JP2018163114A - Measuring device and measurement system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a measuring device or the like capable of easily measuring a position of an object, such as an excavator body.SOLUTION: A measuring device 1 measures a position of an excavator body 6 in excavation of a ground 7, is constituted by vertically connecting a plurality of rod-shaped measurement units 10, and measures a position of the excavator body 6 mounted to one end part. The measurement unit 10 includes: an inclination measuring device that is a casing including a cavity in the inside and measures inclination of the measurement unit 10; and an antenna member for transmitting a measurement result to the inclination measuring device. In a connection place for connecting the upper and lower measurement units 10, the upper and lower measurement units 10 can be relatively rotated. The connection place includes a connection place in which the upper and lower measurement units 10 are relatively rotatable at least within a predetermined surface, and a connection place in which the upper and lower measurement units 10 are relatively rotatable within a surface orthogonal to at least a predetermined surface.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a measuring device and a measuring system for measuring the position of an object.

  A suspended excavator is known as an excavator used for constructing a continuous underground wall. A suspended excavator hangs an excavator body from a base machine with a wire or the like, and excavates the ground with a cutter or the like provided on the excavator body while the excavator body is suspended.

  When excavating the ground with a suspended excavator, it is desirable to control the attitude of the excavator body and keep the excavation direction vertical. As a technique for that purpose, in Patent Document 1, a measuring wire is attached to the excavator body, and the length of the wire during excavation is measured, or the horizontal position of the wire is measured with a camera, so that the excavator body The position is being measured.

  The present inventor has also filed a system for measuring the position of the excavator body by measuring the position of the wire that suspends the excavator body with a camera or the like (see Patent Document 2).

Japanese Patent Laid-Open No. 2001-234555 JP 2016-075670

  However, in the method of Patent Document 1, it is necessary to apply a great amount of tension to the wire for the purpose of preventing the loosening of the wire. For this reason, a very large torque motor is required, and the cost, space, and safety required for the torque motor are required. There is also a problem in terms of.

  On the other hand, the system of Patent Document 2 by the present applicant does not require the torque motor as described above, and can easily and accurately measure the position of the excavator body.

  However, in such a suspended excavator, the excavator body and the wire that suspends the excavator may be used in a state of being covered with a mud splash prevention sheet, and the position of the wire is measured with a camera or the like. Have difficulty. In addition, for the purpose of preventing the entanglement of the wire, the wire may be covered with a plastic box, and in this case, it is difficult to directly measure the position of the wire with a camera or the like.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a measuring device that can easily measure the position of an object such as an excavator body.

1st invention for solving the subject mentioned above is a measuring device which is constituted by connecting a plurality of bar-shaped measuring units up and down, and measures the position of the object attached to the lower end part, and the measuring unit Has a tilt measuring device for measuring the tilt of the measuring unit, and a transmitter for transmitting the measurement result of the tilt measuring device, and at the connection point connecting the upper and lower measuring units, the upper and lower measuring units are A connecting portion that is relatively rotatable in a plane along the longitudinal direction of the measurement unit, and in which the upper and lower measurement units can be relatively rotated in at least a predetermined plane, and the upper and lower measurement units are at least the predetermined plane. It is a measuring device characterized in that there is a connection location that can be relatively rotated in a plane orthogonal to the.
The measuring device measures, for example, the position of the excavator body during excavation of the ground, and the lower end of the measuring device is attached to the outside of the excavator body.

  The measuring device of the present invention can measure the displacement between both ends of the measuring device by accumulating the displacement of each measuring unit obtained from the length and inclination of the measuring unit. By attaching, the position of the object can be easily measured. Therefore, for example, even when the position of the excavator body cannot be measured using the suspension wire as described above, the position can be easily measured by attaching the measuring device to the excavator body from the outside.

  In addition, with respect to the connection location where the upper and lower measurement units are connected, the connection location where the upper and lower measurement units can be relatively rotated within a predetermined plane and the upper and lower measurement units can be relatively rotated within a plane orthogonal to the predetermined plane. Since there is a connection point, the entire measuring device can move flexibly, deform depending on the position of the object, extend upwards avoiding the obstacle, and impact when the obstacle collides Can be relieved.

The measurement unit is preferably a cylinder having a cavity inside.
Thereby, when arrange | positioning a measuring apparatus in fluids, such as soil cement in a digging ditch, the upward force by a buoyancy can be made to act on a measurement unit, and can be made to float. As a result, a large torque motor or the like is not required to prevent the measuring device from loosening.

In addition, it is desirable that a filler is installed in the cavity.
Thereby, even when moisture or the like enters the cavity, an upward force due to buoyancy can be reliably exerted.

