JP5823841B2 - Tunnel face shaping system and shaping method - Google Patents

Description

  The present invention relates to a shaping system and a shaping method for a tunnel face, and more specifically, the position of a hydraulic breaker of a hydraulic excavator is detected to detect the hit of the face and remove the hit. The present invention relates to a shaping system and a shaping method.

  In the most common excavation work currently in progress, an operator stands near the face for winning, and the finished shape is visually confirmed using a fool bar.

  There is a possibility that skin may fall while performing this work, and there is a problem that the worker must work next to the danger.

  In addition, since the worker visually confirms the excavation status, there is a problem that the accuracy depends on the skill level of the worker. Further, even a skilled worker has a problem that a large range of error is found in visual confirmation.

Furthermore, in the currently performed winning work, the work is interrupted in the middle of the winning work and the finished shape is confirmed, and the winning work is resumed based on the confirmed result. There is a problem of becoming longer.
There is also a problem that at the stage where the excavation work is completed and the support work is built, it is found that the hit has remained, and the excavation has to be repeated.

In order to solve such a problem, the following Non-Patent Documents 1 and 2 disclose a method of measuring the excavated surface with a 3D scanner and confirming the completed shape including the presence or absence of a hit.
Non-Patent Document 3 below discloses a free-section excavator automated excavation system. This is a system mounted on a large-sized free-section excavator. After recognizing the public coordinate position of the excavator at the total station installed at the upper rear of the tunnel, it is converted to local coordinates and transmitted to the excavator side. In combination with the body posture information from the sensor mounted on the aircraft, the excavation position of the cutter head is controlled to ensure a predetermined excavation outer periphery alignment.

  Further, although not intended to confirm the shape of excavation, the following Patent Document 1 discloses a position measurement system for a traveling construction machine as a system for obtaining the position of the tip of a bucket of a hydraulic excavator. . This includes an hydraulic excavator, an angle sensor that detects a boom angle, an arm angle, and a bucket angle, a tilt sensor that detects a tilt angle in the front-rear direction of the upper swing body, two GPS antennas and a GPS receiver, and a reference station A wireless device that receives correction data from a wireless antenna, a wireless antenna that transmits position data, and a panel computer are provided, and hydraulic pressure is determined based on position data from a GPS receiver and angle data from various sensors. The position of the tip of the shovel bucket is calculated.

Yasuhiro Sato et al. Development of completed type confirmation system using 3D laser scanner -Part 1 Outline of system and application method-, Abstracts of Annual Conference of Architectural Institute of Japan, September 2005 Nagaaki Yoshiaki et al. Development of a completed type confirmation system using a 3D laser scanner -Part 2 Application case-, Summary of Annual Conference of Architectural Institute of Japan, September 2005 Toshikazu Higuchi et al., Automatic Drilling System for Free Section Excavator, Boom Header RH-10J, RH-250-MB-SL Automatic Drilling, August 2010

JP 2002-310652 A

However, the method of measuring the excavation surface with the 3D scanner has a problem that the measurement takes time.
In addition, the method using an automatic excavation system with a free section excavator has a problem that the cost of the product is high.

  Moreover, since the measurement system of Patent Document 1 uses GPS, there is a problem that it cannot be used inside a tunnel.

  Therefore, the main problem to be solved by the present invention is to improve the safety at the time of confirming the finished shape, to detect the presence / absence of the hit accurately and quickly, and to eliminate the hit while suppressing the product cost. It is to be realized.

The present invention that has solved this problem is as follows.
[Invention of Claim 1]
A traveling body, a revolving body that rotates about a vertical axis mounted on the traveling body, a boom that is provided on the revolving body so as to be able to be prone, and an arm that is provided so as to be capable of being prone to be raised and lowered; In the tunnel face shaping system for shaping the tunnel face using a hydraulic excavator provided with a hydraulic breaker provided at the tip of the arm so as to be prone,
The hydraulic excavator includes a wire displacement meter that detects the position of the revolving body, an inclination sensor that detects an inclination angle of the revolving body, and a prone angle that detects each prone angle of the boom, arm, and hydraulic breaker. Detecting means; and hydraulic breaker tip position calculating means for calculating the current position of the tip of the hydraulic breaker based on detection results by the wire displacement meter , the inclination sensor, and the prone and sag angle detecting means,
The wire-type displacement meter detects the distance between the left and right of the swivel body and three different points of the supporting work whose positions on the corresponding walls are known, and three on each of the left and right of the swivel body Provided, a three-dimensional position of the wire displacement meter in the swivel body is obtained based on a detection distance by the wire displacement meter,
In the shaping process by the hydraulic breaker, the tunnel face shaping is characterized in that the hitting portion can be removed while the hitting is detected at the tip of the hydraulic breaker based on the calculation result by the hydraulic breaker tip position calculating means. system.

(Function and effect)
According to this system, since it is not necessary for the worker to stand near the face when confirming the finished shape, it is possible to reduce the possibility that the worker will encounter skin peeling.
In addition, since the finished shape can be confirmed by the machine, it is possible to grasp the excavation state with high accuracy even if it is not a skilled worker.
Furthermore, since winning and confirmation of the finished shape can be performed by a series of operations, the operation time can be shortened.
In addition, because it is possible to check the finished shape with high accuracy, it was found that there was a hit at the stage where the excavation work was completed and the support work was built, and it was necessary to repeat the excavation. It can be prevented from occurring.
In addition, a system can be constructed at a lower cost than using an optical measuring instrument.

