JP3656061B2 - How to measure the position of an excavator - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a position measuring method for an excavator, and more particularly, to a position measuring method that allows the positions of a plurality of trunk members of the excavator to be calculated in real time without mounting a compass on the excavator.
[0002]
[Prior art]
Conventionally, when a sewer pipe or the like having a relatively small diameter is disposed in the ground, a tunnel is dug by a dug machine started from a start shaft, and a lining pipe such as a plurality of fume pipes (for example, 1 A construction method has been put into practical use in which the length of the book is about 2400mm) and is pushed in from the starting shaft one by one with the main pushing device. In general, the excavator is propelled by the pushing force of the main pushing device.
[0003]
In this type of construction method, when measuring the position of the excavator from the start shaft, if a worker enters the lining pipe and cannot actually measure it, a plurality of traveling pipes (for example, a length of about 2400 mm) are used. Place one by one from the start shaft and connect it in series in the tunnel (in the lining pipe), run the traveling body in these multiple travel pipes, and the distance and azimuth angle from the start shaft of the excavator And the position of the excavator is calculated.
[0004]
It is common to measure the azimuth angle by installing an azimuth meter on the traveling body. When this traveling body is stored in the excavator and the azimuth meter is mounted on the excavator, the digging distance and azimuth angle of the excavator Can be measured in real time, and the position of the excavator from the starting vertical shaft can be calculated in real time using the excavation distance and azimuth. When the compass is installed separately in the excavator, the excavator's excavation distance and azimuth angle are measured in real time and the excavation distance and azimuth angle are used for digging without storing the traveling object in the excavator. The position of the machine from the start shaft can be calculated in real time.
[0005]
Here, when the traveling body is a wire-pulled traveling body, a front winder and a rear winder for winding a wire connected to the traveling body are provided on each of the excavator side and the start shaft side, for example, a front winder Thus, there is a technique for winding the wire and causing the traveling body to travel toward the excavator, measuring the wire feed amount from the rear winder at that time, and determining the travel distance of the travel body from the wire feed amount.
[0006]
Japanese Patent Laid-Open No. 5-22036 discloses that a self-propelled carriage travels in a propulsion pipe (traveling pipe) disposed along a tunnel, and the self-propelled carriage travels toward an excavator. At the same time, a technique is disclosed in which a cable extending from a winding device provided on the start shaft side is pulled, and the traveling distance of the self-propelled carriage is measured from the amount of cable drawn from the winding device.
[0007]
[Problems to be solved by the invention]
Conventionally, the position of the excavator can be calculated by moving the traveling body along the tunnel between the excavator and the start shaft and measuring the distance and the azimuth angle of the excavator from the start shaft. Then, with the compass mounted on the excavator, measure the excavation distance and azimuth angle of the excavator in real time, and based on the excavation distance and azimuth angle, determine the position of the excavator from the starting shaft in real time. It can be calculated. However, it is difficult to accurately measure the azimuth angle in real time with the compass mounted on the excavator, especially as the excavation distance becomes longer. Therefore, it is difficult to accurately measure the position of the excavator in real time. .
[0008]
Therefore, it is conceivable to install a high-performance azimuth meter in the excavator, but the equipment cost is expensive, and there is a limit to accurately measuring the azimuth angle of the excavator in real time, albeit with high performance. . In addition, since a high-performance compass is relatively large, when the compass is mounted on a traveling body, the traveling body becomes large and the traveling pipe also becomes large. Therefore, in a small diameter lining pipe There is a possibility that a traveling body cannot be traveled by arranging a plurality of travel pipes.
[0009]
Moreover, if the compass is mounted on the excavator, the compass may be submerged when raining, etc., and the compass may be damaged and cause great damage.
The aspect of the present invention can accurately measure the position of the multiple trunk members of the excavator from the start shaft without mounting the compass on the excavator in real time, prevent the compass from being submerged, and reduce equipment costs. It is to provide a method for measuring the position of an excavator.
[0010]
[Means for Solving the Problems]
The position measuring method of the excavator according to claim 1 is a method of measuring a position from a starting vertical shaft of a remote control type automatic excavator formed by connecting a plurality of trunk members in series via a middle folding portion that can be folded. In the excavation interruption state, the measurement traveling body is moved along the tunnel to measure the position of the trunk member at the end of the excavator from the start shaft, and the first bending angle of the middle folding portion is measured. The center of the excavator is calculated by calculating the position of the plurality of trunk members of the excavator from the starting shaft using the process, the position of the trunk member at the end of the measured excavator and the intermediate folding angle of the center folding portion. A second step of calculating the position of the line, a third step of measuring in real time the mid-bend angle of the middle folding part and the excavation distance excavated by the excavator after the first step during tunnel excavation, and the second step The position of the shaft line of the obtained excavator and the body member And a fourth step of calculating in real time the positions of the plurality of trunk members from the start shaft based on the position of the reference trunk member and the intermediate folding angle and the excavation distance measured in the third step. It is characterized by this.
