JP5793362B2

JP5793362B2 - How to excavate underwater ground slopes

Info

Publication number: JP5793362B2
Application number: JP2011159210A
Authority: JP
Inventors: 北原　成郎; 成郎北原; 孝仁坂西; 均上遠野; 佐藤　英明; 英明佐藤; 秀典梅田
Original assignee: Kumagai Gumi Co Ltd
Current assignee: Kumagai Gumi Co Ltd
Priority date: 2011-07-20
Filing date: 2011-07-20
Publication date: 2015-10-14
Anticipated expiration: 2031-07-20
Also published as: JP2013023892A

Description

本発明は、水中の地盤の斜面を掘削する方法に関する。 The present invention relates to a method for excavating an underwater ground slope.

従来、水中の地盤を掘削する方法には、水中の前記地盤の上に水中バックホウのような掘削機を配置し、該掘削機により前記地盤を掘削するものがある（特許文献１参照）。この場合、潜水夫が水中で、前記掘削機が前記地盤の上の設計上予め決められた位置に配置されていることを確認する必要がある。しかし、前記地盤が河川、海、湖等の中にある場合、水中の透明度が低く、前記潜水夫が前記地盤の上における前記掘削機の位置を目視することは難しい。このため、前記掘削機が前記予め決められた位置に配置されていることを確認することは困難であり、前記掘削機により前記地盤を正確に掘削することができない。 2. Description of the Related Art Conventionally, there is a method of excavating an underwater ground by placing an excavator such as an underwater backhoe on the underwater ground and excavating the ground with the excavator (see Patent Document 1). In this case, it is necessary to confirm that the diver is underwater and the excavator is located at a predetermined position on the ground by design. However, when the ground is in a river, sea, lake, etc., the transparency in the water is low, and it is difficult for the diver to visually observe the position of the excavator on the ground. For this reason, it is difficult to confirm that the excavator is arranged at the predetermined position, and the ground cannot be excavated accurately by the excavator.

水中の地盤の斜面を掘削する方法としては、水上にある前記地盤の上の位置に架台を配置し、該架台に掘削機を載せ、その後、前記掘削機が載せられた前記架台を前記地盤の上の位置から吊り上げ、前記斜面の上へ吊り下ろし、その後、前記掘削機により前記斜面を掘削することが考えられる。この場合も、潜水夫が水中で、前記掘削機が前記斜面の上の設計上予め決められた位置へ吊り下ろされていることを確認する必要がある。しかし、水中の透明度が低いと、前記潜水夫が前記斜面の上における前記掘削機の位置を目視することは難しい。このため、前記掘削機が前記予め決められた位置へ吊り下ろされていることを確認することは困難であり、前記掘削機により前記斜面を正確に掘削することができない。 As a method of excavating the slope of the ground in the water, a pedestal is placed at a position on the ground above the water, the excavator is placed on the pedestal, and then the gantry on which the excavator is placed is placed on the ground. It is conceivable to lift from the upper position, hang onto the slope, and then excavate the slope with the excavator. In this case as well, it is necessary to confirm that the diver is underwater and that the excavator is suspended to a predetermined position on the slope. However, if the underwater transparency is low, it is difficult for the diver to visually observe the position of the excavator on the slope. For this reason, it is difficult to confirm that the excavator is suspended to the predetermined position, and the slope cannot be excavated accurately by the excavator.

特開２０００−６４３４０JP 2000-64340 A

本発明の目的は、水中の透明度に拘わらず、水中の地盤の斜面の上における掘削機の位置を知ることができるようにし、前記斜面の掘削時に前記掘削機が前記斜面の上の設計上予め決められた位置にあることを確認できるようにし、前記掘削機により前記斜面を正確に掘削できるようにすることである。 It is an object of the present invention to make it possible to know the position of an excavator on an underwater ground slope regardless of the transparency in the water, and when excavating the slope, the excavator is designed in advance on the slope. It is to be able to confirm that it is in a predetermined position, and to enable the excavator to excavate the slope accurately.

本発明は、水中の地盤の斜面の上における掘削機の位置の測定結果に基づき、前記斜面の上における前記掘削機の位置をモニターに表示した後、該モニターに表示された前記掘削機の位置を監視しつつ前記掘削機により前記斜面を掘削する。これにより、水中の透明度に拘わらず、前記斜面の上における前記掘削機の位置を知ることができるようにし、前記斜面の掘削時に前記掘削機が前記斜面の上の設計上予め決められた位置にあることを確認できるようにし、前記掘削機により前記斜面を正確に掘削できるようにする。 The present invention displays the position of the excavator on the slope based on the measurement result of the position of the excavator on the underwater ground slope, and then displays the position of the excavator displayed on the monitor. The slope is excavated by the excavator while monitoring the condition. Thereby, it becomes possible to know the position of the excavator on the slope regardless of the transparency in the water, and when excavating the slope, the excavator is in a predetermined position on the slope by design. It is possible to confirm that there is, and the excavator can excavate the slope accurately.

本発明に係る、水中の地盤の斜面を掘削する方法は、前記斜面から隔てられた前記地盤の上の位置に架台を配置する第１ステップと、前記架台に掘削機を載せる第２ステップと、前記掘削機が載せられた前記架台を前記地盤の上の位置から吊り上げ、前記斜面の上へ吊り下ろす第３ステップと、前記斜面の上における前記掘削機の位置を測定する第４ステップと、前記掘削機の位置の測定の結果に基づき、前記斜面の上における前記掘削機の位置をモニターに表示する第５ステップと、前記モニターに表示された前記掘削機の位置を監視しつつ前記掘削機により前記斜面を掘削する第６ステップとを含む。 According to the present invention, a method for excavating a slope of an underwater ground includes a first step of placing a pedestal at a position on the ground separated from the slope, and a second step of placing an excavator on the pedestal; A third step of lifting the platform on which the excavator is mounted from a position on the ground and suspending it on the slope; a fourth step of measuring the position of the excavator on the slope; A fifth step of displaying on the monitor the position of the excavator on the slope based on the measurement result of the position of the excavator, and the excavator while monitoring the position of the excavator displayed on the monitor And a sixth step of excavating the slope.

前記斜面の上における前記掘削機の位置の測定の結果に基づき、前記斜面の上における前記掘削機の位置を前記モニターに表示した後、該モニターに表示された前記掘削機の位置を監視しつつ該掘削機により前記斜面を掘削するため、水中の透明度に拘わらず、前記斜面の上における前記掘削機の位置を知ることができ、前記斜面の掘削時に前記掘削機が前記斜面の上の設計上予め決められた位置にあることを確認することができ、前記掘削機により前記斜面を正確に掘削することができる。 Based on the measurement result of the position of the excavator on the slope, the position of the excavator on the slope is displayed on the monitor, and then the position of the excavator displayed on the monitor is monitored. Since the excavator excavates the slope, the position of the excavator on the slope can be known regardless of underwater transparency, and the excavator is designed on the slope when excavating the slope. It can be confirmed that the position is in a predetermined position, and the slope can be accurately excavated by the excavator.

前記掘削機は、本体と、一端部が該本体に回転可能に取り付けられたブームと、一端部が該ブームの他端部に回転可能に取り付けられたアームと、一端部が該アームの他端部に回転可能に取り付けられたアタッチメントとを備え、前記水中の地盤の斜面を掘削する方法は、前記掘削機により前記斜面を掘削している間に前記地盤の中における前記掘削機の前記アタッチメントの他端部の軌跡を測定すること、前記アタッチメントの他端部の軌跡の測定の結果に基づき、前記地盤の中における前記アタッチメントの他端部の軌跡を前記モニターに表示することを含む。これにより、前記地盤の中における前記アタッチメントの他端部の軌跡をより正確に知ることができ、掘削された前記斜面の形状をより正確に知ることができ、前記モニターにより出来形管理をすることができる。 The excavator includes a main body, a boom having one end rotatably attached to the main body, an arm having one end rotatably attached to the other end of the boom, and one end being the other end of the arm. And a method of excavating the slope of the underwater ground while excavating the slope by the excavator, the attachment of the excavator in the ground. Measuring the trajectory of the other end, and displaying the trajectory of the other end of the attachment in the ground on the monitor based on the measurement result of the trajectory of the other end of the attachment. Thereby, the locus of the other end portion of the attachment in the ground can be known more accurately, the shape of the excavated slope can be more accurately known, and the shape management is performed by the monitor. Can do.

前記水中の地盤の斜面を掘削する方法は、前記第４ステップにおいて前記掘削機における第１の点の三次元座標と、該第１の点から第１の水平方向に隔てられた前記掘削機における第２の点の三次元座標と、前記第１の点から前記第１の水平方向と交差する第２の水平方向に隔てられた前記掘削機における第３の点の三次元座標とを測定し、前記第５ステップにおいて前記第１の点の三次元座標と、前記第２の点の三次元座標と、前記第３の点の三次元座標とに基づき、前記掘削機の水平度とともに前記掘削機の位置を前記モニターに表示するものとすることができる。 In the fourth step, the method of excavating the slope of the submerged ground includes the three-dimensional coordinates of the first point in the excavator and the excavator separated in the first horizontal direction from the first point. Measuring a three-dimensional coordinate of a second point and a three-dimensional coordinate of a third point in the excavator that is separated from the first point in a second horizontal direction intersecting the first horizontal direction; , In the fifth step, based on the three-dimensional coordinates of the first point, the two-dimensional coordinates of the second point, and the three-dimensional coordinates of the third point, together with the level of the excavator, the excavation The position of the machine can be displayed on the monitor.

前記水中の地盤の斜面を掘削する方法は、前記第４ステップにおいて前記掘削機における少なくとも１つの点の三次元座標を測定する。前記少なくとも１つの点の三次元座標の測定は、既知の三次元座標を有する水面の近傍の第１の位置と前記少なくとも１つの点との間の距離と、前記第１の位置から隔てられ、既知の三次元座標を有する前記水面の近傍の第２の位置と前記少なくとも１つの点との間の距離と、前記第１の位置及び前記第２の位置のそれぞれから隔てられ、既知の三次元座標を有する前記水面の近傍の第３の位置と前記少なくとも１つの点との間の距離とを超音波を用いて測定すること、前記第１の位置と前記少なくとも１つの点との間の距離と、前記第２の位置と前記少なくとも１つの点との間の距離と、前記第３の位置と前記少なくとも１つの点との間の距離と、前記第１の位置の三次元座標と、前記第２の位置の三次元座標と、前記第３の位置の三次元座標とに基づき、前記少なくとも１つの点の三次元座標を算出することを含む。 In the method of excavating the underwater ground slope, in the fourth step, three-dimensional coordinates of at least one point on the excavator are measured. Measuring the three-dimensional coordinates of the at least one point is separated from the first position by a distance between a first position in the vicinity of a water surface having a known three-dimensional coordinate and the at least one point; A distance between a second position in the vicinity of the water surface having a known three-dimensional coordinate and the at least one point, separated from each of the first position and the second position; Measuring a distance between a third position in the vicinity of the water surface having coordinates and the at least one point using an ultrasonic wave; a distance between the first position and the at least one point; A distance between the second position and the at least one point, a distance between the third position and the at least one point, three-dimensional coordinates of the first position, 3D coordinates of the second position and 3D of the third position Based on the target includes calculating three-dimensional coordinates of said at least one point.

本発明に係る、水中の地盤の斜面を掘削する掘削装置は、掘削機と、該掘削機を載せる架台であって前記斜面の掘削時に前記斜面の上へ吊り下ろされる架台と、前記斜面の上における前記掘削機の位置を測定する測定手段と、該測定手段に接続され、前記斜面の上における前記掘削機の位置を表示するモニターとを含む。 An excavation apparatus for excavating an underwater ground slope according to the present invention includes an excavator, a gantry on which the excavator is mounted, the gantry suspended on the slope during excavation of the slope, Measuring means for measuring the position of the excavator at and a monitor connected to the measuring means for displaying the position of the excavator on the slope.

