JP4318807B2 - Excavation work support system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an excavation and excavation work support system, and in particular, an excavation and excavation situation by a grab bucket (in this specification, including similar buckets such as a drudger bucket and simply referred to as “grab bucket”). By allowing operators to check visually even at high depths and high groundwater levels, excavation and excavation work can be performed accurately and safely without requiring skill. It relates to earth work support systems.
[0002]
[Prior art]
Conventionally, in the open caisson method, for example, when excavation and excavation work is performed using an excavator such as a crawler crane equipped with a grab bucket, especially when the depth and groundwater level are high, the operator has to Since the soil condition cannot be directly visually confirmed, usually the slack of the main wire and the sub wire of the grab bucket, the marks attached to the main wire and the sub wire, etc., or the landing of the grab bucket The excavation and excavation work is performed in a manner that relies on the operator's intuition and experience, such as the winding operation of the main wire and sub-wire, by experiencing the impact of the excavator. There was a problem that required skill.
[0003]
In addition, in order to perform excavation and excavation work by a method that relies on the intuition and experience of the operator,
(1) When deep excavation or groundwater level is high and underwater excavation, etc., the operator cannot directly visually check the excavation and excavation status using the grab bucket as described above. Accurate drilling is difficult.
(2) In order to accurately perform flat excavation at a certain depth, in order to inform the operator of excavation and excavation conditions such as the excavation plane position in the open caisson method, etc., an observer is required separately from the operator. In addition, even when the groundwater level is high and underwater excavation is performed, even this method cannot be adopted.
(3) Sediment runoff due to imperfect grab bucket closure.
(4) At the time of landing, the grab bucket is overturned by loosening the wire too much, and it takes time to correct the overturn.
(5) The difference in load applied to the main wire and the sub-wire is easily increased during ascent and descent, and the grab bucket rotates, causing the main wire and the sub-wire to be entangled with each other, reducing work efficiency and damaging the wire.
(6) Operators tend to get tired from long hours of work.
(7) Since it is difficult to grasp the amount of earthing once, it is easy for the amount of gripping to occur.
(8) Since it is difficult to grasp the accumulated amount of landfill instantaneously, it is difficult to grasp the work end time.
There were various problems.
[0004]
[Problems to be solved by the invention]
In view of the problems in excavation and excavation work using an excavator such as a crawler crane equipped with the conventional grab bucket, the present invention shows the excavation and excavation status by the grab bucket, even when the depth and groundwater level are high, An object of the present invention is to provide an excavation and excavation work support system that can perform excavation and excavation work accurately and safely without requiring skill by allowing an operator to visually check. To do.
[0005]
[Means for Solving the Problems]
In order to achieve the above object, the excavation and excavation work support system of the present invention is based on signals from a plurality of various sensors attached to an excavator equipped with a grab bucket, the excavation depth by the grab bucket, the planar position of the grab bucket, and the height. In the excavation and excavation work support system in which the position and degree of opening and closing, the weight of the grab bucket including the excavation, and the amount of excavation are visually displayed on the display of the operator room, the excavation depth excavated by the grab bucket is caisson. With reference to the blade edge, the color, the shade of the color or the pattern is changed and displayed in several stages according to the depth .
[0006]
This excavation and excavation work support system uses a grab bucket, which is necessary for excavation and excavation work with a grab bucket, on the display installed in the operator room, based on signals from various sensors attached to the excavator equipped with the grab bucket. Since the excavation depth, grab bucket plane position, height position and open / close degree, grab bucket weight including excavation, and the amount of excavation are displayed in real time, Even when the depth or groundwater level is high, the operator can visually confirm.
[0007]
In this case, when the grab bucket enters the safe range display that may come into contact with the rail for the underwater excavator , it can be audibly displayed by sound or alarm sound.
[0008]
Thereby, it can prevent beforehand that a grab bucket contacts the rail for underwater excavators .
[0009]
Further, the position of the excavator relative to the excavation work position can be managed by a global positioning system (hereinafter referred to as “GPS” in this specification).
[0010]
As a result, even if the excavator is moved, the excavation and excavation information up to that point can be used as it is, and the operation can be continued, and the excavation and excavation work can be performed efficiently.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the excavation and excavation work support system of the present invention will be described below with reference to the drawings.
[0012]
FIG. 1 shows an example of an excavator used for the excavation and excavation work support system of the present invention.
Here, the crawler crane provided with the grab bucket 3 will be described as an example of the excavator, but the excavator is not limited to this as long as the excavator is provided with the grab bucket 3.