[0011]
In this excavator position measurement method, in the first step, in the excavation interruption state, the measurement traveling body is moved along the tunnel to measure the position of the trunk member at the end of the excavator from the starting vertical shaft, Measure the middle folding angle of the middle folding part. Next, in the second step, the position of the plurality of trunk members of the excavator from the starting shaft is calculated using the position of the trunk member at the tail of the excavator and the middle folding angle measured in the first step. Then, the position of the axis line of the excavator is calculated. Then, in the third step, during tunnel excavation, the middle bending angle of the middle fold part and the digging distance excavated by the excavator after the first step are measured in real time, and in the fourth step, the excavator obtained in the second step is measured. Based on the position of the axial center line and the position of the reference body member among the plurality of body members, and the intermediate folding angle and the excavation distance of the center folding part measured in the third step, Calculate the position in real time.
[0012]
In the first step, at least a three-dimensional compass is mounted on the traveling body, and the traveling body is moved between the excavator and the start shaft along the tunnel, so that the trunk member at the end of the excavator The position of the trunk member at the end of the excavator can be measured by measuring the distance and azimuth angle from the starting vertical shaft. After measuring the position of the trunk member at the end of the excavator in this first step, it is not necessary to measure the azimuth angle in real time using a compass in the third step during tunnel excavation. Of course, in the fourth step The positions of the plurality of trunk members from the start shaft can be calculated in real time without being based on the azimuth.
[0013]
Here, in the 4th process, the position of the shaft center line of the excavator obtained in the 2nd process, the position of the reference body member among the plurality of body members, and the middle folding part measured in the 3rd process. Based on the angle and the excavation distance, the positions of the plurality of body members from the start shaft are calculated in real time, and the positions of the reference body members among the plurality of body members calculated here can be calculated based on the positions. The position of the axis line can be used together with the position of the axis line obtained in the second step. Accordingly, the positions of the plurality of trunk members of the excavator can be calculated in real time without frequently performing the first and second steps.
[0014]
According to a second aspect of the present invention, there is provided a method for measuring a position of an excavator according to the first aspect of the invention based on the position of the axial center line obtained in the second step and the excavation distance obtained in the third step in the fourth step. The position of the body member is calculated, and the positions of one or more body members on the front side of the reference body member are determined based on the position of the reference body member and the mid-fold angle of the center fold portion ahead of the reference body member. It is characterized by calculating.
[0015]
In this 4th process, the reference | standard cylinder member of the excavation machine excavated after the 1st process moves along the position of the axial center line calculated | required by the 2nd process, and the axial center line calculated | required by the 2nd process Based on the position and the excavation distance obtained in the third step, the position of the reference body member can be calculated in real time, and the position of the reference body member and the middle fold portion in front of the reference body member are folded. Based on the angle, the position of one or a plurality of trunk members in front of the reference trunk member can be calculated.
[0016]
When one or more barrel members are present behind the reference barrel member, the barrel member position is moved along the position of the axis line obtained in the second step in the same manner as the reference barrel member. As what to do, it may be calculated based on the position of the barrel member and the position of the axial center line obtained in the second step and the excavation distance obtained in the third step, and the trunk member in front of the reference barrel member In substantially the same manner, the calculation may be performed based on the position of the reference body member and the middle folding angle of the middle folding portion behind the reference body member.
[0017]
The position measuring method of the excavator according to claim 3 is the invention according to claim 1 or 2, each time the excavator excavates an integral multiple of the length of the lining pipe covering the inner surface of the tunnel. The second step is performed. When the excavator digs an integral multiple of the length of the lining pipe that covers the tunnel inner surface, the lining pipe can be covered with the lining pipe between the excavator on the inner surface of the tunnel and the start shaft, and measurement is performed along the lining pipe. Since the traveling body can be moved, the first step and the second step can be reliably performed.
[0018]
The position measuring method of the excavator according to claim 4 is the invention according to claim 3, wherein the reference body member is a body member positioned on the rear side of the length of the lining pipe from the tip of the excavator. It is what. At least until the excavator digs up the length of the lining pipe, the reference barrel member moves reliably along the position of the axis line obtained in the second step. It is possible to reliably calculate the position from the starting shaft of the real time in real time.
[0019]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings. In this embodiment, a tunnel is dug with a digging machine launched from a start shaft, and a plurality of lining pipes are inserted into the tunnel one by one from the start shaft and pushed into the sewer pipe by a main pushing device. It is an example at the time of applying this invention to the construction method arrange | positioned in.
[0020]
As shown in FIG. 1, a remote control room 6 provided with a control device 7 therein, a mud feed device 8 including a mud feed pump 9, a mud treatment device 10, a slide, A material supply device 11 and the like are installed, and a start stand 12, a main pushing device 13 having a push-in jack 14, a mud pump 15, a water level gauge 16, a rear winder 17, and a sheave 18 are installed in the start shaft 2.
[0021]
As shown in FIGS. 1, 4, and 9, the excavating machine 1 connects five first to fifth trunk members 20 to 24 in series via intermediate folding portions 25 to 28 that can be folded. The remote control type automatic excavator is operated by the control device 7 in the remote control room 6. The first first body member 20 is a body member of the excavator main body 30, and the second to fifth body members 21 to 24 following the first body member 20 are arranged in order from the front side. The subsequent pipe 1 and the subsequent pipe 2 are provided.