前記掘削機は、本体と、一端部が該本体に回転可能に取り付けられたブームと、一端部が該ブームの他端部に回転可能に取り付けられたアームと、一端部が該アームの他端部に回転可能に取り付けられたアタッチメントとを備え、前記測定手段は、前記ブームに取り付けられた第１の傾斜センサーと、前記アームに取り付けられた第２の傾斜センサーと、前記アタッチメントに取り付けられた第３の傾斜センサーとを備えるものとすることができる。 The excavator includes a main body, a boom having one end rotatably attached to the main body, an arm having one end rotatably attached to the other end of the boom, and one end being the other end of the arm. An attachment that is rotatably attached to the part, and the measuring means is attached to the attachment, a first inclination sensor attached to the boom, a second inclination sensor attached to the arm, and the attachment. And a third tilt sensor.

前記測定手段は、前記掘削機における少なくとも１つの点に固定された掘削機側超音波受信機、掘削機側超音波送信機又は掘削機側超音波送受信機と、既知の三次元座標を有する水面の近傍の第１の位置に固定された第１の水面側超音波送信機、第１の水面側超音波受信機又は第１の水面側超音波送受信機と、前記第１の位置から隔てられ、既知の三次元座標を有する前記水面の近傍の第２の位置に固定された第２の水面側超音波送信機、第２の水面側超音波受信機又は第２の水面側超音波送受信機と、前記第１の位置及び前記第２の位置のそれぞれから隔てられ、既知の三次元座標を有する前記水面の近傍の第３の位置に固定された第３の水面側超音波送信機、第３の水面側超音波受信機又は第３の水面側超音波送受信機とを備える。前記少なくとも１つの点に前記掘削機側超音波受信機が固定されているとき、前記第１の位置、前記第２の位置及び前記第３の位置にそれぞれ前記第１の水面側超音波送信機、前記第２の水面側超音波送信機及び前記第３の水面側超音波送信機が固定されており、前記少なくとも１つの点に前記掘削機側超音波送信機が固定されているとき、前記第１の位置、前記第２の位置及び前記第３の位置にそれぞれ前記第１の水面側超音波受信機、前記第２の水面側超音波受信機及び前記第３の水面側超音波受信機が固定されており、前記少なくとも１つの点に前記掘削機側超音波送受信機が固定されているとき、前記第１の位置、前記第２の位置及び前記第３の位置にそれぞれ前記第１の水面側超音波送受信機、前記第２の水面側超音波送受信機及び前記第３の水面側超音波送受信機が固定されている。 The measuring means includes an excavator-side ultrasonic receiver, an excavator-side ultrasonic transmitter, or an excavator-side ultrasonic transmitter / receiver fixed to at least one point in the excavator, and a water surface having known three-dimensional coordinates. A first water surface ultrasonic transmitter, a first water surface ultrasonic receiver, or a first water surface ultrasonic transmitter / receiver fixed at a first position in the vicinity of the first water surface side, and spaced apart from the first position. A second water surface ultrasonic transmitter, a second water surface ultrasonic receiver, or a second water surface ultrasonic transmitter / receiver fixed at a second position in the vicinity of the water surface having a known three-dimensional coordinate. And a third water surface-side ultrasonic transmitter fixed to a third position in the vicinity of the water surface that is separated from each of the first position and the second position and has a known three-dimensional coordinate, 3 water surface side ultrasonic receivers or a third water surface side ultrasonic transceiver. When the excavator-side ultrasonic receiver is fixed to the at least one point, the first water surface-side ultrasonic transmitter is located at the first position, the second position, and the third position, respectively. The second water surface side ultrasonic transmitter and the third water surface side ultrasonic transmitter are fixed, and when the excavator side ultrasonic transmitter is fixed to the at least one point, The first water surface ultrasonic receiver, the second water surface ultrasonic receiver, and the third water surface ultrasonic receiver at the first position, the second position, and the third position, respectively. Is fixed, and when the excavator-side ultrasonic transceiver is fixed at the at least one point, the first position, the second position, and the third position respectively. Water surface side ultrasonic transceiver, the second water surface side ultrasonic transceiver, and It said third waterside ultrasonic transceiver is fixed.

本発明によれば、水中の地盤の斜面の上における掘削機の位置の測定の結果に基づき、前記斜面の上における前記掘削機の位置を前記モニターに表示した後、該モニターに表示された前記掘削機の位置を監視しつつ該掘削機により前記斜面を掘削するため、水中の透明度に拘わらず、前記斜面の上における前記掘削機の位置を知ることができる。これにより、前記斜面の掘削時に前記掘削機が前記斜面の上の設計上予め決められた位置にあることを確認することができ、前記掘削機により前記斜面を正確に掘削することができる。 According to the present invention, the position of the excavator on the slope is displayed on the monitor based on the result of the measurement of the position of the excavator on the slope of the submerged ground, and then displayed on the monitor. Since the slope is excavated by the excavator while monitoring the position of the excavator, the position of the excavator on the slope can be known regardless of the transparency in the water. Thereby, when excavating the slope, it can be confirmed that the excavator is in a predetermined position on the slope by design, and the slope can be excavated accurately by the excavator.

本発明の第１実施例に係る、架台に掘削機を載せたときの地盤の縦断面図。BRIEF DESCRIPTION OF THE DRAWINGS The longitudinal cross-sectional view of the ground when mounting an excavator on the mount based on 1st Example of this invention. 本発明の第１実施例に係る架台の平面図。The top view of the mount frame concerning 1st Example of this invention. 架台を斜面の上へ吊り下ろしたときの地盤の縦断面図。The longitudinal cross-sectional view of the ground when the frame is suspended on the slope. 図３の線４における掘削機の平面図。FIG. 4 is a plan view of the excavator along line 4 in FIG. 3. 図３の線５におけるモニターの拡大図。FIG. 4 is an enlarged view of the monitor taken along line 5 in FIG. 3. 斜面の上における掘削機の位置がモニターに表示されていることを示す図。The figure which shows that the position of the excavator on the slope is displayed on the monitor. 本発明の第２実施例に係る掘削機の概略図。Schematic of an excavator according to a second embodiment of the present invention. 本発明の第３実施例に係る、架台を斜面の上へ吊り下ろしたときの掘削機の平面図。The top view of an excavator when the mount frame is suspended on the slope according to the third embodiment of the present invention. 本発明の第４実施例に係る、架台を斜面の上へ吊り下ろしたときの地盤の縦断面図。The longitudinal cross-sectional view of the ground when the mount frame is suspended on the slope according to the fourth embodiment of the present invention. 図９の線１０における掘削機の平面図。FIG. 10 is a plan view of the excavator at line 10 in FIG. 9.

図１に示すように、水中にある、地盤１０の斜面１２を掘削するとき、まず、斜面１２から隔てられた地盤１０の上の位置１４に架台１６を配置する。斜面１２はダム湖１８の中にあり、地盤１０の上の位置１４はダム湖１８の岸２０の上にある。 As shown in FIG. 1, when excavating the slope 12 of the ground 10 in the water, first, the gantry 16 is arranged at a position 14 on the ground 10 separated from the slope 12. Slope 12 is in dam lake 18 and position 14 above ground 10 is on shore 20 of dam lake 18.

地盤１０の上の位置１４に架台１６を配置する前又は配置した後にダム湖１８に台船２２を浮かべ、該台船をダム湖１８の岸２０に係留し、台船２２の上にクレーン２４を配置する。架台１６は、図２に示すように、周縁部２６と、該周縁部に設けられ、水平方向外方へ開放された切欠き部２８とを有する平板である。 Before or after placing the mount 16 at the position 14 on the ground 10, a trolley 22 is floated on the dam lake 18, the trolley is moored on the shore 20 of the dam lake 18, and a crane 24 is placed on the trolley 22. Place. As shown in FIG. 2, the gantry 16 is a flat plate having a peripheral portion 26 and a cutout portion 28 provided at the peripheral portion and opened outward in the horizontal direction.

地盤１０の上の位置１４に架台１６を配置した後、図１に示したように、架台１６に掘削機３０を載せる。掘削機３０は、いわゆる水中バックホウ、水中パワーショベル等のような、水中での掘削作業を行うことができる掘削機である。掘削機３０は、本体３２と、一端部が該本体に回転可能に取り付けられたブーム３４と、一端部が該ブームの他端部に回転可能に取り付けられたアーム３６と、一端部が該アームの他端部に回転可能に取り付けられたアタッチメント３８とを備える。アタッチメント３８はバケットである。 After placing the gantry 16 at the position 14 on the ground 10, the excavator 30 is placed on the gantry 16 as shown in FIG. 1. The excavator 30 is an excavator capable of performing underwater excavation work, such as a so-called underwater backhoe, an underwater power shovel, or the like. The excavator 30 includes a main body 32, a boom 34 having one end rotatably attached to the main body, an arm 36 having one end rotatably attached to the other end of the boom, and one end being the arm. And an attachment 38 rotatably attached to the other end portion. The attachment 38 is a bucket.

架台１６に掘削機３０を載せるとき、該掘削機を地盤１０の上の架台１６から隔てられた位置（図示せず）から架台１６の上へ自走させてもよいし、クレーン２４により掘削機３０を地盤１０の上の架台１６から隔てられた位置から吊り上げ、架台１６の上へ吊り下ろしてもよい。架台１６に掘削機３０を載せた後、該掘削機を架台１６に固定する。 When placing the excavator 30 on the gantry 16, the excavator may be self-propelled onto the gantry 16 from a position (not shown) separated from the gantry 16 on the ground 10, or the excavator may be driven by the crane 24. 30 may be lifted from a position separated from the gantry 16 on the ground 10 and suspended on the gantry 16. After placing the excavator 30 on the gantry 16, the excavator is fixed to the gantry 16.

架台１６に掘削機３０を載せる前又は載せた後に掘削機３０における第１の点３０ａに第１の超音波受信機（第１の掘削機側超音波受信機）４０ａを、第１の点３０ａから第１の水平方向に隔てられた掘削機３０における第２の点３０ｂ（図４）に第２の超音波受信機（第２の掘削機側超音波受信機）４０ｂを、第１の点３０ａから前記第１の水平方向と交差する第２の水平方向に隔てられた掘削機３０における第３の点３０ｃに第３の超音波受信機（第３の掘削機側超音波受信機）４０ｃをそれぞれ固定する。また、水面４２の近傍の第１の位置４４ａに第１の超音波送信機（第１の水面側超音波送信機）４６ａを、第１の位置４４ａから隔てられた水面４２の近傍の第２の位置４４ｂ（図４）に第２の超音波送信機（第２の水面側超音波送信機）４６ｂを、第１の位置４４ａ及び第２の位置４４ｂのそれぞれから隔てられた水面４２の近傍の第３の位置４４ｃに第３の超音波送信機（第３の水面側超音波送信機）４６ｃをそれぞれ固定する。 Before or after placing the excavator 30 on the gantry 16, the first ultrasonic receiver (first excavator side ultrasonic receiver) 40a is placed at the first point 30a of the excavator 30, and the first point 30a. The second ultrasonic receiver (second excavator side ultrasonic receiver) 40b is connected to the second point 30b (FIG. 4) of the excavator 30 that is separated from the first horizontal direction by the first point. A third ultrasonic receiver (third excavator side ultrasonic receiver) 40c at a third point 30c in the excavator 30 that is separated from 30a in the second horizontal direction intersecting the first horizontal direction. Are fixed respectively. In addition, a first ultrasonic transmitter (first water surface side ultrasonic transmitter) 46a is placed at a first position 44a in the vicinity of the water surface 42, and a second in the vicinity of the water surface 42 separated from the first position 44a. The second ultrasonic transmitter (second water surface side ultrasonic transmitter) 46b at the position 44b (FIG. 4) in the vicinity of the water surface 42 separated from each of the first position 44a and the second position 44b. The third ultrasonic transmitter (third water surface side ultrasonic transmitter) 46c is fixed to the third position 44c.