It is also desirable that the cylindrical body is formed of polycarbonate.
By using polycarbonate for the measurement unit, the upward force due to buoyancy is light, easy to work, high strength, and excellent impact resistance.

It is also desirable that a counterweight is attached to the upper end portion of the measuring device via a wire.
In the present invention, as a result of applying an upward force due to buoyancy to the measurement unit as described above, the configuration for preventing the loosening of the measurement device can be simplified using a counterweight.

It is desirable that the upper and lower measurement units are relatively movable up and down at the connection location where the upper and lower measurement units are connected.
When placing the measuring device in a fluid such as soil cement in the excavation groove, static friction is instantaneously applied to the entire measuring device at the start of the descent of the measuring device by cutting the edges of the upper and lower measuring units with the above configuration. It is possible to prevent the resistance from intensively acting on the connecting portion between the measuring device and the object and breaking the connecting portion.

It is desirable that radio waves are transmitted between the tilt measuring devices of the upper and lower measurement units through the connection locations of the upper and lower measurement units and the inside of the measurement unit.
In the present invention, by connecting the upper and lower measurement units and the inside of the measurement unit with radio wave transmission, radio waves can be transmitted between the tilt measuring devices as described above. It is possible to transmit and receive signals in a relay format between the inclination measurement devices of the units, and it is possible to collect measurement instructions to the inclination measurement devices and collection of measurement results of the inclination measurement devices with a simple configuration.

A second invention is a measurement system using the measurement device and the information processing device according to the first invention, wherein the information processing device determines the position of the object attached to the lower end of the measurement device by the length of each measurement unit. It is a measurement system characterized by calculating using height and inclination.
Thus, in the present invention, the position of the object can be suitably calculated by the information processing device from the length and inclination of the measurement unit.

  According to the present invention, it is possible to provide a measuring device that can easily measure the position of an object such as an excavator body.

The figure which shows the state which attached the measuring device 1 to the excavator main body 6 of a suspension type excavator. The figure which looked at the upper part of base machine 8 from the side. The figure which shows the measurement unit 10. FIG. The figure explaining the relative rotation in the connection location 16 of the upper and lower measuring units 10. FIG. The figure shown about a deformation | transformation of the measuring device. The figure which shows the outline of the inclination measuring apparatus 30. FIG. The figure which shows the inclination of the measurement unit 10. FIG. The figure shown about the excavation of the ground 7 by the excavator main body 6. FIG. The figure explaining the position measurement by the measuring device 1. FIG. The figure shown about the marking 17. FIG. The figure which shows the connection location 16a of the upper and lower measurement units 10a. The figure which shows transmission of the electromagnetic wave between the inclination measuring apparatuses 30 of the upper and lower measurement units 10a.

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

[First Embodiment]
(1. Suspended excavator and measuring device 1)
FIG. 1 is a view showing a state in which a measuring device 1 according to a first embodiment of the present invention is attached to an excavator body 6 of a suspended excavator.

  The measuring device 1 is used when excavating the ground 7 with the cutter 61 of the excavator body 6 to form the excavation groove 71 during construction of the underground continuous wall or the like. In the present embodiment, in parallel with excavation of the ground 7, cement slurry or the like is discharged from the excavator body 6, and this is stirred and kneaded in the original position with the excavated soil to generate the soil cement (fluid). It shall be digging down. The construction of the underground continuous wall is a procedure in which the core material is built in the soil cement in the excavation groove 71 after the excavation groove 71 is thus formed.

  In this embodiment, a total of four cutters 61 are provided, one at each of the four corners of the vertical surface of the excavator body 6, and the ground 7 is excavated by rotating forward and backward independently about the horizontal axis. Can be done. Further, an optical fiber gyroscope and an inclinometer (not shown) for measuring the attitude (tilt) of the excavator body 6 are provided inside the excavator body 6. However, since the error tends to increase with the passage of time in the optical fiber gyroscope, in this embodiment, in order to more accurately measure the orientation (azimuth) of the excavator body 6 in the plane, an azimuth angle sensor (not shown) is further provided. Etc. are also provided.

  The excavator body 6 is suspended from the base machine 8 by the suspension material 5. The suspension member 5 has a shape in which the wire 51 is continuously covered with a plurality of plastic box-like covering materials 52, thereby preventing the wire 51 from being entangled. The suspension members 5 are attached to the left and right sides of the upper surface of the excavator body 6, and a plurality of hydraulic hoses 9 for supplying hydraulic pressure for driving the cutter to the excavator body 6 are provided between the suspension members 5. It is done.

  In addition, the structure of the excavator body 6 and the excavation method of the ground 7 by the excavator body 6 are not limited thereto. The fluid in the excavation groove 71 varies depending on the excavation method, and the excavation groove 71 may be filled with water (muddy water) or a stable liquid.