[0022]
The excavator main body 30 has a cutter head 31 and a cutter driving hydraulic motor 32, and the cutter head 31 is rotationally driven by the cutter driving hydraulic motor 32 to excavate a natural ground ahead. At that time, muddy water is jetted from the excavator main body 30 to the front ground, and the muddy water is disposed in the start shaft 2 and the tunnel 3 (lining pipe 4) by the mud pump 9 of the mud feeder 8. The mud pipe 33 is supplied to the excavator main body 30.
[0023]
The excavated soil excavated by the cutter head 31 is taken into the chamber, and is agitated together with the mud water by the waste mud relay pump 34 provided in the third body member 22, and is then tunneled from the chamber into the tunnel 3 (lining pipe 4). It is discharged to the start shaft 2 side through the sludge pipe 35 disposed in the, and is sent from the start shaft 2 to the muddy water treatment apparatus 10 through the drain pipe 37 by the mud pump 15 and processed. Therefore, the muddy water subjected to the muddy water treatment is supplied to the mud feeding device 8 and used again as the muddy water supplied to the excavator main body 30.
[0024]
In order to reduce the frictional force acting between the body members 20 to 24 of the excavator 1 and the inner surface of the tunnel 3 and to reduce the frictional force acting between the lining pipe 4 and the inner surface of the tunnel 3, a lubricant is supplied. The device 11 supplies the lubricant to the second body member 21 through the lubricant supply pipe 38 disposed in the start shaft 2 and the tunnel 3 (lining pipe 4), and the lubricant is supplied from the second body member 21. Is supplied between the inner surface of the tunnel 3 and the body members 20 to 24 and the lining pipe 4.
[0025]
As shown in FIG. 6, the excavator 1 is provided with a plurality of (for example, four) middle-folded jacks 55 that connect the first body member 20 and the second body member 21, and the middle-folded portion 25. Four sets of half-turn angle detection sensors 56 for detecting half-turn angles of .about.28 are provided. For each bending angle, the lateral swing angle of the other body member relative to the connected one body member, and further the vertical swing angle may be detected. A hydraulic pressure supply device 42 for supplying hydraulic pressure to the cutter drive hydraulic motor 32 and the folding jack 55 is also provided. The rearmost fifth body member 24 is used as a storage for a measurement traveling body 41 (hereinafter referred to as traveling body 41), which will be described later, and a front winder 39 is provided inside the fifth body member 24. Yes.
[0026]
As shown in FIG. 2, each lining pipe 4 is, for example, a concrete fume pipe having a diameter of 400 m to 600 mm and a length of 2455 mm. One end of the lining pipe 4 is formed on the male part 4a and the other end is formed on the female part 4b. The female part 4b is fitted with a ring-shaped cushion material 4c and a sealing material 4d, and the female part 4b of the lining pipe 4 is attached to the female part 4b. A male part 4a of another lining pipe 4 is fitted and connected via a cushioning material 4c and a sealing material 4d.
[0027]
When the excavator 1 is started from the start shaft 2, the divided first trunk member 20 to fifth trunk member 24 are sequentially carried into the start shaft 2 by a crane or the like, and are sequentially connected to each other. The vehicle is started using the pushing device 5. After the excavator 1 is started, a plurality of lining pipes 4 are sequentially carried into the start shaft 2 by a crane or the like, and the leading lining pipe 4 is placed between the excavator 1 and the main pushing device 5. Set and push forward with the original pusher 5.
[0028]
Further, the second and subsequent lining pipes 4 are set between the front lining pipe 4 and the main pushing device 5 in a state of being connected to the front lining pipe 4 and pushed forward by the main pushing apparatus 5. Move. Then, the plurality of connected lining pipes 4 are integrally pushed forward, and the digging machine 1 is propelled by the leading lining pipe 4 pushing the digging machine 1. The main pushing device 13 is provided with a pushing amount detection sensor 13a for detecting the pushing amount.
[0029]
Now, in order to excavate the tunnel 3 of the planned route with the excavator 1 and arrange the sewage pipe with the planned route, it is necessary to measure the tunnel route from the start shaft 2 and the position of the excavator 1. For this purpose, as shown in FIGS. 1, 3 and 4, a plurality of traveling pipes 40 are arranged in series along the tunnel 3 (inside the lining pipe 4) excavated by the excavator 1. Then, the traveling body 41 is caused to travel within the plurality of traveling pipes 40, and the traveling distance and azimuth angle of the traveling body 41 are detected.
[0030]
The travel pipe 40 is formed in, for example, a square cylinder with a square section made of stainless steel, and two types of first and second lining pipes 40 having different lengths are prepared. As shown in FIG. 5, for example, the length of the first lining pipe 40 is 2455 mm, the length of the second lining pipe 40 is 2250 mm, and the difference between the lengths of these lining pipes 40 is 2455 mm−. 2250mm = 205mm. Each lining pipe 40 and the lining pipe 40 connected to the lining pipe 40 are connected by a connecting member (not shown) so as to be rotatable around a vertical axis.
