JP2567801B2 - Position measuring method and device for underground excavator - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for measuring a position in a horizontal plane of an underground excavator which is suspended from a boom of a base machine such as a crawler crane via a wire and excavates a deep trench underground. .

[0002]

2. Description of the Related Art Conventionally, as a position measuring method and apparatus for this type of excavator, those disclosed in, for example, Japanese Patent Application Laid-Open No. 5-79270 or Japanese Patent Publication No. 5-21483 are known. In the former one, a measuring wire fed out from the ground with a constant tension is hung around a pulley at the top of the excavator and led out to the ground, and its end is swingably supported. It is called a wire inclination measuring method that measures the inclination of the measuring wire between the inclinometer and the value of the depth meter that interlocks with the extension of the measuring wire. Based on this, the position of the excavator in the horizontal plane is measured. On the other hand, in the latter one, a reference cylinder that surrounds the excavation planning line is provided at the top of the excavator, and a weight is hung from the ground inside the reference cylinder. The position of the excavator in the horizontal plane is measured by the eddy current analog sensor attached to the.

[0003]

However, in the former case of the prior art, when the excavator is displaced at a large depth, even if the measuring wire is stretched with a certain tension, the slack is generated due to its own weight. However, it becomes extremely difficult to judge or measure the slack on the ground, and the measured value of the inclination of the measurement wire becomes inaccurate, and thus the position of the excavator in the horizontal plane becomes inaccurate.
In addition, the final position of the excavator requires trigonometric calculation, and in order to further improve the accuracy, it is necessary to increase the ratio of the length of the above-ground portion to the underground portion of the measuring wire. Therefore, when the depth is large, there is a problem that the accuracy is lowered. On the other hand, in the latter case, a measuring device must be provided at the top of the excavator, and there is a problem that the measurement accuracy varies depending on the behavior of the excavator. Therefore, an object of the present invention is to provide a position measuring method for an underground excavator and a device therefor capable of highly accurately measuring the position of the excavator in a horizontal plane regardless of the depth and the behavior of the excavator. And

[0004]

In order to solve the above problems, an underground excavator position measuring method according to the present invention is an underground excavator for suspending a boom of a base machine via a wire and excavating a deep groove underground. When measuring the position in the horizontal plane, it is fed out from the ground with a constant tension and connected to the top of the excavator.
The ground support end of the measurement wire is movably supported in the horizontal plane, and the end of the measurement wire that is vertical between the excavator and the ground support end with the excavator positioned on the excavation planned line is while position as the origin of the plane coordinate, while by following the movement of the excavator to move the ground support end of the measuring wire as between the end and the excavator is always vertical, the land
It is characterized in that the position of the upper support end is measured. In addition, the position measuring device for the underground excavator is used for carrying out the above method, and measures the position in the horizontal plane of the underground excavator that is hung on the boom of the base machine via a wire and excavates a deep groove underground. an apparatus comprising platform to be placed on the ground, mounted on top of the post that is erected on the pedestal, a moving frame that is movable in a horizontal plane, a motor for moving the movable frame, a position measuring device for measuring the position of the mobile frame, and c inches mounted on the frame,
It is fed out from this winch with a constant tension and
Is connected, a measurement wire ground support end connected swingably to the movable frame, provided aboveground amount between ground support end <br/> the excavator measurement wires, displacement of the its Measure
And Displacement meter that receives a signal from the displacement of meter, further comprising a controller displacement of between excavator and the mobile frame in the measurement wire drives and controls the front Liver over data so as to zero Characterize. Before SL Displacement meter is interposed between the ground supporting end portion of the moving frame and the measuring wire, a rod connected to the moving frame through the X · Y universal joint, so as to surround the rod coaxially moving From the outer tube connected vertically below the frame, the X and Y laser rangefinder attached to the lower part of the outer tube, and the X and Y targets attached to the rod facing the X and Y laser rangefinder. It is preferable to configure. Also, before Symbol displacement of meter is interposed between the ground support end of the movable frame and the measuring wire, X
The rod may be connected to the moving frame via the Y universal joint, and the X and Y tilt sensors attached to the lower side of the rod.