[0013]
The crawler crane can be traveled by disposing a traveling carriage 1P having an endless track 1C at the lower part of the crane body 1, and the crawler crane can be moved at the tip of the boom 2 attached to the crane body 1 so as to be freely raised and lowered. Two sheaves S1 and S2 are arranged, and a main wire W1 that mainly supports the grab bucket 3 and a secondary wire W2 that mainly opens and closes the grab bucket 3 are spanned over the sheaves S1 and S2, respectively. The front end side of the sub wire W2 is locked to the grab bucket 3, and the base end side is wound around the winding drums D1 and D2 mounted on the crane body 1 side.
[0014]
Then, a main winding amount detector (sensor) 4 and an auxiliary winding amount detector (sensor) 5 are attached to the winding drums D1 and D2, respectively, for winding the wires W1 and W2, respectively. The amount of winding of the secondary wire W2 is detected, thereby detecting the open / closed degree of the grab bucket 3 based on the length of the main wire W1 and the secondary wire W2 being unwound and the difference in the unwinding length. I can do it.
In this example, the main winding amount detector 4 and the auxiliary winding amount detector 5 are attached with a magnetic scale (not shown) along the outer peripheral side surfaces of the winding drums D1 and D2, and the winding amounts of the main wire W1 and the auxiliary wire W2 are attached. Each is detected.
[0015]
In the boom 2, the load applied to the entire boom 2, that is, the load We1 applied to the main wire W1 and the load We2 applied to the sub wire W2 are combined on the proximal end side of the locking wire 22 locked to the crane body 1. A load detector (sensor) 21 for detecting the total load We0 is attached.
Further, in this example, a load detector (sensor) 6 is attached in the vicinity of the sheave S2 where the auxiliary wire W2 for performing the opening / closing operation of the grab bucket 3 is mainly applied, and the load We2 applied to the auxiliary wire W2 is detected. I am doing so.
As a result, the load We1 applied to the main wire W1 can be calculated by the following equation using the total load We0 detected by the load detector 21 and the load We2 applied to the auxiliary wire W2 detected by the load detector 6. Yes.
[0016]
We1 = We0-We2
[0017]
Further, a undulation angle detector (sensor) 7 for detecting the undulation angle of the boom 2 is attached to the base end portion of the boom 2, and the undulation angle of the boom 2 is detected in real time, and further detected by the undulation angle detector 7. The excavation depth by the grab bucket 3 and the height position of the grab bucket 3 can be calculated from the undulation angle of the boom 2 to be detected and the winding amount of the main wire W1 detected by the main winding amount detector 4 attached to the winding drum D1. I am doing so.
[0018]
Further, a turning angle detector (sensor) 8 such as a rotary encoder for detecting the turning angle of the crane body 1 with respect to the traveling carriage 1P having the endless track 1C is attached, and the turning angle of the crane body 1 is detected in real time. The plane position of the grab bucket 3 can be calculated from the turning angle of the crane body 1 detected by the turning angle detector 8 and the undulation angle of the boom 2 detected by the undulation angle detector 7.
[0019]
Furthermore, the position of the crane body 1 with respect to the excavation work position can be managed by GPS as necessary.
[0020]
On the other hand, in the operator room 1R of the crane body 1, a display 10 and an operation panel 20 are disposed at a position where the operator can easily operate and visually check.
[0021]
As shown in FIG. 2, the display 10 is composed of, for example, a liquid crystal panel, and transmits signals from the various sensors 4, 5, 6, 7, 8, 21 to the system control panel 9 for detection. The calculated excavation depth by the grab bucket 3 suspended in the caisson K, the plane position, height position and opening / closing degree of the grab bucket 3, the weight of the grab bucket including the excavation, the amount of excavation, etc. It is trying to display.
[0022]
And more specifically, although not particularly limited,
(1) Plane position display 11 of grab bucket 3 with respect to caisson K
(2) Rotation range display 11A when the grab bucket 3 rotates in a plane due to the difference between the load We1 applied to the main wire W1 and the load We2 applied to the sub wire W2.
(3) Even if the grab bucket 3 rotates in the plane, the grab bucket 3 is installed in the caisson K housing, more specifically, in the vicinity of the caisson K blade K2 (not shown) Safety range display 11B that does not touch the rail K1
(4) The excavation depth display 12 excavated by the grab bucket 3 (the color, shade of color, pattern, etc. are changed and displayed in several stages according to the depth based on the blade edge K2 of the caisson K). )
(5) Excavation range display 13 by an underwater excavator installed near the edge K2 of the caisson K
(6) The grab bucket 3 height position display 14 (“clam depth” (grab bucket 3 height position) and “blade depth” (depth and position of the caisson K blade edge K2) are displayed. .)