[0031]
The leading traveling pipe 40 is connected to the fifth trunk member 24 at the tail of the excavator, and a plurality of traveling pipes 40 are connected in series so as to extend from the leading traveling pipe 40 to the rear side (starting shaft 2 side). The rearmost traveling tube 40 is arranged in a state of protruding slightly rearward from the last lining tube 4. Since the leading traveling pipe 40 is connected to the fifth body member 24, when the lining pipe 4 is pushed forward by the main pushing device 5, the digging machine 1 is also pushed forward, so that it is pulled by the digging machine 1. The traveling pipe 40 moves forward integrally with the excavator 1 and the lining pipe 4.
[0032]
As shown in FIG. 3, each traveling pipe 40 is provided with an electric cable pipe 42, a mud pipe 33 a, a mud pipe 36 a, a lubricant supply pipe 38 a and the like having the same length as the traveling pipe 40. These tubes 40, 42, 33a, 36a, and 38a are integrated to form an inner unit 43. Each inner unit 43 has a plurality of wheels (not shown) and is supported by the wheels in a stable posture so as to be able to travel in the tunnel axis direction in the lining pipe 4. It will be in the position.
[0033]
In the lining pipe 4, the pipes 40, 42, 33 a, 36 a, 38 a of each inner unit 43 and the pipes 40, 42, 33 a, 36 a, 38 a of the inner unit 43 adjacent to the inner unit 43 are respectively connected. The A power cable for supplying necessary power to the excavator 1 side and a signal cable for transmitting a necessary detection signal from the excavator 1 side to the control device 7 are passed through the plurality of electric pipes 42.
[0034]
Thus, the traveling body 41 is disposed so as to be able to travel in the plurality of traveling pipes 40 arranged in series along the tunnel 3, and the leading traveling pipe 40 is the fifth trunk member at the tail end of the excavator. 24, the rearmost traveling pipe 40 projects rearward from the rearmost lining pipe 4, but a front winder 39 is provided in front of the first traveling pipe 40, and the rearmost traveling pipe 40 is provided. A sheave 18 is provided on the rear side of the tube 40, and a rear winder 17 is provided on the upper side of the main pushing device 13.
[0035]
When the wire 45 (string) extending forward from the traveling body 41 is wound by the front winder 39, the traveling body 41 travels toward the excavator 1, and the wire 46 (cable) extending rearward from the traveling body 41 is the rear winder 17. When wound up, the traveling body 41 travels toward the start shaft 2. Here, the traveling body front position detection switch 57 (see FIG. 6) is attached to the leading traveling pipe 41, and the traveling body rear position detection switch 58 (see FIG. 6) is attached to the rearmost traveling pipe 41. Yes. Further, the rear winder 17 is provided with an encoder 17a (see FIG. 6) as wire amount detection means for detecting the wire feeding or winding amount from the rotation amount of the rotating body that rotates together with the wire feeding or winding.
[0036]
When arranging a plurality of traveling pipes 40 connected in series along the tunnel 3, one inner unit 43 having the traveling pipe 40 is added each time the lining pipes 4 are added one by one. Add one by one and put it in the tunnel 3. When the lining pipe 4 and the inner unit 43 are added, the traveling body 41 is disconnected from the wire 45 and retracted to the outside of the traveling pipe 40, and the sheave 18 is retracted so as not to get in the way.
[0037]
As shown in FIGS. 4 and 6, the traveling body 41 is equipped with a plurality of wheels 41 a and is provided with an azimuth meter 50 and a three-dimensional accelerometer 51 made of a three-dimensional gyro, and a light emitting unit and a light receiving unit. An optical sensor 52 corresponding to the detecting means of the tube number detecting means having a section is provided facing downward. A hole 53 (for example, a circular hole having a diameter of 17 mm) as a detected portion is provided in a predetermined position at a predetermined distance from the right short side on the bottom wall of each traveling tube 40, and the optical of the traveling body 41 is directly above the hole 53. The hole 53 can be detected when the sensor 52 passes. Signal lines extending from the azimuth meter 50, the accelerometer 51, and the optical sensor 52 provided on the traveling body 41 are connected to the control device 7 through the wire 46 formed of a cable.
[0038]
Now, a method for measuring the route of the tunnel 3 from the start shaft 2 and the position of the excavator 1 will be described. First, a block diagram including the control system of FIG. 6 will be described.
As shown in FIG. 6, the control device 7 includes a computer 60, a display 61, and an operation panel 62, and the control device 7 controls the excavator 1, the main pushing device 13, the front winder 39, and the rear winder 17. .
[0039]
Further, the control device 7 includes four sets of bending angle detection sensors 56 of the excavator 1, a push amount detection sensor 13 a of the main pushing device 13, an azimuth meter 50, an accelerometer 51, and a traveling body 52 of the traveling body 41, The encoder 17a of the rear winder 17, the traveling body front position detection switch 57, and the traveling body rear position detection switch are electrically connected through signal lines, respectively, and the route of the tunnel 3 from the start shaft 2 based on these signals. The position of the excavator 1 is measured and the various controls including the excavator 1 are performed.
[0040]
Next, a method of measuring the route of the tunnel 3 from the start shaft 2 and the position of the excavator 1 executed by the control device 7 will be described based on the flowcharts of FIGS. 7 and 8. In the flowchart, Si (i = 1, 2, 3,...) Indicates each step.
