JP3081738B2 - Graphic display method of wall excavator attitude - 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 for graphically displaying the attitude of an excavator used in an underground continuous wall construction method.

[0002]

2. Description of the Related Art Conventionally, as a graphic display method of this kind of continuous wall excavator posture, measurement data from an inclinometer or a depth gauge mounted on an excavator or the like is input to a computer and the posture of the excavator at each depth is measured. That is, to calculate the inclination angle of the excavator and the deviation amount of the excavator tip from the excavation plan line,
There is known a method of individually displaying the change over time of the inclination angle and the amount of deviation on the same display screen as a graph or a numerical value.

[0003]

However, according to the conventional graphic display method of the wall excavator posture, the inclination angle and the amount of deviation are individually displayed. I have to imagine
The judgment criteria of the operator who drives the excavator may vary. Therefore, an object of the present invention is to provide a graphic display method of a continuous wall excavator posture that can unify the criterion of an operator by enabling the change over time of the posture of the excavator to be visually confirmed. .

[0004]

In order to solve the above-mentioned problems, the present invention provides a graphic display method of a wall excavator posture, in which the present posture and the past posture of the excavator are displayed on a display screen at respective depths. Are drawn with a plurality of arrow-shaped instruction frames corresponding to the inclination angle and the amount of deviation from the excavation planning line. It is preferable that the inside of the indication frame indicating the current posture is drawn in a color different from the background color. In addition, it is preferable that, when drawing the indication frame, the angle of inclination be enlarged.

[0005]

In the above means, the change over time (trajectory) of the posture of the excavator is displayed in a plurality of instruction frames indicating together the inclination angle and the amount of deviation. Further, by making the inside of the instruction frame indicating the current posture different from the background color, the distinction between the current and past postures of the excavator becomes clear. Further, by changing the inclination angle of the excavator and drawing, the change in the inclination angle becomes clear. The expansion of the inclination angle is 5 to 5
10 times is preferred.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an image showing an embodiment of a graphic display method of a posture of a continuous wall excavator according to the present invention. The screen 1 of a display such as a CRT or an LCD has a tilt display area 2 in which the upper half displays the current tilt of the excavator, and a temporal change (posture) of the posture in which the lower half includes the tilt angle and the amount of deviation of the excavator. )
And the left and right halves of the two areas 2 and 3 display the forward and backward tilt display area 2a and the front and rear attitude trajectory display area 3a for displaying the trajectory and posture trajectory of the excavator. The parts are a left-right tilt display area 2b and a left-right posture locus display area 3b for displaying the left-right tilt and the posture locus of the excavator.

The front-back tilt display area 2 of the tilt display area 2
In a, front and rear characters 4a and 4b are displayed at both upper corners, and a side image image 5 of the excavator is displayed with a required inclination in the front-rear direction with respect to the excavation plan line 6. Arrows 7a and 7b indicating the projecting portion of the adjustment guide of the excavator are displayed on both sides of the side image image 5. In the left-right tilt display area 2b, left and right characters 8a and 8b are displayed at both upper corners, and a front image 9 of the excavator is provided in a required direction in the left-right direction with respect to the excavation plan line 6. Arrows 10a and 10b indicating the projecting portion of the adjustment guide of the excavator are displayed on both sides of the front image image 9 with an inclination. Each arrow, 7a, 7b, 10a, 10b has a function of indicating the protruding portion of the adjustment guide, and also has a function of indicating the inclination direction of the excavator in the front-rear direction and the left-right direction.

