JP6775970B2 - Buried object exploration equipment, excavation system and buried object exploration method - Google Patents

Description

The present invention relates to a buried object exploration device, an excavation system, and a buried object exploration method.

In an already used building such as an existing building, it may be necessary to drill a concrete part to form a hole, such as when laying additional pipes. After the hole is excavated and formed, piping is laid in the hole.

In addition, Patent Document 1 discloses a method of exploring the geology in front of the face during construction in tunnel excavation work. This method uses the ground noise vibration generated by the work associated with the excavation work as the epicenter, and receives the direct wave from the epicenter and the reflected wave reflected at the boundary surface due to the geological change in front of the face, and seismic wave interferometry. Predicts the geological condition in front of the face.

Japanese Unexamined Patent Publication No. 2014-106075

As mentioned above, when drilling holes in the concrete of an existing building, holes for exploration are provided in advance to prevent damage to buried objects such as reinforcing bars and pipes in the concrete, and an ECT exploration probe (ECT). : There is a method of inserting eddy current flaw detection inspection). From the inspection results of the ECT exploration probe, buried objects existing in the vicinity of the drilling hole can be detected in advance. However, it takes time and effort to form a hole and insert a probe, and it is not possible to inspect the entire excavated part in advance. Therefore, in this construction for forming a hole, there are many problems such as damage to the buried object. If the buried object is damaged, major harmful effects such as the need for restoration work will occur.

Further, at the time of construction, the judgment as to whether or not the material interferes with the buried object depends on the feeling of the hands and ears of the drill operator, and the judgment criteria are ambiguous and vary from operator to operator. Therefore, the decision to stop the operation may be delayed and the buried object may be damaged.

The present invention has been made in view of such circumstances, and while excavating concrete, it is possible to easily and quickly determine whether or not a buried object exists in concrete at an excavation position in concrete. It is an object of the present invention to provide a buried object exploration device, an excavation system, and a buried object exploration method capable of capable.

In order to solve the above problems, the following means are adopted for the buried object exploration device, the excavation system and the buried object exploration method of the present invention.
That is, the buried object exploration device according to the present invention has a vibration detection unit that detects vibration transmitted from the concrete when the concrete is excavated by the excavation unit that excavates the concrete, and a current flowing through the excavation unit. Based on the current detection unit that detects the value, the vibration detected by the vibration detection unit, and the current value detected by the current detection unit, at the excavation position of the excavation unit in the concrete, the said It is equipped with a judgment unit that determines whether or not there is a buried object buried in the concrete.

According to this configuration, the vibration detection unit detects the vibration transmitted from the concrete when the concrete is excavated by the excavation unit, and the current detection unit detects the current value of the current flowing through the excavation unit. As a result, the vibration detected by the vibration detection unit and the change in the current value detected by the current detection unit can be detected, and the vibration and current detection results indicate that there is a buried object in the concrete at the excavation position in the concrete. You can judge whether or not you are doing it.

In the above invention, a sound detection unit that detects a sound generated in the concrete when the concrete is excavated by the excavation unit may be further provided.

According to this configuration, the sound detection unit can detect the sound generated in the concrete when the concrete is excavated by the excavation unit, and can detect the change in the sound detected by the sound detection unit. Therefore, based on the sound detection result, it is possible to more accurately, non-contactly and easily determine whether or not the buried object in the concrete is present at the excavation position in the concrete.

The buried object exploration apparatus according to the present invention detects a sound detection unit that detects a sound generated in the concrete when the concrete is excavated by an excavation unit that excavates the concrete, and a current value of a current flowing through the excavation unit. In the concrete at the excavation position of the excavation part in the concrete based on the current detection unit, the sound detected by the sound detection unit, and the current value detected by the current detection unit. It is equipped with a judgment unit that determines whether or not there is a buried object.

According to this configuration, the sound detection unit detects the sound transmitted from the concrete when the concrete is excavated by the excavation unit, and the current detection unit detects the current value of the current flowing through the excavation unit. As a result, the sound detected by the sound detection unit and the change in the current value detected by the current detection unit can be detected, and the sound and current detection results indicate that there is a buried object in the concrete at the excavation position in the concrete. You can judge whether or not you are doing it.

The buried object exploration device according to the present invention includes a vibration detection unit that detects vibration transmitted from the concrete when the concrete is excavated by an excavation unit that excavates the concrete with a rotating drilling tool. The excavation in the concrete based on the rotation speed detection unit that detects the rotation speed of the drilling tool, the vibration detected by the vibration detection unit, and the rotation speed detected by the rotation speed detection unit. It is provided with a determination unit for determining whether or not there is a buried object buried in the concrete at the excavation position of the unit.

According to this configuration, the vibration detection unit detects the vibration transmitted from the concrete when the concrete is excavated by the excavation unit, and the rotation speed detection unit detects the rotation speed of the rotating drilling tool. As a result, the vibration detected by the vibration detection unit and the change in the rotation speed detected by the rotation speed detection unit can be detected. Based on the vibration and rotation speed detection results, the buried object in the concrete at the excavation position in the concrete. Can be determined if is present.

In the above invention, a sound detection unit that detects a sound generated in the concrete when the concrete is excavated by the excavation unit may be further provided.

According to this configuration, the sound detection unit can detect the sound generated in the concrete when the concrete is excavated by the excavation unit, and can detect the change in the sound detected by the sound detection unit. Therefore, it is possible to more accurately determine whether or not there is a buried object in the concrete at the excavation position in the concrete based on the sound detection result.

The buried object exploration device according to the present invention includes a sound detection unit that detects a sound generated in the concrete when the concrete is excavated by an excavation unit that excavates the concrete, and a rotation speed that detects the rotation speed of the drilling tool. Based on the detection unit, the sound detected by the sound detection unit, and the rotation speed detected by the rotation speed detection unit, the concrete is buried in the concrete at the excavation position of the excavation part in the concrete. It is provided with a judgment unit for determining whether or not the buried object exists.