掘削機３０における第１の点３０ａ、第２の点３０ｂ及び第３の点３０ｃのそれぞれは、掘削機３０の本体３２の周縁部にある。第１の位置４４ａ及び第２の位置４４ｂのそれぞれは台船２２にあり、第３の位置４４ｃはダム湖１８の堰堤（ダム）４８にある。第１の位置４４ａ、第２の位置４４ｂ及び第３の位置４４ｃのそれぞれは既知の三次元座標を有する。第１の位置４４ａ及び第２の位置４４ｂにおける台船２２にそれぞれ第１のＧＰＳアンテナ５０ａ及び第２のＧＰＳアンテナ５０ｂ（図４）が取り付けられており、第１のＧＰＳアンテナ５０ａが衛星から電波を受信することにより、第１の位置４４ａの三次元座標を知ることができ、第２のＧＰＳアンテナ５０ｂが衛星から電波を受信することにより、第２の位置４４ｂの三次元座標を知ることができる。 Each of the first point 30 a, the second point 30 b, and the third point 30 c in the excavator 30 is on the peripheral edge of the main body 32 of the excavator 30. Each of the first position 44 a and the second position 44 b is in the carriage 22, and the third position 44 c is in a dam 48 of the dam lake 18. Each of the first position 44a, the second position 44b, and the third position 44c has known three-dimensional coordinates. A first GPS antenna 50a and a second GPS antenna 50b (FIG. 4) are attached to the carriage 22 at the first position 44a and the second position 44b, respectively, and the first GPS antenna 50a receives radio waves from the satellite. , The three-dimensional coordinates of the first position 44a can be known, and the second GPS antenna 50b can receive the radio wave from the satellite to know the three-dimensional coordinates of the second position 44b. it can.

第１の点３０ａ、第２の点３０ｂ、第３の点３０ｃ、第１の位置４４ａ、第２の位置４４ｂ及び第３の位置４４ｃにそれぞれ第１の超音波受信機４０ａ、第２の超音波受信機４０ｂ、第３の超音波受信機４０ｃ、第１の超音波送信機４６ａ、第２の超音波送信機４６ｂ及び第３の超音波送信機４６ｃを固定した後、図３、４に示すように、クレーン２４により、掘削機３０が載せられた架台１６を地盤１０の上の位置１４から吊り上げ、斜面１２の上へ吊り下ろす。このとき、架台１６が吊られた状態を維持しつつ、架台１６の切欠き部２８が斜面１２に近接するように架台１６を斜面１２の上へ吊り下ろす。 The first ultrasonic receiver 40a and the second super point are respectively located at the first point 30a, the second point 30b, the third point 30c, the first position 44a, the second position 44b, and the third position 44c. 3 and 4 after fixing the ultrasonic receiver 40b, the third ultrasonic receiver 40c, the first ultrasonic transmitter 46a, the second ultrasonic transmitter 46b and the third ultrasonic transmitter 46c. As shown, the gantry 16 on which the excavator 30 is placed is lifted from the position 14 on the ground 10 and is suspended on the slope 12 by the crane 24. At this time, the gantry 16 is suspended on the slope 12 so that the notch portion 28 of the gantry 16 is close to the slope 12 while maintaining the state where the gantry 16 is suspended.

その後、堰堤４８の上にモニター５２を配置し、第１の超音波受信機４０ａ、第２の超音波受信機４０ｂ、第３の超音波受信機４０ｃ、第１の超音波送信機４６ａ、第２の超音波送信機４６ｂ及び第３の超音波送信機４６ｃのそれぞれを配線５４によりモニター５２に接続する。堰堤４８の上にモニター５２を配置する図３に示した例に代え、台船２２の上にモニター５２を配置してもよいし、ダム湖１８の岸２０の上にモニター５２を配置してもよい。前記接続は、図５に示すように、コンピューター５６を介して行う。前記接続は、上記の例では、有線によるものであるが、これに代え、無線によるものでもよい。 Thereafter, the monitor 52 is disposed on the dam 48, and the first ultrasonic receiver 40a, the second ultrasonic receiver 40b, the third ultrasonic receiver 40c, the first ultrasonic transmitter 46a, Each of the second ultrasonic transmitter 46 b and the third ultrasonic transmitter 46 c is connected to the monitor 52 by a wiring 54. Instead of the example shown in FIG. 3 in which the monitor 52 is disposed on the dam 48, the monitor 52 may be disposed on the trolley 22, or the monitor 52 may be disposed on the shore 20 of the dam lake 18. Also good. The connection is performed via a computer 56 as shown in FIG. In the above example, the connection is wired, but the connection may be wireless.

前記接続を行った後、斜面１２の上における掘削機３０の位置を測定する。このとき、掘削機３０における第１の点３０ａの三次元座標と、掘削機３０における第２の点３０ｂの三次元座標と、掘削機３０における第３の点３０ｃの三次元座標とを測定する、すなわち掘削機３０の本体３２の位置を測定する。 After making the connection, the position of the excavator 30 on the slope 12 is measured. At this time, the three-dimensional coordinates of the first point 30a in the excavator 30, the three-dimensional coordinates of the second point 30b in the excavator 30, and the three-dimensional coordinates of the third point 30c in the excavator 30 are measured. That is, the position of the main body 32 of the excavator 30 is measured.

第１の点３０ａの三次元座標を測定するとき、第１の位置４４ａと第１の点３０ａとの間の距離と、第２の位置４４ｂと第１の点３０ａとの間の距離と、第３の位置４４ｃと第１の点３０ａとの間の距離とを超音波５８ａを用いて測定する。このとき、第１の超音波送信機４６ａ、第２の超音波送信機４６ｂ及び第３の超音波送信機４６ｃのそれぞれから第１の超音波受信機４０ａへ超音波５８ａを送り、第１の超音波送信機４６ａから第１の超音波受信機４０ａへの超音波５８ａの到達時間と、第２の超音波送信機４６ｂから第１の超音波受信機４０ａへの超音波５８ａの到達時間と、第３の超音波送信機４６ｃから第１の超音波受信機４０ａへの超音波５８ａの到達時間とを測定し、これらの到達時間と超音波５８ａの速度とに基づき、第１の位置４４ａと第１の点３０ａとの間の距離と、第２の位置４４ｂと第１の点３０ａとの間の距離と、第３の位置４４ｃと第１の点３０ａとの間の距離とを算出する。その後、第１の位置４４ａと第１の点３０ａとの間の距離と、第２の位置４４ｂと第１の点３０ａとの間の距離と、第３の位置４４ｃと第１の点３０ａとの間の距離と、第１の位置４４ａの三次元座標と、第２の位置４４ｂの三次元座標と、第３の位置４４ｃの三次元座標とに基づき、第１の点３０ａの三次元座標をコンピューター５６により算出する。 When measuring the three-dimensional coordinates of the first point 30a, the distance between the first position 44a and the first point 30a, the distance between the second position 44b and the first point 30a, The distance between the third position 44c and the first point 30a is measured using the ultrasonic wave 58a. At this time, an ultrasonic wave 58a is sent from each of the first ultrasonic transmitter 46a, the second ultrasonic transmitter 46b, and the third ultrasonic transmitter 46c to the first ultrasonic receiver 40a, and the first ultrasonic transmitter 46a The arrival time of the ultrasonic wave 58a from the ultrasonic transmitter 46a to the first ultrasonic receiver 40a, the arrival time of the ultrasonic wave 58a from the second ultrasonic transmitter 46b to the first ultrasonic receiver 40a, and The arrival time of the ultrasonic wave 58a from the third ultrasonic transmitter 46c to the first ultrasonic receiver 40a is measured, and based on the arrival time and the velocity of the ultrasonic wave 58a, the first position 44a is measured. And a distance between the second position 44b and the first point 30a, and a distance between the third position 44c and the first point 30a are calculated. To do. Then, the distance between the first position 44a and the first point 30a, the distance between the second position 44b and the first point 30a, the third position 44c and the first point 30a, , The three-dimensional coordinates of the first position 44a, the three-dimensional coordinates of the second position 44b, and the three-dimensional coordinates of the third position 44c. Is calculated by the computer 56.

ここで、第１の位置４４ａと第１の点３０ａとの間の距離をＬ１とし、第２の位置４４ｂと第１の点３０ａとの間の距離をＬ２とし、第３の位置４４ｃと第１の点３０ａとの間の距離をＬ３とし、第１の超音波送信機４６ａから第１の超音波受信機４０ａへの超音波５８ａの到達時間をｔ１とし、第２の超音波送信機４６ｂから第１の超音波受信機４０ａへの超音波５８ａの到達時間をｔ２とし、第３の超音波送信機４６ｃから第１の超音波受信機４０ａへの超音波５８ａの到達時間をｔ３とし、超音波５８ａの速度をＶとすると、第１の位置４４ａと第１の点３０ａとの間の距離Ｌ１、第２の位置４４ｂと第１の点３０ａとの間の距離Ｌ２及び第３の位置４４ｃと第１の点３０ａとの間の距離Ｌ３は次式により算出することができる。
Ｌ１＝Ｖ・ｔ１、Ｌ２＝Ｖ・ｔ２、Ｌ３＝Ｖ・ｔ３ Here, the distance between the first position 44a and the first point 30a is L1, the distance between the second position 44b and the first point 30a is L2, and the third position 44c and the first point 30a The distance from the first point 30a is L3, the arrival time of the ultrasonic wave 58a from the first ultrasonic transmitter 46a to the first ultrasonic receiver 40a is t1, and the second ultrasonic transmitter 46b The arrival time of the ultrasonic wave 58a from the first ultrasonic receiver 40a to the first ultrasonic receiver 40a is t2, the arrival time of the ultrasonic wave 58a from the third ultrasonic transmitter 46c to the first ultrasonic receiver 40a is t3, If the velocity of the ultrasonic wave 58a is V, the distance L1 between the first position 44a and the first point 30a, the distance L2 between the second position 44b and the first point 30a, and the third position The distance L3 between 44c and the first point 30a can be calculated by the following equation.
L1 = V · t1, L2 = V · t2, L3 = V · t3

また、第１の点３０ａの三次元座標を（ｘａ，ｙａ，ｚａ）とし、第１の位置４４ａの三次元座標を（ｘ１，ｙ１，ｚ１）とし、第２の位置４４ｂの三次元座標を（ｘ２，ｙ２，ｚ２）とし、第３の位置４４ｃの三次元座標を（ｘ３，ｙ３，ｚ３）とすると、第１の点３０ａの三次元座標（ｘａ，ｙａ，ｚａ）は次式により算出することができる。
Ｌ１＝｛（ｘａ−ｘ１）^２＋（ｙａ−ｙ１）^２＋（ｚａ−ｚ１）^２｝^１／２
Ｌ２＝｛（ｘａ−ｘ２）^２＋（ｙａ−ｙ２）^２＋（ｚａ−ｚ２）^２｝^１／２
Ｌ３＝｛（ｘａ−ｘ３）^２＋（ｙａ−ｙ３）^２＋（ｚａ−ｚ３）^２｝^１／２ Also, the three-dimensional coordinates of the first point 30a are (xa, ya, za), the three-dimensional coordinates of the first position 44a are (x1, y1, z1), and the three-dimensional coordinates of the second position 44b are Assuming that (x2, y2, z2) and the three-dimensional coordinates of the third position 44c are (x3, y3, z3), the three-dimensional coordinates (xa, ya, za) of the first point 30a are calculated by the following equations. can do.
L1 = {(xa−x1) ² + (ya−y1) ² + (za−z1) ² } ^1/2
L2 = {(xa−x2) ² + (ya−y2) ² + (za−z2) ² } ^1/2
L3 = {(xa−x3) ² + (ya−y3) ² + (za−z3) ² } ^1/2

