JP7342294B1 - Caisson point cloud extraction system and program - Google Patents

Abstract

The present invention provides a caisson point cloud extraction system and program that can automatically calculate the position of a wire in an earth bucket. [Solution] A caisson point cloud extraction system includes an acquisition unit that acquires first point cloud data indicating distance information from the position of a point cloud sensor in a work room of a pneumatic caisson to an acquisition target, and acquisition by the acquisition unit. a first extracting means for extracting second point cloud data indicating an earth bucket located in the work chamber based on the first point cloud data extracted by the user; and a second point cloud data extracted by the first extracting means. and a second extraction means for extracting third point group data indicating a wire provided in the earth bucket. [Selection diagram] Figure 4

Description

The present invention relates to a caisson point cloud extraction system and program.

The pneumatic caisson construction method is known as a construction method for constructing underground structures such as bridges, building foundations, and starting shafts for shield tunnels. In the pneumatic caisson construction method, a working chamber is provided at the bottom of the caisson body, and compressed air is sent into the chamber to create a high-pressure state during excavation work. Since this high-pressure work room is under high-pressure conditions, the time that workers can enter is limited. For this reason, in the pneumatic caisson construction method, unmanned construction is used for construction under water or under high pressure, in which construction is performed by remote control from the ground, from the viewpoint of improving work efficiency and creating a safe work environment. Additionally, in recent years, in the construction industry, the government and large corporations have been promoting ``i-Construction,'' which aims to improve safety and productivity through the use of digital technology. Along with this, there is a need for full automation using ICT technology in the pneumatic caisson construction method as well.

On the other hand, in the pneumatic caisson construction method, there is a step in which excavated soil generated when excavating using a caisson shovel in an underground caisson work room is loaded into an earth bucket that is carried above ground. This loading operation is performed by a worker. Therefore, the loading direction and operation timing are determined based on the experience of the worker. For this reason, if an inexperienced worker performs the loading work, there is a possibility that the equipment may be damaged or malfunction due to, for example, contacting the wire with the caisson shovel.

For these reasons, there is a need for full automation of the loading process into the earth bucket in the pneumatic caisson construction method. As part of the full automation of the loading process into the earth bucket, it is required to detect and automatically recognize the earth bucket. As a technique for detecting this earth bucket, for example, an earth bucket recognition system technique disclosed in Patent Document 1 has been disclosed.

According to the technology disclosed in Patent Document 1, the attitude of the earth bucket is determined based on the error when a mathematical model consisting of a set of coordinates that satisfies the equation representing the side surface is superimposed on the coordinate data converted by the conversion means. It is disclosed about recognizing.

Patent No. 7014930

However, the technique disclosed in Patent Document 1 does not consider recognizing the wire of the earth bucket. For this reason, the technique disclosed in Patent Document 1 has a problem in that the wire of the earth bucket cannot be recognized and the wire hits the caisson shovel.

Therefore, the present invention was devised in view of the above-mentioned problems, and its purpose is to provide a caisson point cloud extraction system and program that can automatically calculate the position of the wire of the earth bucket. The objective is to provide a

A caisson point cloud extraction system according to a first aspect of the present invention includes an acquisition means for acquiring first point cloud data indicating distance information from a position of a point cloud sensor in a working chamber of a pneumatic caisson to an acquisition target; The present invention is characterized by comprising a second extracting means for extracting third point group data indicating a wire provided in a ground bucket in the work chamber based on the extracted first point group data.

A caisson point cloud extraction system according to a second invention includes an acquisition means for acquiring first point cloud data indicating distance information from a position of a point cloud sensor in a working room of a pneumatic caisson to an acquisition target; a first extraction means for extracting second point cloud data indicating an earth bucket located in the work chamber based on the acquired first point cloud data; and a second point cloud data extracted by the first extraction means. and a second extracting means for extracting third point group data indicating a wire provided in the earth bucket based on the ground bucket.

A caisson point cloud extraction system according to a third aspect of the present invention includes an acquisition means for acquiring first point cloud data indicating distance information from a position of a point cloud sensor in a working chamber of a pneumatic caisson to an acquisition target; a first extraction means for extracting second point cloud data indicating an earth bucket located in the work chamber based on the acquired first point cloud data; and based on the second point cloud data extracted by the first extraction means. a third extraction means for extracting fourth point cloud data indicating a temple provided on the upper surface of the earth bucket; and based on the fourth point cloud data extracted by the third extraction means, and second extraction means for extracting third point group data indicating the wires that have been drawn.

A caisson point group extraction system according to a fourth aspect of the invention is the first aspect, further comprising calculation means for calculating wire position information indicating the position of the wire based on the third point group data extracted by the second extraction means. It is further characterized by comprising:

In the caisson point cloud extraction system according to a fifth aspect of the invention, in the first aspect, the caisson shovel in the work room can load earth and sand into the earth bucket based on the third point cloud data extracted by the second extraction means. The present invention is characterized by further comprising a calculation means for calculating direction information indicating a direction.

A caisson point group extraction system according to a sixth aspect of the present invention is characterized in that, in the fifth aspect, the caisson point group extraction system further includes presentation means for presenting the direction information calculated by the calculation means.

The caisson point group extraction system according to a seventh aspect of the present invention, in the fifth aspect, generates trajectory information indicating a trajectory of the caisson shovel loading earth and sand into the earth bucket based on the direction information calculated by the calculation means. It is characterized by further comprising a generating means.

The caisson point cloud extraction system according to an eighth aspect of the invention is characterized in that, in the second aspect, the system further comprises recognition means for recognizing the earth bucket based on the second point cloud data extracted by the first extraction means. do.

A caisson point cloud extraction system according to a ninth aspect of the present invention includes an acquisition means for acquiring first point cloud data indicating distance information from the position of a point cloud sensor in a working room of a pneumatic caisson to an acquisition target; a first extracting means for extracting second point cloud data indicating an earth bucket located in the work chamber based on the first point cloud data obtained by the acquisition means; and calculation means for calculating loading information indicating the loading state of the earth bucket based on the difference with the second point group data extracted by the first extraction means.

The caisson point group extraction system according to a tenth invention is characterized in that, in the ninth invention, the system further comprises a determination means for determining whether earth and sand can be loaded into the earth bucket based on the loading information calculated by the calculation means. shall be.

1. A caisson point cloud extraction program according to the first invention includes an acquisition step of acquiring first point cloud data indicating distance information from a position of a point cloud sensor in a working chamber of a pneumatic caisson to an acquisition target, and the acquisition step. and a second extraction step of extracting third point cloud data indicating wires installed in the earth bucket in the work chamber based on the first point cloud data extracted by the computer. .

According to the first invention to the first invention, the caisson point cloud extraction system of the present invention extracts the third point cloud data indicating the wire provided in the earth bucket based on the first point cloud data. This makes it possible to automatically grasp the point cloud data indicating the wires of the earth bucket, and it is possible to more safely and automatically load earth and sand into the earth bucket using a caisson shovel.

In particular, according to the second invention, the caisson point cloud extraction system of the present invention extracts third point cloud data indicating wires provided in the earth bucket based on the first point cloud data. This makes it possible to extract points on a straight line within a certain range from the point cloud representing the earth bucket as third point cloud data, so the point cloud data representing the wires of the earth bucket can be extracted with higher accuracy. It can be automatically grasped.

In particular, according to the third invention, the caisson point cloud extraction system of the present invention extracts third point cloud data indicating the wires provided in the earth bucket based on the fourth point cloud data. This makes it possible to extract the point cloud on a straight line adjacent to the point cloud indicating the vine as the third point cloud data, automatically grasping the point cloud data indicating the earth bucket wire with higher accuracy. can do.

In particular, according to the fourth invention, the caisson point cloud extraction system of the invention calculates wire position information indicating the position of the wire based on the third point cloud data. This makes it possible to automatically calculate the position of the wire.

In particular, according to the fifth invention, the caisson point cloud extraction system of the invention calculates direction information indicating the direction in which the caisson shovel in the work room can load earth and sand into the earth bucket based on the third point cloud data. . This makes it possible to automatically calculate the direction in which the caisson shovel in the work room can load earth and sand into the earth bucket.

In particular, according to the sixth invention, the caisson point cloud extraction system of the invention presents directional information. This makes it possible to present directional information to the user who uses the caisson point cloud extraction system.

In particular, according to the seventh aspect, the caisson point group extraction system of the present invention generates trajectory information indicating the trajectory of the caisson shovel loading earth and sand into the earth bucket based on the direction information. This makes it possible to automatically generate a trajectory for the caisson shovel to load earth and sand into the earth bucket.

In particular, according to the eighth invention, the caisson point cloud extraction system of the invention recognizes the earth bucket based on the second point cloud data. This makes it possible to automatically recognize the position of the earth bucket.

In particular, according to the ninth invention, the caisson point cloud extraction system of the invention calculates loading information indicating the loading state of the earth bucket based on the first point cloud data and the second point cloud data. With this, for example, by removing the second point cloud data from the first point cloud data, it is possible to extract point cloud data indicating the load of the earth bucket. Therefore, it is possible to automatically calculate the loading state of the earth bucket.

In particular, according to the tenth invention, the caisson point cloud extraction system of the invention determines whether earth and sand can be loaded into the earth bucket based on the loading information. This makes it possible to automatically determine whether loading of earth and sand into the earth bucket is complete.