According to this configuration, the sound detection unit detects the sound transmitted from the concrete when the concrete is excavated by the excavation unit, and the rotation speed detection unit detects the rotation speed of the rotating drilling tool. As a result, the sound detected by the sound detection unit and the change in the rotation speed detected by the rotation speed detection unit can be detected, and the sound and the rotation speed detection result indicate that the buried object in the concrete is at the excavation position in the concrete. Can be determined if is present.

In the above invention, based on the result determined by the determination unit, the display unit indicates whether or not there is a buried object buried in the concrete at the excavation position of the excavation unit in the concrete. A display control unit for controlling the above may be further provided.

According to this configuration, at the excavation position in the concrete, whether or not the buried object in the concrete exists is displayed on the display unit, and the operator of the excavation unit excavates based on the display result on the display unit. You can operate or stop the unit.

In the above invention, the excavation control unit that controls the operation or stop of the excavation unit may be further provided based on the result determined by the determination unit.

According to this configuration, at the excavation position in the concrete, the operation of the excavation portion can be continued or stopped depending on the presence or absence of the buried object in the concrete. Specifically, when it is determined that the buried object in the concrete does not exist, the operation of the excavation part is continued, while it is determined that the buried object in the concrete exists at the excavation position in the concrete. If so, the operation of the excavation section is stopped.

The excavation system according to the present invention includes the above-mentioned buried object exploration device and an excavation section for excavating the concrete.

The buried object exploration method according to the present invention detects a step of detecting vibration transmitted from the concrete when the concrete is excavated by an excavation part for excavating the concrete, and a current value of a current flowing through the excavation part. Based on the step, the detected vibration, and the detected current value, it is determined whether or not there is a buried object buried in the concrete at the excavation position of the excavation portion in the concrete. With steps to do.

The buried object exploration method according to the present invention includes a step of detecting a sound generated in the concrete when the concrete is excavated by an excavation portion for excavating the concrete, and a step of detecting a current value of a current flowing through the excavation portion. Based on the detected sound and the detected current value, it is determined whether or not there is a buried object buried in the concrete at the excavation position of the excavation portion in the concrete. With steps.

The buried object exploration method according to the present invention includes a step of detecting vibration transmitted from the concrete when the concrete is being excavated by an excavation part that excavates the concrete with a rotating drilling tool, and the drilling. Based on the step of detecting the rotation speed of the tool, the detected vibration, and the detected rotation speed, at the excavation position of the excavation portion in the concrete, the buried object buried in the concrete It includes a step to determine if it exists.

The buried object exploration method according to the present invention includes a step of detecting a sound generated in the concrete when the concrete is excavated by an excavating portion for excavating the concrete, a step of detecting the rotation speed of the drilling tool, and detection. A step of determining whether or not there is a buried object buried in the concrete at the excavation position of the excavation portion in the concrete based on the sound generated and the detected rotation speed. Be prepared.

According to the present invention, while excavating concrete, it is possible to easily and quickly determine whether or not a buried object in concrete exists at an excavation position in concrete.

It is a schematic block diagram which shows the excavation system which concerns on 1st Embodiment of this invention and the modified example thereof. It is a block diagram which shows the tablet terminal of the excavation system which concerns on 1st Embodiment of this invention. It is a flowchart which shows the operation of the excavation system which concerns on 1st Embodiment of this invention. It is a graph showing the intensity distribution for each frequency analyzed by frequency, and shows (a) a state where only concrete is excavated and (b) a state where it interferes with a buried object. It is a graph which shows the time change of a current value. It is a flowchart which shows the operation of the excavation system which concerns on the modification of 1st Embodiment of this invention. It is a graph which shows the time change of the vibration of the extracted frequency, and shows (a) a state where only concrete is excavated, and (b) a state where it interferes with a buried object. It is a schematic block diagram which shows the excavation system which concerns on 2nd Embodiment of this invention. It is a block diagram which shows the tablet terminal of the excavation system which concerns on 2nd Embodiment of this invention. It is a flowchart which shows the operation of the excavation system which concerns on 2nd Embodiment of this invention. It is a schematic block diagram which shows the excavation system which concerns on 3rd Embodiment of this invention. It is a flowchart which shows the operation of the excavation system which concerns on 3rd Embodiment of this invention. It is a schematic block diagram which shows the excavation system which concerns on 4th Embodiment of this invention. It is a flowchart which shows the operation of the excavation system which concerns on 4th Embodiment of this invention. It is a graph which shows the time change of the rotation speed.

[First Embodiment]
Hereinafter, the excavation system 10 according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 5.
As shown in FIG. 1, the excavation system 10 according to the present embodiment includes a buried object exploration device 1 and an excavation device 2. The buried object exploration device 1 can be applied to a commonly used excavation device 2.

The excavation device 2 is a device for excavating concrete to form a hole in the concrete, and includes, for example, a drill 8, a motor 9, a lever 11, a mounting pad 12, and the like.

The drill 8 is an example of a drilling tool, which rotates to excavate concrete. The drill 8 forms, for example, a hole with a diameter of several tens of mm in the concrete.

The motor 9 is electrically driven to generate a driving force that rotates the drill 8. The lever 11 is an operating means for the operator to operate the drill 8, and the operation of the lever 11 can advance the drill 8 in the excavation direction or stop the progress of the drill 8.

The mounting pad 12 is a support base that supports the drill 8, the motor 9, the lever 11, and the like, and sucks between the mounting pad 12 and the mounting surface to support the entire excavating device 2. The support base of the excavator 2 is not limited to the mounting pad 12, and may be simply placed on the installation surface.