第２の点３０ｂの三次元座標を測定するとき、第１の位置４４ａと第２の点３０ｂとの間の距離と、第２の位置４４ｂと第２の点３０ｂとの間の距離と、第３の位置４４ｃと第２の点３０ｂとの間の距離とを超音波５８ｂを用いて測定する。このとき、第１の超音波送信機４６ａ、第２の超音波送信機４６ｂ及び第３の超音波送信機４６ｃのそれぞれから第２の超音波受信機４０ｂへ超音波５８ｂを送り、第１の超音波送信機４６ａから第２の超音波受信機４０ｂへの超音波５８ｂの到達時間と、第２の超音波送信機４６ｂから第２の超音波受信機４０ｂへの超音波５８ｂの到達時間と、第３の超音波送信機４６ｃから第２の超音波受信機４０ｂへの超音波５８ｂの到達時間とを測定し、これらの到達時間と超音波５８ｂの速度とに基づき、第１の位置４４ａと第２の点３０ｂとの間の距離と、第２の位置４４ｂと第２の点３０ｂとの間の距離と、第３の位置４４ｃと第２の点３０ｂとの間の距離とを算出する。その後、第１の位置４４ａと第２の点３０ｂとの間の距離と、第２の位置４４ｂと第２の点３０ｂとの間の距離と、第３の位置４４ｃと第２の点３０ｂとの間の距離と、第１の位置４４ａの三次元座標と、第２の位置４４ｂの三次元座標と、第３の位置４４ｃの三次元座標とに基づき、第２の点３０ｂの三次元座標をコンピューター５６により算出する。 When measuring the three-dimensional coordinates of the second point 30b, the distance between the first position 44a and the second point 30b, the distance between the second position 44b and the second point 30b, The distance between the third position 44c and the second point 30b is measured using the ultrasonic wave 58b. At this time, an ultrasonic wave 58b is sent from each of the first ultrasonic transmitter 46a, the second ultrasonic transmitter 46b, and the third ultrasonic transmitter 46c to the second ultrasonic receiver 40b, The arrival time of the ultrasonic wave 58b from the ultrasonic transmitter 46a to the second ultrasonic receiver 40b, and the arrival time of the ultrasonic wave 58b from the second ultrasonic transmitter 46b to the second ultrasonic receiver 40b The arrival time of the ultrasonic wave 58b from the third ultrasonic transmitter 46c to the second ultrasonic receiver 40b is measured, and based on the arrival time and the velocity of the ultrasonic wave 58b, the first position 44a is measured. And the distance between the second position 30b, the distance between the second position 44b and the second point 30b, and the distance between the third position 44c and the second point 30b. To do. Then, the distance between the first position 44a and the second point 30b, the distance between the second position 44b and the second point 30b, the third position 44c and the second point 30b, , The three-dimensional coordinates of the second point 30b, the three-dimensional coordinates of the first position 44a, the three-dimensional coordinates of the second position 44b, and the three-dimensional coordinates of the third position 44c. Is calculated by the computer 56.

第３の点３０ｃの三次元座標を測定するとき、第１の位置４４ａと第３の点３０ｃとの間の距離と、第２の位置４４ｂと第３の点３０ｃとの間の距離と、第３の位置４４ｃと第３の点３０ｃとの間の距離とを超音波５８ｃを用いて測定する。このとき、第１の超音波送信機４６ａ、第２の超音波送信機４６ｂ及び第３の超音波送信機４６ｃのそれぞれから第３の超音波受信機４０ｃへ超音波５８ｃを送り、第１の超音波送信機４６ａから第３の超音波受信機４０ｃへの超音波５８ｃの到達時間と、第２の超音波送信機４６ｂから第３の超音波受信機４０ｃへの超音波５８ｃの到達時間と、第３の超音波送信機４６ｃから第３の超音波受信機４０ｃへの超音波５８ｃの到達時間とを測定し、これらの到達時間と超音波５８ｃの速度とに基づき、第１の位置４４ａと第３の点３０ｃとの間の距離と、第２の位置４４ｂと第３の点３０ｃとの間の距離と、第３の位置４４ｃと第３の点３０ｃとの間の距離とを算出する。その後、第１の位置４４ａと第３の点３０ｃとの間の距離と、第２の位置４４ｂと第３の点３０ｃとの間の距離と、第３の位置４４ｃと第３の点３０ｃとの間の距離と、第１の位置４４ａの三次元座標と、第２の位置４４ｂの三次元座標と、第３の位置４４ｃの三次元座標とに基づき、第３の点３０ｃの三次元座標をコンピューター５６により算出する。第１の点３０ａの三次元座標と第２の点３０ｂの三次元座標と第３の点３０ｃの三次元座標とを測定した後、第１の点３０ａと第２の点３０ｂと第３の点３０ｃとの間の実際の相対的な位置関係に基づいて第１の点３０ａの三次元座標の測定値、第２の点３０ｂの三次元座標の測定値及び第３の点３０ｃの三次元座標の測定値を補正してもよい。 When measuring the three-dimensional coordinates of the third point 30c, the distance between the first position 44a and the third point 30c, the distance between the second position 44b and the third point 30c, The distance between the third position 44c and the third point 30c is measured using the ultrasonic wave 58c. At this time, an ultrasonic wave 58c is sent from each of the first ultrasonic transmitter 46a, the second ultrasonic transmitter 46b, and the third ultrasonic transmitter 46c to the third ultrasonic receiver 40c, The arrival time of the ultrasonic wave 58c from the ultrasonic transmitter 46a to the third ultrasonic receiver 40c, the arrival time of the ultrasonic wave 58c from the second ultrasonic transmitter 46b to the third ultrasonic receiver 40c, and The arrival time of the ultrasonic wave 58c from the third ultrasonic transmitter 46c to the third ultrasonic receiver 40c is measured, and the first position 44a is determined based on the arrival time and the velocity of the ultrasonic wave 58c. And the third point 30c, the distance between the second position 44b and the third point 30c, and the distance between the third position 44c and the third point 30c are calculated. To do. Then, the distance between the first position 44a and the third point 30c, the distance between the second position 44b and the third point 30c, the third position 44c and the third point 30c, , The three-dimensional coordinates of the third point 30c based on the three-dimensional coordinates of the first position 44a, the three-dimensional coordinates of the second position 44b, and the three-dimensional coordinates of the third position 44c. Is calculated by the computer 56. After measuring the three-dimensional coordinates of the first point 30a, the three-dimensional coordinates of the second point 30b, and the three-dimensional coordinates of the third point 30c, the first point 30a, the second point 30b, and the third point Based on the actual relative positional relationship with the point 30c, the measured value of the three-dimensional coordinate of the first point 30a, the measured value of the three-dimensional coordinate of the second point 30b, and the three-dimensional of the third point 30c. You may correct | amend the measured value of a coordinate.

第１の点３０ａ、第２の点３０ｂ及び第３の点３０ｃにそれぞれ第１の超音波受信機４０ａ、第２の超音波受信機４０ｂ及び第３の超音波受信機４０ｃを固定し、第１の位置４４ａ、第２の位置４４ｂ及び第３の位置４４ｃにそれぞれ第１の超音波送信機４６ａ、第２の超音波送信機４６ｂ及び第３の超音波送信機４６ｃを固定する上記の例に代え、第１の点３０ａ、第２の点３０ｂ及び第３の点３０ｃにそれぞれ第１の超音波送信機（第１の掘削機側超音波送信機）４０ａ、第２の超音波送信機（第２の掘削機側超音波送信機）４０ｂ及び第３の超音波送信機（第３の掘削機側超音波送信機）４０ｃを固定し、第１の位置４４ａ、第２の位置４４ｂ及び第３の位置４４ｃにそれぞれ第１の超音波受信機（第１の水面側超音波受信機）４６ａ、第２の超音波受信機（第２の水面側超音波受信機）４６ｂ及び第３の超音波受信機（第３の水面側超音波受信機）４６ｃを固定してもよい。 The first ultrasonic receiver 40a, the second ultrasonic receiver 40b, and the third ultrasonic receiver 40c are fixed to the first point 30a, the second point 30b, and the third point 30c, respectively. The above example in which the first ultrasonic transmitter 46a, the second ultrasonic transmitter 46b, and the third ultrasonic transmitter 46c are fixed to the first position 44a, the second position 44b, and the third position 44c, respectively. Instead of the first ultrasonic transmitter (first excavator side ultrasonic transmitter) 40a and the second ultrasonic transmitter at the first point 30a, the second point 30b, and the third point 30c, respectively. The (second excavator side ultrasonic transmitter) 40b and the third ultrasonic transmitter (third excavator side ultrasonic transmitter) 40c are fixed, and the first position 44a, the second position 44b, and A first ultrasonic receiver (first water surface side ultrasonic receiver) 46a at each of the third positions 44c. Second ultrasonic receiver (second waterside ultrasonic receiver) 46b, and a third ultrasonic receiver (Third waterside ultrasonic receiver) 46c may be fixed.

この場合、第１の点３０ａの三次元座標を測定するとき、第１の超音波送信機４０ａから第１の超音波受信機４６ａ、第２の超音波受信機４６ｂ及び第３の超音波受信機４６ｃのそれぞれへ超音波５８ａを送り、第２の点３０ｂの三次元座標を測定するとき、第２の超音波送信機４０ｂから第１の超音波受信機４６ａ、第２の超音波受信機４６ｂ及び第３の超音波受信機４６ｃのそれぞれへ超音波５８ｂを送り、第３の点３０ｃの三次元座標を測定するとき、第３の超音波送信機４０ｃから第１の超音波受信機４６ａ、第２の超音波受信機４６ｂ及び第３の超音波受信機４６ｃのそれぞれへ超音波５８ｃを送る。 In this case, when measuring the three-dimensional coordinates of the first point 30a, the first ultrasonic receiver 46a, the second ultrasonic receiver 46b, and the third ultrasonic receiver are received from the first ultrasonic transmitter 40a. When the ultrasonic wave 58a is sent to each of the machines 46c and the three-dimensional coordinates of the second point 30b are measured, the first ultrasonic receiver 46a and the second ultrasonic receiver are transmitted from the second ultrasonic transmitter 40b. When the ultrasonic wave 58b is sent to each of 46b and the third ultrasonic receiver 46c and the three-dimensional coordinates of the third point 30c are measured, the first ultrasonic receiver 46a is transmitted from the third ultrasonic transmitter 40c. The ultrasonic wave 58c is sent to each of the second ultrasonic receiver 46b and the third ultrasonic receiver 46c.

第１の点３０ａ、第２の点３０ｂ及び第３の点３０ｃにそれぞれ第１の超音波送信機４０ａ、第２の超音波送信機４０ｂ及び第３の超音波送信機４０ｃを固定し、第１の位置４４ａ、第２の位置４４ｂ及び第３の位置４４ｃにそれぞれ第１の超音波受信機４６ａ、第２の超音波受信機４６ｂ及び第３の超音波受信機４６ｃを固定する上記の例に代え、第１の点３０ａ、第２の点３０ｂ及び第３の点３０ｃにそれぞれ超音波送受信機４０ａ（第１の掘削機側超音波送受信機）、超音波送受信機４０ｂ（第２の掘削機側超音波送受信機）及び超音波送受信機４０ｃ（第３の掘削機側超音波送受信機）を固定し、第１の位置４４ａ、第２の位置４４ｂ及び第３の位置４４ｃにそれぞれ超音波送受信機４６ａ（第１の水面側超音波送受信機）、超音波送受信機４６ｂ（第２の水面側超音波送受信機）及び超音波送受信機４６ｃ（第３の水面側超音波送受信機）を固定してもよい。 The first ultrasonic transmitter 40a, the second ultrasonic transmitter 40b, and the third ultrasonic transmitter 40c are fixed to the first point 30a, the second point 30b, and the third point 30c, respectively. The above example in which the first ultrasonic receiver 46a, the second ultrasonic receiver 46b, and the third ultrasonic receiver 46c are fixed to the first position 44a, the second position 44b, and the third position 44c, respectively. Instead, an ultrasonic transceiver 40a (first excavator side ultrasonic transceiver) and an ultrasonic transceiver 40b (second excavation) are respectively provided at the first point 30a, the second point 30b, and the third point 30c. Machine-side ultrasonic transmitter / receiver) and ultrasonic transmitter / receiver 40c (third excavator-side ultrasonic transmitter / receiver) are fixed, and ultrasonic waves are respectively transmitted to the first position 44a, the second position 44b, and the third position 44c. Transmitter / receiver 46a (first water surface side ultrasonic transmitter / receiver), ultrasonic The receiver 46b (second waterside ultrasonic transceiver) and an ultrasonic transceiver 46c (third waterside ultrasonic transceiver) may be fixed.