FIG. 1 is a longitudinal sectional view showing the main equipment of the pneumatic caisson construction method. FIG. 2 is a diagram showing an excavator. FIG. 3 is a block diagram showing a control system in the excavator. FIG. 4 is a diagram showing the material shaft. FIG. 5 is a diagram showing the entrance of the material shaft. FIG. 6(a) is a diagram showing the earth bucket. FIG. 6(b) is a diagram showing the side surface of the earth bucket. FIG. 7 is a diagram showing a material lock. FIG. 8 is a diagram showing the loading of earth and sand into the earth bucket. FIG. 9 is a diagram showing a wire fixing device. FIG. 10 is a block diagram showing the overall configuration of an automatic earth bucket lifting system to which the present invention is applied. FIG. 11(a) is a flowchart of the operation of carrying the earth bucket into the work room in the earth bucket automatic lifting system to which the present invention is applied. FIG. 11(b) is a flowchart of the operation of transporting the earth bucket to the ground in the earth bucket automatic lifting system to which the present invention is applied. FIG. 12 is a diagram showing a mathematical model. FIG. 13 is a diagram showing a flowchart for determining the position of the earth bucket. FIG. 14 is a diagram showing how the earth bucket is carried into the material lock from the carry-in port. FIG. 15 is a diagram showing the operation of generating trajectory information. FIG. 16(a) is a diagram showing the operation of the wire fixing device when carrying the earth bucket into the work room. FIG. 16(b) is a diagram showing the operation of the wire fixing device when carrying out the earth bucket from the work chamber. FIG. 17 is a diagram showing how the earth bucket is carried out from the material lock to the carry-in entrance.

First, the main equipment of the pneumatic caisson construction method in which the earth bucket automatic lifting system 6 according to the present invention is used will be explained with reference to the drawings. FIG. 1 is a diagram showing an example of the main equipment of the pneumatic caisson construction method in which the earth bucket automatic lifting system 6 according to the present invention is used. The pneumatic caisson construction method uses excavation equipment E1, outfitting equipment E2, earth removal equipment E3, air supply equipment E4, and backup/safety equipment E5 to sink caisson 1 made of reinforced concrete underground. Configured to build structures.

The excavation equipment E1 includes, for example, an excavator 100 (hereinafter referred to as a caisson shovel 100), an automatic earth and sand loading device 11, and a ground remote control room 13. The caisson shovel 100 is installed in a working chamber 2 provided at the bottom of the caisson 1. The automatic earth and sand loading device 11 loads earth and sand excavated by the caisson shovel 100 into a cylindrical earth bucket 31 . The ground remote control room 13 includes a remote control device 12 that remotely controls the operation of various equipment such as the caisson shovel 100 from the ground.

The outfitting equipment E2 includes, for example, a manshaft 21, a manlock 22 (airlock), a material shaft 23, and a material lock 24 (airlock). The man shaft 21 is a cylindrical passage connecting the ground T and the work room 2 for workers to enter and leave the work room 2, and is provided with a spiral staircase 25, for example. The manlock 22 is an airtight door with a double door structure that is provided on the manshaft 21 and adjusts the difference between the atmospheric pressure on the ground T and the pressure inside the work chamber 2. The material shaft 23 is a cylindrical passageway that connects the ground T and the work chamber 2 in order to carry the earth bucket 31 or materials into and out of the ground T. The material lock 24 is an airtight door with a double door structure that is provided in the material shaft 23 and adjusts the difference between the atmospheric pressure on the ground T and the pressure inside the work chamber 2. The manlock 22 and the material lock 24 are configured to allow workers and the earth bucket 31 to enter and leave the workroom 2 while suppressing changes in the atmospheric pressure within the workroom 2.

The earth removal equipment E3 includes, for example, an earth bucket 31, a carrier device 32, an earth and sand hopper 33, and a load meter 35. The earth bucket 31 is a metal cylindrical container with a bottom into which earth and sand excavated by the caisson shovel 100 is loaded. The carrier device 32 is a device that pulls up the earth bucket 31 to the ground via the material shaft 23 and carries it out. The earth and sand hopper 33 is a facility for temporarily storing earth and sand carried to the ground by the earth bucket 31 and the carrier device 32. The load meter 35 is a sensor for acquiring mass information indicating the mass of the earth bucket 31 by measuring the load on a hook (not shown) that suspends the earth bucket 31 . Further, the earth removal equipment E3 may include a crawler crane 5 for carrying in and out the earth bucket 31.

The air supply equipment E4 includes, for example, an air compressor 42, an air purifier 43, an air supply pressure adjustment device 44, and an automatic pressure reduction device 45. The air compressor 42 is a device that sends compressed air into the work chamber 2 via the air pipe 41 and the air passage 3 formed in the caisson 1 . The air purifier 43 is a device that purifies the compressed air sent by the air compressor 42. The air supply pressure regulating device 44 is a device that adjusts the amount (pressure) of compressed air sent from the air compressor 42 into the working chamber 2 so that the atmospheric pressure within the working chamber 2 becomes equal to the groundwater pressure. The automatic pressure reduction device 45 is a device that reduces the pressure inside the manlock 22 .

The spare/safety equipment E5 includes, for example, an emergency air compressor 51 and a hospital lock 53. The emergency air compressor 51 is a device that can send compressed air into the work room 2 instead of the air compressor 42 when the air compressor 42 breaks down or is inspected. The hospital lock 53 is a decompression chamber into which a worker who has worked in the work room 2 enters to gradually accustom the worker's body to atmospheric pressure.

Next, the caisson shovel 100 will be explained using FIGS. 2 and 3. As shown in FIG. 2, the caisson shovel 100 includes, for example, a traveling body 110, a boom 130, and a bucket attachment 150. The traveling body 110 is attached to a pair of left and right traveling rails 4 provided on the ceiling of the work room 2, and travels along the traveling rails 4 while being suspended from the left and right traveling rails 4. The boom 130 is pivotally connected to the rotating frame 121 of the traveling body 110 so as to be swingable in the vertical direction. Bucket attachment 150 is attached to the tip of boom 130.

The traveling body 110 includes a traveling frame 111, a turning frame 121, and a traveling roller 113. The rotating frame 121 is rotatably provided on the lower surface side of the traveling frame 111. The running rollers 113 are four rollers provided on the front, rear, left and right sides of the top surface of the running frame 111. The traveling body 110 is configured to travel along the left and right traveling rails 4 by rotationally driving front, rear, left and right traveling rollers 113.

The boom 130 includes, for example, a proximal end boom 131, a distal end boom 132, a telescoping cylinder 133, and a luffing cylinder 134. The base end boom 131 is attached to the rotating frame 121 so as to be able to rise and fall freely or swing freely in the up and down direction. The distal boom 132 is nested and configured with the proximal boom 131. Telescopic cylinder 133 is provided within proximal boom 131 . Two undulating cylinders 134 are provided on the left and right sides of the base end boom 131. The boom 130 is configured such that when the telescopic cylinder 133 is extended or contracted, the distal end boom 132 moves in the longitudinal direction with respect to the proximal end boom 131, thereby causing the boom 130 to extend or contract. The base ends of the two undulating cylinders 134 are rotatably attached to the left and right sides of the base boom 131, respectively.

Bucket attachment 150 includes a base member 151, a bucket 152, and a bucket cylinder 153. Base member 151 is attached to tip boom 132. The bucket 152 is attached to the tip of the base member 151 so as to be vertically swingable. The bucket cylinder 153 is configured to vertically swing the bucket 152 with respect to the base member 151.

As shown in FIG. 3, the control unit 165 includes a main controller 165a, a traveling object controller 165b, and a boom/bucket controller 165c. Further, the control unit 165 may be connected to the caisson shovel 100 and the remote control device 12. Control unit 165 may be built into remote control device 12 . The main controller 165a is connected to the traveling body controller 165b and the boom/bucket controller 165c, and upon receiving an operation signal from the remote control device 12, sends a drive control signal corresponding to the operation signal to the traveling body controller 165b. and is output to the boom/bucket controller 165c. The traveling object controller 165b is configured to drive the traveling object 110 in accordance with a drive control signal output from the main controller 165a. The main controller 165a and the traveling body controller 165b are arranged on the revolving frame 121 of the traveling body 110. The boom/bucket controller 165c is configured to drive the boom 130 and the bucket attachment 150 in response to a drive control signal output from the main controller 165a. The boom/bucket controller 165c is disposed on the side of the proximal boom 131 of the boom 130.

As shown in FIG. 3, the caisson excavator 100 includes a traveling body position sensor 201, a turning angle sensor 202, a boom luffing angle sensor 203, a boom extension amount sensor 204, a bucket swing angle sensor 205, and an outside world sensor 206. Equipped with. The traveling object position sensor 201 detects where on the traveling rail 4 the traveling object 110 is located. The turning angle sensor 202 detects the turning angle of the turning frame 121 with respect to the traveling frame 111. The boom lifting angle sensor 203 detects the lifting angle of the boom 130 with respect to the rotating frame 121. Boom extension amount sensor 204 detects the amount of extension of boom 130. Bucket swing angle sensor 205 detects the swing angle of bucket 152 relative to base member 151 of boom 130 or bucket attachment 150 . The external sensor 206 is provided on the traveling body 110 and acquires information such as the distance to the excavated ground in the work chamber 2 and the shape of the ground. Further, the caisson excavator 100 may communicate with the remote operating device 12 and the control unit 165, and transmit data obtained by each of the sensors 201 to 206 to the remote operating device 12 and the control unit 165.

The traveling object position sensor 201 is configured by, for example, a laser sensor disposed on the traveling frame 111 of the traveling object 110. The traveling body position sensor 201 irradiates a laser beam toward the end of the traveling rail 4 or the wall of the working chamber 2 until it is reflected at the end of the traveling rail 4 or the wall of the working chamber 2 and returns. Measure the time. The traveling object position sensor 201 detects the distance from the end of the traveling rail 4 or the wall of the work chamber 2 to the traveling object 110 based on this time. The turning angle sensor 202 is configured by, for example, an optical rotary encoder disposed on the turning frame 121 of the traveling body 110. The turning angle sensor 202 converts the turning amount of the turning frame 121 with respect to the traveling frame 111 into an electrical signal. The turning angle sensor 202 calculates the signal and detects a turning angle including the turning direction and position of the turning frame 121. Note that the traveling object position sensor 201 and the turning angle sensor 202 are described as an example, and other sensors that detect the two-dimensional position of the traveling object and other sensors that detect the turning angle of the turning frame 121 may be used, respectively. It's okay.