[0041]
As shown in FIG. 7, when there is a measurement start instruction on the traveling body 41 by an operator operation (S1; Yes), when the traveling body rear switch 58 is ON (S2; Yes), the traveling body 41 travels at the end. Since it is in a state where it is stopped at the position of the tube 2 (hereinafter referred to as the initial position), the initial position of the traveling body 41 is based on the measured values of the azimuth meter 50 and the accelerometer 51 as the traveling distance 0. It is set (S3).
[0042]
Next, when excavation by the excavator 1 is interrupted (S4; Yes), the front winder 39 is driven, the front winder 39 winds up the wire 45, and the traveling of the traveling body 41 is started (S5). ), The traveling body 41 travels toward the excavator 1 at, for example, 5 km / h. At this time, the wire 46 is fed out from the rear winder 17 in a state where an appropriate feeding load is applied to the rear winder 17. Even if there is a measurement start instruction (S1; Yes), when the traveling body rear switch 58 is OFF (S2; No; at this time, the traveling body 41 may automatically travel to the initial position). When the excavation is not interrupted (S4; No), the process returns to S1.
[0043]
When the traveling body 41 starts traveling in S5, the traveling distance of the traveling body 41 is measured (S6), and the azimuth (azimuth angle change) of the traveling body 41 by the azimuth meter 50 is measured (S7). These measurements are performed until the traveling body 41 arrives at the rearmost fifth body member 24 of the excavator 1 and the traveling body front switch front switch 57 is turned on. When the traveling body front switch rear switch 57 is turned on (S8; Yes) and the traveling body 41 arrives at the fifth body member 24, the winding of the wire 45 by the front winder 39 is stopped, and the traveling body 41 travels. Stopped (S9).
[0044]
Here, the method of measuring the travel distance of the traveling body 41 in S6 will be described based on the flowchart of FIG. The travel distance is automatically calculated by the control device 7. First, the first and second travel tube numbers X and Y are respectively set to 0 and stored in a storage unit (RAM or the like) of the computer 60. The wire feed amount Z is set to 0 and stored in the storage unit of the computer 60 (S21).
[0045]
Next, the encoder signal from the encoder 17a of the rear winder 17 is read (S22), the wire feed amount Z is calculated based on the encoder signal (S23), updated and stored in the storage unit of the computer 60, and the traveling distance of the traveling body 41 L is calculated by the formula of X × 2445 + Y × 2250 + Z (mm). Since X and Y are both 0 at the beginning when the traveling body 41 starts traveling, the traveling distance L is the wire feed amount Z.
[0046]
Next, it is determined by the optical sensor 52 of the traveling body 41 whether or not the hole 53 that is the detected portion has been detected (S25). When the optical sensor 52 is OFF, it is determined that the detected portion is not detected ( S25; No) Returning to S22, S22 to S24 are repeated. When the optical sensor 52 passes directly above the hole 53, the optical sensor 52 is turned on, and it is determined that the detected portion is detected (S25; Yes), and the process proceeds to S26.
[0047]
In S26, it is determined whether or not the wire feed amount Z when it is determined that the detected portion is detected is 2455 (mm) or more (S26), and when Z ≧ 2455 (mm) (S26; Yes), It is determined that the traveling tube 40 corresponding to the wire feed amount Z (the distance from the initial position when it is detected for the first time from the initial position) from when the detection unit is detected is the first traveling tube 40 having a length of 2455 (mm). Thus, the first traveling tube number X is incremented to X + 1 (S27).
[0048]
When Z ≧ 2455 (mm) is not satisfied (S26; No), the traveling tube 40 corresponding to the wire feed amount Z from the previous detection of the detected portion is the second traveling tube 40 having a length of 2255 (mm). As a result of the determination, the second traveling tube number Y is incremented to Y + 1 (S28). After S27 or S28, the process returns to S21, the wire feed amount Z is reset to 0 (S21), and then S22 and subsequent steps are executed.
[0049]
The determination principle of S26 will be described in detail. As a result of the inventors measuring the amount of elongation of the wire 46 under the same conditions as the actual test, about 1 m (about 2%) with respect to about 50 m of the drawn wire. Elongation or error occurred. That is, the lengths of the first traveling pipe 40 and the second traveling pipe 40 are larger than the error of the wire feed amount (length) per second traveling pipe 40 of about 49.1 (mm) = 2455 (mm) × 0.02. Difference 2455 (mm)-2250 (mm) = 205 (mm) is larger, so if the wire feed amount Z when it is determined that there is a detected part is 2455 (mm) or more, the first run The pipe 40 can be determined with certainty, and if it is smaller than 2455 (mm), it can be reliably determined with the second traveling pipe 40.
[0050]
As described above, according to this traveling body distance measuring method, the lengths 2455 (mm) and 2250 (mm) of the first and second traveling pipes 40 are recorded in advance, and the traveling body 41 is directed to the excavator 1 side in one direction. The numbers X and Y of the first and second traveling pipes 40 that have passed when traveling toward the vehicle are detected, and the detected numbers X and Y of the first and second traveling pipes 40 and the first and second traveling pipes are detected. Based on the recorded lengths 2455 (mm) and 2250 (mm) of the tube 40, the travel distance L of the travel body 41 is calculated and measured.