斜面１２の上における掘削機３０の位置を測定した後、図６に示すように、前記測定の結果に基づき、斜面１２の上における掘削機３０の位置をモニター５２に表示する。このとき、掘削機３０における第１の点３０ａの三次元座標と、第２の点３０ｂの三次元座標と、第３の点３０ｃの三次元座標とに基づき、掘削機３０の水平度とともに掘削機３０の位置をモニター５２に表示する。モニター５２への掘削機３０の位置の表示は、予め用意された斜面１２の形状に関するデータに基づいて斜面１２の形状をモニター５２に表しつつ、斜面１２の上における掘削機３０の第１の点３０ａの位置と、第２の点３０ｂの位置と、第３の点３０ｃの位置と、掘削機３０の外形とをモニター５２に表すことにより行う。掘削機３０の水平度は水平面に対する掘削機３０の外形の傾きにより表す。モニター５２には、掘削機３０の側面図６０と、掘削機３０の背面図６２と、掘削機３０の平面図６４とを表示する。掘削機３０の位置の測定は、例えば、１秒間に１回の頻度で行い、前記測定の結果に基づき、リアルタイムに掘削機３０の位置をモニター５２に表示する。 After the position of the excavator 30 on the slope 12 is measured, the position of the excavator 30 on the slope 12 is displayed on the monitor 52 based on the measurement result as shown in FIG. At this time, the excavator 30 is excavated together with the level of the excavator 30 based on the three-dimensional coordinates of the first point 30a, the three-dimensional coordinates of the second point 30b, and the three-dimensional coordinates of the third point 30c. The position of the machine 30 is displayed on the monitor 52. The display of the position of the excavator 30 on the monitor 52 indicates the first point of the excavator 30 on the slope 12 while representing the shape of the slope 12 on the monitor 52 based on data relating to the shape of the slope 12 prepared in advance. The monitor 52 displays the position of 30a, the position of the second point 30b, the position of the third point 30c, and the outer shape of the excavator 30. The level of the excavator 30 is represented by the inclination of the outer shape of the excavator 30 with respect to the horizontal plane. The monitor 52 displays a side view 60 of the excavator 30, a rear view 62 of the excavator 30, and a plan view 64 of the excavator 30. The position of the excavator 30 is measured at a frequency of once per second, for example, and the position of the excavator 30 is displayed on the monitor 52 in real time based on the measurement result.

モニター５２に表示された掘削機３０の位置が斜面１２の上の設計上予め決められた位置と異なる場合又は掘削機３０が水平面に対して傾斜している場合、クレーン２４により架台１６を斜面１２から遠ざけ、再度、架台１６を斜面１２に近付ける。これにより、掘削機３０が前記予め決められた位置に配置され、掘削機３０が水平になるようにする。その後、再度、斜面１２の上における掘削機３０の位置を測定し、前記測定の結果に基づき、斜面１２の上における掘削機３０の位置をモニター５２に表示する。 When the position of the excavator 30 displayed on the monitor 52 is different from a predetermined position on the slope 12 by design or when the excavator 30 is inclined with respect to the horizontal plane, the crane 16 is used to move the mount 16 to the slope 12. The base 16 is moved closer to the slope 12 again. Accordingly, the excavator 30 is arranged at the predetermined position so that the excavator 30 is horizontal. Thereafter, the position of the excavator 30 on the slope 12 is measured again, and the position of the excavator 30 on the slope 12 is displayed on the monitor 52 based on the measurement result.

モニター５２に表示された掘削機３０の位置が斜面１２の上の設計上予め決められた位置と一致し、掘削機３０が水平である場合、モニター５２に表示された掘削機３０の位置を監視しつつ掘削機３０により斜面１２を掘削する。その後、前記掘削のための掘削機３０の操作方法に基づき、地盤１０の中における掘削機３０のアタッチメント３８の他端部の軌跡６６をコンピューター５６により算出し、モニター５２に表示する。このとき、アタッチメント３８の他端部の軌跡６６とともに、３次元データに基づく設計上の掘削ライン６６ａをモニター５２に表示し、掘削ライン６６ａを見ながら該掘削ラインまで前記掘削を行う。これにより出来形管理をすることができる。 When the position of the excavator 30 displayed on the monitor 52 matches the position determined in advance on the slope 12 by design, and the excavator 30 is horizontal, the position of the excavator 30 displayed on the monitor 52 is monitored. Then, the slope 12 is excavated by the excavator 30. Thereafter, based on the operation method of the excavator 30 for excavation, the locus 66 of the other end of the attachment 38 of the excavator 30 in the ground 10 is calculated by the computer 56 and displayed on the monitor 52. At this time, the design excavation line 66a based on the three-dimensional data is displayed on the monitor 52 together with the locus 66 of the other end of the attachment 38, and the excavation is performed up to the excavation line while viewing the excavation line 66a. This makes it possible to manage the finished product.

掘削機３０の操作方法に基づき、アタッチメント３８の前記他端部の軌跡６６を算出する上記の例に代え、掘削機３０により斜面１２を掘削している間に地盤１０の中におけるアタッチメント３８の他端部の軌跡６６を測定し、該軌跡の測定の結果に基づき、地盤１０の中におけるアタッチメント３８の前記他端部の軌跡６６をモニター５２に表示することができる。これにより、地盤１０の中におけるアタッチメント３８の前記他端部の軌跡６６をより正確に知ることができ、掘削された斜面１２の形状をより正確に知ることができる。 Instead of the above-described example of calculating the locus 66 of the other end of the attachment 38 based on the operation method of the excavator 30, the attachment 38 in the ground 10 while the excavator 30 excavates the slope 12. The locus 66 of the end portion is measured, and the locus 66 of the other end portion of the attachment 38 in the ground 10 can be displayed on the monitor 52 based on the measurement result of the locus. Thereby, the locus 66 of the other end of the attachment 38 in the ground 10 can be known more accurately, and the shape of the excavated slope 12 can be known more accurately.

地盤１０の中におけるアタッチメント３８の前記他端部の軌跡６６を測定するとき、地盤１０の中におけるアタッチメント３８の前記他端部の位置を経時的に測定する。この場合、アタッチメント３８の前記他端部の軌跡６６を測定する前に、図７に示すように、掘削機３０のブーム３４、アーム３６及びアタッチメント３８にそれぞれ第１の傾斜センサー６８ａ、第２の傾斜センサー６８ｂ及び第３の傾斜センサー６８ｃを取り付け、これらをコンピューター５６を介してモニター５２に接続する。アタッチメント３８の前記他端部の軌跡６６を測定するとき、第１の傾斜センサー６８ａにより水平面に対するブーム３４の傾斜角度を、第２の傾斜センサー６８ｂにより水平面に対するアーム３６の傾斜角度を、第３の傾斜センサー６８ｃにより水平面に対するアタッチメント３８の傾斜角度をそれぞれ測定し、これらの傾斜角度と、ブーム３４の長さと、アーム３６の長さと、アタッチメント３８の長さと、掘削機３０の本体３２の位置の測定の結果とに基づき、アタッチメント３８の前記他端部の位置をコンピューター５６により算出する。アタッチメント３８の前記他端部の位置の測定は、例えば、１秒間に１回の頻度で行い、前記測定の結果に基づき、リアルタイムにアタッチメント３８の前記他端部の位置をモニター５２に表示する。このようにして地盤１０の中におけるアタッチメント３８の前記他端部の軌跡６６をモニター５２に表示する。 When the locus 66 of the other end of the attachment 38 in the ground 10 is measured, the position of the other end of the attachment 38 in the ground 10 is measured over time. In this case, before measuring the locus 66 of the other end of the attachment 38, as shown in FIG. 7, the first tilt sensor 68a and the second tilt sensor 68a are respectively attached to the boom 34, the arm 36, and the attachment 38 of the excavator 30. A tilt sensor 68 b and a third tilt sensor 68 c are attached, and these are connected to the monitor 52 via the computer 56. When measuring the locus 66 of the other end of the attachment 38, the first tilt sensor 68a determines the tilt angle of the boom 34 with respect to the horizontal plane, and the second tilt sensor 68b sets the tilt angle of the arm 36 with respect to the horizontal plane. The inclination angle of the attachment 38 with respect to the horizontal plane is measured by the inclination sensor 68c, and the inclination angle, the length of the boom 34, the length of the arm 36, the length of the attachment 38, and the position of the main body 32 of the excavator 30 are measured. Based on the result, the computer 56 calculates the position of the other end of the attachment 38. The position of the other end of the attachment 38 is measured at a frequency of, for example, once per second, and the position of the other end of the attachment 38 is displayed on the monitor 52 in real time based on the measurement result. In this way, the locus 66 of the other end of the attachment 38 in the ground 10 is displayed on the monitor 52.

図７に示したように、掘削機３０が水平な状態において、掘削機３０の前後方向にＸ軸をとり、上下方向にＺ軸をとり、ブーム３４の前記一端部の座標を（Ｘα、Ｚα）とし、ブーム３４の長さをＤ１とし、アーム３６の長さをＤ２とし、アタッチメント３８の長さをＤ３とし、水平面に対するブーム３４の傾斜角度をθ１とし、水平面に対するアーム３６の傾斜角度をθ２とし、水平面に対するアタッチメント３８の傾斜角度をθ３としたとき、次式によりアタッチメント３８の前記他端部の座標（Ｘβ、Ｚβ）を算出することができる。なお、ブーム３４の前記一端部の座標（Ｘα、Ｚα）は掘削機３０の本体３２の位置の測定の結果から算出することができる。
Ｘβ＝Ｘα＋Ｄ１・ｃｏｓθ１＋Ｄ２・ｃｏｓθ２＋Ｄ３・ｃｏｓθ３
Ｚβ＝Ｚα＋Ｄ１・ｓｉｎθ１＋Ｄ２・ｓｉｎθ２＋Ｄ３・ｓｉｎθ３ As shown in FIG. 7, when the excavator 30 is in a horizontal state, the X-axis is taken in the front-rear direction of the excavator 30, the Z-axis is taken in the up-down direction, and the coordinates of the one end of the boom 34 are (Xα, Zα ), The length of the boom 34 is D1, the length of the arm 36 is D2, the length of the attachment 38 is D3, the inclination angle of the boom 34 with respect to the horizontal plane is θ1, and the inclination angle of the arm 36 with respect to the horizontal plane is θ2. When the inclination angle of the attachment 38 with respect to the horizontal plane is θ3, the coordinates (Xβ, Zβ) of the other end of the attachment 38 can be calculated by the following equation. Note that the coordinates (Xα, Zα) of the one end of the boom 34 can be calculated from the measurement result of the position of the main body 32 of the excavator 30.
Xβ = Xα + D1 · cos θ1 + D2 · cos θ2 + D3 · cos θ3
Zβ = Zα + D1 · sin θ1 + D2 · sin θ2 + D3 · sin θ3

掘削機３０により斜面１２を掘削するとき、掘削機３０は、斜面１２に前記バケットを突き刺し、該バケットを本体３２へ引き寄せる。このとき、架台１６が斜面１２に押し付けられるため、架台１６は、斜面１２に固定されていないが、該斜面から離れることはない。このため、架台１６を斜面１２に固定する必要がない。 When the slope 12 is excavated by the excavator 30, the excavator 30 pierces the slope 12 and pulls the bucket toward the main body 32. At this time, since the gantry 16 is pressed against the slope 12, the gantry 16 is not fixed to the slope 12, but does not leave the slope. For this reason, it is not necessary to fix the mount 16 to the slope 12.

アタッチメント３８は、前記バケットである図３に示した例に代え、ブレーカー（図示せず）でもよい。この場合、掘削機３０は、斜面１２の掘削時、該斜面に前記ブレーカーを突き刺し、該ブレーカーを本体３２へ引き寄せる。このとき、架台１６は、斜面１２に押し付けられ、該斜面から離れることはない。このため、架台１６を斜面１２に固定する必要がない。架台１６を斜面１２に固定しない上記の例に代え、架台１６を斜面１２の上へ吊り下ろした後に架台１６を斜面１２に固定してもよい。 The attachment 38 may be a breaker (not shown) instead of the example shown in FIG. 3 which is the bucket. In this case, when excavating the slope 12, the excavator 30 pierces the slope on the slope and pulls the breaker toward the main body 32. At this time, the gantry 16 is pressed against the slope 12 and does not leave the slope. For this reason, it is not necessary to fix the mount 16 to the slope 12. Instead of the above example in which the gantry 16 is not fixed to the slope 12, the gantry 16 may be fixed to the slope 12 after the gantry 16 is suspended on the slope 12.