The boom hoisting angle sensor 203 is configured, for example, by a laser sensor disposed on the side of the cylinder bottom of the hoisting cylinder 134. The boom up-and-down angle sensor 203 measures the time it takes for the laser beam to be irradiated toward the rotating frame 121 and reflected at the rotating frame 121 and returned. Boom hoisting angle sensor 203 detects the amount of extension of hoisting cylinder 134 based on this time, and detects the hoisting angle or position of boom 130 with respect to swing frame 121 based on the amount of extension of hoisting cylinder 134. The boom heave angle sensor 203 is also described as an example, and other sensors that directly detect the heave angle of the boom 130 using an optical rotary encoder, potentiometer, etc. may be used.

The boom extension amount sensor 204 is configured by, for example, a laser sensor disposed on the base end boom 131 of the boom 130. The boom extension amount sensor 204 measures the time it takes for the laser beam to emit laser light toward the base member 151 of the bucket attachment 150 attached to the tip of the tip boom 132 and to be reflected at the base member 151 and returned. The boom extension amount sensor 204 detects the extension amount of the distal end boom 132 relative to the proximal boom 131 as the extension amount of the boom 130 based on this time. The boom extension amount sensor 204 is also described as an example, and other sensors that directly measure the extension amount of the cable that expands and contracts as the boom expands and contracts may be used.

The bucket swing angle sensor 205 is configured by, for example, a flow rate sensor disposed in the oil passage of the bucket cylinder 153. Bucket swing angle sensor 205 detects the flow rate of hydraulic oil supplied to bucket cylinder 153, and calculates the integral value of the flow rate. The bucket swing angle sensor 205 determines the amount of extension of the piston rod of the bucket cylinder 153 based on this flow rate integral value, and determines the amount of extension of the piston rod of the bucket cylinder 153 based on the amount of extension of the bucket cylinder 153. 152 is detected. The bucket swing angle sensor 205 is also explained as an example, and other sensors that directly detect the swing angle of the bucket 152 using an optical rotary encoder, potentiometer, etc., or other sensors that measure the extension amount of the bucket cylinder 153 using a laser sensor, etc. A sensor may also be used.

The external sensor 206 is configured by, for example, an RGB-D sensor disposed on the rotating frame 121 of the traveling object 110. The external sensor 206 acquires an RGB image or a color image and a distance image or point cloud data of the excavated ground, and based on these images, distance information to the excavated ground, shape information of the excavated ground, or information on the inside of the work room including the earth bucket 31. Obtain the point cloud data of 2. As other examples of the RGB-D sensor, the external sensor 206 may be a stereo camera, an ultrasonic distance meter, a laser sensor, or the like.

The respective information detected by the traveling body position sensor 201, the turning angle sensor 202, the boom lifting angle sensor 203, the boom extension amount sensor 204, the bucket swing angle sensor 205, and the external environment sensor 206 is sent to the main controller 165a of the control unit 165. Sent. The main controller 165a includes a traveling body position measuring section 211, a bucket position measuring section 212, and a ground shape measuring section 213.

The traveling body position measurement unit 211 uses distance information from the end of the traveling rail 4 or the wall of the work chamber 2 to the traveling body 110 detected by the traveling body position sensor 201 and information on whether the traveling rail 4 is within the work chamber 2. The position of the running body 110 in the work room 2 is calculated using the information as to where the running rail is located. Further, the information about where the running rail 4 is installed in the work room 2 is information about the running rail 4 to which the running body 110 is attached, and when the running body 110 is attached. may be set in the traveling object position measuring section 211. Furthermore, by detecting distance information from multiple locations around the traveling body position sensor 201, the two-dimensional position of the traveling body 110 in the ceiling or the position including the direction of the traveling body 110 can be detected. good.

The bucket position measurement unit 212 determines the swing angle including the swing direction and position of the swing frame 121 relative to the traveling frame 111 detected by the swing angle sensor 202 and the undulation of the boom 130 relative to the swing frame 121 detected by the boom undulation angle sensor 203. Using the angle or undulating position, the amount of extension of the boom 130 detected by the boom extension amount sensor 204, and the swing angle or swing position of the bucket 152 relative to the boom 130 detected by the bucket swing angle sensor 205, The position of the bucket 152 with respect to the traveling frame 111 of the traveling body 110 is calculated.

The ground shape measuring section 213 measures the position of the traveling object 110 in the work chamber 2 determined by the traveling object position measuring section 211 and the turning direction and position of the turning frame 121 relative to the traveling frame 111 detected by the turning angle sensor 202. Using the rotation angle to be included, calculate the position of the external sensor 206 provided on the rotating frame 121, the direction in which the external sensor 206 acquires distance information, and the position of the excavated ground from which the external sensor 206 acquires distance information. do.

Next, the material shaft 23 and the earth bucket 31 will be explained using FIG. 4. FIG. 4 is a diagram showing the material shaft. The material shaft 23 includes a material lock 24, a first sensor 90 provided between the material lock 24 and the ground T, and a second sensor 91 provided between the ceiling 2a of the work room 2 and the material lock 24. A third sensor 92 provided on the ceiling 2a of the work room 2 is provided.

The first sensor 90, the second sensor 91, and the third sensor 92 are sensors for detecting the earth bucket 31 that has passed through the material shaft 23. The first sensor 90, the second sensor 91, and the third sensor 92 may be sensors for reading information from the small recording medium 34, for example. The first sensor 90, the second sensor 91, and the third sensor 92 use a non-contact automatic recognition technology that reads information via radio waves from a small recording medium such as a tag or card that has an integrated IC and a small antenna. It may be the sensor used. Further, the first sensor 90, the second sensor 91, and the third sensor 92 may be loop coil sensors. A loop coil sensor is a sensor that can detect metal without contact by detecting the inductance that changes when the metal enters the magnetic field generated by passing a current through a looped coil. Moreover, the first sensor 90, the second sensor 91, and the third sensor 92 may be optical sensors using a laser or the like. Moreover, the first sensor 90, the second sensor 91, and the third sensor 92 are not limited to these, and any sensor that can detect metal without contact may be used.

The first sensor 90 is provided between the material lock 24 and the ground T. Alternatively, the first sensor 90 may be provided, for example, at the entrance 23a of the material shaft 23. Further, the first sensor 90 may be provided, for example, between the loading port 23a of the material shaft 23 and the material lock 24. The second sensor 91 is provided between the ceiling 2a of the work room 2 and the material lock 24. The second sensor 91 may be provided, for example, at the exit of the material lock 24 in the underground G direction. The second sensor 91 may be provided near the lower door 27, which will be described later. The third sensor 92 is provided on the ceiling 2a of the work room 2. The third sensor 92 may be provided between the slab pressures M on the ceiling 2a of the work room 2.

Further, the space between the lifting start point P of the earth bucket 31 and the first sensor 90 is defined as the lock-traverse start point, the space between the first sensor 90 and the second sensor 91 is defined as the material lock upper and lower space, and the second sensor The space between the third sensor 91 and the third sensor 92 is defined as the rock-slab space, and the space between the third sensor 92 and the ground is defined as the slab-slab space. The lengths between rock and traverse start point, between the top and bottom of material lock, and between slab and ground are fixed. Furthermore, the length between the rock and the slab varies due to the process of pneumatic caisson construction.

FIG. 5 is a diagram showing the entrance 23a of the material shaft 23. The material shaft 23 includes a loading port 23a and a ground sensor 93, as shown in FIG. The carry-in port 23a is an inlet provided on the ground for carrying the earth bucket 31 into the material shaft 23.

The ground sensor 93 is a sensor provided on the ground that detects bucket position information and entrance position information indicating the respective positions of the earth bucket 31 and the entrance 23a of the material shaft 23. The ground sensor 93 may be, for example, a LiDAR (Light Detection And Ranging) sensor. Moreover, the ground sensor 93 may be a camera. Further, a plurality of ground sensors 93 may be provided so that the angles at which images are taken of the earth bucket 31 and the entrance 23a of the material shaft 23 are different. A LiDAR (Light Detection And Ranging) sensor is a sensor that irradiates an object with light using near-infrared light, visible light, or ultraviolet light, and measures the distance by capturing the reflected light with an optical sensor.

Further, the carrier device 32 includes an earth bucket 31, a wire 38 for hanging the earth bucket 31, and a reel 39 for controlling the length of the wire 38. The reel 39 controls the length of the wire 38 by winding it up or down in response to a signal sent from the remote control device 12, for example.

The earth bucket 31 includes a chain 36 on the bottom surface and an anchor 37 provided at the tip of the chain 36. Further, the earth bucket 31 includes a temple 40 on the upper surface 31a of the earth bucket 31 and a wire 38 provided on the temple 40, as shown in FIG. 6(a). Further, the connection point between the temple 40 and the earth bucket 31 is defined as a fulcrum A. Further, the connection point between the temple 40 and the wire 38 is defined as a fulcrum B. Further, a point on the wire 38 is defined as a fulcrum C. Further, a range E included in the angle θ from the center point D of the upper surface 31a of the earth bucket 31 to the fulcrum B is defined as a range in which the shovel cannot enter. The angle θ may be any value, but for example, the angle θ is set so that the arc length of the outer circumference of the upper surface 31a of the earth bucket 31 included in the range E is larger than the dimension of the bucket 152. may be done. The range into which the shovel cannot enter indicates the range in which the bucket 152 is prohibited from entering when the caisson shovel 100 performs an operation of loading earth and sand into the earth bucket 31 .