[0051]
In this case, an optical sensor 52 as a detecting unit is provided in advance in the traveling body 41, and the optical sensor 52 detects a hole 53 as a detected portion provided in advance at a predetermined position of each traveling tube 40. Based on the wire feed amount Z per traveling tube from the time when 52 detects each hole 53 until the next hole 53 is detected, the type of the traveling tube is discriminated. 2 The numbers X and Y of the traveling pipes 40 can be reliably detected.
[0052]
The traveling body 41 is a wire pulling traveling body, and an encoder 17a as a wire amount detecting means for detecting the wire feed amount Z is provided in advance, and the optical sensor 52 is included in the traveling distance of the traveling body 41. The distance Z from the detection of the hole 53 of each traveling tube 40 to the detection of the next hole 53 is obtained from the wire feed amount detected using the encoder 17a.
[0053]
Thus, the travel distance L of the traveling body 40 can be calculated from the formula of X × 2445 + Y × 2250 + Z (mm). Conventionally, when the travel distance of the traveling body is obtained only by the wire feed amount, for example, when the tunneling machine 1 excavates a 300 m tunnel, the error is about 6 m, but the above measurement method is used. In addition to the maximum error of about 49.1 (mm) = 2455 (mm) x 0.2 due to wire feeding, it is possible to keep it below 80 mm even if errors due to connection of the traveling pipe are taken into account. It is possible to greatly improve the accuracy of measuring the 41 travel distance.
[0054]
Now, as shown in FIG. 7, when the traveling body 41 stops at the fifth trunk member 24 at the tail of the excavator in S9, the traveling distance L of the traveling body 41 measured in S6 and the traveling measured in S7. Based on the azimuth angle of the body 41, the position P5 of the fifth trunk member 24 at the tail of the excavator is measured (S10), and then the four folding angle detection sensors 56 detect the respective folding portions 25-28. The bending angles a1-2 to a4-5 are measured (S11).
[0055]
Next, using the position P5 of the fifth trunk member 24 at the tail of the excavator measured in S10 and the middle folding angles a1-2 to a4-5 of the respective middle folding portions 25 to 28 measured in S11. The positions P1 to P5 of the five first to fifth body members 20 to 24 of the excavator 1 are calculated (the position P5 of the fifth body member 24 is the position P5 measured in S10), The position PCL (see FIG. 9) of the axis line CL of the excavator 1 is calculated (S12).
[0056]
After that, during tunnel excavation by the excavator 1 (S13; Yes), the middle folding angles a1-2 to a4-5 of the middle folding portions 25 to 28 and the main pushing device 13 are The digging distance EL of the digging machine 1 serving as the push amount is measured in real time by the push amount detection sensor 13a (S14).
[0057]
And position PCL of axial center line CL of excavation machine 1 calculated | required by S12, and position P2 of the 2nd trunk | drum member 21 used as the reference | standard trunk | drum member of the five 1st-5th trunk | drum members 20-24, The positions P1 to P5 of the five first to fifth body members 20 to 24 are calculated in real time based on the middle bending angles a1 to a4-5 and the digging distance EL measured in S14. (S15), and then returns to S13. The second body member 21 serving as the reference body member is a body member located on the rear side of the length of the lining pipe 4 from the tip of the excavating machine 1, that is, the first body member 20 is from the lining pipe 4. Becomes a long body member.
[0058]
When tunneling is not being performed by the excavator 1 (S13; No), when measuring with the traveling body 41 (S16; Yes), returning to S1 and when measuring with the traveling body 41 is not performed (S16; No), it returns to S13.
[0059]
Here, in S15, based on the position PCL of the axis line CL obtained in S12 and the excavation distance EL obtained in S14, the position P2 of the second body member 21 that is the reference body member is calculated. Based on the position P <b> 2 of the second body member 21 and the middle folding angle a <b> 1-2 ahead of the second body member 21, the front body member 20 on the front side of the second body member 21 is positioned. The position P1 can be calculated.
[0060]
Here, when calculating the position P2 of the second body member 21 which is the reference body member in S15, as shown in FIG. Therefore, the position P2 of the second body member 21 is calculated based on the position PCL of the axis line CL obtained in S12 and the excavation distance EL obtained in S14. can do.
[0061]
Every time the excavator 1 excavates an integral multiple of the length of the lining pipe 4 lining the inner surface of the tunnel, it is desirable to perform the measurement with the traveling body 41 in S16 and perform S1 to S12. .
[0062]
As described above, according to the position measuring method of the excavator 1, the excavation suspended state (S4; Yes), the traveling body 41 is moved along the tunnel 3 to start the fifth trunk member 24 at the tail of the excavator. 2 is measured (S10), and the middle folding angles a1-2 to a4-5 are measured (S12). In S12, the position of the fifth trunk member 24 at the tail of the excavator measured in S10 and S11 and the middle folding angles a1-2 to a4-5 of the middle folding portions 25 to 28 are used to determine the plurality of excavators 1. The positions P1 to P5 of the trunk members 20 to 24 from the starting shaft 2 are calculated, and the position PCL of the axial line CL of the excavator 1 is calculated.