  As shown in FIG. 1, the measuring device 1 of this embodiment is configured by connecting a plurality of rod-shaped measuring units 10 up and down. The lower end portion of the measuring device 1 is spherically connected to the outside of the excavator body 6 (target object) by a connecting portion 15 such as a ball joint, so that free behavior is ensured. A wire 3 (wire material) is connected to the upper end of the measuring device 1, and a counterweight 4 described later is attached via the wire 3.

  FIG. 2 is a side view of the upper portion of the base machine 8. As shown in FIG. 2, the suspension member 5 and the like (the suspension member 5 and the hydraulic hose 9) are wound around a drum 82 provided on the upper portion of the base machine 8, and the suspension member 5 and the like fed out from the drum 82 are the base machine. 8 is hooked on a pulley 81 held at the top of the head 8 and connected to the excavator body 6 directly below.

  Pulleys 811 and 821 are attached to the rotation centers of the pulley 81 and the drum 82. The aforementioned wire 3 is hooked on these pulleys 811 and 821, and a counterweight 4 (weight) is attached to the tip thereof. The counterweight 4 prevents the measuring device 1 from loosening.

(2. Measurement unit 10)
FIG. 3 is a diagram showing the measurement unit 10, and shows three measurement units 10 arranged vertically in the measurement apparatus 1. In the following description, the measuring units 10 are arranged in order from the bottom to the top 10 ₁ , 10 ₂ ,... 10 _n−1 , 10 _n , 10 _{n + 1 ,. A} distinction may be made by using symbols with ₁ , 10 _m and subscripts.

  As shown in FIG. 3, the measurement unit 10 is a hollow cylinder whose top and bottom are closed, and has a cavity inside. Therefore, an upward force is applied to the measurement unit 10 by buoyancy against the soil cement in the excavation groove 71. An adhesion preventing material is applied to the outer surface of the measurement unit 10 by spraying or the like so that soil, cement slurry, or the like does not adhere when the ground 7 is excavated.

  The material, shape, size, and the like of the cylinder of the measurement unit 10 can be variously determined so that the upward force described above acts on the measurement unit 10. In the present embodiment, the material, shape, size, and the like of the cylinder are determined so that an upward force due to buoyancy can be ensured by the cylinder alone with respect to water having a specific gravity of 1. However, it can also be determined so that an upward force due to buoyancy can be secured by a single cylinder for a soil cement having a specific gravity of 1 or more (for example, about 1.3 to 1.4).

The cylindrical shape may be cylindrical or rectangular. Also, the cylinder material only needs to have a certain level of lightness and strength that the cylinder does not bend due to its own weight, such as metal such as aluminum, polycarbonate, ABS (acrylonitrile butadiene styrene) resin, PVC (poly
Vinyl chloride) resin and various new plastic materials can be used. In this embodiment, it is assumed that polycarbonate is used. Polycarbonate is light and less than half the specific gravity of aluminum and has high strength, and it is easy to work upward force due to buoyancy, and is also preferable in terms of impact resistance. In addition, it is necessary not to use a metal such as aluminum in the portion corresponding to the radio wave transmission path, which will be described later, but to use a radio wave permeable material such as the above-described polycarbonate. Metals such as aluminum can be used for other parts, but since the specific gravity is large, upward force due to buoyancy is difficult to work.

  The cavity inside the measurement unit 10 is partitioned into three chambers 11, 12, and 13 in order from the top. A slider 14 is provided on the outer surface of the upper end portion of the measurement unit 10.

  A filler 20 is provided in the uppermost chamber 11 of the measurement unit 10. The chamber 11 and the chamber 12 below the chamber 11 are completely waterproof so that moisture and the like do not enter the interior, but the filling body 20 is obtained by previously filling the interior space of the chamber 11 with the filling body 20. In the unlikely event that water or the like enters the inside of the chamber 11, the amount of water in the chamber 11 is reduced, and the measuring unit 10 is provided with an upward force due to buoyancy.

  The material, shape, size, etc. of the filling body 20 can be variously determined so that upward force due to buoyancy acts on the measurement unit 10 even when water having a specific gravity of 1 enters the inside of the chamber 11, for example. The specific gravity obtained by dividing the weight by the volume is made smaller than that of water having a specific gravity of 1.

  In the present embodiment, a hollow cylindrical body or a solid cylindrical body whose upper and lower sides are closed is used as the filling body 20, and this is formed of foamed polystyrene. However, the material, shape, size, and the like of the filling body 20 are not limited to this, and it is sufficient that an upward force due to buoyancy can be secured in the measurement unit 10 when moisture or the like enters the chamber 11. For example, it is possible to form the filler 20 from an ABS resin or the like instead of polystyrene foam, and in this case, the strength can be increased.