FIG. 7 is a diagram showing the material lock 24. The material lock 24 is provided with an airtight door having a double door structure including an upper door 26 and a lower door 27 for adjusting the difference between the atmospheric pressure on the ground T and the pressure inside the work chamber 2. The material lock 24 may include a material sensor 95 for detecting the earth bucket 31 carried into the material lock 24. Further, the material lock 24 may include two or more material sensors 95 such that the distance b between the material sensors 95 is smaller than the height a of the side surface of the earth bucket 31. The material sensor 95 is a sensor for detecting the earth bucket 31 carried into the material lock 24. The material sensor 95 may be a sensor for reading information from the small recording medium 34, for example. The material sensor 95 may be a sensor that uses a non-contact automatic recognition technology that reads information via radio waves from a small recording medium in the form of a tag or card incorporating an IC and a small antenna. Moreover, the material sensor 95 may be a loop coil sensor. Further, the material sensor 95 may be an optical sensor using a laser or the like. Further, the material sensor 95 is not limited to this, and any sensor capable of detecting metal without contact may be used.

FIG. 8 is a diagram showing the loading of earth and sand into the earth bucket 31. The work room 2 may include a work room sensor 94 for acquiring loading information indicating the loading state of the earth buckets 31, for example. The work room sensor 94 may be, for example, a LiDAR (Light Detection And Ranging) sensor. Further, the work room sensor 94 may be a camera.

FIG. 9 is a diagram showing the wire fixing device 240. The wire fixing device 240 has two or more slide rails 241 that are installed in the opening 23b of the material shaft 23 on the ceiling 2a side of the working room 2, and is installed on the two or more slide rails 241 and extends over the slide rails 241. A movable slide bar 242 is provided. Further, the wire fixing device 240 may be provided at any position on the material shaft 23. The slide rails 241 are, for example, rails provided in a pair on the left and right sides of the ceiling 2a of the work room 2. The two or more slide rails 241 may be provided, for example, so as to surround the opening 23b and be parallel to each other, but this is not a limitation. Two or more slide rails 241 may be provided side by side so as to sandwich the opening 23b. The slide bar 242 is installed over two or more slide rails 241 and is provided so as to straddle the opening 23b. For example, the slide bar 242 travels along the slide rails 241 while being suspended from two or more slide rails 241. A small-diameter circular gear (not shown) provided on the slide bar 242 such as a rack and pinion, and a rack (not shown) provided with gears on a flat bar provided on the slide rail 241 are fitted. The slide bar 242 may be connected to the slide rail 241 by fitting them together. The slide bar 242 may be moved to any position on the slide rail 241 using, for example, a motor (not shown). Further, the slide bar 242 may be attached to the slide rail 241 so that the wire 38 for hanging the earth bucket 31 passing through the opening 23b can be pushed in and fixed.

Embodiments of the present invention will be described below with reference to the drawings. FIG. 10 is a block diagram showing the overall configuration of the earth bucket automatic lifting system 6 to which the present invention is applied. The earth bucket automatic lifting system 6 detects the position of the earth bucket 31 used in the pneumatic caisson construction method. The earth bucket automatic lifting system 6 is detected by the above-mentioned first sensor 90, second sensor 91, third sensor 92, ground sensor 93, work room sensor 94, material sensor 95, and various sensors. The remote control device 12 includes a remote control device 12 that acquires the information, and a configuration such as a reel 39 that controls the wire 38 in accordance with a signal transmitted from the remote control device 12.

The remote control device 12 is composed of, for example, an electronic device such as a personal computer (PC), but in addition to the PC, it can also be any other electronic device such as a mobile phone, a smartphone, a tablet terminal, a wearable terminal, etc. It may be something that is materialized. The remote control device 12 may calculate the position of the earth bucket 31 based on data input from various sensors. The remote control device 12 includes the following functions: an acquisition section 80 , a calculation section 81 connected to the acquisition section 80 , a control section 82 connected to the calculation section 81 , and a presentation section 83 .

The acquisition unit 80 acquires information detected from various sensors. The acquisition unit 80 acquires detection information detected from, for example, a first sensor 90, a second sensor 91, and a third sensor 92. Further, the acquisition unit 80 may acquire load information regarding the load related to the wire 38 measured by the load meter 35. The acquisition unit 80 may acquire, for example, bucket position information and loading port position information indicating the respective positions of the earth bucket 31 and the loading port 23a of the material shaft 23 detected by the ground sensor 93. The acquisition unit 80 may acquire image information and first point cloud data from the work room sensor 94, for example. Further, the acquisition unit 80 may acquire detection information from the material sensor 95. Further, the acquisition unit 80 may acquire various information input by a user who uses the Earth Bucket automatic switching system 6. The acquisition unit 80 outputs various acquired data to the calculation unit 81.

The calculation unit 81 calculates position information indicating the position of the earth bucket 31 based on various information input from the acquisition unit 80 . The calculation unit 81 outputs the calculated position information to the control unit 82.

The control unit 82 controls the reels 39 based on the position information input from the calculation unit 81. The control unit 82 may output a control signal to the reels 39. Further, the control unit 82 may control the caisson shovel 100, the material lock 24, the wire fixing device 240, and other components.

Next, the operation of the earth bucket automatic lifting system 6 to which the present invention is applied will be explained using FIG. 11. FIG. 11A is a flowchart of the operation of carrying the earth bucket 31 into the work room 2 of the earth bucket automatic lifting system 6 to which the present invention is applied. FIG. 11(b) is a flowchart regarding the operation of transporting the earth bucket 31 to the ground T of the earth bucket automatic lifting system 6 to which the present invention is applied. As shown in FIG. 11(a), when carrying the earth bucket 31 into the work room 2, first in step S10, the ground sensor 93 detects the earth bucket 31 located at the starting point P of the lift. The ground sensor 93 detects bucket position information and loading port position information indicating the respective positions of the earth bucket 31 to be transported into the material shaft 23 and the loading port 23a of the material shaft 23. The bucket position information is information indicating the position of the earth bucket 31 on the ground T. The bucket position information may be point cloud data including the earth bucket 31 detected by a LiDAR sensor, for example. Point cloud data is data composed of a point group indicating coordinates in a three-dimensional space. The point cloud data is, for example, data consisting of a point group indicating distance information from the position of the sensor to the acquisition target. The bucket position information may be, for example, an image captured by a camera. The loading port position information is information indicating the position of the loading port 23a of the material shaft 23. The loading port position information may be point cloud data including the loading port 23a detected by a LiDAR sensor, for example. Further, the loading port position information may be an image captured by a camera, for example. In such a case, the loading port position information is calculated based on images taken by a plurality of cameras so that the earth bucket 31 and the loading port 23a of the material shaft 23 are imaged at different angles. It may also be information indicating the position of the mouth 23a in three-dimensional space. The ground sensor 93 transmits the detected information to the acquisition unit 80.

Next, in step S11, the acquisition unit 80 acquires the bucket position information and the entrance position information transmitted from the ground sensor 93. The acquisition unit 80 outputs the acquired bucket position information and entrance position information to the calculation unit 81.

Next, in step S12, the calculation unit 81 determines whether the earth bucket 31 can be carried into the carry-in port 23a based on the bucket position information and the carry-in port position information transmitted from the acquisition unit 80. For example, when the bucket position information is point cloud data including the earth bucket 31, the calculation unit 81 first extracts a point group indicating the earth bucket 31 from the point cloud data. In such a case, a group of points representing the earth bucket 31 is extracted using a mathematical model consisting of a set of coordinates that satisfy an equation representing the side surface of a cylinder in three-dimensional space.

The mathematical model will be explained using FIG. 12. The mathematical model is a model consisting of a set of coordinates that satisfy an equation representing the side surface of a cylinder in three-dimensional space. As shown in FIG. 12, in a three-dimensional space of xyz axes that intersect perpendicularly, a cylinder having a bottom parallel to the xy plane and having the origin as the center of the bottom is defined as a reference cylinder 220. When a three-dimensional space centered on the xyz axes is bit-rotated (y-axis rotation) by an angle θ and then roll-rotated (x-axis rotation) by an angle φ, the x-axis, y-axis, and z-axis change. Let these be the x', y', and z' axes, respectively. Yaw rotation (z-axis rotation) does not change even if the cylinder is rotated, so there is no need to consider it. In a three-dimensional space of perpendicularly intersecting x', y', and z' axes, the base is parallel to the x'y' plane, and further extends in the x, y, and z directions from the origin mentioned above. A generalized cylinder 221 is a cylinder whose bottom surface is centered at a point translated by , Y, and Z.

The mathematical model is a set of coordinates that satisfy the basic equation of the side surface of the reference cylinder 220, such as Equation 1, for example.

r is a constant representing the radius of the earth bucket 31 to be recognized, and h is a constant representing the length of the earth bucket 31 described above in the axial direction.

A point (x', y', z') on the generalized cylinder 221 is expressed as in Equation 2 using a point (x, y, z) on the reference cylinder 220.

Assuming that the points (x', y', z') on this generalized cylinder 221 are coordinate data, the coordinate data is translated in the x direction, y direction, and z direction, the coordinate axes are rotated, and the above-mentioned mathematical model is The position and orientation of the earth bucket 31 in the three-dimensional space are determined by comparing the position and orientation of the earth bucket 31 with the following.

Using the mathematical model expressed by Equation 1 and the points (x _p , y _p , z _p ) as coordinate data, the position and orientation of the earth bucket 31 in three-dimensional space can be determined by following the steps shown in FIG. Recognize. The earth bucket 31 can be recognized by using, for example, Equation 3 which shows the error function, and determining the point X that minimizes the error E when the coordinate data point (x _p , y _p , z _p ) and the mathematical model are superimposed. This is possible by determining five variables: Y, Z, θ, and φ.

As a specific procedure, first, in step S110, five variables, X, Y, Z, θ, and φ are set as temporary variables. Next, in step S111, the error E is calculated using, for example, the above-mentioned temporary variables and Equation 3.

Next, in step S112, based on the error E calculated earlier, the temporary variable is corrected so that the error E becomes smaller. After correcting the temporary variables in step S112, the process returns to step S110, and the error E is calculated in step S111. By repeating the above procedure, a temporary variable that minimizes the error E is calculated. The temporary variables when the error is the smallest may be used as the position and orientation of the earth bucket 31 in the three-dimensional space.