In the buried object exploration device 1, when excavating a concrete part of a building to form a hole by the excavating device 2, a buried object buried in the concrete, for example, a pipe, is placed at an excavation position (hereinafter referred to as an excavation position). , Including the position in front of the excavation position in the excavation direction.) Judge whether or not it exists. In the present embodiment, the excavator 2 can detect the presence of a buried object while excavating a concrete portion to form a hole. Buried objects in concrete include pipes as well as reinforcing bars. Further, the pipes of the buried object include, for example, metal pipes such as steel pipes and plastic pipes such as vinyl chloride pipes, and their uses include water supply / drainage and electrical wiring.

The buried object exploration device 1 according to the present embodiment includes a vibrometer 3, an amplifier 4, an ammeter 5, an A / D converter 6, a tablet terminal 7, and the like.

The vibrometer 3 is installed directly on the concrete surface where excavation is performed by the excavator 2, and detects the vibration transmitted from the concrete. The vibrometer 3 is installed on a concrete surface using an adhesive or the like. The vibrometer 3 can be a commonly used one, and includes, for example, an acceleration sensor. The detection signal detected by the vibrometer 3 is amplified by the amplifier 4 and sent to the A / D converter 6.

The ammeter 5 detects the current value of the current flowing through the motor 9 of the excavator 2. The current meter 5 is, for example, a clamp meter, which measures the current value of the current flowing through the electric wire by surrounding the electric wire without cutting the electric wire to be measured and measuring the magnetic field due to the current. The ammeter 5 is arranged on an electric wire through which a current flowing through the motor 9 flows.

The ammeter 5 is not limited to the clamp meter. For example, a general ammeter installed on the circuit may be used. In this case, the ammeter measures the current flowing through the motor 9 by rewiring the circuit of the excavator 2 and arranging it in series with the motor 9.

The detection signal detected by the ammeter 5 is sent to the A / D converter 6. The A / D converter 6 converts the analog detection signal sent from the vibrometer 3 or the ammeter 5 into a digital detection signal. The A / D converter 6 sends the converted digital detection signal to the tablet terminal 7.

As shown in FIG. 2, the tablet terminal 7 includes a receiving unit 13, a determination unit 14, a display control unit 15, a monitor 16, and the like. The tablet terminal 7 includes a CPU, a memory, and the like, and can execute operations by a program. The result processed by the tablet terminal 7 is displayed on the monitor 16 and informs the operator of the excavator 2 whether or not the drill 8 interferes with the buried object. When it is displayed that the drill 8 is interfering with the buried object, the operator can promptly stop the excavator 2 based on the display result.

The receiving unit 13 receives the detection signal sent from the vibrometer 3 or the ammeter 5 and converted into a digital signal by the A / D converter 6. The receiving unit 13 sends each of the detection signal related to vibration and the detection signal related to current to the determination unit 14.

The determination unit 14 has a buried object buried in the concrete at the excavation position of the excavator 2 in the concrete based on the vibration detected by the vibrometer 3 and the current value detected by the ammeter 5. Decide whether to do it or not.

The determination unit 14 frequency-analyzes the detection signal detected by the vibrometer 3 and detects whether or not the intensity of a predetermined specific frequency changes. The frequency analysis in the determination unit 14 is performed by a general technique such as a weblet analysis. FIG. 4 shows the intensity distribution for each frequency analyzed by frequency. Here, as shown in FIG. 4 (a), where the intensity of a specific frequency peaks when only concrete is excavated, it interferes with the buried object as shown in FIG. 4 (b). In this state, the intensity of a specific frequency is reduced and the peak disappears.

The change in frequency intensity is not limited to this example, and by interfering with the buried object, the intensity of a specific frequency that has not peaked before the interference may peak, and the buried object may have a peak. The frequency at which the peak occurs may change before and after the interference with.

The determination unit 14 processes the detection signal detected by the ammeter 5 to acquire the time history change of the current value. FIG. 5 is an example of a graph showing the time change of the current value. FIG. 5 shows an example in which the current value is low when only concrete is excavated, and the current value is increased due to some buried objects that are more difficult to excavate than concrete.

The determination unit 14 determines whether or not there is a change in the intensity of a predetermined specific frequency. In addition, the determination unit 14 determines whether or not the current value changes.

That is, when both the intensity and the current value of a specific frequency change during excavation, it is determined that the buried object exists at or near the excavation position. On the other hand, if there is no change in one or both of the intensity and the current value of a specific frequency, it is judged that there is no buried object at or near the excavation position and only concrete is excavated. When either the intensity or the current value of a specific frequency changes, it may be determined that the buried object exists at or near the excavation position in some cases.

The determination of whether or not the intensity of a specific frequency or the current value has changed is made based on a predetermined threshold value. The threshold value is acquired in advance by an experiment or the like, and the acquired threshold value is recorded in a storage unit such as a memory.

A specific frequency whose strength changes when a buried object is present during excavation has been acquired in advance by an experiment or the like, and the acquired frequency is recorded in a storage unit such as a memory. Changes in intensity at a particular frequency may increase in strength in the presence of buried objects in concrete during excavation, or conversely, decrease in intensity.

In addition, when there is a buried object during excavation, if there is a buried object that is harder to excavate than concrete, the current value rises as compared with the case where only concrete is excavated. On the contrary, when there is a buried object that is easier to excavate than concrete, the current value is lower than when excavating only concrete. In either case, both a higher threshold value and a lower threshold value than the current value at the time of concrete excavation are acquired as the threshold value used for determining whether or not the current value has changed so that it can be determined that the buried object exists. deep.

The determination unit 14 sends data regarding the determination result as to whether or not there is a buried object buried in the concrete to the display control unit 15. The display control unit 15 displays the determination result of whether or not the buried object exists on the monitor 16 based on the data sent from the determination unit 14. Specifically, the monitor 16 displays that it is interfering with the buried object, or that it is excavating only concrete without interfering with the buried object. If it can be determined in advance that the buried object exists in the excavation direction before it interferes with the buried object, it may be indicated that the buried object exists in the vicinity of the excavation position.

