含むようになる。例えば、傾斜計が１度の誤差を持つ場合、同じ１度の誤差でも傾斜角度が少ないほうが、三角関数の特性（傾斜角が少ないほうが、角度が１度変化しても、三角関数値はあまり変化しない）により、誤差が少なくなる。よって、アーム２の角度が１０〜３０度位が精度良く検知できる。 In the present invention, the inclination angle of the arm 2 has been set to 40 degrees. However, since the backhoe 5 can actually be inclined more, the inclination angle setting may be set to 50 degrees and the inclination of the light receiving element 11 may be set to about 25 degrees. Moreover, since the backhoe 5 is a machine that excavates while descending backward, the excavation is repeated by repeating the operation of lowering and finishing once after finishing one place. Therefore, when the arm 2 is tilted backward, the place where the angle of inclination of the arm 2 is 40 to 50 degrees is finished. Since the straight excavation is performed from the finished place, a state where the inclination angle of the arm 2 is inclined by about 10 to 30 degrees is often detected. Since the angle at which the height is frequently detected is considered to be 10 to 30 degrees, the inclination of the light receiving element 11 may be set to about 5 to 15 degrees. The excavation error is calculated by calculating the angle of the inclinometer to the distance from the position where the laser beam of the light receiver is received to the blade edge of the bucket, so that the vertical height is included. Become. For example, if the inclinometer has an error of 1 degree, the trigonometric function characteristics (the smaller the tilt angle is, the smaller the tilt angle is, the smaller the tilt angle is, the less the trigonometric function value is, even if the angle is changed by 1 degree). Error does not change. Therefore, the angle of the arm 2 can be detected with accuracy of about 10 to 30 degrees.
１０ 受光器
１１ 受光素子
１２ 防護ガラス
１３ ＬＥＤランプ
１４ 緩衝ゴム
１５ レール
１６ 取り付け金具
２ アーム
３ ブーム
４ バケット
５ バックホウ
６ 投光器
DESCRIPTION OF SYMBOLS 10 Light receiver 11 Light receiving element 12 Protective glass 13 LED lamp 14 Buffer rubber 15 Rail 16 Mounting bracket 2 Arm 3 Boom 4 Bucket 5 Backhoe 6 Floodlight
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| JP2010108268A JP2011237253A (en) | 2010-05-10 | 2010-05-10 | Light receiver |
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| JP2010108268A JP2011237253A (en) | 2010-05-10 | 2010-05-10 | Light receiver |
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| Publication Number | Publication Date |
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| JP2011237253A true JP2011237253A (en) | 2011-11-24 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| KR101847299B1 (en) * | 2016-12-05 | 2018-04-10 | 김주희 | Staff |
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| JPH0522659U (en) * | 1991-08-30 | 1993-03-23 | 株式会社小松製作所 | Excavation depth detector for power shovel |
| JPH1077663A (en) * | 1996-09-04 | 1998-03-24 | Shin Caterpillar Mitsubishi Ltd | Construction machinery with laser instrument |
| JPH11173847A (en) * | 1997-12-11 | 1999-07-02 | Sokkia Co Ltd | Protector of light receiver for surveying |
| JPH11211471A (en) * | 1998-01-27 | 1999-08-06 | Kubota Corp | Height controlling receiving device |
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| JP2007101235A (en) * | 2005-09-30 | 2007-04-19 | Topcon Corp | Laser level detection system |
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| JPH01170807A (en) * | 1987-12-26 | 1989-07-05 | Komatsu Ltd | Laser light receiver |
| JPH03134510A (en) * | 1989-10-19 | 1991-06-07 | Toa Harbor Works Co Ltd | Laser-light detecting apparatus |
| JPH0522659U (en) * | 1991-08-30 | 1993-03-23 | 株式会社小松製作所 | Excavation depth detector for power shovel |
| JPH1077663A (en) * | 1996-09-04 | 1998-03-24 | Shin Caterpillar Mitsubishi Ltd | Construction machinery with laser instrument |
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| KR101847299B1 (en) * | 2016-12-05 | 2018-04-10 | 김주희 | Staff |
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