[Invention of Claim 2]
A traveling body, a revolving body that rotates about a vertical axis mounted on the traveling body, a boom that is provided on the revolving body so as to be able to be prone, and an arm that is provided so as to be capable of being prone to be raised and lowered; In the tunnel face shaping system for shaping the tunnel face using a hydraulic excavator provided with a hydraulic breaker provided at the tip of the arm so as to be prone,
The hydraulic excavator includes a first wire displacement meter that detects a position of the revolving body, a second wire displacement meter that detects a different position of the revolving body, and an inclination that detects an inclination angle of the revolving body. Based on the detection results of the angle detection means, the elevation angle detection means for detecting each elevation angle of the boom, arm and hydraulic breaker, the wire displacement meter, the inclination angle detection means and the elevation angle detection means, the hydraulic pressure Hydraulic breaker tip position calculating means for calculating the current position of the tip of the breaker,
The first wire-type displacement meter detects the distance between the left and right of the swivel body and three different points of the supporting work whose positions on the corresponding walls are known, and on the left and right of the swivel body Three each is provided, and the three-dimensional position of the first wire displacement meter in the swivel body is obtained based on the detection distance by the first wire displacement meter,
The second wire displacement meter detects a distance between the left and right of the swivel body and one of the three points, and is separated from the first wire displacement meter in the swivel body, The separation distance with respect to the position of the first wire-type displacement meter is known, and provided at the left and right of the swivel body, respectively.
Based on the three-dimensional position of the first wire-type displacement meter and the separation distance, the three-dimensional position of the second wire-type displacement meter in the swivel body is obtained,
In the shaping process by the hydraulic breaker, the tunnel face shaping is characterized in that the hitting portion can be removed while the hitting is detected at the tip of the hydraulic breaker based on the calculation result by the hydraulic breaker tip position calculating means. system.

(Function and effect)
There exists an effect similar to Claim 1.

[Invention of Claim 3]
A traveling body, a revolving body that rotates about a vertical axis mounted on the traveling body, a boom that is provided on the revolving body so as to be able to be prone, and an arm that is provided so as to be capable of being prone to be raised and lowered; In the tunnel face shaping system for shaping the tunnel face using a hydraulic excavator provided with a hydraulic breaker provided at the tip of the arm so as to be prone,
The hydraulic excavator includes a wire-type displacement meter that detects the position of the revolving body, an inclination angle detecting means that detects an inclination angle of the revolving body, and a prone position that detects the elevation angle of the boom, arm, and hydraulic breaker. Based on the detection results of the elevation angle detection means, the angle meter for measuring the angle of the wire extending from the wire displacement meter, the wire displacement meter, the inclination angle detection means, the prone angle detection means, and the angle meter, Hydraulic breaker tip position calculating means for calculating the current position of the tip of the breaker,
The wire-type displacement meter detects the distance between the left and right of the swivel body and the corresponding point on the corresponding wall, and is provided on the left and right of the swivel body, respectively. Based on the distance detected by the wire displacement meter and the angle of the wire, a three-dimensional position of the wire displacement meter in the swivel body is obtained,
In the shaping process by the hydraulic breaker, the tunnel face shaping is characterized in that the hitting portion can be removed while the hitting is detected at the tip of the hydraulic breaker based on the calculation result by the hydraulic breaker tip position calculating means. system.

(Function and effect)
There exists an effect similar to Claim 1.

[Invention of Claim 4]
A traveling body, a revolving body that rotates about a vertical axis mounted on the traveling body, a boom that is provided on the revolving body so as to be able to be prone, and an arm that is provided so as to be capable of being prone to be raised and lowered; In the tunnel face shaping system for shaping the tunnel face using a hydraulic excavator provided with a hydraulic breaker provided at the tip of the arm so as to be prone,
The hydraulic excavator includes a wire displacement meter that detects the position of the revolving body, an inclination sensor that detects an inclination angle of the revolving body, and a prone angle that detects each prone angle of the boom, arm, and hydraulic breaker. Detecting means; and hydraulic breaker tip position calculating means for calculating the current position of the tip of the hydraulic breaker based on detection results by the wire displacement meter, the inclination sensor, and the prone and sag angle detecting means,
The wire-type displacement meter detects the distance between the left and right of the swivel body and three different points of the supporting work whose positions on the corresponding walls are known, and three on each of the left and right of the swivel body A three-dimensional position of the wire displacement meter in the swivel body is determined based on a distance detected by the wire displacement meter;
A method for shaping a tunnel face, wherein the contact portion is removed while detecting the contact at the tip portion of the hydraulic breaker based on a calculation result by the hydraulic breaker tip position calculating means.

[Invention of Claim 5]
A traveling body, a revolving body that rotates about a vertical axis mounted on the traveling body, a boom that is provided on the revolving body so as to be able to be prone, and an arm that is provided so as to be capable of being prone to be raised and lowered; In the tunnel face shaping system for shaping the tunnel face using a hydraulic excavator provided with a hydraulic breaker provided at the tip of the arm so as to be prone,
The hydraulic excavator includes a first wire displacement meter that detects a position of the revolving body, a second wire displacement meter that detects a different position of the revolving body, and an inclination that detects an inclination angle of the revolving body. Based on the detection results of the angle detection means, the elevation angle detection means for detecting each elevation angle of the boom, arm and hydraulic breaker, the wire displacement meter, the inclination angle detection means and the elevation angle detection means, the hydraulic pressure Hydraulic breaker tip position calculating means for calculating the current position of the tip of the breaker,
The first wire-type displacement meter detects the distance between the left and right of the swivel body and three different points of the supporting work whose positions on the corresponding walls are known, and on the left and right of the swivel body Three each is provided, and the three-dimensional position of the first wire displacement meter in the swivel body is obtained based on the detection distance by the first wire displacement meter,
The second wire displacement meter detects a distance between the left and right of the swivel body and one of the three points, and is separated from the first wire displacement meter in the swivel body, The separation distance with respect to the position of the first wire-type displacement meter is known, and provided at the left and right of the swivel body, respectively.
Based on the three-dimensional position of the first wire-type displacement meter and the separation distance, obtain the three-dimensional position of the second wire-type displacement meter in the swivel body,
A method for shaping a tunnel face, wherein the contact portion is removed while detecting the contact at the tip portion of the hydraulic breaker based on a calculation result by the hydraulic breaker tip position calculating means.

