JP2803760B2 - Remote operation of caisson excavator - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a remote control method for smoothly operating two or more caisson excavators in a caisson working room.

(Prior Art) Conventionally, excavation work in a caisson work room has been performed by an operator. Recently, however, the operation of such excavators has tended to be unmanned. The techniques described in the former) and JP-A-63-206523 (hereinafter referred to as the latter) are well known.

In the former, a warning light is installed at a predetermined interval in a working room, and the warning light within a predetermined range is turned on from the excavator to notify an operator of the approach of the excavator. A detection means for detecting the position of the excavator in the work room is provided, and an alarm is issued when there is a risk of interference between the excavators.

(Problems to be Solved by the Invention) However, according to the former prior art, not only does the worker have to enter the working room under high pressure for installation and maintenance of the alarm device, but also the work originally in the working room. The purpose was to inform the excavator of the approach of the excavator, and was not intended to be completely unmanned.

According to the latter conventional technique, an alarm is issued when there is a possibility of mutual interference between excavators, but the subsequent response is left to the judgment of the operator, and if an incorrect operation is performed, There was a problem that a contact accident might occur.

The present invention has been made to solve the problem to be solved. The purpose of the invention is to issue a warning when each of the excavators reaches the approach limit and warn the user while the buckets reach the approach limit. An object of the present invention is to provide a remote control method of a caisson excavator capable of smoothly operating a plurality of excavators by cutting an operation instruction in the approach direction and automatically stopping the operation.

(Means for Solving the Problems) In order to achieve the above object, the present invention relates to a remote control method for a plurality of caisson excavators that excavates the ground while moving in a caisson work room, The position of the excavator body and the bucket are calculated by a computer using the various sensors provided, and information on the visual field in the working room is displayed on a display device in a remote control room provided on the ground, so that the excavation moves in the working room. When the running position interval of the excavator main body becomes smaller than a predetermined value, while performing an excavation by further turning the excavator main body and extending the boom while issuing an alarm, the bucket interval of each excavator main body becomes smaller than a preset value. Then, the approach direction is judged by the computer, and the operation command signal in the approach direction from the remote control room is cut to automatically stop the operation. Characterized in that it was.

(Operation) According to the present invention, according to the present invention, the driver's seats, the monitor display devices, the one computer, and the alarm device for the number of excavators are arranged in the remote control room, and the excavators in the work room are individually provided. Various sensors such as a running position sensor, a turning position sensor, and a telescopic boom distance sensor are installed.

Then, the signals of the various sensors attached to the excavator are input to a computer and the visual field information is displayed on a display device, and when the travel position interval of the excavator body reaches the approach limit, a warning is issued to urge attention, The operator further turns the excavator body and extends the boom to perform excavation. When the bucket interval reaches the approach limit, the computer determines the approach direction of the excavator, cuts the operation command signal in the approach direction issued from the driver's seat in the remote control room, and automatically stops the operation to cause a collision. This enables smooth operation without any problems.

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

 FIG. 1 shows a plan view of the caisson work chamber.

In the figure, two excavators (No. 1 and No. 2) 10, 20 that can move along the running rails 1, 2 arranged side by side in the caisson work room, and two materials for unloading the veteran. Shafts 3 and 4 are arranged respectively. The excavator 10,20
The excavators 10 and 20 control the running, turning and booms 10b and 20b on the rails, and the rotation and opening and closing of the buckets 10a and 20a.
The camera is remotely controlled while being monitored by a camera (not shown) mounted on the camera.

The shaded areas in the figure indicate the excavators 10, 2
The contact prediction area of 0 and the area further meshed are the contact accident prediction places when the excavator turns at the current position.

Each of the excavators 10 and 20 is provided with various sensors such as a running position sensor, a turning position sensor, and a telescopic boom position sensor (not shown), which are connected to a computer in a remote control room on the ground via a cable. The current positions of the excavators 10 and 20 are detected by these sensors.

 FIG. 2 shows an arrangement row of the remote control room.

That is, in the present embodiment, one driver's seat 5, 6 for each excavator, consoles 7, 8, TV switches 11, 12, monitor televisions 13, 14, and between the driver's seats 5, 6 One computer 9
And an alarm device 15 are provided.

The computer 9 receives signals from various sensors provided on the excavators 10 and 20, and inputs the signals of the excavators 10 and 20 on the traveling rails 1 and 2 according to the shape of the caisson work chamber. Calculate angle, boom length position, etc. After the positions of the excavators 10 and 20 have been calculated, the relative positions between the excavators are calculated next.

FIG. 3 shows a control flowchart according to this embodiment.

