JP2874859B2 - Drilling support method for pneumatic caisson excavator - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a method for remotely moving an excavator to a predetermined drilling location.
The present invention relates to a drilling support method for a pneumatic caisson excavator that is effective for drilling with a drilling machine mounted on an excavator.

[0002]

2. Description of the Related Art Conventionally, as a technique for displaying the attitude and remote control of a pneumatic caisson excavator of this type, for example, JP-A-1-165823, JP-A-3-221617,
There is a technique described in JP-A-7-113237.

In the prior art described in the above-mentioned Japanese Patent Application Laid-Open No. 1-165823, a display, a plurality of sensors for detecting the amount of movement of a moving member of a pneumatic caisson excavation shovel, and each movement based on output signals of these sensors. A posture calculation unit for calculating the movement amount of the member, and an image of the pneumatic caisson excavation shovel corresponding to the movement amount calculated by the calculation is displayed on the display based on the movement amount calculated by the posture calculation unit. And a display operation unit.

On the other hand, in the prior art described in the above-mentioned Japanese Patent Application Laid-Open No. 3-221617, the working chamber at the bottom of the box forming the caisson is maintained in a pneumatic state, and the traveling, turning, and arm mounted on the ceiling of the pneumatic working chamber are maintained. In the pneumatic caisson method of excavating the bottom of the work chamber with the excavator that can freely raise and lower the telescoping and raising and lowering the bucket, a TV camera installed in the excavator and the pneumatic work chamber and attached to the excavator A plurality of distance measuring sensors provided, a computer provided in the management control room, a display unit for an excavation surface in the pneumatic working room, and a monitor TV in the pneumatic working room, and the distance while running the excavator. The distance is measured by a measuring sensor, and this data is analyzed by a computer.
While the height difference of the excavated surface in the pneumatic working room is graphically displayed on the display unit, the excavation point is determined by the monitor television, and the excavator in the pneumatic working room is remotely controlled from the ground control and control room. Further, in this conventional technique, the excavator is provided with sensors for detecting a traveling distance, a turning angle, an elevation angle of an arm, an amount of expansion and contraction, an elevation angle of a bucket, and the like, and data detected by these sensors is stored in a management control room on the ground. Send to the installed computer, analyze the data sent from the sensor by computer,
The position and posture of the excavator in the pneumatic working room are graphically displayed, and the excavator is remotely operated while monitoring the movement of the excavator in real time.

On the other hand, in the prior art described in the above-mentioned Japanese Patent Application Laid-Open No. Hei 7-113237, in the method of displaying the posture of the excavator for a pneumatic caisson, at least the position of the excavator body and the excavator such as a bucket in the caisson work room are determined. , The direction and the attitude of the drilling tool, and the detected values and the shape and dimensions of the caisson body are used to determine the relative position between the tip of the drilling tool and the tip of the caisson blade viewed from the side of the body of the excavator. The position is calculated, and when the excavator enters the range where the excavator can come into contact with the side wall of the working chamber, excavation is performed according to the horizontal distance between the tip of the excavator and the tip of the cutting edge in addition to the posture of the excavator. An image of the relative positional relationship between the machine and the side wall is displayed. Further, in this conventional technique, the distance in the horizontal direction and the distance in the vertical direction from the tip of the excavator to the tip of the caisson blade are numerically displayed in the posture display image. Furthermore, in this prior art, in the image of the posture display, a line indicating the legal digging limit below the caisson cutting edge, and at least when excavating near the lower end of the caisson cutting edge, the excavation including the posture of the excavator is performed. A virtual extension of the outer surface of the caisson is displayed in the image of the relative positional relationship between the tip of the excavator and the side wall including the blade of the caisson viewed from the side of the machine.

[0006]

By the way, in rock excavation by blasting, it is necessary to make holes for charging at equal intervals in order to uniformly crush the rock.

[0007] In the case of a pneumatic caisson, an excavator for a pneumatic caisson has been developed which can be operated remotely in a pressurized work room.

Moreover, drilling with a pneumatic caisson can be performed safely by remotely moving an excavator equipped with a drilling machine.

However, when drilling by remote control,
It is difficult to continuously drill holes at equal intervals only by displaying the image of the camera monitor and the posture of the excavator using a computer.

In a drilling machine for a pneumatic caisson, in order to easily and continuously drill holes at predetermined intervals at predetermined intervals, a drilling point and an excavator are displayed on a computer screen. It is necessary to display the position and posture of the excavator, clarify the positional relationship between the two, and move the excavator to the drilling position accurately. None of the prior art takes this into account.