For example, if each error E is calculated as in Equation 4, the smallest error E is the temporary variable corrected for the tth time, so the temporary variable corrected for the tth time is It may also be a position and posture. For example, when the error E is minimized, the temporary variables are
= Y = Z = 2 cm, θ = φ = 5 deg, the earth bucket 31 is located at the center of the bottom surface of the reference cylinder 220 at a position shifted by 2 cm from the reference point in the x direction, y direction, and z direction. From the state, it can be determined that the position and orientation in the three-dimensional space are a 5-deg pitch rotation and a 5-deg roll rotation.

As a method to calculate the minimum error E, for example, as in equation 5, the first temporary variable is
=θ=φ=0 and calculation may be performed using the steepest descent method with error E as the objective function. Further, in Equation 5, as a method for calculating Z, for example, the lowest point of the coordinate data may be set as 0, and Z may be estimated from θ=φ. Further, for example, when θ=0, Z=rcosφ, so Z may be estimated.

Furthermore, since the mathematical model and the earth bucket 31 are cylindrical, yaw rotation can be ignored, thereby reducing the calculation time required for repeated calculations.

In addition, since the ground bucket 31 is suspended from the wire 38, pitch rotation and roll rotation hardly occur, so it is easy to estimate the initial posture, which reduces the calculation time required for repeated calculations. be able to.

Further, since the earth bucket 31 is suspended from the wire 38, it can be inferred that the earth bucket 31 is located directly below the wire 38. Therefore, since it is easy to estimate the initial posture of the X and Y translations, the calculation time required for repeated calculations can be shortened.

For the reasons mentioned above, it is necessary to recognize and accurately estimate the bottom or top surface of the earth bucket only in the Z direction. In this case, by estimating that the point with the highest z coordinate among the coordinate data is the upper surface of the earth bucket 31, the calculation time required for repeated calculations can be shortened.

The calculation methods described above are expected to take time because it is necessary to repeatedly calculate the five degrees of freedom consisting of the five variables X, Y, Z, θ, and φ. , it becomes possible to significantly speed up calculation. Thereby, a point group indicating the earth bucket 31 can be extracted from the point group data.

Further, in step S12, for example, when the loading port position information is point cloud data including the loading port 23a, the calculation unit 81 extracts a point group indicating the loading port 23a from the point cloud data. In such a case, in the same way as extracting the earth bucket 31 from point cloud data, a mathematical model consisting of a set of coordinates that satisfies the equation representing the side surface of a cylinder in three-dimensional space is used to extract the point cloud representing the loading port 23a. Extract.

The xy coordinates of the point group indicating the earth bucket 31 extracted by the method described above and the point group indicating the loading port 23a are compared, and the xy coordinates of the point group indicating the earth bucket 31 are compared with the point group indicating the loading port 23a. If it is included in the xy coordinates of , it is determined that the earth bucket 31 can be carried in.

Further, in step S12, when the bucket position information is a plurality of images including the earth bucket 31, the calculation unit 81 determines the position of the earth bucket 31 from the plurality of images. In such a case, the position of the earth bucket 31 is determined from images taken by cameras installed at different angles to image the earth bucket 31 and the loading port 23a of the material shaft 23, and the position is determined within a preset reference position If so, it is determined that the earth bucket 31 can be carried in.

In step S12, if it is determined that the earth bucket 31 can be carried in, the control unit 82 transmits a control signal to the reel 39 so as to wind the wire 38 down. This makes it possible to automatically and safely transport the earth bucket 31.

Next, in step S13, the first sensor 90 detects the earth bucket 31. The first sensor 90 transmits the detected detection information to the acquisition unit 80. The detection information is information that the earth bucket 31 is detected by any sensor such as the first sensor 90, the second sensor 91, or the third sensor 92. The detection information may include, for example, information about the number of times the earth bucket 31 has passed through the material shaft 23. The detection information may include time information regarding the time when the earth bucket 31 was detected by any one of the first sensor 90, the second sensor 91, or the third sensor 92, for example. As the detection information, for example, identification information for identifying the earth bucket 31 may be recorded. The number of times information may be information on the number of times the earth bucket 31 is detected by any one of the first sensor 90, the second sensor 91, or the third sensor 92, for example. The time information may be, for example, information on the order in which the earth bucket 31 is detected by any one of the first sensor 90, the second sensor 91, or the third sensor 92. The identification information may be, for example, information on an identification number assigned to each earth bucket 31. Further, the identification information may be empty cargo information indicating that the inside of the earth bucket 31 is empty.

Next, in step S14, the earth bucket 31 is carried into the material lock 24. In step S14, the acquisition unit 80 outputs the detection information transmitted in step S13 to the calculation unit 81. The calculation unit 81 calculates position information indicating the position of the earth bucket 31 based on the output detection information. The position information is information indicating the position of the earth bucket 31, and may be information indicating that the earth bucket 31 is on the ground T, for example. Further, the position information may be information indicating that the earth bucket 31 is located between the upper and lower material locks, for example. Further, the position information may be information indicating that the earth bucket 31 is located between a rock and a slab, for example. Further, the position information may be information indicating that the earth bucket 31 is located between the slab and the ground, for example. Further, the position information may be information indicating that the earth bucket 31 is located at any of the first sensor 90, the second sensor 91, or the third sensor 92. The calculation unit 81 outputs the calculated position information to the control unit 82.

The control unit 82 controls the reels 39 based on the position information output from the calculation unit 81. In such a case, if the position information indicates the position of the first sensor 90, the control unit 82 controls the reel 39 to reel down by a preset length. Further, the control unit 82 may control the reels 39 based on the position information output from the calculation unit 81 and progress information indicating the progress status of the earth bucket 31. The progress information is information indicating the target position of the earth bucket 31, for example. The target position is, for example, the ground T or the work room 2. When the progress information indicates that the work chamber 2 is at the target position and the position information indicates that the first sensor 90 is located, the control unit 82 causes the reel 39 to be reeled down by a preset length. control. The control unit 82 may obtain, for example, progress information input by a user who uses the Earth Bucket automatic switching system 6. Step S14 makes it possible to automatically transport the earth bucket 31 to a specific position of the material lock 24.

Further, the control unit 82 may control the reels 39 based on material lock information regarding the state of the material lock 24. The material lock information is information regarding the atmospheric pressure inside the material lock 24, for example. The material lock information relates to, for example, the open/close states of the upper door 26 and the lower door 27. If material lock information indicating that the upper door 26 is open and the lower door 27 is closed is output, the control unit 82 controls the reel to carry the earth bucket 31 into the material lock 24. good. Further, the control unit 82 may acquire material lock information from information detected by, for example, a sensor (not shown) provided in the material lock 24, a camera, a barometer that measures the atmospheric pressure inside the material lock 24, or the like. The control unit 82 may acquire material lock information from information on atmospheric pressure detected by a barometer (not shown) provided in the material lock 24, for example. Further, the control unit 82 may acquire material lock information from information on the upper door 26 and the lower door 2 detected by a camera or sensor (not shown) provided on the material lock 24, for example. The control unit 82 determines whether the upper door 26 and the lower door 2 are fully open or fully closed based on information detected by a distance sensor (not shown) provided in a drive mechanism (not shown) of the upper door 26 and lower door 2 of the material lock 24, for example. You may also obtain material lock information that indicates the material lock. This makes it possible to automatically perform appropriate operations depending on the state of the material lock.

The control unit 82 may also calculate position information indicating the position of the earth bucket based on the detection information, and control opening/closing of the upper door 26 or the lower door 27 of the material lock 24 based on the position information. . Further, the control unit 82 controls the reel 39 and the material lock 24 in order to carry the earth bucket 31 into and out of the material lock 24 based on the material lock information and the detection information that the earth bucket 31 is detected by the material sensor 95. May be controlled. In this case, as shown in FIG. 14, for example, the control unit 82 first opens the upper door 26 in step S41 if the upper door 26 is closed based on the material lock information. In such a case, the control unit 82 may control the upper door 26 to be opened when the lower door 27 is closed.

Next, in step S42, the control unit 82 lowers the reel 39 and carries the earth bucket 31 into the material lock 24. Further, in step S42, if the material sensor 95 is not provided in the material lock 24, the control unit 82 may wind down the reel 39 by a preset constant length.

Next, in step S43, the acquisition unit 80 acquires detection information that the material sensor 95 has detected the earth bucket 31, and the calculation unit 81 calculates position information based on the detection information acquired by the acquisition unit 80, The control unit 82 controls the reel 39 to stop its operation based on the calculated position information. In such a case, if two or more material sensors 95 are provided, the control unit 82 may control the reel 39 to be wound down until two or more material sensors 95 detect the earth bucket 31 at the same time. This makes it possible to automatically stop the earth bucket 31 at a specific position within the material lock 24.

Next, in step S44, the acquisition unit 80 acquires detection information that the material sensor 95 has detected the earth bucket 31, and the calculation unit 81 calculates position information based on the detection information acquired by the acquisition unit 80. The control unit 82 may control opening and closing of the upper door 26 or the lower door 27 of the material lock 24 based on the calculated position information. In such a case, for example, the acquisition unit 80 acquires detection information indicating that the material sensor 95 has detected the earth bucket 31, and the calculation unit 81 calculates whether the earth bucket 31 is detected based on the detection information acquired by the acquisition unit 80. The control unit 82 may calculate positional information indicating that the upper door 26 is within the material lock 24, and control the upper door 26 to close based on the positional information calculated by the calculation unit 81. Further, at this time, the acquisition unit 80 may acquire material lock information indicating that the upper door 26 is closed based on a control signal sent from the control unit 82 to the material lock 24. This makes it possible to calculate the position of the earth bucket 31 within the material lock 24. Further, depending on the position of the earth bucket 31, it is possible to appropriately control the opening and closing of the door of the material lock 24 automatically.