[0005]

In the above-mentioned means, the ground support end of the measuring wire, which is held so as to be kept vertically with the excavator, reproduces the position of the excavator in the horizontal plane on the ground. .

[0006]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1, FIG. 2 and FIG. 3 are a side view, a front view and a plan view showing an embodiment of a position measuring device used for carrying out the position measuring method for an underground excavator according to the present invention. In the figure, 1 is a pedestal that is placed on the ground 3 across a deep groove 2 that is excavated along the planned excavation line in order to construct an underground continuous wall, etc. This gantry 1 extends across the deep groove 2 in the width direction. It extends horizontally in the Y direction (left and right direction in FIG. 1), and is parallel to the longitudinal direction of the deep groove 2 (X direction, left and right direction in FIGS. 2a, which is composed of two prismatic steel pipes mounted on the base, and two prisms that are horizontally mounted on both prismatic steel pipes of the base 1a and are movable in the Y direction via a movement mechanism (not shown). It is composed of a slide portion 1b made of a steel pipe. Stand 1
In the middle part of the rectangular steel pipe of the slide part 1b in
1 whose upper and lower ends are connected by reinforcing beams 4a and 4b
A pair of posts 5 are erected. At the upper part of one side (right side in FIG. 1) of both posts 5, it extends horizontally in the X direction.
Book guide rods 6 are vertically spaced apart from each other and supported by brackets 7. The guide rods 6 of each post 5 have a tubular shape in which a U-shaped movable table 9 is supported by brackets 8. The slider 10 is slidably fitted. Each slider 10 is provided so as to be movable in the X direction by a hydraulic cylinder 11 whose cylinder body is pivotally supported by a fixed bracket 7 and whose piston rod is pivotally attached to a movable bracket 8.

As shown in FIGS. 4, 5 and 6, a pair of X guide rails 12 extending horizontally in the X direction are provided on each movable table 9 in the width direction of the deep groove 2 (Y direction, FIG. 4). In the X guide rails 12, the gate-shaped X frame 13 is installed.
Are movably provided via sliders 14 on the lower sides of both sides. Then, the X frame 13 is provided with a bracket 15 that is erected upright between the ends of both X guide rails 12.
An X motor 16 such as a stepping motor attached to
With a screw rod 17 such as a ball screw connected to the output shaft of the X motor 16 and a screw feed mechanism including a nut 18 mounted on the X frame 13 to screw the screw rod 17 in,
The X motor 1 is provided so as to be movable in the X direction.
An X rotary encoder 19 which is an X position measuring device attached to 6 is provided so that the amount of movement in the X direction , that is, the position can be measured. A Y guide rail 20 that extends horizontally in the Y direction is attached to the X frame 13, and the Y guide rail 20 is a box-shaped Y frame 21 that forms a moving frame together with the X frame 13.
Are movably provided via the slider 22. The Y frame 21 includes a Y motor 23 such as a stepping motor mounted on the X frame and the Y motor 2
3 is provided so as to be movable in the Y direction by a screw rod 24 such as a ball screw connected to the output shaft and a screw feed mechanism including a nut 25 attached to the Y frame 21 in order to screw the screw rod 24. Y rotary encoder 26 which is a Y position measuring device attached to Y motor 23
Is provided so that the amount of movement in the Y direction , that is, the position can be measured. That is, the movement of the Y frame 21 in the X and Y directions is a mechanism that is performed by rotation of the X motor 16 in the X direction and rotation of the Y motor 23 in the Y direction.

[0008] Y frame 21 of the movable frame, the appropriately than the height to the short length of the rod 27 of the post 5, is connected to the upper end through the X · Y universal joint 28, rocks in the X and Y directions The rod 27 has a length shorter than that of the rod 27 and is coaxially surrounded by an outer tube 29 connected vertically below the Y frame 21. A large-diameter portion 29a is formed near the upper end of the outer tube 29, and the rod 27 corresponding to the large-diameter portion 29a has an X-axis of the rod 27 as shown in FIG.
An X tilt sensor 30 and a Y tilt sensor 31 for measuring tilt in the direction and the Y direction are attached. Further, a displacement measuring box 32 is attached to the lower end of the outer tube 29, and inside the displacement measuring box 32, X and Y laser distance meters 33 and 34 are attached as shown in FIG. Together with this X, Y laser range finder 33, 34, the X, Y of the rod 27
X, Y that measures displacement in the direction
・ Y target 35 is an X, Y laser range finder 33, 3
4, and is attached to the rod 27.

