JP2982890B2 - Attitude measurement device and attitude control method for ground excavator - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an attitude measuring apparatus and an attitude control method for a ground excavator, and more particularly to an attitude control apparatus and an attitude control method for a hydrophrase excavator.

[0002]

2. Description of the Related Art Excavators for excavating the ground include a hydrophrase excavator, a Kelly excavator, a CIS excavator and the like.
This excavator is suitable for deep excavation of about m.

FIG. 4 is a side view showing a state where such a hydrophrase excavator 1 is suspended by a crane 3 via a suspension wire 2. As you can see in the figure,
The hydrophrase excavator 1 is provided with a hydraulic rotary cutter 5 at the lower end of the frame 4. When excavating, the hydrophrase excavator 1 is suspended in the excavation groove 7 and the rotary cutter 5 is By operating, the bottom of the excavation groove 7 is dug down.

Here, in order to control the excavation accuracy, it is indispensable to measure and control the attitude of the hydrophrase excavator 1. The vertical accuracy is managed by using an inclinometer attached to a frame, and the horizontal accuracy is controlled. The deviation of the direction and the twist around the vertical axis were controlled by using a displacement measuring device described in Japanese Utility Model Publication No. 6-24429 developed by the present applicant.

FIG. 5 shows such a displacement measuring device. In the displacement measuring device 11 shown in the figure, the horizontal displacement of a pair of measuring wires 14, 14 stretched between the upper end of the hydrophrase excavator 1 and a predetermined position of a crane (not shown) is attached to the support base 12. The excavator 1 can be estimated in the horizontal direction and the amount of twist around the vertical axis by using the detected values.

[0006]

Here, the support base 12
Is installed on the guide trench 6 so as to straddle the excavation groove 7, and when the hydrophrase excavator 1 is moved horizontally, the support base 12 also needs to be replaced, which causes inconvenience. Was. In addition, measurement wire 1
Since the displacement of the excavator 1 is measured through the measuring device 4, the measurement accuracy is limited. Further, there has been a problem that the workability is reduced because the support wire 12, the measuring wire 14 and the link mechanism 13 are in the way.

The present invention has been made in view of the above circumstances, and provides a posture measuring apparatus and a posture control method for a ground excavator capable of improving measurement accuracy and improving workability during excavation. The purpose is to:

[0008]

In order to achieve the above object, an attitude measuring device for a ground excavator according to the present invention comprises: an optical gyro attached to a predetermined position of the ground excavator; Computer means capable of displaying in real time a rotation angle of the ground excavator detected using the optical gyro as a change in attitude of the ground excavator.

According to a second aspect of the present invention, there is provided an attitude control method for a ground excavator, wherein a rotation angle of the ground excavator is detected using an optical gyro attached to a predetermined position of the ground excavator. A step of displaying the rotation angle as a change in the attitude of the ground excavator on a predetermined computer means in real time, and a step of controlling the attitude of the ground excavator while watching the change in the attitude.

[0010]

In the attitude measuring apparatus and attitude control method for a ground excavator according to the present invention, first, the rotation angle of the ground excavator is detected using an optical gyro attached to a predetermined position of the ground excavator. Next, the detected rotation angle is displayed in real time on computer means such as a personal computer as a change in the attitude of the ground excavator. Next, while watching the change in the attitude displayed on the display of the personal computer, the driving of the support pad provided on the ground excavator is controlled to control the attitude of the ground excavator.

[0011]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view showing an embodiment of an attitude measuring apparatus and an attitude control method for a ground excavator according to the present invention. It is to be noted that the same reference numerals are given to components and the like that are substantially the same as those in the conventional technology, and description thereof will be omitted.

FIG. 1 is a schematic view showing an attitude measuring apparatus for a ground excavator according to the present embodiment. As can be seen from the figure, the posture measuring device for a ground excavator according to the present embodiment has an optical gyro 22 attached to a predetermined position of a ground excavator 21, for example, an upper portion of the frame 4, and detects using the optical gyro 22. The rotation angle of the ground excavator 21 is displayed on the computer means 23 such as a personal computer in real time as a change in the attitude of the ground excavator 21.

As the optical gyro 22, a laser tachometer called a ring laser gyro is preferably used. The ring laser gyro is equipped with a reflecting mirror so that the light emitted from the laser tube goes around the ring in both the forward and reverse directions and returns to the same point, and the difference between the oscillation frequencies in both directions caused by the rotation of the gyro is detected by an electric signal. As a result, the rotation speed can be measured, and the measured rotation speed can be integrated to measure the rotation angle.

The personal computer 23 plots a change in the attitude of the excavator 21 using the control unit 24 that resets the optical gyro 22 to zero the initial value of the rotation angle and the rotation angle detected by the optical gyro 22. An arithmetic unit 25 and a display unit 26 such as a CRT display for displaying the created contents are provided.
The personal computer 23 is preferably installed, for example, in a cab on the ground.

Next, referring to a flowchart shown in FIG. 2, the operation of the posture measuring apparatus and the posture control method of the ground excavator of the embodiment will be described. As can be seen from the figure, in the posture measuring device and the posture control method of the ground excavator of the present embodiment, first, the optical gyro 22 attached to a predetermined position of the ground excavator 21 is controlled via the control unit 24 of the personal computer 23. To reset the initial value of the rotation angle to zero (Step 1)
01).