  In this embodiment, in order to ensure upward force due to buoyancy, the chamber 11 occupies most of the measurement unit 10, for example, occupies 2/3 or more of the length of the measurement unit 10. Accordingly, the chambers 12 and 13 below the chamber 11 are arranged in the lower portion of the measurement unit 10 in a range of 1/3 or less from the bottom of the length of the measurement unit 10. However, the arrangement of the chambers 11, 12, and 13 is not limited to this.

  A tilt measuring device 30 is provided in the chamber 12 of the measuring unit 10. From the inclination measuring device 30, antenna members 41 and 42 (transmitting units) extend into the upper and lower chambers 11 and 13. Although the antenna members 41 and 42 are disposed in the cavities in the chambers 11 and 13, for example, the antenna member 41 can be passed through the inside of the filling body 20. The inclination measuring device 30 will be described later.

  The lowermost chamber 13 of the measurement unit 10 and the slider 14 described above are connected so that the upper and lower measurement units 10 can be relatively rotated within a vertical plane (in a plane along the longitudinal direction of the measurement unit 10). Provided.

  That is, a slit 131 having a predetermined length (for example, about 100 m) is provided on the side wall of the chamber 13, and the slider 14 of the lower measurement unit 10 is attached to the slit 131.

  The slider 14 has a shaft 141 and a head portion 142 at the tip thereof. The shaft 141 attached to the outer surface of the measurement unit 10 is passed through the slit 131, and the head portion 142 at the tip is disposed in the chamber 13. . The width of the head 142 is larger than the width of the slit 131 so that the slider 14 does not come off the slit 131.

  As a result, the measurement unit 10 and the measurement unit 10 below the measurement unit 10 can be relatively rotated in the vertical plane around the axial direction of the slider 14 at the connection location 16. Furthermore, since the slider 14 can move up and down along the slit 131, the measurement unit 10 and the measurement unit 10 below it can relatively move up and down at the connection location 16.

  In this embodiment, as schematically shown in FIG. 4A, when one measurement unit 10 is viewed, the installation position of the slider 14 and the formation position of the slit 131 on the plane are at the center of the measurement unit 10. It is 90 degrees different.

Therefore, as schematically shown in FIG. 4 (b), the mounting slider 14 of the measuring unit 10 _n to the slit 131 of the upper measuring unit _{10 n + 1,} the measurement of the downward slits 131 of the measuring unit 10 _n unit 10 When mounting the slider 14 of the _n-1, the surface P1 to relative rotation in the measurement unit _{10 n, 10} n _{+ 1} is connected portion 16, and the surface P2 of the measuring unit _{10 n, 10 n-1} are relatively rotated at the connection point 16 is Will be orthogonal.

As a result, in the present embodiment, the upper and lower measurement units 10 _n and 10 _{n + 1} are connected to each other so that the upper and lower measurement units 10 _n and 10 _{n + 1} are relatively rotatable within a predetermined plane. In this case, the upper and lower measuring units 10 _n and 10 _n-1 are connected so as to be relatively rotatable in a plane orthogonal to the predetermined plane.

  Thus, in this embodiment, the connection part 16 which connects the upper and lower measurement units 10 so that relative rotation is possible within a predetermined plane, and the upper and lower measurement units 10 can be relatively rotated within a plane orthogonal to the predetermined plane. Since there is a connection point 16 to be connected to, a flexible movement is possible as shown in FIG. Therefore, it can be deformed according to the position of the excavator main body 6, extend upward while avoiding obstacles 73 such as gravel in the excavation groove 71, and can reduce the impact at the time of collision of the obstacle 73.

(3. Inclination measuring device 30)
FIG. 6 is a diagram showing an outline of the tilt measuring device 30. The tilt measuring device 30 is a device in which a tilt sensor 32, a power source 33, an antenna unit 34, and the like are accommodated in a hollow container 31. The container 31 of the inclination measuring device 30 is completely sealed, and even if moisture or the like enters the chamber 12, entry into the container 31 is prevented, and the inclination sensor 32, power source 33, antenna unit 34, etc. Reliability can be ensured.

  The tilt sensor 32 is a known tilt sensor, and for example, as shown in FIG. 7, a gyro capable of measuring the tilt of the measurement unit 10 in the X and Y directions orthogonal to each other in the plane can be applied. The inclination of the measurement unit 10 is indicated by an inclination angle α in the XZ plane and an inclination angle β in the YZ plane, where the vertical direction is the Z direction. In the following description, a description of the control unit that controls the operation of the tilt sensor 32 will be omitted, but the tilt sensor 32 will be described as including a control unit that drives and converts data.

  The power source 33 supplies power to the tilt sensor 32. The antenna unit 34 is for transmitting and receiving signals from the tilt sensor 32.