(7) Load indication 15 applied to the wires W1 and W2 (load We1 applied to the main wire W1 (indicated as “support” or “support load”) and load We2 applied to the sub wire W2 (“open / close” or “open / close load”) Display).)
(8) Grab bucket 3 open / close indication 16
(9) Weight display 17 of grab bucket 3 (“current soil volume” (the volume of soil currently grabbed by grab bucket 3) and “cumulative soil volume” are displayed)
(10) Number of excavations by grab bucket 3 18
Is comprehensively displayed by using numerical values or graphics or a combination of the two (for example, the height position display 14 of the grab bucket 3, the load display 15 applied to the wires W1 and W2, the opening / closing degree display 16 of the grab bucket 3). Like to do.
[0023]
Then, for example, the current plane position of the grab bucket 3 is confirmed by the plane position display 11 of the grab bucket 3 with respect to the caisson K, and a plane having a certain depth is matched with the excavation depth display 12 excavated by the grab bucket 3. The grab bucket 3 is moved so that a general excavation can be performed.
[0024]
In this case, when the grab bucket 3 enters the safety range display 11B that may come into contact with the rail K1 for the underwater excavator, the grab bucket 3 is displayed audibly to the operator by voice, alarm sound, etc. The contact with the rail K1 for the underwater excavator is prevented in advance.
[0025]
In addition, the current height position of the grab bucket 3 can be visually confirmed by the height position display 14 of the grab bucket 3.
[0026]
In this case, when the grab bucket 3 descends, when the grab bucket 3 reaches a predetermined height position, for example, a position of 6 m from the blade edge K2 of the caisson K, it is audibly displayed to the operator by voice, alarm sound or the like. Thus, the operator is notified visually and audibly of the operation timing of the end of the descent of the grab bucket 3, that is, the timing of applying the brake for temporarily stopping the grab bucket 3.
Then, the operator temporarily stops the grab bucket 3 from the blade edge K2 of the caisson K at a predetermined height position, for example, a position of 2 to 3 m, and then drops the grab bucket 3 in an open state. It prevents the winding of the wires W1, W2 in the winding drums D1, D2 due to excessive slack of the wires W1, W2, and also prevents the loss of working time due to the falling of the grab bucket 3, and the grab bucket 3 Make sure that the earth and sand can be grabbed.
[0027]
Further, the current opening / closing degree of the grab bucket 3 can be visually confirmed by the opening / closing degree display 16 of the grab bucket 3.
[0028]
In this case, when grab bucket 3 grabs the earth and sand, when grab bucket 3 completes the closing operation, the operator is audibly displayed by voice, alarm sound, etc., so as to notify the operation timing of the grab bucket 3 starting to rise. Thus, the excavation and unloading work can be performed efficiently, and the occurrence of sediment discharge due to incomplete closing of the grab bucket 3 is prevented.
[0029]
The load display 15 applied to the wires W1 and W2 indicates that the grab bucket 3 rotates in a plane so that the difference between the load We1 applied to the main wire W1 and the load We2 applied to the sub wire W2 is within an appropriate range. In addition, when this difference exceeds an appropriate range, it is displayed audibly to the operator by voice, warning sound, or the like.
[0030]
Moreover, the weight display 17 of the grab bucket 3 shows the amount of soil currently accumulated in the grab bucket 3 and the accumulated amount of soil. Visually inform the operator of the amount in real time.
[0031]
As described above, this excavation and excavation work support system is configured to display the grab on the display 10 installed in the operator room 1R based on signals from the various sensors 4, 5, 6, 7, 8, and 21 attached to the crawler crane. The excavation depth by the grab bucket 3, the plane position of the grab bucket, the height position and opening / closing degree, the weight of the grab bucket including the excavation, and the amount of excavation necessary for excavation and excavation work by the bucket 3 are displayed in real time. Therefore, the excavation and unloading situation by the grab bucket 3 is heard visually by the operator looking at the display 10 even when the depth or groundwater level is high, and by voice, alarm sound, etc. This enables excavation and excavation work to be performed accurately, safely, and efficiently.
[0032]
In addition, the information on the excavation and excavation status is installed not only in the operator room 1R of the crawler crane but also in a management room R such as an office located away from the crawler crane via a transceiver 19A installed in the crawler crane. The data is sent to the transmitter / receiver 19B, so that the management room R can also display the information on the personal computer 19C or the like, and can also make hard copy or save information on the excavation and excavation status.