[0063]
Thereafter, in S14, during tunnel excavation, the middle folding angles a1-2 to a4-5 and the digging distance L excavated by the excavator 1 after S11 (S12) are measured in real time, and in S15, The position PCL of the axis line CL of the excavator 1 obtained in S12 and the position P2 of the reference body member 21 among the plurality of body members 20 to 24, and the middle folding angle a1 of the middle folding parts 25 to 28 measured in S14 Based on -2 to a4-5 and the excavation distance L, the positions P1 to P5 of the plurality of trunk members 20 to 24 from the start shaft 2 are calculated in real time.
[0064]
By moving the traveling body 41 between the excavator 1 and the start shaft 2 along the tunnel 3, the distance and the azimuth angle from the start shaft 2 of the fifth trunk member 24 at the tail of the excavator are measured. The position P5 of the fifth body member 24 can be measured, and after measuring the position P5 of the fifth body member 24, it is necessary to measure the azimuth angle in real time using an azimuth meter in S14 during tunnel excavation. Of course, the positions P1 to P5 of the plurality of trunk members 20 to 24 from the start shaft 2 can be accurately calculated in real time without being based on the azimuth angle in the step S15.
[0065]
That is, the position of the plurality of trunk members 20 to 24 from the start shaft 2 can be calculated in real time without mounting the compass on the excavator 1, and as a result, the compass can be prevented from being submerged. be able to. Moreover, it is necessary to mount the compass 50 on the traveling body 41. However, since it is not necessary to measure an accurate azimuth angle in real time during excavation with the compass 50, it is necessary to apply a compass that is so expensive. In the end, the equipment cost can be greatly reduced.
[0066]
Here, in S15, the position PCL of the axial center line CL of the excavator 1 obtained in S12, the position P1 of the reference body member 21 among the plurality of body members 20 to 24, and the bent portion 25 measured in S14. Based on the intermediate bending angles a1-2 to a4-5 and the excavation distance L, the positions P1 to P5 of the plurality of trunk members 20 to 24 from the start shaft 2 are calculated in real time. The position P2 of the reference body member 21 among the plurality of body members 20 to 24 and the position PCL of the axis line CL that can be calculated based on the position P2 can be used together with the position PCL of the axis line CL obtained in S12. Thus, the positions P1 to P5 of the plurality of trunk members 20 to 24 of the excavator 1 can be calculated in real time without frequently performing the first to S12.
[0067]
In S15, it is assumed that the reference body member 21 of the excavator 1 excavated after S11 (S12) moves along the position PCL of the axial line CL determined in S12, and the position of the axial line CL determined in S12. The position P2 of the reference body member 21 can be calculated in real time on the basis of the PCL and the excavation distance L obtained in S14, and the 21 position P2 of the reference body member and the center bend ahead of the reference body member 21 can be calculated. The position P1 of the body member 20 on the front side of the reference body member 21 can be calculated based on the middle turning angle a1-2 of the portion 25.
[0068]
The positions P3 to P5 of the body members 22 to 24 on the rear side of the reference body member 21 are assumed to move along the position PCL of the axial line CL obtained in S12, as with the reference body member 21. , May be calculated based on the positions P3 to P5 of the trunk members 22 to 24 obtained in S12 and the position PCL of the axial center line CL and the excavation distance L obtained in S14, or may be calculated in front of the reference trunk member 21. In substantially the same manner as the body member 20, the calculation is made based on the position P2 of the reference body member 21 and the intermediate folding angles 2-3 to a4-5 behind the reference body member P2. May be.
[0069]
Every time the excavator 1 excavates an integral multiple of the length of the lining pipe 3 lining the inner surface of the tunnel 2, S <b> 1 to S <b> 12 are performed, so that the digging machine 1 on the inner surface of the tunnel 3 and the start shaft 2 are covered. Since it can be covered with the pipe 4 and the traveling body 41 can be moved along the inside of the covered pipe 4, S1 to S12 can be reliably performed.
[0070]
Since the reference body member 21 is the second body member 21 located on the rear side of the length of the lining pipe 4 from the tip of the digging machine 1, at least until the digging machine 1 advances the length of the lining pipe 4. In the meantime, since the reference body member 21 moves reliably along the position PCL of the axial center line CL obtained in S12, the positions of the plurality of body members 20 to 24 from the start shaft 2 are surely confirmed in real time in S15. It becomes possible to calculate.
[0071]
S4 to S11 correspond to the first step, S12 corresponds to the second step, S14 corresponds to the third step, and S15 corresponds to the fourth step.
[0072]
Various modifications can be added and implemented without departing from the spirit of the present invention. For example, the traveling body may be a self-propelled traveling body. In this case, for example, the cable extending from the traveling body to the start shaft side can be wound by the winder device, and the amount of feeding that is performed when the traveling body travels to the excavator side is measured by an encoder or the like, You may apply to the method of measuring the travel distance of a body.
[0073]
【The invention's effect】
According to the position measuring method for an excavator according to claim 1, in the first step, at least an azimuth meter is mounted on the measuring traveling body, and the measuring traveling body is placed along the tunnel between the excavator and the starting shaft. It is possible to measure the position by measuring the distance and azimuth angle of the trunk member at the end of the excavator from the starting vertical shaft, but after measuring the trunk member at the end of the excavator in this first step, In the third step during tunnel excavation, it is not necessary to measure the azimuth angle in real time using an azimuth meter. Of course, in the fourth step, the positions of the plurality of trunk members from the starting shaft are not based on the azimuth angle. It can be calculated in real time.