On the other hand, as shown in FIGS. 1 to 3, an automatic tension winch 37 such as a hydraulic winch capable of tensioning the measuring wire 36 with a constant tension (100 to 400 kg) is provided on each of the posts 5 on the gantry 1. It is mounted close to.
The measuring wires 36 fed out from the respective auto-tension winches 37 are three pulleys 38 arranged in an inverted triangular shape near the end portion of the upper reinforcing beam 4a and a pulley arranged on the top end of the excavator 39. It is connected to the lower end of the rod 27 via 40. Further, a depth gauge 41 such as a rotary encoder for measuring the amount of extension of the measurement wire 36, that is, the depth of the excavator 39 is attached to the pulley 38 at the center on the reinforcing beam 4a.

In FIGS. 2 and 3, 42 is a hydraulic unit,
A control panel 43 receives signals from the X and Y laser rangefinders 33 and 34 so that the displacement of the rod 27 in the X and Y directions becomes zero, that is, the ground on the measuring wire 36.
A support end (hereinafter simply referred to as an end) and an excavator 39
A controller (not shown) for driving and controlling the X, Y motors 16 and 23, a control circuit for controlling the automatic tension winch 37, the hydraulic unit 42, etc. are built in so that the space between them is vertical.

In order to measure the position of the top end of the excavator 39 in the horizontal plane at each depth with the position measuring device having the above-described structure, the base portion 1a of the gantry 1 is placed in the deep groove 2 to be excavated along the excavation planned line. When the excavator 39 is placed horizontally on the ground 3 so as to straddle it and the slide portion 1b is appropriately moved so that the excavator 39 is located at the center on the horizontal plane of the planned excavation line of the deep groove 2,
The position in the X and Y directions where the rod 27 hangs vertically,
That is, both outer tubes 29 are positioned on the center line that is the origin of measurement. At this time, when both outer pipes 29 are displaced in the X direction from the position serving as the origin of measurement, both hydraulic cylinders 11 are appropriately operated to move the movable tables 9 respectively.
Move and adjust. Regarding the Y direction, when the gantry 1 is placed on the ground 3, the slide portion 1b is moved so that the rod 27 is positioned vertically above the position serving as the origin of measurement in the Y direction. After positioning the rod 27 as described above, the base portion 1a and the slide portion 1b of the gantry 1,
And the movable table 9 is fixed. However, in this case, the X guide rails 12 and the Y guide rails 20 of both outer tubes 29 are set in positions in the X and Y directions so that they can slide on the guide rails 12 and 20 in the X and Y directions, respectively. Then, the measuring wires 36 fed out from the automatic tension winch 37 are respectively attached to the reinforcing beams 4a.
The pulleys 4 at the left and right ends at the top end of the excavator 39, which are hung around the booms of a base machine such as a crawler crane (not shown) via wires, after being wound around the above pulleys 38.
The auto-tension winch 37 is operated so that the rod 27 follows the top end of the excavator 39 by connecting the lower ends of the rods 27 to the lower end of each rod 27 and applying a constant tension to the measuring wire 36. Then, by using the X and Y inclination sensors 30 and 31 near the upper end of each rod 27, the X motor 16 and the Y motor are controlled so that the inclinations of both rods 27 in the X and Y directions are zero, that is, both rods 27 are vertical. Activate 23
The position where the XY universal joint 28 is moved in the X and Y directions and both the X and Y directions are vertical is the initial setting, that is, the origin.