The present invention has been proposed in view of the above. An object of the present invention is to mount a drilling machine in a caisson working room at a drilling location predetermined according to a drilling pitch. It is an object of the present invention to provide a drilling support method for a pneumatic caisson excavator capable of accurately and remotely moving a drilled excavator and drilling holes easily and continuously at equal intervals.

Another object of the present invention is to move a drilling machine equipped with a drilling machine to a drilling site predetermined according to a drilling pitch, by remote control, more accurately and more easily. An object of the present invention is to provide a drilling support method for a pneumatic caisson excavator capable of continuously drilling at equal intervals.

Further, another object of the present invention is to prevent interference between excavators even when a plurality of excavators are deployed in a caisson work room to perform a drilling operation, thereby ensuring safe and efficient operation. An object of the present invention is to provide a drilling support method for a pneumatic caisson excavator capable of performing drilling well.

Another object of the present invention is to clearly identify a target drilling point and a hole which has already been drilled, and to accurately guide an excavator to the target drilling point. An object of the present invention is to provide a drilling support method for a caisson excavator.

[0015]

In order to achieve the above object, in the present invention, an excavator 6 equipped with a drilling machine 8 is arranged in a work room 2 of a caisson 1, and the excavator 6 is operated by a remote control device. In the drilling method of remotely drilling and drilling by using the computer 11 and the computer 12, the screen 2 of the computer 12 is used.
0, the information on the position and orientation of the excavator 6, the position of the excavator 6 on the plane in the work room 2 of the caisson 1, and the drilling location 28 drawn according to a predetermined drilling pitch. The drilling machine 6 is remotely operated with the drilling point 28 as a target, and the drilling machine 8 is
The holes are aligned with each other.

In order to achieve the above object, in the present invention, an excavator 6 equipped with a drilling machine 8 is provided in a work room 2 of a caisson 1, and the excavator 6 is connected to a remote control device 11 and a computer 12. In the drilling method of remotely drilling and drilling, caisson information 21 relating to the state of the installed caisson 1 is displayed on the screen 20 of the computer 12.
, A plan view 23 showing the inclination of the caisson 1 and the position of the excavator 6, a posture diagram 24 showing the outer wall of the caisson 1 and the posture of the excavator 6, and drilling including the operating state, position and inclination of the drilling machine 8. A drilling position diagram 27 including the drilling machine information 25, the position of the excavator 6 on the plane of the work room 2 of the caisson 1, and a drilling location 28 drawn according to a predetermined drilling pitch is displayed. The drilling machine 6 is remotely operated with the drilling point 28 as a target, and the drilling machine 8 is aligned with the drilling point 28 to perform drilling.

Further, in order to achieve the above object, according to the present invention, when a plurality of excavators 6 are arranged in the work room 2 of the caisson 1, the position of each excavator 6 is displayed on the screen 20 of the computer 12. And posture are displayed.

In order to achieve the above object, according to the present invention, on the screen 20 of the computer 12, a color or a shape capable of discriminating a target drilling location 28 and a drilled hole 29, or a color or shape thereof, is used. It is displayed by combination.

[0019]

Embodiments of the present invention will be described below with reference to the drawings.

1 to 3 show an embodiment of the present invention. FIG. 1 shows the relationship between a caisson, an excavator equipped with a drilling machine, and a remote control room equipped with a remote control device and a computer. FIG. 2 is a diagram showing various information and drawings displayed on the screen of the computer, and FIG. 3 is an enlarged view of FIG.

In the embodiment shown in these figures, the caisson 1
A traveling rail 5 for an excavator is fixed to a ceiling 3 of the work room 2, and an excavator 6 is suspended on the traveling rail 5 so as to be able to travel. 1 and FIG.
Indicates a caisson blade tip.

The excavator 6 comprises a boom 7 and a drilling machine 8
And a controller 9 and the like.

A remote control room 10 is provided outside the caisson 1, for example, on the ground. The remote control room 10 is provided with a remote control device 11 and a computer 12.

Similar to the technique disclosed in the above-mentioned Japanese Patent Application Laid-Open No. Hei 7-113237, a camera for photographing the ground 14 in the work room 2 and the postures of the excavator 6 and the drilling machine 8 are provided inside the work room 2. A surveillance camera for shooting is arranged. On the other hand, various sensors for detecting the position and the moving direction of the excavator 6 are appropriately installed in the operating portion of the excavator 6, but these cameras and sensors are omitted in the drawing. The cameras and sensors are connected to the computer 12 via signal lines.