Next, the operation of the excavation system 10 according to the present embodiment will be described with reference to FIG.
First, the excavation system 10 according to the present embodiment is installed in the concrete portion of the building forming the hole (step S1). Then, the operation of the excavation device 2 is started, and the concrete excavation is started by the drill 8 (step S2).

At this time, the vibration is detected by the vibrometer 3 and the current is detected by the ammeter 5. When excavation is being carried out by the excavator 2, the vibrometer 3 detects the vibration transmitted from the concrete (step S3). Further, the ammeter 5 detects the current value of the current flowing through the motor 9 of the excavator 2 (step S4).

Then, based on the vibration detected by the vibrometer 3 and the current value detected by the ammeter 5, whether or not there is a buried object buried in the concrete at the excavation position of the excavator 2 in the concrete. Is judged.

Specifically, the detection signal detected by the vibrometer 3 is frequency-analyzed (step S5), and it is detected whether or not the intensity of a predetermined specific frequency changes (step S6). Further, based on the detection signal detected by the ammeter 5, the time history change of the current value is acquired, and it is determined whether or not the change occurs in the current value (step S6).

As a result, if both the intensity and the current value of a specific frequency change during excavation, it is determined that the buried object exists at or near the excavation position. On the other hand, if there is no change in the intensity and / or current value of a specific frequency, it is determined that there is no buried object at or near the excavation position and only concrete is excavated.

It should be noted that the determination of whether or not the intensity of a specific frequency or the current value has changed is performed based on a predetermined threshold value.

If it is determined that the buried object exists, the monitor 16 indicates that it is interfering with the buried object (step S7). On the other hand, when it is determined that the buried object does not exist, it is displayed on the monitor 16 that only the concrete is excavated without interfering with the buried object (step S8). If it can be determined in advance that the buried object exists in the excavation direction before it interferes with the buried object, the monitor 16 may display that the buried object exists in the vicinity of the excavation position.

The operator of the excavation device 2 determines whether to continue or stop the operation of the excavation device 2 based on the display result of the monitor 16. If there is no buried object in the traveling direction of the drill 8 in the concrete, a hole can be formed in the concrete portion without any trouble. On the other hand, when it is determined that the buried object exists, the excavation by the excavation device 2 is stopped, and appropriate treatment is performed so as not to damage the buried object.

From the above, since the contact between the drill 8 and the buried object is determined by the data of the vibrometer 3 and the ammeter 5, it is possible to make a quantitative determination. Therefore, even a beginner can accurately perform the excavation work without relying on the judgment of the operator's experience.

Further, since the vibrometer 3 is installed directly on the concrete surface and detects the vibration transmitted from the concrete, the sensitivity is high and the accuracy of determining the contact or interference between the drill 8 and the buried object is high.

Furthermore, since the judgment of contact or interference between the drill 8 and the buried object is made based on both the intensity and the current value of a specific frequency, the judgment accuracy is higher than the case of using either one, and the experimental data. Alternatively, the type of buried object can be determined according to the accumulation of empirical data and the like.

Furthermore, since the determination result is specifically displayed on the monitor 16 of the tablet terminal 7, the operator is less likely to be confused about the operation determination of the excavation device 2.

Further, when excavation is being performed by the excavation device 2, the contact or interference between the drill 8 and the buried object is determined and the result is displayed on the monitor 16 in sequence, so that the hole is provided before the main construction. Preliminary survey is not required and work efficiency is good.

[Modified example of the first embodiment]
Next, a modified example of the first embodiment described above will be described with reference to FIGS. 6 and 7.
In this modification, the detection signal detected by the vibrometer 3 is not frequency-analyzed, but the vibration of a specific frequency is extracted by filtering.

As shown in FIG. 1, the buried object exploration device 1 according to this modification is the excavation device 2, the vibrometer 3, the amplifier 4, the ammeter 5, and the A / D conversion, as shown in FIG. It includes a device 6, a tablet terminal 7, and the like. Hereinafter, in the present modification, detailed description of the configuration and operation / effect overlapping with the above-described embodiment will be omitted.

As shown in FIG. 2, the tablet terminal 7 includes a receiving unit 13, a determination unit 14, a display control unit 15, a monitor 16, and the like, as in the above-described embodiment.

In this modification, the determination unit 14 filters the detection signal detected by the vibrometer 3 (step S9), and detects whether or not the vibration of the frequency extracted by the filter processing changes. The filtering process in the determination unit 14 is performed by a general technique. The determination unit 14 processes the detection signal detected by the vibrometer 3 to acquire the time history change of the vibration of the extracted frequency. FIG. 7 shows the time change of the vibration of the extracted frequency. Here, as shown in FIG. 7 (a), where only the concrete is excavated and the vibration of a specific frequency changes relatively low regardless of the passage of time, as shown in FIG. 7 (b). In the state of interfering with the buried object, the vibration of a specific frequency becomes large and the amplitude difference also widens.

Similar to the above-described embodiment, the determination unit 14 processes the detection signal detected by the ammeter 5 to acquire the time history change of the current value.

The determination unit 14 determines whether or not the vibration of the frequency extracted by the filtering process is changed. Further, the determination unit 14 determines whether or not the current value changes (step S10).

That is, when both the intensity of the extracted frequency and the current value change during excavation, it is determined that the buried object exists at or near the excavation position. On the other hand, if there is no change in the intensity of the extracted frequency and / or the current value, it is determined that there is no buried object at or near the excavation position and only concrete is excavated.

Judgment as to whether or not the intensity of the extracted frequency or the current value has changed is made based on a predetermined threshold value. The threshold value has been acquired in advance by an experiment or the like, and the acquired threshold value is recorded in a storage unit such as a memory.

The frequency extracted by the filtering process is acquired in advance by an experiment or the like, and the acquired frequency is recorded in a storage unit such as a memory. The change in vibration of the extracted frequency may have a large amplitude width in the presence of buried objects in the concrete during excavation, and conversely, a small amplitude width.