[Invention of Claim 6]
A traveling body, a revolving body that rotates about a vertical axis mounted on the traveling body, a boom that is provided on the revolving body so as to be able to be prone, and an arm that is provided so as to be capable of being prone to be raised and lowered; In the tunnel face shaping system for shaping the tunnel face using a hydraulic excavator provided with a hydraulic breaker provided at the tip of the arm so as to be prone,
The hydraulic excavator includes a wire-type displacement meter that detects the position of the revolving body, an inclination angle detecting means that detects an inclination angle of the revolving body, and a prone position that detects the elevation angle of the boom, arm, and hydraulic breaker. Based on the detection results of the elevation angle detection means, the angle meter for measuring the angle of the wire extending from the wire displacement meter, the wire displacement meter, the inclination angle detection means, the prone angle detection means, and the angle meter, Hydraulic breaker tip position calculating means for calculating the current position of the tip of the breaker,
The wire-type displacement meter detects the distance between the left and right of the swivel body and three different points of the supporting work whose positions on the corresponding walls are known, and three on each of the left and right of the swivel body A three-dimensional position of the wire displacement meter in the swivel body is determined based on the distance detected by the wire displacement meter and the angle of the wire;
A method for shaping a tunnel face, wherein the contact portion is removed while detecting the contact at the tip portion of the hydraulic breaker based on a calculation result by the hydraulic breaker tip position calculating means.

  According to the present invention, it is possible to improve the safety at the time of confirming the finished shape, detect the presence / absence of the hit accurately and quickly, and remove the hit while suppressing the product cost. .

It is a perspective view of a hydraulic excavator. It is a perspective view of a wire type displacement meter. It is the top view which attached the wire type displacement meter to the rotary body. It is the side view which attached the wire type displacement meter to the rotary body. It is a top view of the position measuring system concerning the 1st example. It is the side view which showed the state which attached the hook to the support work. It is the front view which showed the state which attached the hook to the support work. It is a top view of the position measurement system concerning a 2nd example. It is a top view of the position measurement system concerning a 3rd example. It is a rear view of the position measurement system concerning a 3rd example. It is a top view of the position measuring system concerning the 4th example. It is a front view of the position measuring system concerning the 4th example. It is the figure which showed the display screen.

  Embodiments of the present invention will be described below with reference to the drawings.

<First Example>
FIG. 1 is a perspective view of a hydraulic excavator 1 used in the present invention.
The hydraulic excavator 1 includes a traveling body 14 and a swiveling body 15 located above the traveling body 14. A boom 8, an arm 9, and a hydraulic breaker 10 are provided in front of the revolving structure 15, and each is driven by expansion and contraction of the boom cylinder 11, arm cylinder 12, and hydraulic breaker cylinder 13.

  Expansion and contraction of the boom cylinder 11, the arm cylinder 12, and the hydraulic breaker cylinder 13 is measured by a wire displacement meter 18 attached to each cylinder. And based on the measured value, each elevation angle of a boom, an arm, and a hydraulic breaker is calculated.

The wire displacement meter 18 is attached to each cylinder so as to sandwich the movable rod of each cylinder.
The wire displacement meter 18 is also referred to as a second wire displacement meter.

  In FIG. 1, the example using the wire type displacement meter 18 was shown as a prone angle detection means which detects each prone angle of a boom, an arm, and a hydraulic breaker. However, the prone angle detection means is not limited to this. As another example, for example, an inclination angle sensor that directly measures an inclination angle of an arm, a boom, or a hydraulic breaker can be cited. In addition, a means for measuring the rotation angle of each hinge portion of the arm, boom, hydraulic breaker with a rotation angle meter and detecting the prone angle from the measured value can also be mentioned.

  In the first embodiment, an inclination sensor 3 for detecting the attitude of the excavator 1 is provided behind the revolving structure 15 of the excavator 1. The tilt sensor 3 detects the pitching angle and the rolling angle of the excavator 1.

  In the present embodiment, the tilt sensor 3 is provided behind the swing body 15, but the position where the tilt sensor is attached is not limited to this, and can be provided at any position on the swing body 15.

In the first embodiment, the wire displacement meter 2 is attached to both rear end portions of the swing body 15 of the excavator 1.
2-4 is a figure explaining the attachment method of the wire-type displacement meter 2. FIG. 2 is a perspective view of the wire displacement meter 2, FIG. 3 is a plan view of the wire displacement meter 2 attached to the rotating body 5, and FIG. 4 is a side view of the wire displacement meter 2 attached to the rotating body 5. FIG.

  It is preferable that the wire displacement meter 2 is attached on the rotating body 5 and the rotating body 5 is attached to the swing body 15 of the excavator 1 via the magnet 4. In order to perform accurate measurement, it is preferable to draw the wire of the wire displacement meter 2 straight with respect to the outlet. However, by attaching the wire displacement meter 2 on the rotating body 5, the wire displacement meter 2 is attached. Can be directed in the direction that is always pulled.

  The wire displacement meter 2 can be removed, but when attached to the excavator 1, it is preferable to attach it at a predetermined position of the revolving body 15. By attaching at a predetermined position, the distance between the plurality of wire-type displacement meters 2 attached to the revolving body 15 can be known, so that there is an advantage that the calculation described later can be performed without newly measuring the distance.

  The wire displacement meter 2 has a mechanism in which the wire R wound around a wire drum (not shown) extends outward by pulling the wire tip ring U at the tip. A wire tip ring U at the tip of the wire R is hung on a hook 6 attached to a support 7 described later, whereby the wire R is fixed to the support 7.

  FIG. 5 is a plan view of the position measurement system according to the first embodiment. It is the figure which installed the hydraulic excavator 1 which has the hydraulic breaker 10 near the face at the time of tunnel excavation. In FIG. 5, there is a face surface, a rear opening, a left wall on the left side, and a right wall on the right side.