  Concave portions 311 are formed on the upper and lower surfaces of the container 31 of the inclination measuring device 30. The recess 311 has a shape corresponding to the outer shape of the antenna members 41 and 42, and the tilt measuring device 30 can be easily assembled by inserting the antenna members 41 and 42 as indicated by arrows a and b in FIG. Since the antenna members 41 and 42 are disposed outside the inclination measuring device 30, the water tightness of the inclination measuring device 30 is not deteriorated by the antenna members 41 and 42. The antenna members 41 and 42 are rod-shaped members, and for example, steel bars or steel pipes can be used.

  Inside the container 31, the antenna part 34 is wound around the recessed part 311, for example. Therefore, signal transmission / reception can be reliably performed between the antenna portion 34 inside and outside the container 31 and the antenna members 41 and 42.

  As shown in FIG. 3, the antenna member 41 of the lower measurement unit 10 and the antenna member 42 of the upper measurement unit 10 are in close contact with each other at the connection location 16 of the upper and lower measurement units 10. Radio waves are transmitted between these antenna members 41 and 42, and signals can be transmitted and received without contact.

  In the present invention, it is desirable to use microwaves for signal transmission and reception. For example, it is desirable to use a radio wave having a frequency of 300 MHz to 3 THz, and more desirably 0.9 GHz or more. By using such a high frequency, the oscillator and the antenna portion can be made compact. On the other hand, it is also desirable to set it to about 920 MHz or less, and in this case, power saving can be achieved.

(4. Position measurement by measuring device 1)
In this embodiment, as shown in FIGS. 8A and 8B, each time the ground 7 is dug to a predetermined depth by the excavator body 6, a new measurement unit 10 is added to the upper part of the measurement unit 10. In this way, excavation by the excavator main body 6 is performed, but excavation is temporarily stopped during the excavation, and the position of the excavator main body 6 is measured by the measuring device 1. After the position is measured, excavation is started again.

As illustrated in FIG. 9, when the position measurement is performed by the measurement device 1, the information processing device 2 is connected to the uppermost measurement unit 10 _m via the antenna member 41 of the uppermost measurement unit 10 _m by wire or wirelessly. A measurement instruction is transmitted to the inclination measuring device 30 (see arrow A).

  The information processing device 2 can be realized by a normal computer having a control unit, a storage unit, an input unit, a display unit, a communication unit, and the like. In this embodiment, the information processing device 2 and the measuring device 1 are used to configure the excavator body 6. A measurement system 100 that measures the position is configured.

Inclination measuring device 30 that has received the measurement instruction from the information processing apparatus 2, the measuring unit 10 _m antenna member 42, and the lower measuring unit via the antenna member 41 of the measuring unit 10 _m-1 of the lower 10 _{m- A} measurement instruction is transmitted to _one inclination measuring device 30 (see arrow B). Repeating the above, in order from the inclined measuring device 30 of the uppermost measuring unit 10 _m to tilt measuring device 30 of the lowermost measuring unit 10 _1, the measurement instruction is transmitted via the antenna member 41 (arrow A ~ F).

Inclination measuring device 30 of each measurement unit ₁₀ 1 to 10 _m, the (tilt angle of Fig. 7 alpha, beta) measure instructing receives the inclination by the inclination sensor 32 of each measurement unit ₁₀ 1 to 10 _m is measured.

Inclination measuring device 30 of the lowermost measuring unit 10 _1, when measuring the inclination of the measuring unit 10 _1, the inclination of the measuring unit 10 _first antenna member 41, and via the antenna member 42 of the measurement unit 10 ₂ of the upper transmitting the inclination measuring device 30 of the upper measuring unit 10 ₂ (see arrow G).

Inclination measuring device 30 of the upper measuring unit 10 ₂ receives the inclination of the measuring unit 10 _1, the measurement results inclination of the measuring unit ₁₀ 1, 10 ₂ plus its slope, the measurement unit 10 ₂ antenna member 41 , and transmitted via the antenna member 42 of the measuring unit 10 ₃ of the upper stage to the inclination measuring device 30 of the upper measuring unit 10 ₃ (see arrow H).

Thus, in this embodiment, the inclination measuring device 30 of the measurement unit 10 _n uses the inclinations of all the measurement units 10 ₁ to 10 _n-1 below the inclination of the measurement unit 10 _{n-1 in} the lower stage. The inclination of the measurement units 10 ₁ to 10 _n received from the measurement device 30 and added with the measurement result of its own inclination is transmitted to the upper measurement unit 10 _{n + 1} .