From the above, the detection result of the vibrometer 3 can detect the change of the vibration of the frequency of interest in advance only by performing the filter processing, and unlike the above-described embodiment, the detection result does not include the processing such as frequency analysis. Therefore, the judgment process is simplified and the calculation processing speed is relatively high.

Further, also in the case of this modification, since the contact between the drill 8 and the buried object is determined by the data of the vibrometer 3 and the ammeter 5, a quantitative determination is possible. Therefore, even a beginner can accurately perform the excavation work without relying on the judgment of the operator's experience.

Furthermore, since the judgment of contact or interference between the drill 8 and the buried object is made based on both the vibration and the current value of the extracted frequency, the judgment accuracy is higher than that of either case, and the experiment is performed. The type of buried object can be determined according to the accumulation of data or empirical data.

[Second Embodiment]
Next, the excavation system 10 according to the second embodiment of the present invention will be described with reference to FIGS. 8 to 10.
In the above-described first embodiment, the case where the determination result is specifically displayed on the monitor 16 of the tablet terminal 7 and the operator makes an operation determination of the excavation device 2 has been described. However, in the present embodiment, the determination result has been described. Based on the determination result, the excavator 2 automatically continues or stops the operation.

The excavation system 10 according to the present embodiment includes the buried object exploration device 1 and the excavation device 2 described in the first embodiment. As shown in FIG. 8, the buried object exploration device 1 includes a vibrometer 3, an amplifier 4, an ammeter 5, an A / D converter 6, a tablet terminal 7, and a D / A converter 17. , The motor controller 18 is further provided. Hereinafter, in the present embodiment, detailed description of the above-described first embodiment and its modifications and configurations and effects will be omitted.

As shown in FIG. 9, the tablet terminal 7 further includes a receiving unit 13, a determination unit 14, a display control unit 15, a monitor 16, and a transmitting unit 19 described in the first embodiment.

The determination unit 14 sends data regarding the determination result as to whether or not there is a buried object buried in the concrete to the transmission unit 19. The transmission unit 19 sends data regarding the determination result of whether or not there is a buried object buried in the concrete to the motor controller 18 via the D / A converter 17.

The motor controller 18 generates a signal regarding the operation of the motor 9 as to whether or not to rotate the motor 9 of the excavating device 2 based on the data regarding the result determined by the determination unit 14. The motor controller 18 transmits a signal regarding the operation of the motor 9 to the motor 9.

Specifically, when the motor controller 18 is determined to interfere with the buried object, or when it can be determined in advance that the buried object exists in the excavation direction before interfering with the buried object. , Sends a signal to stop the motor to the motor 9. If it is determined that only concrete is being excavated without interfering with the buried object, a signal to continue operation is sent to the motor 9.

As a result, as shown in FIG. 10, when it is determined that the buried object is interfering with the buried object based on the signal from the motor controller 18, or the buried object exists in the excavation direction before interfering with the buried object. If it can be determined in advance that the motor 9 is operating, the motor 9 stops the operation, and the excavation by the excavation device 2 is automatically stopped (step S11).

On the other hand, when it is determined that only concrete is excavated without interfering with the buried object based on the signal from the motor controller 18, the motor 9 of the excavation device 2 continues the operation (step S12). If there is no buried object in the traveling direction of the drill 8 in the concrete, a hole can be formed in the concrete portion without any trouble.

As described above, according to the present embodiment, the contact between the drill 8 and the buried object is determined by the data of the vibrometer 3 and the ammeter 5, and not only the quantitative determination can be made, but also the determination result is a tablet. Since the transmission is transmitted from the terminal 7 to the motor 9, the motor 9 can be started and stopped without the judgment of the operator. As a result, since human judgment does not intervene, the judgment result is accurately reflected in the operation or stop operation.

In the present embodiment, as in the first embodiment, the determination result may be specifically displayed on the monitor 16 of the tablet terminal 7.

[Third Embodiment]
Next, the excavation system 10 according to the third embodiment of the present invention will be described with reference to FIGS. 11 and 12.
In the first and second embodiments described above, the vibration detected by the vibration meter 3 and the current value detected by the current meter 5 are buried in the concrete at the excavation position of the excavator 2 in the concrete. Although it was determined whether or not the buried object was present, in the present embodiment, the sound detected by the microphone 20 is also used to determine the presence or absence of the buried object.

As shown in FIG. 11, the buried object exploration device 1 according to the present embodiment further includes a microphone 20 and an amplifier 21 in addition to the components described in the first embodiment. Although not shown, the microphone 20 and the amplifier 21 may be further provided in addition to the components described in the second embodiment.

Hereinafter, in the present embodiment, detailed description of the above-described first embodiment and its modifications, or configurations and effects overlapping with the second embodiment will be omitted.

The microphone 20 is not installed directly on the concrete surface where excavation is performed by the excavation device 2, but is installed in the vicinity of the excavation site, and detects the sound generated in the concrete during excavation (step S13 in FIG. 12). As the microphone 20, a commonly used one can be applied, and the detection signal detected by the microphone 20 is amplified by the amplifier 21 and sent to the A / D converter 6.

The A / D converter 6 converts the analog detection signal sent from the vibrometer 3, the ammeter 5, or the microphone 20 into a digital detection signal. The A / D converter 6 sends the converted digital detection signal to the tablet terminal 7.

Similar to the first embodiment or the second embodiment, the tablet terminal 7 includes a receiving unit 13, a determining unit 14, a display control unit 15, a monitor 16, and the like.

The receiving unit 13 receives the detection signal sent from the vibrometer 3, the ammeter 5, or the microphone 20 and converted into a digital signal by the A / D converter 6. The receiving unit 13 sends each of the detection signal related to vibration and the detection signal related to current to the determination unit 14.