  The front of the hydraulic excavator 1 faces the face surface. Further, a total of three wire displacement gauges 2 are attached to substantially the same location at the rear left end of the swing body 15 of the excavator 1, and a total of three hooks 6 are attached to different locations on the left wall surface. Then, the wire R is extended from each wire type displacement meter 2 attached to the rear left end portion of the swing body 15 of the excavator 1 toward each hook 6 attached to the left wall surface, and the wire tip ring at the tip of the wire R is extended. U is hung on the hook 6 and fixed.

  It should be noted that the locations on the revolving unit 15 to which a total of three wire displacement gauges 2 are attached are brought close to each other so that the X axis and the Y axis have the same coordinates and the Z axis is substantially the same. And install vertically. This attachment method can be used in the same manner in other cases where two or more wire-type displacement meters 2 are attached to substantially the same location on the swivel body 15.

  A total of three wire displacement gauges 2 are attached to the same location on the right rear end of the swivel 15 of the excavator 1, and three hooks 6 are attached to different locations on the right wall surface. In the same manner as described above, the wires R are extended from the wire displacement gauges 2 attached to the rear right end of the swing body 15 of the excavator 1 toward the hooks 6 attached to the right wall surface. A wire tip ring U located on the hook 6 is hung on the hook 6 and fixed.

  In the present embodiment, the wire-type displacement meter 2 is provided at both end portions on the rear side of the swing body 15 of the excavator 1, but it may be provided at other locations such as both front end portions.

Here, a method of fixing the wire tip ring U at the tip of the wire displacement meter 2 to the wall surface will be described.
FIG. 6 is a side view in which the hook 6 is attached to the support 7 through the magnet 4, and FIG. 7 is a front view in which the hook 6 is attached to the support 7 through the magnet 4.
More specifically, the hook 6 provided on the wall surface is attached to a support 7 provided near the wall surface via the magnet 4. Since the support 7 is assembled at a pre-planned position, the hook 6 attached thereto can be attached at the pre-planned position.

The installation position of the hook 6 is simply determined based on the installation position of the support 7. In this case, the accuracy of the installation position of the hook 6 depends on the accuracy of the installation position of the support work 7.
When installing the hook 6, it is necessary to mark in advance the position where the magnet 4 is attached to the support 7.

<Measurement method>
Below, the three-dimensional position measuring method of the front-end | tip part S of the hydraulic breaker 10 of the hydraulic shovel 1 using the position measuring system concerning a 1st Example is demonstrated.

First, the wire R of the wire displacement meter 2 attached to the swing body 15 of the excavator 1 is hung on the hook 6 on the wall surface, and the length of the wire R is measured. The length of the wire R is measured by the wire displacement meter 2.
As described above, in the first embodiment, a total of six wires R are hung on the hook 6 and the length of each wire R is measured.

Of having six wires R measured, the three wires length of R and (R1, R2, R3), from the position of the hook _{6 (P 1, P 2,} P 3), the hydraulic excavator 1 A three-dimensional position (A) where the wire displacement meter 2 provided at the rear left end of the revolving structure 15 is obtained is obtained.

Specifically, the three-dimensional coordinates of P ₁ , P ₂ , and P ₃ are respectively (X ₁ , Y ₁ , Z ₁ ), (X ₂ , Y ₂ , Z ₂ ), (X ₃ , Y ₃ , Z ₃ ), and the three-dimensional coordinates of the intersection A of the sphere centered on them are (x, y, z), the following equations are recognized between them.
By solving these equations simultaneously, the three-dimensional coordinates (x, y, z) in the local coordinates of the intersection A can be obtained.

In this manner, the three-dimensional position of the intersection A is obtained, and the three-dimensional position (B) of the wire displacement meter 2 provided at the rear right end of the swing body 15 of the excavator 1 is obtained in the same manner.
Then, the position where the excavator 1 is located is determined from the three-dimensional positions of the intersection A and the intersection B (1).

  On the other hand, the inclination sensor 3 provided on the swing body 15 of the excavator 1 measures the pitching angle and the rolling angle of the excavator 1 to detect the attitude of the excavator 1 (2).

  Further, the expansion and contraction of each of the arm cylinder 11, the boom cylinder 12 and the hydraulic breaker cylinder 13 is measured by the wire displacement meter 18 (3).

  And the three-dimensional position of the front-end | tip part S of the hydraulic breaker 10 is computed from the position data (1) and attitude | position data (2) of the hydraulic excavator 1, and the expansion-contraction data (3) of each cylinder. This calculation is performed by a hydraulic breaker tip position calculating means (not shown).

  Based on this calculated data, the locus of the tip S of the hydraulic breaker 10 is determined. Therefore, the completed shape of excavation can be grasped in real time, and the winning part can be grasped by comparing the information of the completed shape with the design drawing.

<Second Example>
FIG. 8 is a plan view of the position measurement system according to the second embodiment.
Note that description of portions common to the first embodiment is omitted.

  The second embodiment is characterized in that the three-dimensional position of the excavator 1 is specified without attaching the tilt sensor 3 to the excavator 1.

  A total of three at the front left end of the swivel 15 of the excavator 1 and one at the rear left end, a wire type displacement meter 2, and a total of three hooks 6 at different locations on the left wall. It is attached.

  Then, the wire R is extended from each wire displacement meter 2 provided at the front left end portion of the swivel 15 of the excavator 1 toward each hook 6 provided on the left wall surface, and the wire tip ring at the tip of the wire R is extended. U is hung on the hook 6 and fixed. Further, the wire R is extended from the wire-type displacement meter 2 attached to the rear left end portion of the swing body 15 of the excavator 1 toward one of the hooks 6 attached to the left wall surface, and the wire tip at the tip of the wire R is extended. The ring U is fixed on the hook 6.