The above processing from the inclined measuring device 30 of the lowermost measuring unit 10 ₁ repeated until the inclination measuring device 30 of the uppermost measuring unit 10 _m, finally inclination of all measurement units 10 ₁ to 10 _m is uppermost It is transmitted from the inclination measuring device 30 of the measuring unit 10 _m to the information processing device 2 (see arrows G to L). The inclination value of each of the measurement units 10 ₁ to 10 _m is associated with the ID of the inclination measuring device 30 that has measured this, and can be identified.

  In addition, the measurement instruction | indication of each inclination measuring apparatus 30 and the collection method of a measurement result are not restricted to this. For example, a tilt may be automatically measured and a measurement result transmitted at a predetermined interval using a timer or the like. Further, the transmission of the measurement instruction and the measurement result may be performed by different systems.

The length L of each measurement unit 10 ₁ to 10 _m is input to the information processing apparatus 2 in advance, and each measurement unit 10 is determined according to the length L and the inclination angles α and β of each measurement unit 10 ₁ to 10 _m. The displacement of the lower end relative to the upper end of ₁ to 10 _m (see ΔX, ΔY, ΔZ in FIG. 7) can be obtained.

On the other hand, in the present embodiment, the position of the upper end of the measuring device 1 (the upper end of the uppermost measurement unit 10 _m ) and the orientation in the plane are determined by using a camera or the like that images the upper end of the measuring device 1 from two predetermined directions. Using the known surveying technique used (see, for example, Patent Document 2), starting from the position of the upper end of the measuring apparatus 1, the displacement of each of the measuring units 10 ₁ to 10 _m is the uppermost measuring unit 10 _m. by slide into integrated in order to lowermost measuring unit 10 ₁ from the lower end portion of the measuring apparatus 1, that is, it can calculate the position of the excavator main body 6.

The orientation of the upper end portion of the measuring device 1 in the plane is used to specify the X direction and the Y direction in the real space. The measurement is performed at the upper end of the uppermost measurement unit 10 _m as shown in FIG. This can be done using the marking 17 provided on the part.

The marking 17 has a reference line 171 formed at a predetermined position in the circumferential direction of the measuring unit 10 _m (for example, a position corresponding to the X direction or the Y direction), and the azimuth is deviated from the reference line 171 to the left and right by a predetermined angle. The measurement line 172 is provided, and the range of the measurement line 172 projected on the surveying camera is checked to quickly measure the plane direction (of the reference line 171) of the measurement unit 10 _m. be able to.

  As described above, the measuring apparatus 1 according to the present embodiment can measure the displacement between both ends of the measuring apparatus 1 by integrating the displacement for each measuring unit 10 obtained from the length L and the inclination of the measuring unit 10. In addition, the position of the excavator body 6 can be easily measured by the information processing apparatus 2 by attaching the lower end of the measuring apparatus 1 to the excavator body 6 from the outside. Therefore, for example, even when the position of the excavator main body 6 cannot be measured using the suspension wire as described above, the measuring device 1 can be attached to the excavator main body 6 from the outside and the position can be easily measured.

  In addition, with respect to the connection place 16 for connecting the upper and lower measurement units 10, the connection place 16 in which the upper and lower measurement units 10 can relatively rotate within a predetermined plane and the upper and lower measurement units 10 within a plane orthogonal to the predetermined plane. Therefore, the measuring device 1 as a whole can move flexibly and can be deformed according to the position of the excavator body 6, or an obstacle 73 in the excavation groove 71. It is possible to extend upward while avoiding the above, and to reduce the impact at the time of collision of the obstacle 73.

  Further, the measuring unit 10 is a cylindrical body having a hollow inside, and when the measuring device 1 is arranged in a fluid such as soil cement in the excavation groove 71, an upward force due to buoyancy is applied to the measuring unit 10. Can float. As a result, the above-described large torque motor or the like is not required to prevent the measuring device 1 from loosening, and the structure is inexpensive, space-saving, and safe.

  Further, by installing the filler 20 in the chamber 11 in the cavity, an upward force due to buoyancy can be secured in the measurement unit 10 even when moisture or the like enters the chamber 11.

  Further, by forming the cylindrical body of the measuring unit 10 from polycarbonate, the upward force due to buoyancy is light and easy to work, and the impact resistance is excellent, and the cylindrical body can be prevented from being damaged and dropped.

  Further, in this embodiment, as a result of applying an upward force due to buoyancy to the measurement unit 10, the configuration for preventing the loosening of the measurement apparatus 1 is to attach the counterweight 4 to the uppermost measurement unit 10 that does not work buoyancy via the wire 3. Can be simply installed. In some cases, the counterweight 4 can be omitted.