Further, in step S44, the acquisition unit 80 acquires the detection information of each of the earth buckets 31 detected by the two or more material sensors 95, and the calculation unit 81 calculates, based on the respective detection information acquired by the acquisition unit 80, The position information may be calculated, and the control unit 82 may control opening and closing of the upper door 26 or the lower door 27 of the material lock 24 based on the calculated position information. In such a case, for example, the acquisition unit 80 acquires respective detection information indicating that two or more material sensors 95 have detected the earth bucket 31, and the calculation unit 81 acquires each detection information acquired by the acquisition unit 80. Based on the position information, the control unit 82 calculates position information indicating that the earth bucket 31 is at a position detected by two or more material sensors 95 in the material lock 24. Then, the upper door 26 may be controlled to close. This makes it possible to calculate the position of the earth bucket 31 within the material lock 24 with higher accuracy.

Further, in step S44, the two or more material sensors 95 acquire detection information for each of the earth buckets 31, and the calculation unit 81 calculates the position information and the earth bucket based on the detection information acquired by the acquisition unit 80. 31 passes through the material lock 24, and the control unit 82 controls the opening/closing of the upper door 26 or the lower door 27 of the material lock 24 based on the calculated position information and the passage direction information. You may. The passing direction information is information indicating the direction in which the earth bucket 31 passes, and is information indicating, for example, that the passing direction of the earth bucket 31 is the direction of the work room 2 or the direction of the ground T. In such a case, for example, the acquisition unit 80 acquires respective detection information indicating that two or more material sensors 95 have detected the earth bucket 31, and the calculation unit 81 acquires each detection information acquired by the acquisition unit 80. Based on the time at which the earth bucket 31 was detected, the order in which two or more material sensors 95 detected the earth bucket 31 is calculated, and from the calculated order, it is determined that the direction in which the earth bucket 31 passes is in the direction of the work room 2. Calculate the passing direction information shown. The control unit 82 may acquire material lock information from information on atmospheric pressure detected by a barometer (not shown) provided in the material lock 24, for example. Further, the control unit 82 may acquire material lock information from information on the upper door 26 and the lower door 2 detected by a camera or sensor (not shown) provided on the material lock 24, for example. The control unit 82 determines whether the upper door 26 and the lower door 2 are fully open or fully closed based on information detected by a distance sensor (not shown) provided in a drive mechanism (not shown) of the upper door 26 and lower door 2 of the material lock 24, for example. You may also obtain material lock information that indicates the material lock. The control unit 82 controls the material lock 24 to close the upper door 26 based on the position information and the passing direction information. Thereby, it becomes possible to automatically calculate the passing direction of the earth bucket 31, and thus it becomes possible to automatically perform appropriate control according to the passing direction.

Further, in step S<b>44 , the control unit 82 closes the upper door 26 and controls the atmospheric pressure of the material lock 24 so that the atmospheric pressure inside the material lock 24 becomes the working atmospheric pressure that is the atmospheric pressure inside the work chamber 2 . In such a case, the control unit 82 receives detection information indicating that the material sensor 95 has detected the earth bucket 31 and material lock information indicating that the upper door 26 and the lower door 27 are closed. , the air pressure inside the material lock 24 may be controlled. Further, at this time, the acquisition unit 80 may acquire material lock information indicating that the air pressure inside the material lock 24 is the working air pressure based on a control signal sent from the control unit 82 to the material lock 24.

Next, in step S45, the control unit 82 controls the material lock 24 to open the lower door 27. In such a case, the control unit 82 may control the material lock 24 to open the lower door 27 when material lock information indicating that the upper door 26 and the lower door 27 are closed is input. Further, in step S45, the control unit 82 causes the lower door 27 to be opened based on the material lock information indicating that the air pressure inside the material lock 24 is the working air pressure, and the passage direction information calculated in step S44. may be controlled.

Next, in step S46, the control unit 82 controls the reel 39 to carry out the earth bucket 31 from the material lock 24. By performing steps S41 to S46 described above, the operation of carrying the earth bucket 31 into and out of the material lock 24 is completed. This makes it possible to automatically carry the earth bucket 31 into and out of the material lock 24.

Next, in step S15, the second sensor 91 detects the earth bucket 31. In step S46, after the earth bucket 31 carried out from the material lock 24 adjusts the pressure inside the material lock 24, the reel 39 is wound down and reaches the position of the second sensor 91. detects the earth bucket 31. The second sensor 91 transmits the detected detection information to the acquisition unit 80.

Next, in step S16, the acquisition unit 80 outputs the detection information transmitted in step S15 to the calculation unit 81. The calculation unit 81 calculates position information based on the output detection information. The calculation unit 81 outputs the calculated position information to the control unit 82.

The control unit 82 controls the reels 39 based on the position information output from the calculation unit 81. In such a case, if the position information indicates the position of the second sensor 91, the control unit 82 controls the reel 39 to wind down the wire 38 until the third sensor 92 detects the earth bucket 31. . Further, the control unit 82 may control the reels 39 based on the position information and progress information output from the calculation unit 81. If the progress information indicates that the work chamber 2 is at the target position and the position information indicates that the second sensor 91 is at the position, the control unit 82 controls the progress until the third sensor 92 detects the earth bucket 31. , controls the reel 39 to wind down the wire 38.

Next, in step S17, landing control of the earth bucket 31 is performed. In such a case, the third sensor 93 first detects the ground bucket 31 that has been lowered in step S16. The third sensor 93 transmits the detected detection information to the acquisition section 80, and the acquisition section 80 outputs the output detection information to the calculation section 81. The calculation unit 81 calculates position information based on the output detection information. The calculation unit 81 outputs the calculated position information to the control unit 82. The control unit 82 controls the reels 39 based on the position information output from the calculation unit 81. In such a case, if the position information indicates the position of the third sensor 92, the control unit 82 controls the reel 39 to wind down the wire 38 by a preset length. Further, the control unit 82 may control the reels 39 based on the position information and progress information output from the calculation unit 81. When the progress information indicates that the work chamber 2 is at the target position and the position information indicates that the third sensor 92 is at the position, the control unit 82 causes the wire 38 to be wound down by a preset length. The reel 39 is controlled to.

Further, the control unit 82 may control the reel 39 based on the load information and position information transmitted from the load meter 35. When the position information indicates the position of the third sensor 92, the control unit 82 controls the reel 39 to wind down the wire 38 until the load on the wire 38 indicated by the load information becomes equal to or less than the threshold value. good. Further, the control unit 82 may control the reel 39 based on the load information transmitted from the load meter 35. For example, when the load indicated by the load information transmitted from the load cell 35 is below a reference value, the control unit 82 winds up the wire 38 by a preset length and then winds the reel 39 again. May be controlled. Thereby, even if the earth bucket 31 gets caught during lowering, it is possible to automatically and appropriately deal with the problem.

Furthermore, when the position information indicates the position of the third sensor 92, the control unit 82 may reduce the speed at which the wire 38 is wound down by the reel 39.

Further, the control unit 82 may control the wire fixing device 240 in step S17. In this case, for example, the control unit 82 may cause the slide bar 242 to travel in the direction S1 to fix the wire 38 at the opening 23b of the material shaft 23, as shown in FIG. 16(a). Further, the control unit 82 may control the slide bar 242 based on the detection information detected in step S16. In such a case, for example, if detection information indicating that the third sensor 92 has detected the earth bucket 31 detected in step S16 is obtained, the slide bar 242 may be controlled in the direction S1. This makes it possible to tilt the temples 40 of the earth bucket 31 in a specific direction. Therefore, since it is possible to bias the temple 40 and the wire 38 in a specific direction, collision between the caisson shovel 100 and the wire 38 is avoided when the caisson shovel 100 loads earth and sand into the earth bucket 31. It becomes possible to prevent this.

By performing each of the steps described above, the operation of carrying the earth bucket 31 into the work room 2 is completed. Thereby, it becomes possible to automatically and safely carry the earth bucket 31 into the work room 2.

Next, the operation of loading earth and sand into the earth bucket 31 will be explained. The earth bucket automatic lifting system 6 may generate trajectory information indicating the trajectory of the caisson shovel 100 loading earth and sand into the earth bucket 31, as shown in FIG. In this case, first, in step S30, the work room sensor 94 detects first point group data in the work room 2 including the earth bucket 31. The first point group data is data consisting of a point group in the work room 2 including the earth bucket. The work room sensor 94 transmits the first point cloud data to the acquisition unit 80 .

Next, in step S31, the acquisition unit 80 acquires first point cloud data. The acquisition unit 80 outputs the transmitted first point cloud data to the calculation unit 81.

Next, in step S32, the calculation unit 81 extracts second point cloud data indicating the earth bucket 31 in the work room 2 from the output first point cloud data. The second point group data is data consisting of a point group indicating the earth bucket 31. Further, the calculation unit 81 may calculate the position of the earth bucket 31 from the second point group data.

Next, in step S33, the calculation unit 81 extracts third point group data indicating the wire 38 provided in the earth bucket 31. The third point group data is data consisting of a point group indicating the wire 38. In such a case, the calculation unit 81 may use the point group on the straight line in the first point group data extracted in step S31 as the third point group data. Further, the calculation unit 81 may use a group of points on a straight line at a distance within a threshold value from the earth bucket 31 indicated by the second point group data extracted in step S32 as the third point group data. Alternatively, a point group whose difference from the estimated straight line 230 shown in FIG. 6(b) is equal to or less than a threshold value may be used as third point group data. The estimated straight line 230 is a model consisting of a set of coordinates that satisfy an equation indicating a straight line in three-dimensional space.

Further, in step S33, the calculation unit 81 extracts fourth point cloud data indicating the vine 40 of the earth bucket 31 based on the second point cloud data extracted in step S32, and adds the extracted fourth point cloud data to Based on this, third point cloud data may be extracted. In such a case, the calculation unit 81 may extract point group data that matches or approximates the model of the matching shape 231 set in advance from the second point group data as the fourth point group data. The model of the matching shape 231 is a model consisting of a set of coordinates that satisfy an equation representing the vine 40 in a three-dimensional space. In such a case, point cloud data may be extracted using, for example, RANSAC (Random Sample Consensus).