  The wire displacement meter 2 is similarly attached to the right side of the swing body 15 of the excavator 1, and the hook 6 is similarly attached to the right wall surface. Then, similarly to the left wall surface, a plurality of wires R of the wire-type displacement meter 2 attached to the right side of the swing body 15 of the excavator 1 are hooked and fixed on the respective hooks 6 attached to the right wall surface.

  Also in the second embodiment, similarly to the first embodiment, the wire-type displacement meter 2 may be attached to another portion of the swing body 15 of the excavator 1. For example, a total of three at the rear left end of the swing body 15 of the excavator 1 and one at the front left end may be attached with the wire displacement meter 2.

  In addition, it is the same as that of the first embodiment in that a prone angle detector is provided to detect the prone angles of the boom, arm, and hydraulic breaker.

<Measurement method>
Below, the three-dimensional position measuring method of the front-end | tip part S of the hydraulic breaker 10 of the hydraulic shovel 1 using the position measuring system concerning a 2nd Example is demonstrated.

First, the length of the wire R is measured in a state where the wire R of the wire displacement meter 2 attached to the swing body 15 of the excavator 1 is hooked on the hook 6 on the wall surface. The length of the wire R is measured by the wire displacement meter 2.
As described above, in the second embodiment, since a total of eight wires R are hung on the hook 6 on the wall surface, the length of each wire R is measured.

Of the measured lengths of the eight wires R, from the length of the three wires R on the left side (R ₇ , R ₈ , R ₉ ) and the position of the hook (P ₁ , P ₂ , P ₃ ), The position (D) in the local coordinates of the wire displacement meter 2 provided at the front left end of the swing body 15 of the excavator 1 is obtained.
Since this method is the same as in the first embodiment, the description thereof is omitted.

Similarly, from the length of the right three wires R (R ₁₁ , R ₁₂ , R ₁₃ ) and the position of the hook 6 (P ₄ , P ₅ , P ₆ ), the front of the swing body 15 of the excavator 1 The position (C) in local coordinates of the wire displacement meter 2 provided at the right end is obtained.

Next, the position (A) of the wire displacement meter 2 provided at the rear left end of the swing body 15 of the excavator 1 is obtained.
From the above calculation, the position (C, D) of the wire displacement meter 2 is known. Further, the position (P ₃ ) of the hook 6 is known in advance.

Further, the lengths (R ₁₅ , R ₁₆ , R ₁₇ , R ₁₈ ) between the wire displacement gauges 2 attached to the swing body 15 of the hydraulic excavator 1 are measured in advance before the system is activated, and are found out. doing.
Further, the length (R ₁₀ ) between the position (A) of the wire type displacement meter 2 and the position (P ₃ ) of the hook 6 is measured by the wire type displacement meter 2.

Then, the three-dimensional position (A) in the local coordinates of the wire displacement meter 2 is calculated using the three-dimensional position data of C, D and P ₃ and the length data of R ₁₀ , R ₁₅ and R ₁₆ .
Note that the calculation method for calculating the three-dimensional position of the intersection A from the three-point three-dimensional position data and the three length data is the same as in the first embodiment.

  Further, the three-dimensional position in the local coordinates of the wire-type displacement meter 2 provided at the rear right end of the swing body 15 of the excavator 1 is calculated in the same manner as the three-dimensional position (B) of the wire-type displacement meter 2 is calculated. The position (B) is calculated.

  Thus, since the three-dimensional position data of A, B, C, and D of the wire displacement meter 2 can be obtained, the position of the excavator 1 can be specified. Thus, the posture of the hydraulic excavator 1 can be determined from the three-dimensional position data A, B, C, and D of the wire displacement meter 2 without providing a tilt sensor.

  The amount of expansion / contraction of each of the arm cylinder 11, the boom cylinder 12, and the hydraulic breaker cylinder 13 is measured, and the three-dimensional position of the tip S of the hydraulic breaker 10 is determined from the expansion / contraction data and the position data and posture data of the hydraulic excavator 1. The points to be calculated are the same as in the first embodiment. This calculation is also performed by a hydraulic breaker tip position calculating means (not shown).

<Third embodiment>
FIG. 9 is a plan view of the position measurement system according to the third embodiment. FIG. 10 is a rear view of the position measurement system according to the third embodiment.

  The third embodiment is characterized in that an angle meter 16 is attached to the swing body 15 of the excavator 1 to specify the three-dimensional position of the excavator 1.

  In the third embodiment, one wire type displacement meter 2 is attached to the rear left end portion of the swing body 15 of the excavator 1 and an angle meter 16 is attached in the vicinity of the wire type displacement meter 2.

More specifically, two angle meters 16 are attached in the vicinity of the wire-type displacement meter 2 attached to the rear left end portion of the swing body 15 of the excavator 1. One of the angle meters 16 measures the horizontal angle of the wire R ₁₉ , and the other angle meter 16 measures the vertical angle of the wire R ₁₉ .

  Since the angle meter 16 is attached to measure the angle of the wire R of the wire displacement meter 2, it is preferably attached in the vicinity of the wire displacement meter 2.

  Further, as in the first embodiment, the tilt sensor 3 is attached to the rear of the swing body 15 of the excavator 1. In the present embodiment, the tilt sensor 3 is provided behind the revolving structure 15, but the position where the inclination sensor is attached is not limited to this, and can be provided at any position on the revolving structure 15.

  On the other hand, one hook 6 is attached to the left wall surface, and the wire R is extended from the wire-type displacement meter 2 attached to the rear left end of the swivel 15 of the excavator 1 toward the hook 6 attached to the left wall surface. The wire tip ring U at the tip of the wire is hooked on the hook 6 and fixed.

  The wire-type displacement meter 2 and the angle meter 16 are similarly attached to the rear right end portion of the swing body 15 of the excavator 1, and the hook 6 is similarly attached to the right wall surface.

  Also in this embodiment, the wire displacement meter 2 may be attached to another part of the swing body 15 of the excavator 1. For example, the wire displacement meter 2 may be attached to the front left end or the front right end of the swing body 15 of the excavator 1.