On the other hand, the front and rear posture trajectory display area 3a of the posture trajectory display area 3 has a depth on the vertical axis and a digging plan line 6 on the horizontal axis.
The front-rear posture locus display area 3a has a temporal change in the front-rear posture of the excavator at each depth from a certain point in time to the present (trajectory). ) Are drawn by a plurality of instruction frames 11 composed of arrow frames corresponding to the front-rear inclination angle of the excavator at each depth and the amount of front-rear excursion from the excavation planning line 6 at the excavator tip. . Similarly, the left and right posture trajectory display area 3b is a rectangular display frame with the vertical axis representing depth and the horizontal axis representing the amount of deviation from the excavation planning line 6. The time-dependent change (trajectory) of the left-right posture of the excavator at each depth from a certain point in time to the present time is determined by the left-right inclination angle of the excavator at each depth and the excavation plan line 6 at the excavator tip. It is drawn by a plurality of instruction frames 12 each composed of an arrow frame corresponding to the amount of deviation in the left-right direction. Both indication frames 11, 1
2, an indication frame 11 indicating a past posture, as shown in FIG.
a and 12a are drawn in the same color as the background color of the screen 1, and the instruction frames 11b and 12b indicating the current posture are drawn in a color different from the background color, for example, red. Also, as shown in FIG. 3, the two instruction frames 11, 12 are drawn such that the inclination angle θ is enlarged to 5 to 10 times the actual front-rear direction and left-right direction inclination angle of the excavator. The deviation amount Δ from the excavation plan line 6 (the lower end in FIG. 3)
L is drawn to mean the amount of deviation of the excavator tip from the excavation planning line 6. Further, as shown in FIG. 4, the two instruction frames 11 and 12 are drawn so as to constantly overwrite the latest one from the deviation amount and the inclination angle which change from time to time.

On the other hand, when the excavator has substantially the same depth and only the inclination angle changes, the drawing processing is performed as shown in FIG.

In order to perform the drawing processing by the graphic display method having the above-described configuration, a personal computer using a color monitor as a display is used, together with input processing of measurement data from an inclinometer or a depth gauge mounted on an excavator or the like. The graphic display processing routine by programming is combined as an original calculation processing.

In the above-described embodiment, the case where the pointing frame is an arrow frame has been described. However, the present invention is not limited to this. For example, the outer frame of a spear ear, the outer frame of a shell, and other shapes of arrows It may be a frame-like instruction frame. Also, the present invention is not limited to the case where the entire screen of the display is used as the display area for the tilt display area and the attitude trajectory display area. Alternatively, a plane position display area of the excavator may be added for use. Furthermore, the number of residual images of the locus display and each display area may be freely changed by programming within the limits of hardware.

[0012]

As described above, according to the graphic display method of the excavator posture of the continuous wall excavator of the present invention, the change over time of the posture of the excavator is represented by a plurality of instructions indicating the inclination angle and the displacement amount together. Since it is displayed as a frame, it is not necessary to conceptually image the trajectory of the excavator's attitude in the head as in the past, and it is possible to accurately confirm it visually and unify the judgment criteria of the operator. It is possible to improve the excavation accuracy of the underground continuous wall. Further, by making the inside of the instruction frame indicating the current attitude different from the background color, the distinction between the current and past attitudes of the excavator becomes clear, so that the attitude control of the excavator can be easily performed. Furthermore, by expanding and drawing the inclination angle of the excavator,
Since the change in the inclination angle becomes clear, the posture control of the excavator can be performed more easily.

[Brief description of the drawings]

FIG. 1 is an image showing one embodiment of a method for graphically displaying a posture of a continuous wall excavator according to the present invention.

FIG. 2 is an explanatory diagram of a drawing process in the present and past instruction frames in a posture locus display area of the image shown in FIG. 1;

FIG. 3 is an explanatory diagram of the meaning of an instruction frame in FIG. 2;

FIG. 4 is an explanatory diagram of a drawing process of present and past instruction frames when the excavation depth in the posture locus display area of the image shown in FIG. 1 changes.

FIG. 5 is an explanatory diagram of a drawing process of a present and a past instruction frame when the excavation depth in the posture locus display area of the image shown in FIG. 1 does not change.

[Explanation of symbols]

 1 screen 3 posture trajectory display area 3a front and rear posture trajectory display area 3b left and right posture trajectory display area 6 excavation planning line 11 indication frame 12 indication frame

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) E21B 47/024 E02D 5/18 102 E02F 5/02

Claims (3)

(57) [Claims] 1. A current position and a past position of an excavator are drawn on a display screen with a plurality of arrow-shaped instruction frames corresponding to an inclination angle at each depth and a deviation amount from an excavation plan line. Graphic display method of the posture of the excavator. 2. The method according to claim 1, wherein the inside of the indication frame indicating the current posture is drawn in a color different from a background color.
Graphic display method of the described wall excavator attitude. 3. The graphic display method for a posture of a continuous wall excavator according to claim 1, wherein the drawing of the indication frame is performed by enlarging an inclination angle.