  Moreover, in this embodiment, the soil cement is obtained at the start of excavation (at the start of descent of the measuring device 1) by cutting the edge so that the upper and lower measurement units 10 can be relatively moved up and down at the connection point 16 of the upper and lower measurement units 10. Thus, it is possible to prevent the static frictional resistance that is instantaneously applied to the measuring device 1 from, for example, from being concentrated on the connecting portion 15 between the measuring device 1 and the excavator body 6. In other words, if the measuring device 1 is integrated, the instantaneous static frictional resistance at the start of excavation is concentrated on the connecting portion 15, and if the excavation depth is deep, the measuring device 1 is connected by an excessive tensile force accompanying the static frictional resistance. The part 15 may be broken. However, in the present embodiment, by cutting the edge of each measurement unit 10, only a static frictional resistance is generated for each measurement unit, and the above breakage can be prevented. In addition, a shock absorbing material such as a spring is provided between the upper portion of the slider 14 and the upper surface of the chamber 13 or the lower portion of the slider 14 and the lower surface of the chamber 13 at the connection point 16 to absorb the impact caused by the above-mentioned static frictional resistance. In addition, breakage can be prevented.

  However, the present invention is not limited to the above embodiment. For example, in the present embodiment, the measuring device 1 is attached to the excavator body 6, but the object to which the measuring device 1 is attached is not limited to this. For example, it is possible to measure the positions of these objects by attaching to a bucket of a bucket type excavator or attaching to a hook or a suspended load at the tip of a suspension device such as a crane.

  Furthermore, in the present embodiment, the upper and lower measurement units 10 are connected so as to be relatively rotatable in one plane at the connection location 16, but the upper and lower measurement units 10 are one plane (predetermined plane) and a plane orthogonal thereto. May be connected so as to be relatively rotatable in at least two planes. Furthermore, the configuration of the measurement unit 10 is not limited to the above, and a configuration in which the chamber 12 and the chamber 13 are interchanged so that the connection portion 16 is above the inclination measuring device 30 is also possible.

  Furthermore, the arrangement and shape of the inclination measuring device 30 are not limited to the above. For example, if the water tightness is maintained, the inclination measuring device 30 may be disposed outside the measuring unit 10, and maintenance, power supply replacement, and the like are facilitated. Further, instead of providing the concave portions 311 on the upper and lower surfaces of the inclination measuring device 30, a substantially U-shaped concave portion may be provided on the side surface of the inclination measuring device 30, and the antenna members 41 and 42 may be arranged in the concave portions.

[Second Embodiment]
Next, as a second embodiment of the present invention, an example in which the configuration of the connection location between the upper and lower measurement units and the radio wave transmission path are different will be described. The second embodiment will be described with respect to differences from the first embodiment, and description of points that are the same as those of the first embodiment will be omitted.

  FIG. 11 is a diagram illustrating a connection portion 16a between the upper and lower measurement units 10a according to the second embodiment. In FIG. 11, illustration of a tilt measuring device, a filler, and the like is omitted.

  As shown in FIG. 11, in this embodiment, the upper and lower measurement units 10a are connected in a straight line. At the connection portion 16a of the upper and lower measurement units 10a, a cylindrical first end member 91 is attached to the lower end of the cylinder of the upper measurement unit 10a with a screw 97 or the like, and the upper end of the cylinder of the lower measurement unit 10a. A bottomed cylindrical second end member 92 is similarly attached to the portion with a screw 97 or the like.

  At the connection location 16a, one end of the insertion member 93 is inserted into the first end member 91, and the other end of the insertion member 93 is pin-connected to the second end member 92.

  That is, an insertion portion 931 is provided at one end of the insertion member 93, and the insertion portion 931 is inserted into the hole 911 of the first end member 91. A cylindrical pin 933 is attached to the insertion portion 931, and the pin 933 is passed through a long hole 912 in the vertical direction provided on the side surface of the hole 911 of the first end member 91.

  On the other hand, a protrusion 932 is provided at the other end of the insertion member 93, and this protrusion 932 is inserted into the recess 921 of the second end member 92. A cylindrical pin 934 is attached to the protruding portion 932, and the pin 934 is inserted into a hole 922 provided on the side surface of the recess 921 of the second end member 92.

  The insertion member 93 and the first end member 91 are connected by a spring 95 (compression spring). The spring 95 is provided along the outer peripheral surface of the root portion of the insertion portion 931 described above.

  With the above configuration, also in this embodiment, the upper and lower measurement units 10a can be relatively rotated in a vertical plane (in the plane along the longitudinal direction of the measurement unit 10a) at the connection portion 16a connecting the upper and lower measurement units 10a. Yes, and relatively movable up and down.

  That is, when the lower measurement unit 10 a rotates about the axial direction of the pin 934, the upper and lower measurement units 10 a rotate relative to each other in the vertical plane, and the insertion portion 931 of the insertion member 93 is connected to the first end member 91. By moving up and down in the hole 911, the upper and lower measurement units 10a relatively move up and down. The spring 95 expands and contracts in accordance with the vertical movement and plays a role of absorbing an impact.