  In addition, it is the same as that of the first embodiment in that a prone angle detector is provided to detect the prone angles of the boom, arm, and hydraulic breaker.

<Measurement method>
Below, the three-dimensional position measuring method of the hydraulic breaker tip S of the excavator 1 using the position measuring system according to the third embodiment will be described.

First, the length of the wire R is measured in a state where the wire tip ring U at the tip of the wire R of the wire displacement meter 2 attached to the revolving body 15 of the excavator 1 is hooked and fixed on the hook 6 on the wall surface. . The length of the wire R is measured by the wire displacement meter 2.
As described above, in the third embodiment, since a total of two wires R are hung on the hook 6 on the wall surface, the length of each wire R is measured.
Further, each angle H, N, K, G, M is measured by an angle meter 16 provided in the vicinity of the wire displacement meter 2.

The three-dimensional position (A) of the wire displacement meter 2 provided at the rear left end of the swing body 15 of the excavator 1 using the addition theorem of a trigonometric function based on the following equations 4 to 17. And the three-dimensional position (B) in the local coordinate of the wire type displacement meter 2 provided in the back right end part is calculated | required.

  Then, the position of the excavator 1 is specified from the three-dimensional positions A and B.

  Further, the inclination sensor 3 provided behind the revolving body 15 of the excavator 1 measures the pitching angle and the rolling angle of the excavator 1 to detect the attitude of the excavator 1 as in the first embodiment. It is.

  Further, the expansion and contraction of each of the arm cylinder 11, the boom cylinder 12, and the hydraulic breaker cylinder 13 is measured, and the three-dimensional position of the distal end portion S of the hydraulic breaker 10 is determined from the expansion / contraction data and the position data and posture data of the hydraulic excavator 1. The point of calculating is also the same as in the first embodiment. This calculation is also performed by a hydraulic breaker tip position calculating means (not shown).

<Fourth embodiment>
FIG. 11 is a plan view of the position measurement system according to the fourth embodiment. FIG. 12 is a front view of the position measurement system according to the third embodiment.

  In the fourth embodiment, the wire of the wire-type displacement meter 2 provided on the wall surface is connected to the hydraulic breaker 10, and the inclination sensor 3 is attached to the hydraulic breaker 10 to specify the three-dimensional position of the hydraulic breaker 10. Features.

  Specifically, one wire displacement meter 2 is attached to the left wall surface, and similarly one wire displacement meter 2 is attached to the right wall surface. In addition, one hook is attached to each of the left and right sides of the hydraulic breaker.

  Then, the wire R is extended from the wire displacement meter 2 provided on the left wall surface toward the hook 6 provided on the left surface of the hydraulic breaker, and the wire tip ring U at the tip of the wire R is hooked on the hook 6 and fixed. Similarly, the wire R is extended from the wire displacement meter 2 provided on the right wall surface toward the hook 6 provided on the right surface of the hydraulic breaker, and the wire tip ring U at the tip of the wire R is hooked on the hook 6 and fixed.

  Further, an angle meter 16 is provided in the vicinity of the wire displacement meter 2 so that the angle formed by the wire R and the wall surface can be measured.

More specifically, two angle meters 16 are attached in the vicinity of the wire displacement meter 2 attached to the left wall surface. One of the angle meters 16 measures the horizontal angle of the wire R ₂₁ , and the other angle meter 16 measures the vertical angle of the wire R ₂₁ .
Similarly, two angle meters 16 are also attached in the vicinity of the wire displacement meter 2 attached to the right wall surface. One of these angle meters 16 measures the angle of the wire R _{22 in} the horizontal direction, and the other angle meter 16 measures the angle of the wire R _{22 in} the vertical direction.

<Measurement method>
Below, the three-dimensional position measuring method of the hydraulic breaker tip S of the excavator 1 using the position measuring system according to the fourth embodiment will be described.

First, the length of the wire R is measured in a state where the wire tip ring U of the wire displacement meter 2 attached to the wall surface is hooked and fixed on the hook 6 provided in the hydraulic breaker 10. The length of the wire R is measured by the wire displacement meter 2.
As described above, in the fourth embodiment, since a total of two wires R are hooked and fixed on the hooks of the hydraulic breaker 10, the lengths of the wires R are measured.

  In addition, angles α and γ formed by the wire and the wall surface and angles β and δ formed by the wire and the horizontal plane are measured by an angle meter 16 provided in the vicinity of the wire displacement meter 2.

  Similarly to the case where the hook is attached to the wall surface in Example 1 or the like, the wire displacement meter 2 is attached to a predetermined position of the support assembly assembled to the wall surface, so that the attachment position P1 (X1, Y1, Z1), P4 (X4, Y4, Z4) is known.

Using the values of the length of the wire R measured as described above, the angle between the wire and the wall surface, the angle between the wire and the horizontal plane, the position where the wire type displacement meter 2 is attached, and the following equations 18 to 23: , The coordinates of points E and F are calculated.

  As a result of the above calculation, the three-dimensional position (E) in the local coordinates of the hook 6 provided on the left surface of the hydraulic breaker 10 and the three-dimensional position (F) in the local coordinates of the hook 6 provided on the right surface of the hydraulic breaker 10 are obtained. . Then, the position of the hydraulic breaker 10 is specified from the three-dimensional positions E and F.

  Further, the inclination sensor 3 provided in the hydraulic breaker 10 of the excavator 1 measures the pitching angle and rolling angle of the hydraulic breaker 10 to detect the posture of the boom 8.

  Then, the three-dimensional position of the tip S of the hydraulic breaker 10 is calculated from the position data of the two points of the hydraulic breaker 10 and the attitude data of the hydraulic breaker 10. This calculation is also performed by a hydraulic breaker tip position calculating means (not shown).