掘削機３０により斜面１２を掘削するとき、掘削機３０を遠隔操作して斜面１２を掘削する、すなわち斜面１２を無人掘削する。斜面１２を無人掘削する上記の例に代え、掘削機３０に搭乗した操作員が該掘削機を操作して斜面１２を掘削してもよい、すなわち斜面１２を有人掘削してもよい。斜面１２を掘削した後、該掘削により生じた土砂を架台１６の上から該架台の切欠き部２８を経て架台１６の下方の斜面１２の上又はダム湖１８の底に落とす。これにより、斜面１２を掘削した掘削機３０を旋回させることなく前記土砂を架台１６の上から架台１６の下方の斜面１２の上又はダム湖１８の底に落とすことができる。このため、掘削機３０の旋回に要する時間を省くことができ、斜面１２の掘削をより効率的に行うことができる。 When excavating the slope 12 with the excavator 30, the excavator 30 is remotely operated to excavate the slope 12, that is, the slope 12 is unmanned. Instead of the above-described example in which the slope 12 is unmanned, an operator who has boarded the excavator 30 may excavate the slope 12 by operating the excavator, that is, the slope 12 may be manned. After excavating the slope 12, earth and sand generated by the excavation are dropped from the top of the gantry 16 onto the slope 12 below the gantry 16 or the bottom of the dam lake 18 through the notch 28 of the gantry. Thereby, the earth and sand can be dropped on the slope 12 below the mount 16 or on the bottom of the dam lake 18 without turning the excavator 30 excavating the slope 12. For this reason, the time required for the excavator 30 to turn can be saved, and the slope 12 can be excavated more efficiently.

その後、クレーン２４により架台１６を斜面１２における既に掘削した位置から未だ掘削していない位置へ移動させる。その後、前記掘削していない位置へ移動させた掘削機３０の位置を測定し、該測定の結果に基づき、斜面１２の上における掘削機３０の位置をモニター５２に表示し、モニター５２に表示された掘削機３０の位置を監視しつつ掘削機３０により斜面１２を掘削する。 After that, the gantry 16 is moved by the crane 24 from the already excavated position on the slope 12 to a position that has not yet been excavated. Thereafter, the position of the excavator 30 moved to the position where the excavation is not performed is measured, and based on the result of the measurement, the position of the excavator 30 on the slope 12 is displayed on the monitor 52 and displayed on the monitor 52. The slope 12 is excavated by the excavator 30 while monitoring the position of the excavator 30.

上記したように、斜面１２の掘削は、掘削機３０と、該掘削機を載せる架台１６と、斜面１２の上における掘削機３０の位置を測定する測定手段と、該測定手段に接続され、斜面１２の上における掘削機３０の位置を表示するモニター５２とを備える掘削装置を用いて行う。 As described above, excavation of the slope 12 is performed by connecting the excavator 30, the gantry 16 on which the excavator is placed, the measurement unit that measures the position of the excavator 30 on the slope 12, and the measurement unit. The excavator is equipped with a monitor 52 that displays the position of the excavator 30 on the twelve.

前記測定手段は、掘削機３０における第１の点３０ａ、第２の点３０ｂ及び第３の点３０ｃにそれぞれ固定された第１の超音波受信機４０ａ、第２の超音波受信機４０ｂ及び第３の超音波受信機４０ｃと、第１の位置４４ａ、第２の位置４４ｂ及び第３の位置４４ｃにそれぞれ固定された第１の超音波送信機４６ａ、第２の超音波送信機４６ｂ及び第３の超音波送信機４６ｃとを備える。地盤１０の中におけるアタッチメント３８の他端部の軌跡６６を測定する場合、前記測定手段は、第１の超音波受信機４０ａ、第２の超音波受信機４０ｂ、第３の超音波受信機４０ｃ、第１の超音波送信機４６ａ、第２の超音波送信機４６ｂ及び第３の超音波送信機４６ｃに加え、掘削機３０のブーム３４に取り付けた第１の傾斜センサー６８ａと、アーム３６に取り付けた第２の傾斜センサー６８ｂと、アタッチメント３８に取り付けた第３の傾斜センサー６８ｃとを備える。 The measuring means includes a first ultrasonic receiver 40a, a second ultrasonic receiver 40b, and a first ultrasonic receiver fixed to the first point 30a, the second point 30b, and the third point 30c, respectively, in the excavator 30. 3 ultrasonic receivers 40c, a first ultrasonic transmitter 46a, a second ultrasonic transmitter 46b, and a first ultrasonic transmitter 46a fixed to the first position 44a, the second position 44b, and the third position 44c, respectively. 3 ultrasonic transmitters 46c. When measuring the trajectory 66 of the other end portion of the attachment 38 in the ground 10, the measuring means includes a first ultrasonic receiver 40a, a second ultrasonic receiver 40b, and a third ultrasonic receiver 40c. In addition to the first ultrasonic transmitter 46a, the second ultrasonic transmitter 46b, and the third ultrasonic transmitter 46c, the first inclination sensor 68a attached to the boom 34 of the excavator 30 and the arm 36 A second inclination sensor 68b attached and a third inclination sensor 68c attached to the attachment 38 are provided.

前記測定手段は、掘削機３０における第１の点３０ａ、第２の点３０ｂ及び第３の点３０ｃにそれぞれ固定された第１の超音波受信機４０ａ、第２の超音波受信機４０ｂ及び第３の超音波受信機４０ｃと、第１の位置４４ａ、第２の位置４４ｂ及び第３の位置４４ｃにそれぞれ固定された第１の超音波送信機４６ａ、第２の超音波送信機４６ｂ及び第３の超音波送信機４６ｃとを備える上記の例に代え、掘削機３０における第１の点３０ａ、第２の点３０ｂ及び第３の点３０ｃにそれぞれ固定された第１の超音波送信機４０ａ、第２の超音波送信機４０ｂ及び第３の超音波送信機４０ｃと、第１の位置４４ａ、第２の位置４４ｂ及び第３の位置４４ｃにそれぞれ固定された第１の超音波受信機４６ａ、第２の超音波受信機４６ｂ及び第３の超音波受信機４６ｃとを備えるものとすることができ、また、掘削機３０における第１の点３０ａ、第２の点３０ｂ及び第３の点３０ｃにそれぞれ固定された第１の掘削機側超音波送受信機４０ａ、第２の掘削機側超音波送受信機４０ｂ及び第３の掘削機側超音波送受信機４０ｃと、第１の位置４４ａ、第２の位置４４ｂ及び第３の位置４４ｃにそれぞれ固定された第１の水面側超音波送受信機４６ａ、第２の水面側超音波送受信機４６ｂ及び第３の水面側超音波送受信機４６ｃとを備えるものとすることができる。 The measuring means includes a first ultrasonic receiver 40a, a second ultrasonic receiver 40b, and a first ultrasonic receiver fixed to the first point 30a, the second point 30b, and the third point 30c, respectively, in the excavator 30. 3 ultrasonic receivers 40c, a first ultrasonic transmitter 46a, a second ultrasonic transmitter 46b, and a first ultrasonic transmitter 46a fixed to the first position 44a, the second position 44b, and the third position 44c, respectively. The first ultrasonic transmitter 40a fixed to the first point 30a, the second point 30b, and the third point 30c in the excavator 30 instead of the above example including the three ultrasonic transmitters 46c. The second ultrasonic transmitter 40b and the third ultrasonic transmitter 40c, and the first ultrasonic receiver 46a fixed to the first position 44a, the second position 44b and the third position 44c, respectively. , Second ultrasonic receiver 46b and third super The first excavator-side ultrasonic wave fixed to the first point 30a, the second point 30b, and the third point 30c of the excavator 30 is provided. The transceiver 40a, the second excavator side ultrasonic transceiver 40b, and the third excavator side ultrasonic transceiver 40c are fixed to the first position 44a, the second position 44b, and the third position 44c, respectively. The first water surface side ultrasonic transceiver 46a, the second water surface side ultrasonic transmitter / receiver 46b, and the third water surface side ultrasonic transceiver 46c may be provided.

図示の例によれば、斜面１２の上における掘削機３０の位置の測定の結果に基づき、斜面１２の上における掘削機３０の位置をモニター５２に表示した後、該モニターに表示された掘削機３０の位置を監視しつつ該掘削機により斜面１２を掘削するため、水中の透明度に拘わらず、斜面１２の上における掘削機３０の位置を知ることができ、斜面１２の掘削時に掘削機３０が斜面１２の上の設計上予め決められた位置にあることを確認することができ、掘削機３０により斜面１２を正確に掘削することができる。 According to the illustrated example, after the position of the excavator 30 on the slope 12 is displayed on the monitor 52 based on the measurement result of the position of the excavator 30 on the slope 12, the excavator displayed on the monitor is displayed. Since the slope 12 is excavated by the excavator while monitoring the position of the excavator 30, the position of the excavator 30 on the slope 12 can be known regardless of the transparency in the water. It can be confirmed that the position is predetermined by design on the slope 12, and the slope 12 can be accurately excavated by the excavator 30.

斜面１２の掘削は、図示の例では、地盤１０に新たな法面を形成するために行うが、これに代え、土砂崩れにより斜面１２の上に崩れ落ちた土砂を除去するために行ってもよい。斜面１２は、ダム湖１８の中にある図示の例に代え、ダム湖以外の湖、沼、河川、海等の中にあってもよい。架台１６は、図２に示した例では、金属製であるが、これに代え、木製でもよいし、鉄筋コンクリート製でもよい。掘削機３０における第１の点３０ａ、第２の点３０ｂ及び第３の点３０ｃのそれぞれは、掘削機３０の本体３２の周縁部にある図４に示した例に代え、本体３２の中央部にあってもよいし、掘削機３０のブーム３４、アーム３６又はアタッチメント３８にあってもよい。掘削機３０の位置を精度良く測定するため、第１の点３０ａと第２の点３０ｂとの間の間隔と、第２の点３０ｂと第３の点３０ｃとの間の間隔と、第１の点３０ａと第３の点３０ｃとの間の間隔とは、ほぼ等しいことが好ましい。すなわち、第１の点３０ａ、第２の点３０ｂ及び第３の点３０ｃは、これらが正三角形の頂点をなすように配置されていることが好ましい。また、第１の点３０ａと第２の点３０ｂとの間の間隔と、第２の点３０ｂと第３の点３０ｃとの間の間隔と、第１の点３０ａと第３の点３０ｃとの間の間隔とは、いずれも、掘削機３０の位置を精度良く測定するために十分に長いことが好ましい。 In the illustrated example, excavation of the slope 12 is performed to form a new slope on the ground 10, but instead, it may be performed to remove the earth and sand that has collapsed on the slope 12 due to an earth and sand collapse. The slope 12 may be in a lake, swamp, river, sea, or the like other than the dam lake instead of the illustrated example in the dam lake 18. In the example shown in FIG. 2, the gantry 16 is made of metal, but may be made of wood or reinforced concrete instead. Each of the first point 30a, the second point 30b, and the third point 30c in the excavator 30 is replaced with the center portion of the main body 32 instead of the example shown in FIG. It may be in the boom 34, the arm 36, or the attachment 38 of the excavator 30. In order to measure the position of the excavator 30 with high accuracy, the distance between the first point 30a and the second point 30b, the distance between the second point 30b and the third point 30c, and the first The distance between the point 30a and the third point 30c is preferably substantially equal. That is, it is preferable that the first point 30a, the second point 30b, and the third point 30c are arranged so as to form vertices of an equilateral triangle. In addition, the distance between the first point 30a and the second point 30b, the distance between the second point 30b and the third point 30c, the first point 30a and the third point 30c, It is preferable that the interval between the two is sufficiently long in order to accurately measure the position of the excavator 30.