The remote control device 11 and the computer 1
2 and the controller 9 of the excavator 6 are connected by a signal line 13.

As shown in FIGS. 2 and 3 in this embodiment, the screen 20 of the computer 12 includes caisson information 21, excavator information 22, a plan view 23, and a posture view 2.
4, drilling machine information 25, drilling block division diagram 26,
The drilling position diagram 27 is partitioned so as to be displayed.

In the caisson information 21, “date and time” and “box pressure” indicate the current construction date and time and box pressure of the subject caisson 1. “Blade height” is the ground line (G
The current cutting edge depth from L) is displayed.

In the excavator information 22, “remote operation” indicates the operation mode of the excavator 6.

The plan view 23 shows the inclination of the caisson 1 on a plane and the position of the excavator 6. This embodiment also shows that two excavators 6 are provided in the work room 2 of the caisson 1. Furthermore, the arrow attached to each excavator 6 indicates the direction in which the boom 7 of the excavator 6 is facing. Then, “0”,
The numerical values of “3.8”, “10.4” and “14.3” are 0
The inclination of caisson 1 is displayed based on the value.

FIG. 24 shows the outer wall of the caisson 1 and
The posture of the excavator 6 is shown. The numerical values of “50” and “80” in this posture diagram 24 are the cutting edge 4 of the caisson 1.
Shows the depth from

"Drilling water ON" in the drilling machine information 25,
"Drug OFF" indicates the state of use of drilling water and chemicals during drilling by the drilling machine 8, and "drill rotation down".
Indicates the operation status of the drilling machine 8. Also, reference numeral 25
The schematic diagram of the drilling machine indicated by a indicates the degree of inclination of the drilling machine 8 when viewed from the front with respect to the center 25c, and the schematic diagram of the drilling machine indicated by the reference numeral 25b indicates the center 25d. On the other hand, the degree of inclination before and after the drilling machine 8 when viewed from the side is displayed. Further, the numerical value “+” in the drilling machine information 25
“2.3 °” and “−1.5 °” indicate the left and right inclination angles and the front and rear inclination angles of the drilling machine 8, respectively.

In FIG. 26, when the caisson 1 has a large area, the plane of the work chamber 2 is divided into several blocks, and each block is assigned a lot number. The block currently being drilled is displayed in color, and in this drilling block division diagram 26, it is shown that the block with the lot number 1-1 is drilled.

The drilling position diagram 27 shows the position of the excavator 6 on the plane of the work chamber 2 of the caisson 1 and the drilling locations 28 drawn according to a predetermined drilling pitch. In this embodiment, the drilling position diagram 27 is an enlarged view of the block of the lot number 1-1 currently being drilled. 27 shows the position of the excavator 6, and the tip of the arrow shows the position of the drilling machine 8. Further, in this drilling position diagram 27, the drilling location 28 targeted for drilling is shown by a white circle, and the already drilled hole 29 is colored and clearly displayed.
The hole 29 is not limited to be colored and may be displayed in a color, shape, or a combination thereof, such as a double circle.

In FIG. 24, when the excavator mounted on the excavator 6 is replaced, the display also changes to match the excavator that has been replaced. Posture diagram 24, drilling machine information 2
5, drilling block splitting diagram 26 and drilling position diagram 27
The case where the drilling machine 8 is mounted on the excavator 6 is shown. However, when the drilling tool is replaced with a bucket or the like, the drilling machine information 25, the drilling block division diagram 26, and the drilling position diagram 27 are displayed. Disappears.

The caisson information 21, excavator information 22, plan view 23, posture view 24, drilling machine information 25, drilling block division diagram 26, and drilling position map 27 are shown by the drilling machine 6.
Can be displayed in an arbitrary size by the operation of the operator, and the display unnecessary by the operator can be freely deleted.

Further, the drilling block division diagram 26 shows the range displayed in the drilling position diagram 27 when it is not appropriate to display the entire plane of the work chamber 2 of the caisson 1 in the drilling position diagram 27. Used for clarity. Therefore,
If the entire plane of the working chamber 2 can be clearly shown in the drilling position diagram 27, the drilling block division diagram 26 may be deleted.