Based on the vibration detected by the vibrometer 3, the current value detected by the ammeter 5, and the sound detected by the microphone 20, the determination unit 14 in the concrete at the excavation position of the excavator 2 in the concrete. Determine if there are any buried objects.

The determination unit 14 frequency-analyzes the detection signal detected by the microphone 20 (step S14 in FIG. 12), and detects whether or not a change occurs in the intensity of a predetermined specific frequency. The frequency analysis in the determination unit 14 is performed by a general technique such as a weblet analysis.

The determination unit 14 processes the detection signal detected by the ammeter 5 to acquire the time history change of the current value.

The determination unit 14 determines whether or not there is a change in the intensity of a predetermined specific frequency with respect to vibration or sound. Further, the determination unit 14 determines whether or not the current value changes (step S15 in FIG. 12).

That is, during excavation, when the intensity of a specific frequency related to vibration, the current value, and the intensity of a specific frequency related to sound all change, or when any two or more of them change, the excavation position It is judged that the buried object exists in or in the vicinity thereof. On the other hand, if there is no change in the intensity of a specific frequency related to vibration, the current value, or the intensity of a specific frequency related to sound, there is no buried object at or near the excavation position, and only concrete is used. Judge that it is excavating. If any one of the intensity of a specific frequency related to vibration, the current value, and the intensity of a specific frequency related to sound changes, in some cases, a buried object exists at or near the excavation position. You may judge that it is.

Determining whether or not the intensity of a particular frequency with respect to sound has changed is based on a predetermined threshold. The threshold value is acquired in advance by an experiment or the like, and the acquired threshold value is recorded in a storage unit such as a memory.

It should be noted that a specific frequency relating to a sound whose intensity changes when a buried object is present during excavation has been acquired in advance by an experiment or the like, and the acquired frequency is recorded in a storage unit such as a memory. Changes in the intensity of a particular frequency with respect to sound may increase in intensity or, conversely, decrease in intensity in the presence of buried objects in concrete during excavation.

The determination result may be displayed on the monitor 16 of the tablet terminal 7 as in the first embodiment, or the excavator 2 may automatically continue the operation as in the second embodiment. It may be used as data for stopping.

From the above, the contact between the drill 8 and the buried object is determined by the data of the vibrometer 3, the ammeter 5, and the microphone 20, so that a quantitative determination is possible. Therefore, even a beginner can accurately perform the excavation work without relying on the judgment of the operator's experience.

Further, since the vibrometer 3 is installed directly on the concrete surface and detects the vibration transmitted from the concrete, the sensitivity is high and the accuracy of determining the contact or interference between the drill 8 and the buried object is high.

Further, the microphone 20 can acquire sound in the vicinity of the work surface where excavation is performed, and unlike the vibrometer 3, it does not need to be fixed to the concrete surface with an adhesive without contacting the work surface. .. Therefore, the installation of the microphone 20 is easier than the installation of the vibration meter 3.

Since the contact or interference between the drill 8 and the buried object is determined based on the intensity of a specific frequency related to vibration, the current value, and the intensity of a specific frequency related to sound, compared with the case of using either one. The judgment accuracy is high, and the type of buried object can be discriminated according to the accumulation of experimental data or empirical data.

Further, since the determination result is specifically displayed on the monitor 16 of the tablet terminal 7, the operator is less likely to be confused about the operation determination of the excavation device 2. Alternatively, since the determination result is transmitted from the tablet terminal 7 to the motor 9, the motor 9 can be started and stopped without the judgment of the operator. As a result, since human judgment does not intervene, the judgment result is accurately reflected in the operation or stop operation.

Further, when excavation is being performed by the excavation device 2, the contact or interference between the drill 8 and the buried object is determined and the result is displayed on the monitor 16 in sequence, so that the hole is provided before the main construction. Preliminary survey is not required and work efficiency is good.

In the above-described embodiment, the case where the detection signal detected by the microphone 20 is frequency-analyzed has been described, but the sound pressure level of a specific frequency related to sound may be extracted by filtering. The determination unit 14 filters the detection signal detected by the microphone 20 and detects whether or not the sound pressure level of the frequency extracted by the filtering process changes.

Further, in the above-described embodiment, the case where the buried object exploration device 1 includes the vibrometer 3 has been described, but the present invention is not limited to this example. That is, the buried object exploration device 1 is not provided with the vibrometer 3, and is based on the sound detected by the microphone 20 and the current value detected by the ammeter 5 at the excavation position of the excavation device 2 in the concrete. It may be determined whether or not there are buried objects buried in the concrete.

As described above, the microphone 20 does not need to be fixed to the concrete surface with an adhesive or the like, and is easier to install than the vibrometer 3. Therefore, even when the construction condition is bad such as the construction site is wet with water and it is difficult to install the vibrometer 3, whether or not there is a buried object buried in the concrete by using the microphone 20. Can make a judgment.

In the above-described embodiment, the case where the microphone 20 is used as an example of the sound detection unit has been described, but the present invention is not limited to this example. That is, as the sound detection unit, a device that directly detects the sound transmitted in the concrete may be used instead of the microphone that detects the sound transmitted through the space. In the case of this device, if necessary, it needs to be fixed to the concrete surface, but the drill 8 and the buried object are based on the intensity of a specific frequency related to vibration, the current value, and the intensity of a specific frequency related to sound. Since the judgment of contact or interference with is performed, the judgment accuracy can be improved as compared with the case of using either one.

[Fourth Embodiment]
Next, the excavation system 10 according to the fourth embodiment of the present invention will be described with reference to FIGS. 13 to 15.

In the first to third embodiments described above, the ammeter 5 detects the current value flowing through the motor 9, and the determination unit 14 determines the excavation position of the excavator 2 in the concrete based on the time history change of the current value. , However, the present invention is not limited to this example, although it is determined whether or not there is a buried object buried in the concrete.