第１の位置４４ａ及び第２の位置４４ｂが台船２２にあり、第３の位置４４ｃが堰堤４８にある図４に示した例に代え、第１の位置４４ａが台船２２にあり、第２の位置４４ｂ及び第３の位置４４ｃが堰堤４８にあってもよいし、第１の位置４４ａ、第２の位置４４ｂ及び第３の位置４４ｃがいずれも台船２２にあってもよいし、第１の位置４４ａ、第２の位置４４ｂ及び第３の位置４４ｃがいずれも堰堤４８にあってもよい。第１の位置４４ａ、第２の位置４４ｂ及び第３の位置４４ｃのそれぞれは、台船２２又は堰堤４８にある上記の例に代え、ダム湖１８の岸２０にあってもよい。 Instead of the example shown in FIG. 4 in which the first position 44a and the second position 44b are on the carriage 22 and the third position 44c is on the dam 48, the first position 44a is on the carriage 22, The second position 44b and the third position 44c may be on the dam 48, and the first position 44a, the second position 44b and the third position 44c may all be on the barge 22, The first position 44a, the second position 44b, and the third position 44c may all be on the dam 48. Each of the first position 44 a, the second position 44 b, and the third position 44 c may be on the shore 20 of the dam lake 18 instead of the above example in the trolley 22 or the dam 48.

図８に示す例では、掘削機３０における３つの点３０ａ、３０ｂ、３０ｃの三次元座標を測定する図４に示した例に代え、掘削機３０における１つの点３０ａの三次元座標を測定する。点３０ａの三次元座標を測定するとき、第１の位置４４ａと点３０ａとの間の距離と、第２の位置４４ｂと点３０ａとの間の距離と、第３の位置４４ｃと点３０ａとの間の距離とを超音波５８ａを用いて測定し、第１の位置４４ａと点３０ａとの間の距離と、第２の位置４４ｂと点３０ａとの間の距離と、第３の位置４４ｃと点３０ａとの間の距離と、第１の位置４４ａの三次元座標と、第２の位置４４ｂの三次元座標と、第３の位置４４ｃの三次元座標とに基づき、点３０ａの三次元座標を算出する。その後、点３０ａの三次元座標に基づき、斜面１２の上における掘削機３０の位置をモニター５２に表示する。 In the example shown in FIG. 8, instead of the example shown in FIG. 4 in which the three-dimensional coordinates of the three points 30a, 30b, 30c in the excavator 30 are measured, the three-dimensional coordinates of one point 30a in the excavator 30 are measured. . When measuring the three-dimensional coordinates of the point 30a, the distance between the first position 44a and the point 30a, the distance between the second position 44b and the point 30a, the third position 44c and the point 30a, The distance between the first position 44a and the point 30a, the distance between the second position 44b and the point 30a, and the third position 44c. And the point 30a, the three-dimensional coordinates of the first position 44a, the three-dimensional coordinates of the second position 44b, and the three-dimensional coordinates of the third position 44c. Calculate the coordinates. Thereafter, the position of the excavator 30 on the slope 12 is displayed on the monitor 52 based on the three-dimensional coordinates of the point 30a.

この場合、掘削機３０の位置及び掘削機３０の水平度のうち掘削機３０の位置のみをモニター５２に表示してもよいし、傾斜センサー（図示せず）により掘削機３０又は架台１６の水平度を測定し、該測定の結果に基づき、掘削機３０の位置とともに掘削機３０の水平度をモニター５２に表示してもよい。この場合、斜面１２の上における掘削機３０の位置の測定前に掘削機３０又は架台１６に前記傾斜センサーを取り付け、該傾斜センサーをモニター５２に接続する。その後、斜面１２の上における掘削機３０の位置の測定時に前記傾斜センサーにより掘削機３０又は架台１６の水平度を測定し、その後、前記水平度の測定の結果に基づき、掘削機３０の位置とともに掘削機３０の水平度をモニター５２に表示する。 In this case, only the position of the excavator 30 out of the position of the excavator 30 and the level of the excavator 30 may be displayed on the monitor 52, or the horizontal position of the excavator 30 or the gantry 16 may be displayed by an inclination sensor (not shown). The degree of the excavator 30 may be displayed on the monitor 52 along with the position of the excavator 30 based on the measurement result. In this case, the tilt sensor is attached to the excavator 30 or the gantry 16 before the position of the excavator 30 on the slope 12 is measured, and the tilt sensor is connected to the monitor 52. Thereafter, the level of the excavator 30 or the gantry 16 is measured by the tilt sensor when the position of the excavator 30 on the slope 12 is measured, and thereafter, along with the position of the excavator 30 based on the measurement result of the level. The level of the excavator 30 is displayed on the monitor 52.

図８に示した例では、前記測定手段は、掘削機３０における点３０ａに固定された超音波受信機４０ａと、第１の位置４４ａ、第２の位置４４ｂ及び第３の位置４４ｃにそれぞれ固定された第１の超音波送信機４６ａ、第２の超音波送信機４６ｂ及び第３の超音波送信機４６ｃとを備えるが、これに代え、掘削機３０における点３０ａに固定された超音波送信機４０ａと、第１の位置４４ａ、第２の位置４４ｂ及び第３の位置４４ｃにそれぞれ固定された第１の超音波受信機４６ａ、第２の超音波受信機４６ｂ及び第３の超音波受信機４６ｃとを備えるものとすることができ、また、掘削機３０における第１の点３０ａに固定された掘削機側超音波送受信機４０ａと、第１の位置４４ａ、第２の位置４４ｂ及び第３の位置４４ｃにそれぞれ固定された第１の水面側超音波送受信機４６ａ、第２の水面側超音波送受信機４６ｂ及び第３の水面側超音波送受信機４６ｃとを備えるものとすることができる。 In the example shown in FIG. 8, the measurement means is fixed to the ultrasonic receiver 40a fixed to the point 30a in the excavator 30, and the first position 44a, the second position 44b, and the third position 44c, respectively. The first ultrasonic transmitter 46a, the second ultrasonic transmitter 46b, and the third ultrasonic transmitter 46c are provided. Instead, the ultrasonic transmission fixed to the point 30a in the excavator 30 is provided. Machine 40a, first ultrasonic receiver 46a, second ultrasonic receiver 46b and third ultrasonic receiver fixed at first position 44a, second position 44b and third position 44c, respectively. And an excavator-side ultrasonic transceiver 40a fixed to the first point 30a of the excavator 30, a first position 44a, a second position 44b, and a second position 44b. 3 at position 44c. It has been first waterside ultrasonic transceiver 46a, can be made and a second water-side ultrasonic transceiver 46b and the third waterside ultrasonic transceiver 46c.

図９、１０に示す例では、掘削機３０における３つの点３０ａ、３０ｂ、３０ｃの三次元座標を測定する図４に示した例に代え、掘削機３０における４つの点３０ａ、３０ｂ、３０ｃ、３０ｄの三次元座標を測定する。この場合、斜面１２の上における掘削機３０の位置を測定するとき、掘削機３０における第１の点３０ａの三次元座標と、第２の点３０ｂの三次元座標と、第３の点３０ｃの三次元座標と、第４の点３０ｄの三次元座標とを測定する。第１の点３０ａ、第２の点３０ｂ、第３の点３０ｃ及び第４の点３０ｄは掘削機３０の本体３２の４つの隅部にある。 In the example shown in FIGS. 9 and 10, instead of the example shown in FIG. 4 that measures the three-dimensional coordinates of the three points 30 a, 30 b, and 30 c in the excavator 30, four points 30 a, 30 b, 30 c, and Measure the three-dimensional coordinates of 30d. In this case, when measuring the position of the excavator 30 on the slope 12, the three-dimensional coordinates of the first point 30a, the three-dimensional coordinates of the second point 30b, and the third point 30c in the excavator 30 are measured. The three-dimensional coordinates and the three-dimensional coordinates of the fourth point 30d are measured. The first point 30 a, the second point 30 b, the third point 30 c, and the fourth point 30 d are at the four corners of the main body 32 of the excavator 30.

掘削機３０の位置を測定する前に第１の点３０ａ、第２の点３０ｂ、第３の点３０ｃ及び第４の点３０ｄにそれぞれ第１の超音波受信機４０ａ、第２の超音波受信機４０ｂ、第３の超音波受信機４０ｃ及び第４の超音波受信機４０ｄを固定する。また、水面４２の近傍の第１の位置４４ａに第１の超音波送信機４６ａを、第１の位置４４ａから隔てられた水面４２の近傍の第２の位置４４ｂに第２の超音波送信機４６ｂを、第１の位置４４ａ及び第２の位置４４ｂのそれぞれから隔てられた水面４２の近傍の第３の位置４４ｃに第３の超音波送信機４６ｃを、第１の位置４４ａ、第２の位置４４ｂ及び第３の位置４４ｃのそれぞれから隔てられた水面４２の近傍の第４の位置４４ｄに第４の超音波送信機４６ｄをそれぞれ固定する。第１の位置４４ａ、第２の位置４４ｂ、第３の位置４４ｃ及び第４の位置４４ｄのそれぞれは既知の三次元座標を有する。第１の位置４４ａ及び第２の位置４４ｂのそれぞれは台船２２にあり、第３の位置４４ｃ及び第４の位置４４ｄのそれぞれは堰堤４８にある。 Before measuring the position of the excavator 30, the first ultrasonic wave receiver 40a and the second ultrasonic wave signal are respectively received at the first point 30a, the second point 30b, the third point 30c, and the fourth point 30d. The machine 40b, the third ultrasonic receiver 40c and the fourth ultrasonic receiver 40d are fixed. In addition, the first ultrasonic transmitter 46a is disposed at the first position 44a in the vicinity of the water surface 42, and the second ultrasonic transmitter 46 is disposed at the second position 44b in the vicinity of the water surface 42 that is separated from the first position 44a. 46b, the third ultrasonic transmitter 46c, the first position 44a, the second position 44c, the third position 44c in the vicinity of the water surface 42 separated from the first position 44a and the second position 44b, respectively. The fourth ultrasonic transmitter 46d is fixed to a fourth position 44d in the vicinity of the water surface 42 separated from each of the position 44b and the third position 44c. Each of the first position 44a, the second position 44b, the third position 44c, and the fourth position 44d has a known three-dimensional coordinate. Each of the first position 44 a and the second position 44 b is in the carriage 22, and each of the third position 44 c and the fourth position 44 d is in the dam 48.

掘削機３０の位置を測定するとき、第１の位置４４ａ、第２の位置４４ｂ、第３の位置４４ｃ及び第４の位置４４ｄのそれぞれと第１の点３０ａとの間の距離と、第１の位置４４ａ、第２の位置４４ｂ、第３の位置４４ｃ及び第４の位置４４ｄのそれぞれと第２の点３０ｂとの間の距離と、第１の位置４４ａ、第２の位置４４ｂ、第３の位置４４ｃ及び第４の位置４４ｄのそれぞれと第３の点３０ｃとの間の距離と、第１の位置４４ａ、第２の位置４４ｂ、第３の位置４４ｃ及び第４の位置４４ｄのそれぞれと第４の点３０ｄとの間の距離とを超音波５８ａ、５８ｂ、５８ｃ、５８ｄを用いて測定する。その後、これらの距離と、第１の位置４４ａの三次元座標と、第２の位置４４ｂの三次元座標と、第３の位置４４ｃの三次元座標と、第４の位置４４ｄの三次元座標とに基づき、第１の点３０ａの三次元座標と、第２の点３０ｂの三次元座標と、第３の点３０ｃの三次元座標と、第４の点３０ｄの三次元座標とを算出する。 When measuring the position of the excavator 30, the distance between each of the first position 44a, the second position 44b, the third position 44c and the fourth position 44d and the first point 30a, The distance between the second point 30b and the first position 44a, the second position 44b, the third position 44d, the third position 44b, the third position 44c, and the third position 44d. The distance between each of the first position 44c and the fourth position 44d and the third point 30c, and each of the first position 44a, the second position 44b, the third position 44c and the fourth position 44d The distance between the fourth point 30d and the ultrasonic wave 58a, 58b, 58c, 58d is measured. Then, these distances, the three-dimensional coordinates of the first position 44a, the three-dimensional coordinates of the second position 44b, the three-dimensional coordinates of the third position 44c, and the three-dimensional coordinates of the fourth position 44d Based on the above, the three-dimensional coordinates of the first point 30a, the three-dimensional coordinates of the second point 30b, the three-dimensional coordinates of the third point 30c, and the three-dimensional coordinates of the fourth point 30d are calculated.