As described above, when the position measuring device and the excavator 39 are initially set on the reference line O in the vertical direction (Z direction), as shown in FIG.
-The distance between the Y targets 35 is the set distance Ls, Rs.
Becomes Here, since the measurement principle in the Y direction is the same as that in the X direction, only the X direction will be described below. next,
By the operation of the excavator 39, as shown in FIG. 10, the excavator 33 is displaced to the left M, and the X laser rangefinder 33 and X.
The distance between the Y targets 35 is the displacement distances Lsα and Rs.
When it becomes α, the signal of the X laser range finder 33 becomes the control panel 43.
Is input to the controller of X and, as shown in FIG.
The X motor 16 is driven and controlled by the controller so that the distance between the laser range finder 33 and the XY target 35 becomes the set distances Ls and Rs, and the X frame 13 causes the excavator 3 to operate.
While moving by the same amount as the displacement M of 9 and stopping, the moving amount M of the X frame 13 is measured by the X rotary encoder 19. Since the movement of the X frame 13 is instantaneously performed, the X frame 13 always moves following the movement of the excavator 39 and advances to the next step while holding the rod 27 vertically. .

Therefore, according to the position measuring method and apparatus having the above structure, the end portion of the measuring wire 36, that is, the lower end of the rod 27 and the X.multidot. Y universal joint 2
X, Y on the horizontal plane of the Y frame 21 to which 8 is connected
The position in the direction reproduces the position of the excavator 39 in the horizontal plane on the ground, and the calculation by the trigonometric method based on the inclination of the measurement wire is not necessary. The position of the excavator in can be measured with high accuracy.

Here, the theoretical measurement accuracy of the position measuring device is as follows. (1) At the time of initial setting The accuracy of making the measuring wire vertical when the position measuring device is initialized. Tilt angle accuracy (0.005 °) ± 1 / 11,494 (2) During excavation Accuracy during measurement during excavation. Laser rangefinder accuracy (2.5% for 15 mm) ± 1 / 26,000 Servo motor accuracy (2 ° for 1 mm pitch 5 mm) ± 0.028 mm Rotary encoder accuracy (600 pulses for 1 mm pitch 5 mm) ± 0. 008mm Guide rail accuracy ± 0.008mm (3) Excavator body Accuracy of the inclinometer mounted on the excavator body. H = 15m; Height of excavator body Tilt angle accuracy (0.01) ± H / 5,729 = ± 2.62mm The above is an error with respect to the measurement depth (L) to the top of the excavator, Is the error that each device has. Therefore, the theoretical synthetic measurement error of the position measuring device is ± [+] × L ± [+++] = ± [(1/1
1,494) + (1 / 26,000)] × L ± [0.0
28 + 0.008 + 0.008 + 2.62], which can be explained by the following equation. Theoretical synthetic measurement error: ± (L / 8,026) ± 2.6
6 mm

In the above embodiment, the rod 27
X and Y displacement gauges that measure the X and Y displacements of
The case where the laser rangefinders 33 and 34 and the XY target 35 are used has been described, but the present invention is not limited to this. For example, as shown in FIGS. Intervened between
Further, the rod 27 may be connected to the moving frame via the XY universal joint 28, and the X and Y inclination sensors 44 and 45 attached to the lower side of the rod 27. In this case, the influence of the wind of the rod 27 can be eliminated, or the X, Y tilt sensors 44, 45
To facilitate the derivation of lead wires from the outer tube 2
It is preferable that 9 is hung vertically on the moving frame. Further, as in the case described above, X and Y inclination sensors 30 and 31 may be attached near the upper end of the rod 27. When the X and Y displacement gauges can be accurately attached to the measuring wire 36, the measuring wire 36 is directly connected to the moving frame using the XY universal joint 28 without using the rod 27. Good. Furthermore, the moving frame or the like is not limited to the case of providing in correspondence with the left and right ends of the top edge of the excavator 39, a plane rotation (I on the horizontal plane of the excavator 39
One set may be used if the ( kinking) etc. are not taken into consideration.

[0016]

As described above, according to the underground excavator position measuring method and apparatus of the present invention, the end portion of the measuring wire in a state in which it is held so that it is always vertical with respect to the excavator. However, since the position of the excavator in the horizontal plane is reproduced on the ground, there is no slack in the measurement wire as in the conventional case, the calculation by the trigonometry is unnecessary, and the measured values do not vary, The position of the excavator in the horizontal plane can be measured with high accuracy regardless of the depth and the behavior of the excavator.