Next, the rotation angles θx, θy, θz of the ground excavator 21 in the excavation hole 7 are detected using the optical gyro 22 (step 102). Here, θx is a direction along the guide trench as shown in FIG. 3 (a), that is, a rotation angle around the x-axis, and θy is a direction orthogonal to the guide trench, ie, y
Represents a rotation angle around an axis, and θz represents a rotation angle corresponding to a torsional component about a vertical axis (z-axis direction).

Next, the detected rotation angle data is transmitted to the personal computer 23 arranged in the cab on the ground (step 10).
3). Transmission is preferably performed via a dedicated cable.

Next, using the transmitted rotation angle data, the arithmetic unit 25 of the personal computer 23 draws a change in the attitude of the ground excavator 21 and further displays the drawn data on the display unit 26 in real time ( Step 104).

FIGS. 3B to 3D show θx, θy, and θz, respectively.
FIG. 9 shows a state in which a change in orientation in the direction is displayed on the display unit 26.

Finally, while observing the change in the attitude displayed on the display unit 26, the support pad 27 provided on the ground excavator 21 is moved to the control panel 2 of the support pad 27 as shown in FIG.
The drive of the ground excavator 21 is controlled by the drive control via the control unit 29 provided in the controller 8 (FIG. 2, step 105). As can be seen in FIG. 1, the support pads 27 are arranged on the upper, lower, front, rear and both side surfaces of the frame 4 of the excavator 21, and the contact surfaces of the pads are pressed against the wall surfaces of the drill holes 7 by hydraulic actuators. Thereby, the attitude of the ground excavator 21 can be controlled.

This attitude control is repeatedly or continuously performed until the change in the attitude of the ground excavator 21 falls within a predetermined error range.

As described above, according to the posture measuring apparatus and the posture control method of the ground excavator of the present embodiment, the rotation angle of the ground excavator is measured by using the optical gyro. It is possible to improve the accuracy of the measurement as compared with the conventional technique using, and thus to improve the accuracy of the excavation. In addition, by improving the excavation accuracy, the number of times of ultrasonic hole wall measurement can be reduced.

In addition, it is not necessary to replace the ground excavator 21 with the movement of the ground excavator 21, and since there are no wires or facilities near the guide trench 6 which hinder the work, the excavation work is performed in comparison with the related art. Workability is greatly improved.

In addition, since an optical gyro that is resistant to vibration and impact is adopted instead of a mechanical gyro, the reliability of the attitude control of the ground excavator is improved.

This embodiment is particularly effective when the excavator has a strong tendency to sway, such as a gravel layer or a sand layer.

In this embodiment, the rotation angles around the three axes are all detected by the optical gyro, and the attitude of the excavator is controlled and managed using the rotation angles. Only the rotation angle of the torsional component may be detected by an optical gyro, and the rotation angles of the other components may be determined using a normal inclinometer.

In this embodiment, the horizontal displacement of the ground excavator is not particularly described. However, when an excavator such as a hydrophrase excavator moves horizontally in relatively viscous muddy water, almost no displacement occurs. In the case of, rotation is involved. Therefore, if the rotation angle described above is measured and managed, it is possible to accurately control the deviation in the horizontal direction.

In this embodiment, a ring laser gyro is used as the optical gyro, but a gyro using an optical fiber may be used instead.

[0029]

As described above, the posture measuring apparatus for a ground excavator according to the present invention includes an optical gyro attached to a predetermined position of the ground excavator and the ground excavator detected using the optical gyro. Computer means capable of displaying the rotation angle of the ground excavator as a change in the attitude of the ground excavator in real time, so that measurement accuracy can be improved and workability during excavation can be improved.

The method of controlling the attitude of a ground excavator according to the present invention includes the steps of: detecting a rotation angle of the ground excavator using an optical gyro attached to a predetermined position of the ground excavator; Since the method includes a step of displaying the change in the posture of the ground excavator in real time and a step of controlling the posture of the ground excavator while watching the change in the posture, the measurement accuracy is improved and the workability during excavation is improved. can do.

[0031]

[Brief description of the drawings]

FIG. 1 is a schematic diagram of a posture measuring device of a ground excavator according to an embodiment.

FIG. 2 is a flowchart illustrating a posture control method of the ground excavator according to the embodiment.

FIG. 3 is an explanatory diagram showing a state in which a change in attitude of a ground excavator is displayed on a display unit.

FIG. 4 is a side view showing a ground excavator.

FIG. 5 is a side view showing a conventional displacement measuring device for a ground excavator.

[Explanation of symbols]

 Reference Signs List 21 Ground excavator 22 Optical gyro 23 Personal computer (computer means) 24 Control unit 25 Operation unit 26 Display unit

Claims (2)

(57) [Claims] An optical gyro attached to a predetermined position of a ground excavator, and a rotation angle of the ground excavator detected using the optical gyro can be displayed in real time as a change in the attitude of the ground excavator. An attitude measuring device for a ground excavator, comprising: computer means. 2. A step of detecting a rotation angle of the ground excavator using an optical gyro attached to a predetermined position of the ground excavator, and displaying the rotation angle in real time as a change in the attitude of the ground excavator. And controlling the attitude of the ground excavator while observing the change in the attitude.