その後、第１の点３０ａの三次元座標と、第２の点３０ｂの三次元座標と、第３の点３０ｃの三次元座標と、第４の点３０ｄの三次元座標とに基づき、掘削機３０の水平度とともに掘削機３０の位置をモニター５２に表示する。その後、モニター５２に表示された掘削機３０の位置を監視しつつ掘削機３０により斜面１２を掘削する。掘削機３０の位置を測定するときに掘削機３０における４つの点３０ａ、３０ｂ、３０ｃ、３０ｄの三次元座標を測定することにより、３つの点３０ａ、３０ｂ、３０ｃのみの三次元座標を測定する場合に比べ、掘削機３０の位置を精度良く測定することができる。掘削機３０の位置を測定するとき、掘削機３０における４つの点３０ａ、３０ｂ、３０ｃ、３０ｄの三次元座標を測定する図１０に示した例に代え、掘削機３０における５以上の点の三次元座標を測定してもよい。 Then, based on the three-dimensional coordinates of the first point 30a, the three-dimensional coordinates of the second point 30b, the three-dimensional coordinates of the third point 30c, and the three-dimensional coordinates of the fourth point 30d, the excavator The position of the excavator 30 is displayed on the monitor 52 together with the level of 30. Thereafter, the slope 12 is excavated by the excavator 30 while monitoring the position of the excavator 30 displayed on the monitor 52. By measuring the three-dimensional coordinates of the four points 30a, 30b, 30c, 30d on the excavator 30 when measuring the position of the excavator 30, the three-dimensional coordinates of only the three points 30a, 30b, 30c are measured. Compared to the case, the position of the excavator 30 can be measured with high accuracy. When measuring the position of the excavator 30, instead of the example shown in FIG. 10 in which the three-dimensional coordinates of the four points 30a, 30b, 30c, 30d in the excavator 30 are measured, the tertiary of five or more points in the excavator 30 The original coordinates may be measured.

図９、１０に示した例では、前記測定手段は、掘削機３０における第１の点３０ａ、第２の点３０ｂ、第３の点３０ｃ及び第４の点３０ｄにそれぞれ固定された第１の超音波受信機４０ａ、第２の超音波受信機４０ｂ、第３の超音波受信機４０ｃ及び第４の超音波受信機４０ｄと、第１の位置４４ａ、第２の位置４４ｂ、第３の位置４４ｃ及び第４の位置４４ｄにそれぞれ固定された第１の超音波送信機４６ａ、第２の超音波送信機４６ｂ、第３の超音波送信機４６ｃ及び第４の超音波送信機４６ｄとを備えるが、これに代え、掘削機３０における第１の点３０ａ、第２の点３０ｂ、第３の点３０ｃ及び第４の点３０ｄにそれぞれ固定された第１の超音波送信機４０ａ、第２の超音波送信機４０ｂ、第３の超音波送信機４０ｃ及び第４の超音波送信機４０ｄと、第１の位置４４ａ、第２の位置４４ｂ、第３の位置４４ｃ及び第４の位置４４ｄにそれぞれ固定された第１の超音波受信機４６ａ、第２の超音波受信機４６ｂ、第３の超音波受信機４６ｃ及び第４の超音波受信機４６ｄとを備えるものとすることができ、また、掘削機３０における第１の点３０ａ、第２の点３０ｂ、第３の点３０ｃ及び第４の点３０ｄにそれぞれ固定された第１の掘削機側超音波送受信機４０ａ、第２の掘削機側超音波送受信機４０ｂ、第３の掘削機側超音波送受信機４０ｃ及び第４の掘削機側超音波送受信機４０ｄと、第１の位置４４ａ、第２の位置４４ｂ、第３の位置４４ｃ及び第４の位置４４ｄにそれぞれ固定された第１の水面側超音波送受信機４６ａ、第２の水面側超音波送受信機４６ｂ、第３の水面側超音波送受信機４６ｃ及び第４の水面側超音波送受信機４６ｄとを備えるものとすることができる。 In the example shown in FIGS. 9 and 10, the measuring means includes a first point 30 a, a second point 30 b, a third point 30 c, and a fourth point 30 d fixed on the excavator 30. Ultrasonic receiver 40a, second ultrasonic receiver 40b, third ultrasonic receiver 40c, and fourth ultrasonic receiver 40d, first position 44a, second position 44b, and third position A first ultrasonic transmitter 46a, a second ultrasonic transmitter 46b, a third ultrasonic transmitter 46c, and a fourth ultrasonic transmitter 46d, which are respectively fixed at 44c and the fourth position 44d. However, instead of this, the first ultrasonic transmitter 40a and the second ultrasonic transmitter 40a fixed to the first point 30a, the second point 30b, the third point 30c, and the fourth point 30d in the excavator 30, respectively. Ultrasonic transmitter 40b, third ultrasonic transmitter 40c, and fourth ultrasonic sound Transmitter 40d, first ultrasonic receiver 46a and second ultrasonic receiver 46b fixed to first position 44a, second position 44b, third position 44c and fourth position 44d, respectively. , The third ultrasonic receiver 46c and the fourth ultrasonic receiver 46d, and the first point 30a, the second point 30b, the third point in the excavator 30. The first excavator side ultrasonic transmitter / receiver 40a, the second excavator side ultrasonic transmitter / receiver 40b, the third excavator side ultrasonic transmitter / receiver 40c, and the fourth excavator side ultrasonic transmitter / receiver 40a fixed to 30c and the fourth point 30d, respectively. The excavator side ultrasonic transceiver 40d, and the first water surface side ultrasonic transceiver 46a fixed to the first position 44a, the second position 44b, the third position 44c, and the fourth position 44d, respectively. 2nd water surface side ultrasonic transceiver 46b, 3rd It can be made and a waterside ultrasonic transceiver 46c and fourth waterside ultrasonic transceiver 46d.

１０地盤
１２斜面
１４地盤の上の位置
１６架台
３０掘削機
３０ａ第１の点
３０ｂ第２の点
３０ｃ第３の点
３２本体
３４ブーム
３６アーム
３８アタッチメント
４０ａ第１の掘削機側超音波受信機
４０ｂ第２の掘削機側超音波受信機
４０ｃ第３の掘削機側超音波受信機
４２水面
４４ａ第１の位置
４４ｂ第２の位置
４４ｃ第３の位置
４６ａ第１の水面側超音波送信機
４６ｂ第２の水面側超音波送信機
４６ｃ第３の水面側超音波送信機
５２モニター
５８ａ、５８ｂ、５８ｃ超音波
６６軌跡
６８ａ第１の傾斜センサー
６８ｂ第２の傾斜センサー
６８ｃ第３の傾斜センサー DESCRIPTION OF SYMBOLS 10 Ground 12 Slope 14 Position on ground 16 Mount 30 Excavator 30a 1st point 30b 2nd point 30c 3rd point 32 Main body 34 Boom 36 Arm 38 Attachment 40a 1st excavator side ultrasonic receiver 40b 2nd excavator side ultrasonic receiver 40c 3rd excavator side ultrasonic receiver 42 Water surface 44a 1st position 44b 2nd position 44c 3rd position 46a 1st water surface side ultrasonic transmitter 46b 1st Two water surface side ultrasonic transmitters 46c Third water surface side ultrasonic transmitters 52 Monitors 58a, 58b, 58c Ultrasound 66 Trajectory 68a First inclination sensor 68b Second inclination sensor 68c Third inclination sensor

Claims

A method of excavating the slope of an underwater ground,
A first step of disposing a pedestal at a position on the ground separated from the slope;
A second step of placing an excavator on the platform;
A third step of lifting the gantry on which the excavator is mounted from a position on the ground and suspending it on the slope;
A fourth step of measuring the position of the excavator on the slope;
A fifth step of displaying, on a monitor, the position of the excavator on the slope based on the measurement result of the position of the excavator;
And excavating the slope by the excavator while monitoring the position of the excavator displayed on the monitor ,
Measuring the three-dimensional coordinates of at least one point on the excavator in the fourth step;
Measuring the three-dimensional coordinates of the at least one point is separated from the first position by a distance between a first position in the vicinity of a water surface having a known three-dimensional coordinate and the at least one point; A distance between a second position in the vicinity of the water surface having a known three-dimensional coordinate and the at least one point, separated from each of the first position and the second position; Measuring, using ultrasound, a distance between a third position in the vicinity of the water surface having coordinates and the at least one point;
A distance between the first position and the at least one point; a distance between the second position and the at least one point; and a distance between the third position and the at least one point. The three-dimensional coordinates of the at least one point are calculated based on the distance, the three-dimensional coordinates of the first position, the three-dimensional coordinates of the second position, and the three-dimensional coordinates of the third position. Including
The third position is a method of excavating an underwater ground slope in a dam .

The excavator includes a main body, a boom having one end rotatably attached to the main body, an arm having one end rotatably attached to the other end of the boom, and one end being the other end of the arm. With an attachment attached to the part for rotation,
Measuring the locus of the other end of the attachment of the excavator in the ground while excavating the slope by the excavator;
2. The underwater ground slope according to claim 1, comprising displaying the trajectory of the other end of the attachment in the ground on the monitor based on the measurement result of the trajectory of the other end of the attachment. How to drill.

In the fourth step, the three-dimensional coordinates of the first point in the excavator, the three-dimensional coordinates of the second point in the excavator separated from the first point in the first horizontal direction, Measuring a three-dimensional coordinate of a third point in the excavator separated from a point in a second horizontal direction intersecting the first horizontal direction;
Based on the three-dimensional coordinates of the first point, the three-dimensional coordinates of the second point, and the three-dimensional coordinates of the third point in the fifth step, the excavator together with the level of the excavator The method of excavating the slope of the underwater ground according to claim 1, wherein the position of the ground is displayed on the monitor.

A drilling device for drilling underwater ground slopes,
An excavator; a gantry on which the excavator is mounted; the gantry suspended on the slope when excavating the slope; a measuring means for measuring the position of the excavator on the slope; and the measuring means connected, seen including a monitor for displaying the position of the excavator in on the slope,
The measuring means includes an excavator-side ultrasonic receiver, an excavator-side ultrasonic transmitter, or an excavator-side ultrasonic transmitter / receiver fixed to at least one point in the excavator, and a water surface having known three-dimensional coordinates. A first water surface ultrasonic transmitter, a first water surface ultrasonic receiver, or a first water surface ultrasonic transmitter / receiver fixed at a first position in the vicinity of the first water surface side, and spaced apart from the first position. A second water surface ultrasonic transmitter, a second water surface ultrasonic receiver, or a second water surface ultrasonic transmitter / receiver fixed at a second position in the vicinity of the water surface having a known three-dimensional coordinate. And a third water surface-side ultrasonic transmitter fixed to a third position in the vicinity of the water surface that is separated from each of the first position and the second position and has a known three-dimensional coordinate, 3 water surface side ultrasonic receivers or third water surface side ultrasonic transceivers,
When the excavator-side ultrasonic receiver is fixed to the at least one point, the first water surface-side ultrasonic transmitter is located at the first position, the second position, and the third position, respectively. The second water surface side ultrasonic transmitter and the third water surface side ultrasonic transmitter are fixed,
When the excavator side ultrasonic transmitter is fixed to the at least one point, the first water surface side ultrasonic receiver is located at the first position, the second position, and the third position, respectively. The second water surface side ultrasonic receiver and the third water surface side ultrasonic receiver are fixed,
When the excavator-side ultrasonic transmitter / receiver is fixed to the at least one point, the first water surface-side ultrasonic transmitter / receiver is located at the first position, the second position, and the third position, respectively. The second water surface side ultrasonic transceiver and the third water surface side ultrasonic transceiver are fixed,
The third position is a digging rig in a dam .

The excavator includes a main body, a boom having one end rotatably attached to the main body, an arm having one end rotatably attached to the other end of the boom, and one end being the other end of the arm. With an attachment attached to the part for rotation,
It said measuring means includes a first tilt sensor mounted on the boom, the comprising a second tilt sensors mounted to the arm, and a third tilt sensors attached to the attachment, in claim 4 The drilling rig described.