By the way, in the drilling assisting method shown in this embodiment, when shifting from a normal drilling operation to a drilling operation, the drilling tool of the drilling machine 6 is first replaced with the drilling machine 8. If the computer 12 can automatically recognize the exchange of the drilling tool, the drilling tool displayed in the posture diagram 24 on the screen 20 of the computer 12 is replaced with the drilling machine 8, and the drilling machine information 25 and the drilling block block diagram. 26 and the drilling position diagram 27 are automatically displayed. Moreover, the block of the lot number where the excavator 6 is located is colored and displayed in the drilling block layout chart 26, and the block of the lot number where the excavator 6 is located is automatically selected in the drilling location map 27. Is displayed. Then, the position of the excavator 6 and a drilling location 28 drawn according to a predetermined drilling pitch are displayed on the block.

If the computer 12 cannot automatically recognize the exchange of the drilling tool, the operator performs necessary operations,
Switch to the previous display.

When moving to the drilling operation and moving the excavator 6, the operator operates the remote control device so that the tip of the arrow representing the excavator 6 on the drilling position diagram 27 overlaps the target drilling location 28. 11, the excavator 6 is operated. The fact that the tip of the arrow overlaps the hole 28 on the drilling position diagram 27 indicates that the tip of the drilling machine 8 is located on the hole 28.

At this point, the drilling machine 8 is operated so as to be in contact with the ground 14 so that the tip of the arrow on the drilling position diagram 27 does not deviate from the drilling location 28. At this time, the operator operates the drilling machine information 25 on the screen 20 of the computer 12.
While operating, the drilling machine 8 is operated so as to contact the ground at a predetermined angle.

After the drilling machine 8 is grounded, drilling is started. At this time, the operator operates the screen 2 of the computer 12.
The drilling depth is confirmed from the posture diagram 24 above 0, and drilling is performed to a predetermined depth.

After drilling to a predetermined depth, the drilling machine 8
Is raised and moved to the next drilling location 28. At this time, the drilled hole 29 is automatically colored and displayed on the drilling position diagram 27.

By repeatedly operating the excavator 6 in the above procedure, holes 29 having a predetermined depth can be easily and continuously formed in the drilling locations 28 drawn according to a predetermined drilling pitch. Can be drilled.

Further, by coloring the drilled holes 29, changing the shape of the drilled holes 28, or using them in combination, even when there are a large number of drilled holes 28, Since the necessity of drilling can be easily determined, the operator can easily select a drilling location.

When the drilling operation of one block in the work room 2 of the caisson 1 is completed, the drilling block division diagram 26 and the drilling position diagram 27 on the screen 20 of the computer 12 show the block of the next lot number. The display is automatically switched.
When the display of the drilling block division diagram 26 and the drilling position diagram 27 is switched to the block of the next lot number, the above-described drilling procedure is repeated until the drilling of all the lot numbers is completed.

If there is a change in the drilling pitch of the ground 14 in the caisson 1 in the work room 2 or in the block division, the computer 12 is operated and the drilling position map 27 and the drilling block layout chart 26 are changed. Change the display.

When it is necessary to switch the block displayed in the drilling position diagram 27 to a block in which the excavator 6 is not arranged, the computer 12 is operated to switch the block.

When a plurality of excavators 6 are installed in the work room 2 of the caisson 1 and excavation and drilling operations are performed, a computer 12 capable of integrally managing the plurality of excavators 6 is prepared. By using the drilling assisting method to centrally manage the drilling locations 28 with the computer 12, drilling can be efficiently performed at the target drilling location 28 while preventing interference of the plurality of excavators 6. It is possible to do.

The remote control room 10 has the remote control device 1
In addition to 1 and computer 12, monitor and CR installed separately
Devices such as T and a storage device may be installed and used together.

[0050]

As described above, according to the present invention, the excavator 6 equipped with the drilling machine 8 is provided in the work room 2 of the caisson 1, and the excavator 6 is operated by the remote control device 11 and the computer 12. In the drilling method of remotely operating and drilling, information on the position and attitude of the excavator 6 and the work room 2 of the caisson 1 are displayed on the screen 20 of the computer 12.
The position of the excavator 6 on the plane in the inside and the drilling location 28 drawn according to a predetermined drilling pitch are displayed, and the excavator 6 is remotely operated with the drilling location 28 as a target, and the drilling is performed. Since the drilling machine 8 is drilled by aligning the position of the drilling machine 8 with the hole location 28, the drilling machine 8 is placed in the working room 2 of the caisson 1 at the drilling location 28 predetermined according to the drilling pitch. There is an effect that the excavator 6 equipped with the drill can be accurately moved by remote control, and drilling can be performed easily and continuously at equal intervals.