  Based on this calculated data, the locus of the tip S of the hydraulic breaker 10 is determined. Therefore, the completed shape of excavation can be grasped in real time, and the winning part can be grasped by comparing the information of the completed shape with the design drawing.

  In the first embodiment to the fourth embodiment, the explanation has been given by taking the hitting as an example. More specifically, the completed shape of excavation can be grasped from the locus of the tip S of the hydraulic breaker 10, and the completed shape can be recorded and managed. Then, it is possible to grasp the location where the hits and floats remain from the above information, and perform the hits and punches.

  Further, although the wire type displacement meter is used in the above embodiment, it is also possible to grasp the shape of excavation by using an optical method and to perform the hitting and scrambling of the remaining portion. More specifically, the coordinates of the target on the excavator can be grasped by attaching a surveying prism (target) to the excavator 1 and collimating the target with an automatic tracking total station installed inside the tunnel. it can.

<Display>
Finally, the display of the coordinates of the hydraulic breaker tip S will be described.

  First, data such as the tunnel design cross-sectional shape of the local three-dimensional orthogonal coordinate system is input to the personal computer.

  Then, a development plan of the side is displayed on the monitor of the personal computer with the tunnel design cross section (face surface) and the excavation width to be excavated.

  Then, the coordinates of the hydraulic breaker tip S obtained by any of the above calculations are displayed as points of a certain size. At this time, depending on the position of the tip portion S, the image is projected and displayed perpendicularly to the closest position of the left wall surface and the right wall surface. At the same time, for example, the remaining color of the excavation 5cm or more is red, the remaining 0-5cm is yellow, the blue color when the design cross section is satisfied, etc. It is good to change. FIG. 13 shows a developed view displayed in this way.

  When there is a past display point in the vicinity of the calculated position, the display is updated only in the case of data indicating deeper excavation. Further, when the distance between the tip S and the design excavation surface is larger than a specified value, no point is displayed.

  At this time, numerical values such as coordinates and a distance to the planned excavation surface may be displayed as necessary. For example, the distance between the tip S and the design excavation surface may be always displayed, or the difference from the design cross section may be displayed by moving the mouse on the figure and clicking on an arbitrary display point.

DESCRIPTION OF SYMBOLS 1 ... Hydraulic excavator, 2 ... (1st) Wire type displacement meter, 3 ... Inclination sensor, 4 ... Magnet, 5 ... Rotating floor, 6 ... Hook, 7 ... Supporting work, 8 ... Boom, 9 ... Arm, 10 ... Hydraulic pressure Breaker, 11 ... Boom cylinder, 12 ... Arm cylinder, 13 ... Hydraulic breaker cylinder, 14 ... Running body, 15 ... Revolving body, 16 ... Angle meter, 17 ... Mounting bracket, 18 ... (Second) Wire type displacement meter, R ... Wire, S ... Hydraulic breaker tip, U ... Wire tip ring, T ₁ , T ₂ ... Data cable, A to F ... Three-dimensional position for attaching wire displacement meter, P _{1 to} P ₆ ... Three-dimensional for attaching hook Position, R _{1 to} R ₂₀ ... length of each wire.

Claims (6)