In step S33, third point group data may be extracted based on the extracted fourth point group data. In such a case, point group data that satisfies the estimated straight line 230 adjacent to the fourth point group data may be extracted as the third point group data. Also, from each point cloud data, it is possible to extract the contact point between the upper surface 31a of the earth bucket 31 and the temple 40 as the fulcrum A, the contact point between the temple 40 and the wire 38 as the fulcrum B, and the upper end of the wire 38 as the fulcrum C. good.

Next, in step S34, loading information indicating the loading state of the earth bucket 31 is calculated based on the first point group data acquired in step S31 and the second point group data extracted in step S32. The calculation unit 81 extracts point cloud data indicating the load loaded inside the earth bucket 31 by deleting the extracted second point cloud data from the first point cloud data, and calculates the extracted load. Loading information indicating the loading amount may be acquired based on point cloud data indicating the loading amount. The loading information is information indicating the loading state of the earth bucket 31, and may be information indicating the amount of earth and sand loaded inside the earth bucket 31, for example.

Next, in step S35, it is determined whether earth and sand can be loaded into the earth bucket 31 based on the loading information calculated in step S34. In such a case, the calculation unit 81 determines that loading is possible when the amount or height of earth and sand indicated by the loading information is less than the reference value, and determines that loading is not possible when it is greater than or equal to the reference value.

Next, in step S36, wire position information indicating the position of the wire is calculated based on the third point group data extracted in step S33. The wire position information is information indicating the position of the wire 38 in three-dimensional space. Further, the wire position information may be information indicating the relative position of the wire 38 with respect to the earth bucket 31. Further, the wire position information may be information indicating whether the wire 38 is on the side of the direction x from the fulcrum A or on the opposite side of the direction x, as shown in FIG. 6(b). Further, in step S36, the presenting unit 83 may present each piece of information such as wire position information to the user.

Next, in step S37, direction information indicating a direction in which the caisson shovel 100 in the work room 2 can load earth and sand into the earth bucket 31 is calculated based on the third point group data. The direction information may be information indicating that the caisson shovel 100 can load earth and sand into the earth bucket 31 from the direction x, for example, as shown in FIG. 6(b). In such a case, for example, the calculation unit 81 may calculate wire position information based on the third point group data, and may calculate direction information based on the calculated wire position information. For example, when the wire position information indicates that the wire 38 is on the side of the direction x from the fulcrum A, the calculation unit 81 may calculate direction information indicating that the wire can be loaded in the direction x. Further, in step S37, the presenting unit 83 may present various pieces of information such as direction information to the user. This makes it possible to automatically load earth and sand into the earth bucket 31 without bringing the wire 38 into contact with the caisson shovel 100.

Next, in step S38, trajectory information indicating the trajectory of the caisson shovel 100 loading earth and sand into the earth bucket 31 is generated based on the direction information calculated in step S37. The trajectory information may be information indicating the trajectory of the bucket 152 of the caisson shovel 100, for example. Further, the trajectory information may be information indicating the operation of each component of the caisson excavator 100, such as the traveling body 110, the boom 130, and the bucket attachment 150. The calculation unit 81 generates trajectory information such that the caisson shovel 100 loads earth and sand into the earth bucket 31 from a direction indicated by the direction information in which the caisson shovel 100 can load earth and sand onto the earth bucket 31 .

Through steps S30 to S38 described above, the operation of loading earth and sand into the earth bucket 31 is completed. This makes it possible to automatically load earth and sand into the earth bucket 31.

Next, the operation of transporting the earth bucket 31 to the ground T will be explained. As shown in FIG. 11(b), first in step S20, the work chamber sensor 94 detects the earth bucket 31. The work room sensor 94 acquires first point group data within the work room 2 . The work room sensor 94 transmits the acquired first point cloud data to the acquisition unit 80 .

Next, in step S21, the acquisition unit 80 outputs the transmitted first point cloud data to the calculation unit 81. The calculation unit 81 extracts second point cloud data indicating the earth bucket 31 in the work room 2 from the output first point cloud data. In such a case, the calculation unit 81 may extract the second point group data indicating the earth bucket 31 using the above-described mathematical model. The calculation unit 81 calculates loading information indicating the loading state of the earth bucket 31 based on the first point group data and the second point group data. The calculation unit 81 may output the calculated loading information to the control unit 82.

Next, in step S22, the control unit 82 controls the reel 39 to wind up the wire to the position of the third sensor 93. The control unit 82 controls the reel 39 to wind up the wire 38 based on the loading information calculated in step S21 or step S34, for example. In such a case, the control unit 82 may control the reel 39 to wind up the wire 38 if the loading amount of earth and sand indicated by the loading information is greater than or equal to the reference value. This makes it possible to automatically appropriately determine and start the work of carrying out the earth bucket 31.

Further, in step S22, when a control signal for winding up the wire is input, the control unit 82 may control the reel 39 to wind up the wire 38. In such a case, the control signal may be input by the user.

Further, in step S22, the control unit 82 may control the wire fixing device 240 if it has been controlling the wire fixing device 240 in step S17. In such a case, for example, the control unit 82 may control the slide bar 242 to move in the direction S2 and to center the wire 38 in the opening 23b, as shown in FIG. 16(b). Further, in step S22, when a control signal for winding up the wire is input, the control unit 82 causes the slide bar 242 to travel in the direction S2, and controls the wire 38 to be centered in the opening 23b. Good too. Further, in step S22, if the loading amount of earth and sand indicated by the loading information is greater than or equal to the reference value, the control unit 82 causes the slide bar 242 to travel in the direction of S2, and moves the wire 38 to the center of the opening 23b. May be controlled.

Next, in step S23, the control unit 82 controls the reel 39 to wind up the wire 38 until the second sensor 91 detects the earth bucket 31. In step S23, the control unit 82 controls the reels 39 based on the position information output from the calculation unit 81. In such a case, if the position information indicates the position of the third sensor 92, the control unit 82 controls the reel 39 to wind up the wire 38 until the second sensor 91 detects the earth bucket 31. Further, the control unit 82 may control the reels 39 based on the position information and progress information output from the calculation unit 81. When the progress information indicates that the ground T is the destination position and the position information indicates that the third sensor 92 is located, the control unit 82 continues until the second sensor 91 detects the earth bucket 31. The reel 39 is controlled to wind up the wire 38. Further, the control unit 82 may control the reel 39 based on the load information transmitted from the load meter 35. For example, when the load indicated by the load information transmitted from the load cell 35 exceeds a reference value, the control unit 82 lowers the wire 38 by a preset length and then controls the reel 39 to wind it up again. May be controlled. Thereby, even if the earth bucket 31 gets caught during hoisting, it is possible to automatically and appropriately deal with the problem.

Next, in step S24, the earth bucket 31 is carried into the material lock 24. In step S24, the acquisition unit 80 outputs the detection information transmitted in step S23 to the calculation unit 81. The calculation unit 81 calculates position information indicating the position of the earth bucket 31 based on the output detection information. The calculation unit 81 outputs the calculated position information to the control unit 82.

The control unit 82 controls the reels 39 based on the position information output from the calculation unit 81. In such a case, if the position information indicates the position of the second sensor 91, the control unit 82 controls the reel 39 to wind up a preset length. Further, the control unit 82 may control the reels 39 based on the position information and progress information output from the calculation unit 81. When the progress information indicates that the ground T is the target position and the position information indicates that the second sensor 91 is located, the control unit 82 controls the reel 39 to reel by a preset length. do. Step S24 makes it possible to automatically transport the earth bucket 31 to a specific position of the material lock 24.

Further, the control unit 82 may control the reels 39 based on the material lock information. If material lock information indicating that the upper door 26 is closed and the lower door 27 is open is output, the control unit 82 controls the reel to carry the earth bucket 31 into the material lock 24. good. This makes it possible to automatically perform appropriate operations depending on the state of the material lock.

Further, the control unit 82 controls the reel 39 and the material lock 24 in order to carry the earth bucket 31 into and out of the material lock 24 based on the material lock information and the detection information that the earth bucket 31 is detected by the material sensor 95. May be controlled. In this case, as shown in FIG. 17, for example, the control unit 82 first opens the lower door 27 in step S51 if the lower door 27 is closed based on the material lock information. In such a case, the control unit 82 may control the lower door 27 to be opened when the upper door 26 is closed.

Next, in step S52, the control unit 82 winds up the reel 39 and carries the earth bucket 31 into the material lock 24. Further, in step S52, if the material sensor 95 is not provided in the material lock 24, the control unit 82 may wind up the reel 39 by a preset constant length.

Next, in step S53, the acquisition unit 80 acquires detection information that the material sensor 95 has detected the earth bucket 31, and the calculation unit 81 calculates position information based on the detection information acquired by the acquisition unit 80, The control unit 82 controls the reel 39 to stop its operation based on the calculated position information. In such a case, if two or more material sensors 95 are provided, the control unit 82 may control the reel 39 to be wound up until the two or more material sensors 95 simultaneously detect the earth bucket 31. This makes it possible to automatically stop the earth bucket 31 at a specific position within the material lock 24.

Next, in step S54, the acquisition unit 80 acquires detection information that the material sensor 95 has detected the earth bucket 31, and the calculation unit 81 calculates position information based on the detection information acquired by the acquisition unit 80. The control unit 82 may control opening and closing of the upper door 26 or the lower door 27 of the material lock 24 based on the calculated position information. In such a case, for example, the acquisition unit 80 acquires detection information indicating that the material sensor 95 has detected the earth bucket 31, and the calculation unit 81 calculates whether the earth bucket 31 is detected based on the detection information acquired by the acquisition unit 80. The controller 82 may calculate position information indicating that the lower door 27 is inside the material lock 24, and control the lower door 27 to close based on the position information calculated by the calculation unit 81. Further, at this time, the acquisition unit 80 may acquire material lock information indicating that the lower door 27 is closed based on a control signal sent from the control unit 82 to the material lock 24. This makes it possible to calculate the position of the earth bucket 31 within the material lock 24. Further, depending on the position of the earth bucket 31, it is possible to appropriately control the opening and closing of the door of the material lock 24 automatically.