According to the present invention, an excavator 6 equipped with a drilling machine 8 is provided in the work room 2 of the caisson 1, and the drilling machine 6 is remotely operated by a remote control device 11 and a computer 12 to drill a drilling machine. In the drilling method, the caisson information 21 relating to the state of the caisson 1 installed, the plan view 23 relating to the inclination of the caisson 1 and the position of the excavator 6 and the outer wall of the caisson 1 A posture diagram 24 showing the posture of the excavator 6, drilling machine information 25 including the operating state, position, and inclination of the drilling machine 8, and a caisson 1
Of the excavator 6 on the plane of the work room 2 and the drilling location 2 drawn in accordance with a predetermined drilling pitch.
8 and the drilling position diagram 27 including FIG.
The drilling machine 6 is remotely operated with the target of 8
Since the drilling machine 8 is drilled by adjusting the position of the drilling machine 8 to the drilling machine 6, the drilling machine 6 equipped with the drilling machine 8 can be remotely controlled at a drilling location 28 predetermined according to the drilling pitch. There is an effect that the holes can be moved more accurately, and the holes can be more easily and continuously made at regular intervals.

Further, in the present invention, when a plurality of excavators 6 are arranged in the work room 2 of the caisson 1, the position and the posture of each excavator 6 are displayed on the screen 20 of the computer 12. Working room 2 of caisson 1
Even when a plurality of excavators 6 are deployed in the inside of the drilling machine to perform a drilling operation, there is an effect that interference between the excavators is prevented, and the drilling operation can be performed safely and efficiently.

In the present invention, the computer 12
Is displayed on the screen 20 in a target color and a drilled hole 29 in an identifiable color or shape or a combination thereof. There is an effect that the drilled hole 29 is clearly identified and the excavator 6 can be accurately guided to the target drilling location 28.

[Brief description of the drawings]

FIG. 1 shows an embodiment of the present invention, wherein a caisson,
FIG. 3 is a block diagram showing a relationship between an excavator equipped with a drilling machine and a remote control room including a remote control device and a computer.

FIG. 2 is a diagram showing various information and drawings displayed on a screen of the computer shown in FIG. 1;

FIG. 3 is an enlarged view of FIG. 2;

[Explanation of symbols]

 Reference Signs List 1 caisson 2 work room 6 excavator 7 excavator boom 8 drilling machine 9 controller 10 remote control room 11 remote control device 12 computer 20 computer screen 21 caisson information 22 excavator information 23 plan view of caisson work room 24 Posture diagram of excavator etc. 25 Drilling machine information 26 Drilling block splitting diagram 27 Drilling position map 28 Drilling location 29 Drilled hole

Claims (4)

(57) [Claims] An excavator 6 equipped with a drilling machine 8 is provided in a work room 2 of a caisson 1, and the drilling machine 6 is remotely operated by a remote control device 11 and a computer 12 to perform drilling. In the method, on the screen 20 of the computer 12, information on the position and attitude of the excavator 6, the position of the excavator 6 on a plane in the work room 2 of the caisson 1, and the drilling pitch determined in advance. The drilling location 28 is displayed, and the excavator 6 is remotely operated with the drilling location 28 as a target,
A drilling support method for a pneumatic caisson excavator, wherein the drilling is performed by aligning the position of the drilling machine 8 with the drilling location 28. 2. An excavator 6 equipped with a drilling machine 8 is provided in a working room 2 of a caisson 1. The drilling machine 6 is remotely operated by a remote control device 11 and a computer 12 to perform drilling. In the method, on the screen 20 of the computer 12, caisson information 21 concerning the state of the caisson 1 installed, a plan view 23 concerning the inclination of the caisson 1 and the position of the excavator 6, the outer wall of the caisson 1 and the excavator 6 Posture diagram 24 showing the posture of
Drilling machine information 25 including the operating state, position and inclination of the drilling machine 8
And a drilling position diagram 27 including a position of the excavator 6 on the plane of the work chamber 2 of the caisson 1 and a drilling location 28 drawn according to a predetermined drilling pitch. Remotely controlling the excavator 6 with the target of the location 28,
A drilling support method for a pneumatic caisson excavator, wherein the drilling is performed by aligning the position of the drilling machine 8 with the drilling location 28. 3. When a plurality of excavators 6 are deployed in the work room 2 of the caisson 1, a screen 2 of the computer 12 is provided.
The drilling support method for a pneumatic caisson excavator according to claim 1 or 2, wherein the position and orientation of each excavator (6) are displayed on 0. 4. On a screen 20 of the computer 12,
3. The excavator for a pneumatic caisson according to claim 1, wherein the target drilling location 28 and the drilled hole 29 are displayed in an identifiable color or shape or a combination thereof. Drilling support method.