[0074]
That is, the position of the plurality of trunk members from the start shaft can be calculated in real time without mounting the compass on the excavator, and as a result, the compass can be prevented from being submerged. In addition, it is necessary to mount an azimuth meter on the traveling body, but it is not necessary to measure an accurate azimuth angle in real time while digging with the azimuth meter. Equipment costs can be greatly reduced.
[0075]
In the fourth step, the position of the center line of the excavator obtained in the second step, the position of the reference barrel member among the plurality of barrel members, the middle folding angle and the excavation measured in the third step Based on the distance, the position of the plurality of body members from the start shaft is calculated in real time, but the position of the reference body member among the plurality of body members calculated here and the axis line that can be calculated based on this position Can be used in combination with the position of the axis line obtained in the second step. Accordingly, the positions of the plurality of trunk members of the excavator can be calculated in real time without frequently performing the first and second steps.
[0076]
According to the position measuring method for an excavator according to claim 2, in the fourth step, the reference cylinder member of the excavator that has been excavated after the first step moves along the position of the axis line obtained in the second step. As described above, the position of the reference body member can be calculated in real time based on the position of the axial center line obtained in the second step and the excavation distance obtained in the third step, and the position of the reference body member and the reference The positions of one or a plurality of trunk members on the front side of the reference trunk member can be calculated based on the middle folding angle of the middle folding portion ahead of the trunk member.
[0077]
According to the position measuring method of the excavator of claim 3, since the first step and the second step are performed each time the excavator excavates an integral multiple of the length of the lining pipe covering the inner surface of the tunnel, When the machine digs an integral multiple of the length of the lining pipe that lining the inner surface of the tunnel, the tunnel inner surface can be covered with the lining pipe between the excavator on the inner surface of the tunnel and the start shaft, and the measurement run along the lining pipe Since it becomes possible to move a body, it becomes possible to perform a 1st process and a 2nd process reliably.
[0078]
According to the method for measuring the position of the excavator according to claim 4, since the reference body member is a body member positioned on the rear side of the length of the lining pipe from the tip of the digging machine, at least the digging machine is the lining pipe. In the fourth step, the position of the plurality of barrel members from the starting shaft is determined in order to move the reference barrel member reliably along the position of the axis line obtained in the second step. It is possible to reliably calculate in real time.
[Brief description of the drawings]
BRIEF DESCRIPTION OF DRAWINGS FIG. 1 is a schematic view showing an underground installation method for a sewer pipe according to an embodiment of the present invention.
FIG. 2 is a perspective view of a lining pipe.
FIG. 3 is a perspective view of an inner unit including a travel pipe.
FIG. 4 is a longitudinal sectional view of a lining pipe, a traveling pipe, a traveling body and the like in the tunnel.
FIG. 5 is a chart showing the lengths of the first and second travel pipes.
FIG. 6 is a block diagram of a control system and the like used in a sewer pipe underground installation method.
FIG. 7 is a flowchart for position measurement.
FIG. 8 is a flowchart for travel distance measurement.
FIG. 9 is a schematic view of an excavator during excavation.
[Explanation of symbols]
1 digging machine
3 Tunnel
7 Control device
13 former pusher
13a Push amount detection sensor
17a Encoder
20-24 First to fifth body members
25-28 Folded part
39 Front winder
40 Traveling pipe (first and second traveling pipes)
41 Running body
52 Optical sensor (detection means)
53 holes (detected part)
50 compass
56 Folding angle detection sensor

Claims (4)

In the method of measuring the position from the start shaft of a remote control type automatic excavator formed by connecting a plurality of trunk members in series through a middle foldable portion,
A first step of measuring the position of the trunk member at the end of the excavator from the start shaft and measuring the angle of bending of the middle folding part in a state where excavation is suspended; ,
The position of the center line of the excavator is calculated using the measured position of the trunk member at the end of the excavator and the bending angle of the center portion of the excavator to calculate the positions of the plurality of trunk members of the excavator from the start shaft. A second step of calculating
During the tunnel excavation, the third step of measuring in real time the middle fold angle of the bent portion and the excavation distance excavated by the excavator after the first step;
Based on the position of the axis line of the excavator obtained in the second step and the position of the reference barrel member among the plurality of barrel members, and the intermediate folding angle and the excavation distance of the middle folding portion measured in the third step A fourth step of calculating in real time the position of the plurality of trunk members from the start shaft;
An excavator position measuring method characterized by comprising: In the fourth step, the position of the reference body member is calculated based on the position of the axis line obtained in the second step and the excavation distance obtained in the third step, and from the position of the reference body member and the reference body member 2. The position measuring method for an excavator according to claim 1, wherein the position of one or a plurality of trunk members in front of the reference trunk member is calculated based on a middle folding angle of the front middle folding portion. . 3. The excavator according to claim 1, wherein the first step and the second step are performed each time the excavator excavates an integral multiple of the length of a lining pipe that covers the inner surface of the tunnel. Position measurement method. 4. The position measuring method for an excavator according to claim 3, wherein the reference body member is a body member positioned on the rear side of the length of the lining pipe from the tip of the excavator.

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