Further, in step S54, the acquisition unit 80 acquires the detection information of each of the earth buckets 31 detected by the two or more material sensors 95, and the calculation unit 81 calculates, based on the respective detection information acquired by the acquisition unit 80, The position information may be calculated, and the control unit 82 may control opening and closing of the upper door 26 or the lower door 27 of the material lock 24 based on the calculated position information. In such a case, for example, the acquisition unit 80 acquires respective detection information indicating that two or more material sensors 95 have detected the earth bucket 31, and the calculation unit 81 acquires each detection information acquired by the acquisition unit 80. Based on the position information, the control unit 82 calculates position information indicating that the earth bucket 31 is at a position detected by two or more material sensors 95 in the material lock 24. Then, the lower door 27 may be controlled to close. This makes it possible to calculate the position of the earth bucket 31 within the material lock 24 with higher accuracy. Further, in step S54, the two or more material sensors 95 acquire detection information for each of the earth buckets 31, and the calculation unit 81 calculates the position information and the earth bucket based on the detection information acquired by the acquisition unit 80. 31 passes through the material lock 24, and the control unit 82 controls the opening/closing of the upper door 26 or the lower door 27 of the material lock 24 based on the calculated position information and the passage direction information. You may. In such a case, for example, the acquisition unit 80 acquires respective detection information indicating that two or more material sensors 95 have detected the earth bucket 31, and the calculation unit 81 acquires each detection information acquired by the acquisition unit 80. The order in which two or more material sensors 95 detected the earth bucket 31 is calculated based on the time at which the earth bucket 31 was detected, and the calculated order indicates that the direction in which the earth bucket 31 passes is the T direction above the ground. Calculate passing direction information. The control unit 82 controls the material lock 24 to close the lower door 27 based on the position information and the passing direction information. Thereby, it becomes possible to automatically calculate the passing direction of the earth bucket 31, and thus it becomes possible to automatically perform appropriate control according to the passing direction.

Further, in step S54, the control unit 82 closes the lower door 27 and controls the atmospheric pressure of the material lock 24 so that the atmospheric pressure inside the material lock 24 becomes the working atmospheric pressure, which is the atmospheric pressure inside the work chamber 2. In such a case, the control unit 82 receives detection information indicating that the material sensor 95 has detected the earth bucket 31 and material lock information indicating that the upper door 26 and the lower door 27 are closed. , the air pressure inside the material lock 24 may be controlled. Further, at this time, the acquisition unit 80 may acquire material lock information indicating that the pressure inside the material lock 24 is atmospheric pressure based on a control signal sent from the control unit 82 to the material lock 24.

Next, in step S45, the control unit 82 controls the material lock 24 to open the upper door 26. In such a case, the control unit 82 may control the material lock 24 to open the upper door 26 when material lock information indicating that the upper door 26 and the lower door 27 are closed is input. Further, in step S45, the control unit 82 causes the upper door 26 to open based on the material lock information indicating that the pressure inside the material lock 24 is atmospheric pressure and the passage direction information calculated in step S44. may be controlled.

By performing steps S51 to S56 described above, the operation of carrying the earth bucket 31 into and out of the material lock 24 is completed. This makes it possible to automatically carry the earth bucket 31 into and out of the material lock 24.

Next, in step S25, the first sensor 90 detects the earth bucket 31. When the earth bucket 31 carried out to the material lock 24 reaches the position of the first sensor 90 in step S56, the first sensor 90 detects the earth bucket 31. The first sensor 90 transmits the detected detection information to the acquisition unit 80. The acquisition unit 80 outputs the transmitted detection information to the calculation unit 81. The calculation unit 81 calculates position information based on the output detection information. The calculation unit 81 outputs the calculated position information to the control unit 82.

Next, in step S26, the earth bucket 31 is carried out from the material shaft 23. In step S26, the control unit 82 controls the reels 39 based on the position information output from the calculation unit 81 in step S25. In such a case, if the position information indicates the position of the first sensor 90, the control unit 82 controls the reel 39 to wind up the wire 38 by a preset length. Further, the control unit 82 may control the reels 39 based on the position information and progress information output from the calculation unit 81. When the progress information indicates that the ground T is the target position and the position information indicates that the first sensor 90 is located, the control unit 82 causes the wire 38 to be wound up by a preset length. Controls the reel 39.

By performing each of the steps described above, the operation of transporting the earth bucket 31 to the ground T is completed. This makes it possible to automatically and safely transport the earth bucket 31 to the ground T.

Although an embodiment of the invention has been described, this embodiment is presented by way of example and is not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and changes can be made without departing from the gist of the invention. These embodiments and their modifications are included within the scope and gist of the invention, as well as within the scope of the invention described in the claims and its equivalents.

1 Caisson 2 Working room 3 Air supply path 4 Running rail 5 Crawler crane 6 Earth bucket automatic lifting system 11 Automatic earth and sand loading device 12 Remote control device 13 Ground remote control room 21 Manshaft 22 Manlock 23 Material shaft 24 Material lock 25 Spiral staircase 26 Upper door 27 Lower door 31 Earth bucket 32 Carrier device 33 Earth and sand hopper 34 Small recording medium 35 Load cell 36 Chain 37 Anchor 38 Wire 39 Reel 41 Air supply pipe 42 Air compressor 43 Air purifier 44 Air supply pressure adjustment device 45 Automatic pressure reduction device 51 Emergency air compressor 53 Hospital lock 80 Acquisition unit 81 Calculation unit 82 Control unit 83 Presentation unit 90 First sensor 91 Second sensor 92 Third sensor 93 Ground sensor 94 Work room sensor 95 Material sensor 100 Caisson shovel 110 Traveling body 111 Traveling frame 113 Traveling roller 121 Swivel frame 130 Boom 131 Base end boom 132 Tip boom 133 Telescopic cylinder 134 Luffing cylinder 150 Bucket attachment 151 Base member 152 Bucket 153 Bucket cylinder 165 Control unit 165a Main controller 165b Traveling body controller 165c Boom - Bucket controller 201 Traveling body position sensor 202 Rotation angle sensor 203 Boom heave angle sensor 204 Boom extension amount sensor 205 Bucket swing angle sensor 206 External world sensor 211 Traveling body position measurement section 212 Bucket position measurement section 213 Ground shape measurement section 220 Standard Cylinder 221 Generalized cylinder 230 Estimated straight line 231 Matching shape 240 Wire fixing device 241 Slide rail 242 Slide bar

Claims (11)

Acquisition means for acquiring first point cloud data indicating distance information from the position of the point cloud sensor in the work chamber of the pneumatic caisson to the acquisition target;
and a second extraction means for extracting third point cloud data indicating a wire provided in an earth bucket in the work chamber based on the first point cloud data extracted by the acquisition means. Caisson point cloud extraction system. Acquisition means for acquiring first point cloud data indicating distance information from the position of the point cloud sensor in the work chamber of the pneumatic caisson to the acquisition target;
a first extraction means for extracting second point cloud data indicating an earth bucket located in the work chamber based on the first point cloud data acquired by the acquisition means;
A caisson point characterized by comprising: a second extracting means for extracting third point group data indicating a wire provided in the earth bucket based on the second point group data extracted by the first extracting means. Group sampling system. Acquisition means for acquiring first point cloud data indicating distance information from the position of the point cloud sensor in the work chamber of the pneumatic caisson to the acquisition target;
a first extraction means for extracting second point cloud data indicating an earth bucket in the work chamber based on the first point cloud data acquired by the acquisition means; and a second point extracted by the first extraction means. a third extraction means for extracting fourth point group data indicating a vine provided on the upper surface of the earth bucket based on the group data; A caisson point cloud extraction system comprising: second extraction means for extracting third point cloud data indicating wires installed in the earth bucket. The caisson point group extraction according to claim 1, further comprising calculation means for calculating wire position information indicating the position of the wire based on the third point group data extracted by the second extraction means. system. The method further comprises calculation means for calculating direction information indicating a direction in which the caisson shovel in the work room can load earth and sand into the earth bucket based on the third point cloud data extracted by the second extraction means. The caisson point group extraction system according to claim 1. The caisson point group extraction system according to claim 5, further comprising presentation means for presenting the direction information calculated by the calculation means. The caisson according to claim 5, further comprising a generating means for generating trajectory information indicating a trajectory of the caisson shovel loading earth and sand into the earth bucket based on the direction information calculated by the calculating means. Point cloud extraction system. The caisson point group extraction system according to claim 2 , further comprising calculation means for calculating the position of the earth bucket based on the second point group data extracted by the first extraction means. Acquisition means for acquiring first point cloud data indicating distance information from the position of the point cloud sensor in the work chamber of the pneumatic caisson to the acquisition target;
a first extraction means for extracting second point cloud data indicating an earth bucket located in the work chamber based on the first point cloud data acquired by the acquisition means;
Calculation means for calculating loading information indicating the loading state of the earth bucket based on the difference between the first point cloud data acquired by the acquisition means and the second point cloud data extracted by the first extraction means. A caisson point cloud extraction system comprising: The caisson point group extraction system according to claim 9, further comprising determining means for determining whether earth and sand can be loaded into the earth bucket based on the loading information calculated by the calculating means. an acquisition step of acquiring first point cloud data indicating distance information from the position of the point cloud sensor in the work room of the pneumatic caisson to the acquisition target;
and a second extraction step of extracting third point cloud data indicating a wire provided in an earth bucket in the work chamber based on the first point cloud data extracted in the acquisition step. A featured caisson point cloud extraction program.

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