In the figure, starting from step 30, step
At 32, the relative positional relationship between the two excavator running parts is determined. That is, the traveling positions of the first and second units are calculated by the following equation: traveling unit relative position = (first unit traveling position)-(second unit traveling position), and the value at this time may be smaller than the preset approach limit value. If there is a danger of contact, the process proceeds to step 34, and in step 40, sends a signal to the alarm device 15 to generate an alarm. If the approach limit value has not been reached (when there is no possibility of contact), the operation is carefully continued in step 42, and it is determined in step 44 whether or not the work is completed.

Next, in step 34, the relative positional relationship of the excavator turning section is determined. That is, when the turning positions of the first and second units are calculated by the relative position of the turning part = (the first unit turning position) − (the second unit turning position), and the value at this time is smaller than the preset approach limit value ( If there is a danger of contact), the process proceeds to step 36, and an alarm is issued in step 40 as described above.

In step 34, if the relative position of the turning section is larger than the approach limit value (when there is no risk of contact), the process proceeds to step 42, and the operation is continued carefully as described above.

In step 36, the relative positional relationship between the lengths of the booms of the excavator is determined. That is, the boom length relative position = (No. 1 boom length position) − (No. 2 boom length position) is calculated to determine whether the bucket is within the danger range where the bucket is connected, and the value at this time is set to a preset approach limit value. If it is less than (there is a risk of contact), step 38
Then, even if there is an operation command signal from the remote control room in the approaching direction, this is cut off to automatically stop the operation and end (step 46). Note that step 36
If the boom length relative position is larger than the approach limit value (when there is no risk of contact), the process proceeds to step 42, and the operation is continued carefully as described above.

According to this embodiment, as described above, if all of the three conditions of the traveling part / turning part of the excavator and the boom length are within the danger range,
The computer determines the direction of the approaching side of the excavator, interrupts the operation command signal from the driver's seat in the remote control room in the approaching side of running and turning, automatically stops operation, and when the operator performs excavation. It allows you to drive smoothly.

FIG. 4 shows visual field information in the work room displayed on the monitor televisions 13 and 14.

In the figure, the plane shape of the caisson, the material shafts 3 and 4, the running rails 1 and 2, and the contact dangerous area are fixedly displayed. In addition, the positions of the excavators 10, 20 and the buckets 10a, 20a
The working radius and the overlapping part of these working radii are moved and displayed.

The operator of the remote control room constantly checks the position of the bucket 10a (20a) of the excavator 10 (20) through the CRT, and covers the blind spot of the camera mounted on the excavator, thereby preventing the excavator from contacting with each other. Can be prevented and smooth operation can be performed.

(Effects of the Invention) As described above, the present invention relates to a remote control method for a plurality of caisson excavators that excavates the ground while moving in a caisson work room. Each position of the main body and the bucket is calculated by a computer, and the visual field information in the working room is displayed on a display device in a remote control room provided on the ground. When the value is smaller than the value, while issuing an alarm, the excavator body is further turned and the excavation is performed by extending the boom. When the bucket interval between the respective excavator bodies is smaller than a preset value, the approach direction is determined by the computer. The operation command signal in the approach direction from the remote control room is cut to automatically stop the operation. Perform interference prevention between the platform of the excavator, it is possible to perform smooth operation. Thereby, contact accidents between the excavators are reduced, and the thinking can be performed safely. In addition, since the digging can be performed while always checking the position of the digging machine or the like, digging without remaining digging can be performed.

[Brief description of the drawings]

FIG. 1 is a plan view of a caisson working room, FIG. 2 is a diagram showing an arrangement row of a remote control room, FIG. 3 is a diagram showing a control flowchart according to the present embodiment, and FIG. 4 is a work displayed on a display device. It is a figure which shows the visual field information of a room. 1,2 ... running rail 9 ... computer 10,20 ... excavator body 10a, 20b ... bucket 10b, 20b ... boom 13,14 ... monitor television 15 ... alarm device

Claims (1)

(57) [Claims] 1. A method of remotely controlling a plurality of caisson excavators for excavating a ground while moving in a caisson work room, wherein the position of the excavator body and the bucket are determined by various sensors provided in each of the excavators. The computer performs calculations and displays the visual field information in the working room on the display device in the remote control room provided on the ground, and issues an alarm when the running position interval of the excavator body moving in the working room becomes smaller than a predetermined value. While the excavator body is further turned and the excavation is performed by extending the boom, when the bucket interval between the respective excavator bodies becomes smaller than a preset value, the approach direction is determined by the computer, and the distance from the remote control room is determined. A remote control method for a caisson excavator, wherein an operation command signal in an approach direction is cut to automatically stop the operation.