In this embodiment, instead of detecting the current value, the rotation speed of the drill 8 is detected. Hereinafter, in the present embodiment, detailed description of the configuration and operation / effect overlapping with the above-described first embodiment and its modification, the second embodiment, or the third embodiment will be omitted.

The buried object exploration device 1 according to the present embodiment includes a tachometer 22 instead of the ammeter 5 described in the first embodiment and its modifications, the second embodiment, or the third embodiment.

The tachometer 22 detects the rotation speed of the drill 8 (step S16 in FIG. 14). The tachometer 22 has, for example, a pulse sensor 23. The pulse sensor 23 irradiates the drill 8 with a laser beam, and receives the laser beam reflected by the reflection mark affixed to the drill 8 or the recess or protrusion formed in the drill 8. The tachometer 22 detects the rotation speed of the drill 8 based on the laser light reflected by the drill 8 and received by the pulse sensor 23.

As the tachometer 22, a commonly used one can be applied. Further, another tachometer that does not use the pulse sensor 23 may be used as long as it can detect the rotation speed of the drill 8.

The detection signal detected by the tachometer 22 is sent to the A / D converter 6. The A / D converter 6 converts the analog detection signal sent from the tachometer 22 into a digital detection signal. The A / D converter 6 sends the converted digital detection signal to the tablet terminal 7.

The tablet terminal 7 includes a receiving unit 13, a determination unit 14, a display control unit 15, a monitor 16, and the like, as in the first to third embodiments.

The receiving unit 13 receives the detection signal sent from the vibrometer 3 or the tachometer 22 and converted into a digital signal by the A / D converter 6. The receiving unit 13 sends a detection signal related to vibration and a detection signal related to the rotation speed of the drill 8 to the determination unit 14.

The determination unit 14 has a buried object buried in the concrete at the excavation position of the excavator 2 in the concrete based on the vibration detected by the vibrometer 3 and the rotation speed detected by the tachometer 22. Decide whether to do it or not.

The determination unit 14 frequency-analyzes the detection signal detected by the vibrometer 3 and detects whether or not the intensity of a predetermined specific frequency changes. The frequency analysis in the determination unit 14 is performed by a general technique such as a weblet analysis. Alternatively, the determination unit 14 may extract a predetermined frequency by the filtering process and detect whether or not the intensity of the extracted frequency changes.

The determination unit 14 processes the detection signal detected by the tachometer 22 to acquire the time history change of the rotation speed. FIG. 15 is an example of a graph showing the time change of the rotation speed. FIG. 15 shows an example in which when only concrete is excavated, the rotation speed is high and the rotation speed is lowered due to some buried objects that are harder to excavate than concrete.

The determination unit 14 determines whether or not there is a change in the intensity of a predetermined specific frequency. Further, the determination unit 14 determines whether or not the rotation speed changes (step S17 in FIG. 14).

That is, when both the intensity and the rotation speed of a specific frequency change during excavation, it is determined that the buried object exists at or near the excavation position. On the other hand, if there is no change in the intensity and / or rotation speed of a specific frequency, it is judged that there is no buried object at or near the excavation position and only concrete is excavated.

Whether or not the rotation speed has changed is determined based on a predetermined threshold value. The threshold value has been acquired in advance by an experiment or the like, and the acquired threshold value is recorded in a storage unit such as a memory.

If there are buried objects during excavation, and if there are buried objects that are more difficult to excavate than concrete, the rotation speed will be lower than when excavating only concrete. On the contrary, when there is a buried object that is easier to excavate than concrete, the rotation speed increases as compared with the case where only concrete is excavated. In either case, both a higher threshold value and a lower threshold value than the rotation speed during concrete excavation are acquired as threshold values used for determining whether or not the rotation speed has changed so that it can be determined that the buried object exists. deep.

The determination result may be displayed on the monitor 16 of the tablet terminal 7 as in the first embodiment, or the excavator 2 may automatically continue the operation as in the second embodiment. It may be used as data for stopping.

From the above, since the contact between the drill 8 and the buried object is determined by the data of the vibrometer 3 and the tachometer 22, it is possible to make a quantitative determination. Therefore, even a beginner can accurately perform the excavation work without relying on the judgment of the operator's experience.

The response of the tachometer 22 shows an up-and-down behavior opposite to the up-down behavior of the current value, but it changes in the same manner as the output response of the ammeter 5 depending on the presence or absence of buried objects, so that it can be used as an alternative to the ammeter 5. It can be used. Further, unlike the case where the ammeter 5 for measuring the current of the motor 9 is installed in series on the circuit and wired, the tachometer 22 does not require construction related to the electric circuit. The tachometer 22 is non-contact with the excavator 2, can be attached from the outside of the excavator 2, and can be installed more easily than an ammeter.

Further, since the judgment of contact or interference between the drill 8 and the buried object is made based on both the intensity and the rotation speed of a specific frequency, the judgment accuracy is higher than the case of using either one, and the experimental data. Alternatively, the type of buried object can be determined according to the accumulation of empirical data and the like.

As in the third embodiment, the sound may be detected by the microphone 20 in addition to the vibration detection by the vibrometer 3 or instead of the vibration detection by the vibrometer 3.