  When the insertion portion 931 moves up and down in the hole 911, the pin 933 attached to the insertion portion 931 also moves up and down along the long hole 912 on the side surface of the hole 911, and as shown in FIG. Butt against the end of the elongated hole 912, the movement of the insertion portion 931 stops. FIG. 11B shows a state in which the upper and lower measurement units 10a are relatively moved up and down and the distance between the measurement units 10a is reduced. At this time, the spring 95 is compressed.

  The outer surface of the above connection part 16a is covered with a coating layer 96 having elasticity by one or more layers of rubber bands or the like, so that the connection part 16a is waterproof. The covering layer 96 is fixed to the end portions of the cylinders of both measurement units 10a by winding a binding band 98 made of resin, stainless steel, or the like from the outside.

  In the present embodiment, radio waves are transmitted between the inclination measuring devices 30 of the upper and lower measurement units 10a schematically shown in FIG. 12 (see arrow R). Although the inclination measuring device 30 and the antenna member (not shown) are arranged in the chamber 12 (measurement unit), the length of the antenna member can be adjusted as necessary.

  A radio wave permeate | transmits the cavity or the filling body 20 inside the measurement unit 10a, and the connection location 16a (the 1st end member 91, the 2nd end member 92, the insertion member 93) of the upper and lower measurement units 10a. For this reason, metal such as aluminum is not used at least in a portion through which radio waves are transmitted, and a material having radio wave permeability is used. In the present embodiment, foamed polystyrene is used for the filling body 20, and polycarbonate is used for the cylindrical body of the measuring unit 10a, the first end member 91, the second end member 92, the insertion member 93, and the like.

  As a result, it is possible to transmit and receive signals in the relay format in the second embodiment as well, and to collect measurement instructions to the inclination measuring devices 30 and measurement results of the inclination measuring devices 30 with a simple configuration. Can do.

  The preferred embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to such examples. It will be apparent to those skilled in the art that various changes or modifications can be conceived within the scope of the technical idea disclosed in the present application, and these are naturally within the technical scope of the present invention. Understood.

1: Measuring device 2: Information processing device 3, 51: Wire 4: Counterweight 5: Hanging material 6: Excavator body 7: Ground 8: Base machine 9: Hydraulic hose 10, 10a: Measuring units 11, 12, 13: Chamber 14: Slider 15: Connection part
16, 16a: Connection location 17: Marking 20: Filler 30: Inclination measuring device 31: Container 32: Inclination sensor 33: Power supply 34: Antenna part 41, 42: Antenna member 52: Covering material 61: Cutter 71: Excavation groove 73 : Obstacle 81: Pulley 82: Drum 91: First end member 92: Second end member 93: Insertion member 95: Spring 96: Cover layer 97: Screw 98: Binding band 100: Measuring system 131: Slit 141: Axis 142: head 171: reference line 172: measurement line 311: recesses 811, 821: pulley

Claims (9)

A measuring device that is configured by connecting a plurality of bar-shaped measuring units up and down, and that measures the position of an object attached to the lower end,
The measurement unit includes an inclination measurement device that measures the inclination of the measurement unit, and a transmission unit that transmits a measurement result of the inclination measurement device,
At the connection location where the upper and lower measurement units are connected, the upper and lower measurement units are relatively rotatable in a plane along the longitudinal direction of the measurement unit, and
The upper and lower measurement units have a connection portion that can be relatively rotated in at least a predetermined plane, and the upper and lower measurement units have a connection portion that can be relatively rotated in a plane orthogonal to the predetermined surface. Measuring device. The measuring device is for measuring the position of the excavator body during excavation of the ground,
The measuring device according to claim 1, wherein a lower end portion of the measuring device is attached to the outside of the excavator body.   The measuring apparatus according to claim 1, wherein the measuring unit is a cylindrical body having a cavity inside.   The measuring device according to claim 3, wherein a filler is installed in the cavity.   The measuring apparatus according to claim 3, wherein the cylindrical body is formed of polycarbonate.   The measuring device according to any one of claims 3 to 5, wherein a counterweight is attached to an upper end portion of the measuring device via a wire.   The measurement apparatus according to claim 1, wherein the upper and lower measurement units are relatively movable up and down at a connection location where the upper and lower measurement units are connected.   The radio wave is transmitted between the inclination measuring devices of the upper and lower measurement units and transmitted through the connection location of the upper and lower measurement units and the inside of the measurement unit. The measuring apparatus in any one of. A measurement system comprising the measurement device according to any one of claims 1 to 8 and an information processing device,
The information processing apparatus includes:
The position of the object attached to the lower end of the measuring device,
A measurement system characterized by calculating using the length and inclination of each measurement unit.

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