Furthermore, an appropriate instruction for excavation and excavation work can be given from the management room R such as an office to the operator room 1R of the crawler crane.
[0033]
As mentioned above, although the open caisson method performed using the crawler crane provided with the grab bucket 3 as an excavator has been described as an example for the excavation and excavation work support system of the present invention, the excavator includes the grab bucket 3. As long as it is a thing, it is not limited to this, For example, it can be applied to excavation and excavation work using a portal crane, and the grab bucket 3 is also opened and closed by the auxiliary wire W2. In addition, it can be applied to an actuator using an actuator such as a hydraulic cylinder, and the applicable construction method is not limited to the open caisson method.
[0034]
Moreover, in this embodiment, since the excavation and excavation work with the grab bucket 3 is performed with the underwater excavator removed from the rail K1, the display of the underwater excavator is omitted, but the work is performed simultaneously. If necessary, a control mechanism for preventing both of the grab bucket 3 and the submersible excavator from being displayed on the display 10 and preventing contact between them can be incorporated into the system control panel 9.
Furthermore, when using an excavator that can move relative to the excavation work position, the excavation and excavation information up to that point can be maintained even if the excavator is moved by managing the position of the excavator using GPS. The work can be continuously performed by using this, and the excavation and excavation work can be performed efficiently.
[0035]
【The invention's effect】
According to the excavation and excavation work support system of the present invention, it is necessary for excavation and excavation work by a grab bucket by signals from a plurality of various sensors attached to an excavator equipped with a grab bucket on a display installed in an operator room. In addition, since the depth of excavation by the grab bucket, the plane position of the grab bucket, the height position and opening / closing degree, the weight of the grab bucket including the excavation, and the amount of excavation are displayed in real time, The situation can be visually confirmed by the operator even when the depth or groundwater level is high, so that a trainer can inform the drilling and excavation status such as the drilling plane position without requiring skill. In the excavation and excavation work using a conventional excavator such as a crawler crane equipped with a grab bucket To eliminate that have matters, accurately, safely, it is possible to perform the drilling Agetsuchi work.
[0036]
In addition, when the grab bucket enters the safety range display that may come into contact with the rail for the underwater excavator , the grab bucket is used for the underwater excavator by audibly displaying the sound or alarm sound . Can be prevented from coming into contact with the rail .
[0037]
In addition, by managing the position of the excavator with respect to the excavation work position by GPS, even if the excavator is moved, the work can be continued using the excavation and excavation information so far. Thus, excavation and excavation work can be performed efficiently.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram of a crawler crane used in an excavation and excavation work support system of the present invention.
FIG. 2 is an explanatory diagram of a display.
FIG. 3 is an explanatory diagram of a management room.
[Explanation of symbols]
1 Crane body 1C Endless track 1P Traveling carriage 1R Operator room 2 Boom 3 Grab bucket 4 Main volume detector (sensor)
5 Auxiliary volume detector (sensor)
6 Load detector (sensor)
7 Undulating angle detector (sensor)
8 Turning angle detector (sensor)
DESCRIPTION OF SYMBOLS 9 System control panel 10 Display 11 Plane position display 11A Rotation range display 11B Safety range display 12 Excavation depth display 13 Excavation range display by submersible excavator 14 Height position display 15 Load applied to wire 16 Opening and closing degree display 17 Weight of earthing Display 18 Excavation count display 19A Transceiver 19B Transceiver 19C Personal computer 20 Operation panel 21 Load detector (sensor)
R Control room W1 Main wire W2 Subwire We0 Total load We1 Load on main wire We2 Load on subwire D1 Winding drum D2 Winding drum S1 Sheave S2 Sheave K Caisson K1 Rail for submersible excavator K2 Caisson blade

Claims (3)

Excavation depth by grab bucket, plane position of grab bucket, height position and opening / closing degree, grab bucket weight including excavation and amount of excavation by signals from various sensors attached to excavator equipped with grab bucket In the excavation and excavation work support system, which is visually displayed on the display in the operator room, the digging depth excavated by the grab bucket is based on the cutting edge of the caisson, and colors and colors in several stages according to the depth An excavation and excavation work support system, characterized in that the shading or pattern of the image is changed and displayed . 2. The excavation and excavation according to claim 1 , wherein when the grab bucket enters a safety range display which may come into contact with a rail for an underwater excavator, an audio or warning sound is displayed audibly. Work support system.   The excavation and excavation work support system according to claim 1 or 2, wherein the position of the excavator with respect to the excavation work position is managed by a global positioning system.

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