1: Buried object exploration device 2: Excavation device 3: Vibration meter 4: Amplifier 5: Ammeter 6: A / D converter 7: Tablet terminal 8: Drill 9: Motor 10: Excavation system 11: Lever 12: Mounting pad 13 : Reception unit 14: Judgment unit 15: Display control unit 16: Monitor 17: D / A converter 18: Motor controller 19: Transmission unit 20: Microphone 21: Amplifier 22: Ammeter 23: Pulse sensor

Claims (16)

When the concrete is excavated by the excavation part that excavates the concrete, the vibration transmitted from the concrete is detected, and the vibration detection part directly installed on the concrete is used.
A current detection unit that detects the current value of the current flowing through the excavation unit, and
Based on the vibration detected by the vibration detection unit and the current value detected by the current detection unit, the buried object buried in the concrete is formed at the excavation position of the excavation portion in the concrete. A judgment unit that judges whether or not it exists,
Buried object exploration device equipped with. When the concrete is excavated by the excavation part that excavates the concrete, the vibration transmitted from the concrete is detected, and the vibration detection part directly installed on the concrete is used.
A current detection unit that detects the current value of the current flowing through the excavation unit, and
At the excavation position of the excavation portion in the concrete, based on the intensity of the vibration detected by the vibration detection unit at a predetermined specific frequency and the current value detected by the current detection unit. A judgment unit that determines whether or not there is a buried object buried in the concrete,
Buried object exploration device equipped with. When the concrete is being excavated by an excavator that excavates the concrete with a rotating drilling tool, the vibration transmitted from the concrete is detected, and the vibration detection unit installed directly on the concrete is used.
A rotation speed detection unit that detects the rotation speed of the drilling tool,
A buried object buried in the concrete at the excavation position of the excavation portion in the concrete based on the vibration detected by the vibration detection unit and the rotation speed detected by the rotation speed detection unit. Judgment unit to judge whether or not there is
Buried object exploration device equipped with. When the concrete is being excavated by an excavator that excavates the concrete with a rotating drilling tool, the vibration transmitted from the concrete is detected, and the vibration detection unit installed directly on the concrete is used.
A rotation speed detection unit that detects the rotation speed of the drilling tool,
At the excavation position of the excavation part in the concrete, based on the intensity of the vibration detected by the vibration detection unit at a predetermined specific frequency and the rotation speed detected by the rotation speed detection unit. , A judgment unit that determines whether or not there is a buried object buried in the concrete,
Buried object exploration device equipped with. The buried object exploration apparatus according to any one of claims 1 to 4, further comprising a sound detection unit that detects a sound generated in the concrete when the concrete is excavated by the excavation unit. A sound detection unit that detects the sound generated in the concrete when the concrete is being excavated by the excavation unit that excavates the concrete, and is installed away from the excavation unit .
A current detection unit that detects the current value of the current flowing through the excavation unit, and
At the excavation position of the excavation portion in the concrete, based on the intensity of the sound detected by the sound detection unit at a predetermined specific frequency and the current value detected by the current detection unit. A judgment unit that determines whether or not there is a buried object buried in the concrete,
Buried object exploration device equipped with. A sound detection unit that detects the sound generated in the concrete when the concrete is being excavated by an excavation unit that excavates the concrete with a rotating drilling tool, and is installed away from the excavation unit .
A rotation speed detection unit that detects the rotation speed of the drilling tool,
At the excavation position of the excavation part in the concrete, based on the intensity of the sound detected by the sound detection unit at a predetermined specific frequency and the rotation speed detected by the rotation speed detection unit. , A judgment unit that determines whether or not there is a buried object buried in the concrete,
Buried object exploration device equipped with. Based on the result determined by the determination unit, the display controls the display unit to display whether or not there is a buried object buried in the concrete at the excavation position of the excavation unit in the concrete. The buried object exploration apparatus according to any one of claims 1 to 7, further comprising a control unit. The buried object exploration apparatus according to any one of claims 1 to 8, further comprising an excavation control unit that controls operation or stop of the excavation unit based on the result determined by the determination unit. The buried object exploration device according to any one of claims 1 to 9.
The excavation part for excavating the concrete and
Excavation system equipped with. A step of detecting the vibration transmitted from the concrete by the vibration detection unit directly installed on the concrete when the concrete is excavated by the excavation part for excavating the concrete.
The step of detecting the current value of the current flowing through the excavated part and
A step of determining whether or not there is a buried object buried in the concrete at the excavation position of the excavation portion in the concrete based on the detected vibration and the detected current value. When,
A method for exploring buried objects. A step of detecting the vibration transmitted from the concrete by the vibration detection unit directly installed on the concrete when the concrete is excavated by the excavation part for excavating the concrete.
The step of detecting the current value of the current flowing through the excavated part and
Based on the detected intensity of the vibration at a predetermined specific frequency and the detected current value, the buried object buried in the concrete is formed at the excavation position of the excavation portion in the concrete. Steps to determine if it exists and
A method for exploring buried objects. A step of detecting the sound generated in the concrete when the concrete is excavated by the excavation part for excavating the concrete by the sound detection part installed away from the excavation part .
The step of detecting the current value of the current flowing through the excavated part and
Based on the intensity of the detected sound at a predetermined specific frequency and the detected current value, the buried object buried in the concrete is formed at the excavation position of the excavation portion in the concrete. Steps to determine if it exists and
A method for exploring buried objects. When the concrete is being excavated by an excavator that excavates concrete with a rotating drilling tool, a step of detecting vibration transmitted from the concrete by a vibration detection unit directly installed on the concrete, and
The step of detecting the rotation speed of the drilling tool and
Based on the detected vibration and the detected rotation speed, a step of determining whether or not there is a buried object buried in the concrete at the excavation position of the excavation portion in the concrete. ,
A method for exploring buried objects. When the concrete is being excavated by an excavator that excavates concrete with a rotating drilling tool, a step of detecting vibration transmitted from the concrete by a vibration detection unit directly installed on the concrete, and
The step of detecting the rotation speed of the drilling tool and
Based on the intensity of the detected vibration at a predetermined specific frequency and the detected number of revolutions, the buried object buried in the concrete is formed at the excavation position of the excavation portion in the concrete. Steps to determine if it exists and
A method for exploring buried objects. A step of detecting the sound generated in the concrete when the concrete is excavated by the excavation part for excavating the concrete with a rotating drilling tool by the sound detection part installed away from the excavation part .
The step of detecting the rotation speed of the drilling tool and
Based on the intensity of the detected sound at a predetermined specific frequency and the detected rotation speed, the buried object buried in the concrete at the excavation position of the excavation portion in the concrete. Steps to determine if it exists and
A method for exploring buried objects.

Images