A traveling body, a revolving body that rotates about a vertical axis mounted on the traveling body, a boom that is provided on the revolving body so as to be able to be prone, and an arm that is provided so as to be capable of being prone to be raised and lowered; In the tunnel face shaping system for shaping the tunnel face using a hydraulic excavator provided with a hydraulic breaker provided at the tip of the arm so as to be prone,
The hydraulic excavator includes a wire displacement meter that detects the position of the revolving body, an inclination sensor that detects an inclination angle of the revolving body, and a prone angle that detects each prone angle of the boom, arm, and hydraulic breaker. Detecting means; and hydraulic breaker tip position calculating means for calculating the current position of the tip of the hydraulic breaker based on detection results by the wire displacement meter , the inclination sensor, and the prone and sag angle detecting means,
The wire-type displacement meter detects the distance between the left and right of the swivel body and three different points of the supporting work whose positions on the corresponding walls are known, and three on each of the left and right of the swivel body Provided, a three-dimensional position of the wire displacement meter in the swivel body is obtained based on a detection distance by the wire displacement meter,
In the shaping process by the hydraulic breaker, the tunnel face shaping is characterized in that the hitting portion can be removed while the hitting is detected at the tip of the hydraulic breaker based on the calculation result by the hydraulic breaker tip position calculating means. system. A traveling body, a revolving body that rotates about a vertical axis mounted on the traveling body, a boom that is provided on the revolving body so as to be able to be prone, and an arm that is provided so as to be capable of being prone to be raised and lowered; In the tunnel face shaping system for shaping the tunnel face using a hydraulic excavator provided with a hydraulic breaker provided at the tip of the arm so as to be prone,
The hydraulic excavator includes a first wire displacement meter that detects a position of the revolving body, a second wire displacement meter that detects a different position of the revolving body, and an inclination that detects an inclination angle of the revolving body. Based on the detection results of the angle detection means, the elevation angle detection means for detecting each elevation angle of the boom, arm and hydraulic breaker, the wire displacement meter, the inclination angle detection means and the elevation angle detection means, the hydraulic pressure Hydraulic breaker tip position calculating means for calculating the current position of the tip of the breaker,
The first wire-type displacement meter detects the distance between the left and right of the swivel body and three different points of the supporting work whose positions on the corresponding walls are known, and on the left and right of the swivel body Three each is provided, and the three-dimensional position of the first wire displacement meter in the swivel body is obtained based on the detection distance by the first wire displacement meter,
The second wire displacement meter detects a distance between the left and right of the swivel body and one of the three points, and is separated from the first wire displacement meter in the swivel body, The separation distance with respect to the position of the first wire-type displacement meter is known, and provided at the left and right of the swivel body, respectively.
Based on the three-dimensional position of the first wire-type displacement meter and the separation distance, the three-dimensional position of the second wire-type displacement meter in the swivel body is obtained,
In the shaping process by the hydraulic breaker, the tunnel face shaping is characterized in that the hitting portion can be removed while the hitting is detected at the tip of the hydraulic breaker based on the calculation result by the hydraulic breaker tip position calculating means. system. A traveling body, a revolving body that rotates about a vertical axis mounted on the traveling body, a boom that is provided on the revolving body so as to be able to be prone, and an arm that is provided so as to be capable of being prone to be raised and lowered; In the tunnel face shaping system for shaping the tunnel face using a hydraulic excavator provided with a hydraulic breaker provided at the tip of the arm so as to be prone,
The hydraulic excavator includes a wire-type displacement meter that detects the position of the revolving body, an inclination angle detecting means that detects an inclination angle of the revolving body, and a prone position that detects the elevation angle of the boom, arm, and hydraulic breaker. Based on the detection results of the elevation angle detection means, the angle meter for measuring the angle of the wire extending from the wire displacement meter, the wire displacement meter, the inclination angle detection means, the prone angle detection means, and the angle meter, Hydraulic breaker tip position calculating means for calculating the current position of the tip of the breaker,
The wire-type displacement meter detects the distance between the left and right of the swivel body and the corresponding point on the corresponding wall, and is provided on the left and right of the swivel body, respectively. Based on the distance detected by the wire displacement meter and the angle of the wire, a three-dimensional position of the wire displacement meter in the swivel body is obtained,
In the shaping process by the hydraulic breaker, the tunnel face shaping is characterized in that the hitting portion can be removed while the hitting is detected at the tip of the hydraulic breaker based on the calculation result by the hydraulic breaker tip position calculating means. system. A traveling body, a revolving body that rotates about a vertical axis mounted on the traveling body, a boom that is provided on the revolving body so as to be able to be prone, and an arm that is provided so as to be capable of being prone to be raised and lowered; In the tunnel face shaping system for shaping the tunnel face using a hydraulic excavator provided with a hydraulic breaker provided at the tip of the arm so as to be prone,
The hydraulic excavator includes a wire displacement meter that detects the position of the revolving body, an inclination sensor that detects an inclination angle of the revolving body, and a prone angle that detects each prone angle of the boom, arm, and hydraulic breaker. Detecting means; and hydraulic breaker tip position calculating means for calculating the current position of the tip of the hydraulic breaker based on detection results by the wire displacement meter, the inclination sensor, and the prone and sag angle detecting means,
The wire-type displacement meter detects the distance between the left and right of the swivel body and three different points of the supporting work whose positions on the corresponding walls are known, and three on each of the left and right of the swivel body A three-dimensional position of the wire displacement meter in the swivel body is determined based on a distance detected by the wire displacement meter;
A method for shaping a tunnel face, wherein the contact portion is removed while detecting the contact at the tip portion of the hydraulic breaker based on a calculation result by the hydraulic breaker tip position calculating means. A traveling body, a revolving body that rotates about a vertical axis mounted on the traveling body, a boom that is provided on the revolving body so as to be able to be prone, and an arm that is provided so as to be capable of being prone to be raised and lowered; In the tunnel face shaping system for shaping the tunnel face using a hydraulic excavator provided with a hydraulic breaker provided at the tip of the arm so as to be prone,
The hydraulic excavator includes a first wire displacement meter that detects a position of the revolving body, a second wire displacement meter that detects a different position of the revolving body, and an inclination that detects an inclination angle of the revolving body. Based on the detection results of the angle detection means, the elevation angle detection means for detecting each elevation angle of the boom, arm and hydraulic breaker, the wire displacement meter, the inclination angle detection means and the elevation angle detection means, the hydraulic pressure Hydraulic breaker tip position calculating means for calculating the current position of the tip of the breaker,
The first wire-type displacement meter detects the distance between the left and right of the swivel body and three different points of the supporting work whose positions on the corresponding walls are known, and on the left and right of the swivel body Three each is provided, and the three-dimensional position of the first wire displacement meter in the swivel body is obtained based on the detection distance by the first wire displacement meter,
The second wire displacement meter detects a distance between the left and right of the swivel body and one of the three points, and is separated from the first wire displacement meter in the swivel body, The separation distance with respect to the position of the first wire-type displacement meter is known, and provided at the left and right of the swivel body, respectively.
Based on the three-dimensional position of the first wire-type displacement meter and the separation distance, obtain the three-dimensional position of the second wire-type displacement meter in the swivel body,
A method for shaping a tunnel face, wherein the contact portion is removed while detecting the contact at the tip portion of the hydraulic breaker based on a calculation result by the hydraulic breaker tip position calculating means. A traveling body, a revolving body that rotates about a vertical axis mounted on the traveling body, a boom that is provided on the revolving body so as to be able to be prone, and an arm that is provided so as to be capable of being prone to be raised and lowered; In the tunnel face shaping system for shaping the tunnel face using a hydraulic excavator provided with a hydraulic breaker provided at the tip of the arm so as to be prone,
The hydraulic excavator includes a wire-type displacement meter that detects the position of the revolving body, an inclination angle detecting means that detects an inclination angle of the revolving body, and a prone position that detects the elevation angle of the boom, arm, and hydraulic breaker. Based on the detection results of the elevation angle detection means, the angle meter for measuring the angle of the wire extending from the wire displacement meter, the wire displacement meter, the inclination angle detection means, the prone angle detection means, and the angle meter, Hydraulic breaker tip position calculating means for calculating the current position of the tip of the breaker,
The wire-type displacement meter detects the distance between the left and right of the swivel body and three different points of the supporting work whose positions on the corresponding walls are known, and three on each of the left and right of the swivel body A three-dimensional position of the wire displacement meter in the swivel body is determined based on the distance detected by the wire displacement meter and the angle of the wire;
A method for shaping a tunnel face, wherein the contact portion is removed while detecting the contact at the tip portion of the hydraulic breaker based on a calculation result by the hydraulic breaker tip position calculating means.