[Brief description of drawings]

FIG. 1 is a side view showing an embodiment of a position measuring device used for carrying out a position measuring method for an underground excavator according to the present invention.

FIG. 2 is a front view of the position measuring device shown in FIG.

FIG. 3 is a plan view of the position measuring device shown in FIG.

FIG. 4 is a side view of a main part of the position measuring device shown in FIG.

5 is a front view of a main part of the position measuring device shown in FIG.

6 is a plan view of a main part of the position measuring device shown in FIG.

7 is a sectional view taken along line VII-VII in FIG.

8 is a sectional view taken along line VIII-VIII in FIG.

9 to 11 are operation explanatory views of the position measuring device shown in FIG. 1.

FIG. 12 is a side view of essential parts showing another embodiment of the position measuring apparatus used for carrying out the position measuring method for an underground excavator according to the present invention.

13 is a sectional view taken along line XIII-XIII in FIG.

14 is a sectional view taken along line XIV-XIV in FIG.

[Explanation of symbols]

 1 mount 5 post 13 X frame 16 X motor 17 screw rod 18 nut 19 X rotary encoder 21 Y frame 23 Y motor 24 screw rod 25 nut 26 Y rotary encoder 27 rod 28 X / Y universal joint 29 outer tube 33 X laser distance meter 34 Y laser range finder 35 XY target 36 Measuring wire 37 Auto tension winch 38 Pulley 39 Excavator 40 Pulley 44 X tilt sensor 45 Y tilt sensor

 ─────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A 64-68613 (JP, A) JP-A 1-203585 (JP, A) JP-A 5-79270 (JP, A)

Claims (4)

(57) [Claims] 1. When measuring the position in the horizontal plane of an underground excavator that is suspended from a boom of a base machine via a wire and excavates a deep trench underground, it is fed from the ground with a constant tension to form the top of the excavator. Ground support <br /> Measurement with the ground support end of the connected measurement wire movably supported in a horizontal plane and the space between the excavator and the ground support end being vertical while the excavator is positioned on the planned excavation line. The position of the ground support end of the wire is used as the origin of the plane coordinates, and the ground support end of the measurement wire is moved so that the distance between this end and the excavator is always vertical by following the movement of the excavator. However, a method for measuring the position of an underground excavator is characterized by measuring the position of the above-ground support end. 2. A device for measuring a position in a horizontal plane of an underground excavator that is suspended from a boom of a base machine via a wire and excavates a deep trench underground, and a platform mounted on the ground, and a platform. mounted on the top of the post that is erected on a moving frame that is movable in a horizontal plane, a motor for moving the movable frame, a position measuring device for measuring the position <br/> of the mobile frame When the window Lee <br/> inch mounted on the gantry, drilling from the winch is unwound at constant tension
A measuring wire that is connected to the machine top and the ground support end is swingably connected to the moving frame, and the grounding of the measuring wire .
Provided aboveground fraction between the support end excavator, a displacement of meter you measure the displacement of the its receives a signal from the displacement of meter, varying between excavator and the mobile frame in the measurement wire position is the position measuring device underground excavator, characterized in that it comprises a controller for driving and controlling the pre-liver over data so as to zero. 3. A pre-Symbol Displacement meter is interposed between the ground supporting end portion of the moving frame and the measuring wire, a rod connected to the moving frame through the X · Y universal joint, a rod coaxial Outer tube connected vertically below the moving frame so as to surround it, an X, Y laser distance meter attached to the lower part of the outer tube, and an X attached to the rod facing the X, Y laser distance meter. The position measuring device for an underground excavator according to claim 2, wherein the position measuring device comprises a Y target. 4. Before SL Displacement meter is interposed between the ground branch end of the movable frame and the measuring wire, a rod connected to the moving frame through the X · Y universal joint, below the rod The position measuring device for an underground excavator according to claim 2, characterized in that the position measuring device comprises an X, Y inclination sensor attached to the side.