JPH01178698A - Measurer for vertical position of excavator - Google Patents

Abstract

PURPOSE:To calculate vertical positions of an excavator with high accuracy in real time by a method in which a liquid in a reference tank set on a reference point is introduced through a closed circuit conduit pipeline to measuring points and the liquid pressures at the reference points end measuring points are detected. CONSTITUTION:A reference tank 1 filled with a liquid is set on a reference point B away from a measuring point A near an excavator M, and the liquid is introduced so as to reciprocally circulate it between measuring points A through a pair of closed circuit type conduit pipelines 5 and 6 by a pump 4. The reference point B and the measuring point A are provided with a liquid pressure (at reference point) sensor 3 and a liquid pressure (at measuring point) sensor 7, respectively. The detected values of both the sensors 3 and 7 are put in an arithmetic display device where the vertical positions at the measuring points are calculated and displayed. Exact measurements can thus be attained regardless of distances to measuring points, curves, obstructions, etc.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a device for measuring the vertical position of an excavator in tunnel excavation.

(Prior art) Tunnel excavation is carried out, for example, for water supply and sewage pipes, urban waste pipes,
Implemented in the field of underground railways, it is broadly divided into shield construction method and excavation construction method. In general, the excavation diameter is 1
If it is as large as 500111+1 to 600Illffl, the shield method is used, and the excavation distance is, for example, 800m to 1500tn, and the excavation gradient is, for example, 1,
2/1000, - day's digging distance is 711 or 1, for example.
It is 0m.

As shown in Fig. 7, the excavation shall be carried out by an excavator at the tip, that is, the shield machine M, or the execution accuracy shall be within at least plus or minus 501'I1 m with respect to the determined vertical and horizontal planned lines. required. especially,
In the case of sewer pipes, sewage flows by gravity, so vertical construction accuracy is important.

In the figure, 01 is a screw conveyor, C2 is a belt conveyor, Dl is a first rear truck, and the operation control panel D1a,
A power panel D1b is provided. D2 is a second rear truck, and is provided with power units D2a. D
3 is a sludge material injection cart, and is provided with sludge material injection equipment D3a. T is the segment, ■ is the starting shaft, and G is the ground surface.

Then, at the excavation site, it is checked whether the current excavated position matches the planned line or not, and if the deviation is large, it is corrected by operating the excavator and checked again.

The following method is known as a means for measuring this current position.

(1) Secondary method by surveyors, that is, two or three surveyors use known surveying equipment to
This method is performed 1 to 3 times per day and has the highest accuracy. However, with this method, the current position of the excavator M can be measured in real time. In FIG. 7, only the position of the point PB behind the excavator can be measured. That is, behind the excavation 11M are the first and second rear carts DI.
This is because approximately 40 tons are occupied by the sludge material injection truck D3, which becomes an obstacle to lasers and light waves launched from surveying machines. Therefore, this method is called follow-up surveying.

(2) Method using an inclinometer In this method, an inclinometer is installed at the point PC of the excavator M in FIG. 7, and the low link and pitching can be measured in real time. However, as shown in Fig. 8, when the excavator 119M moves downward due to its own weight at the pitching angle θ, even though the angle θ is the same value as before the movement, the vertical direction of the excavator M with respect to point PA Level HO, Hl is HO
≠H1, and the inclinometer cannot measure the level in the vertical direction.

3) Method using a laser According to this method, positions in the horizontal and vertical directions can be measured in real time with high precision. However, if the racer is in a straight line and there are no obstacles, then the force interpretation shown in Figure 7, which is valid, can only be measured up to PB.

(Problems to be Solved by the Invention) The present invention has been made to solve the above-mentioned problems, and its purpose is to measure the vertical level of an excavator in real time and with high precision even when excavating on a curve. The object of the present invention is to provide a vertical position measuring device that can be used.

(Means for Solving the Problems) The structural features of the present invention include a reference tank provided at a reference point remote from the excavator and filled with liquid, and measuring the liquid pressure in the upper part of the reference tank. a reference point hydraulic pressure sensor provided on the excavator, and a pair of closed circuit configurations for reciprocating and guiding the liquid in the tank from the lower part of the reference tank to the measuring point hydraulic pressure sensor. A pressure pipe and a pump means inserted into one of the pressure conduit on the reference point side calculate the difference between the measured pressure of the reference point liquid pressure sensor and the measurement point liquid pressure sensor to perform the measurement. The point is equipped with an arithmetic and display device for determining the relative position of the point in the vertical direction from the reference point.

(Operation) A reference tank filled with liquid is provided at a reference point remote from the excavator, and the liquid pressure at the upper part of this reference tank is measured by a reference point liquid pressure sensor.

Further, a measuring point hydraulic pressure sensor is provided in the excavator, and the liquid in the tank is guided from the lower part of the reference tank to the measuring point hydraulic pressure sensor back and forth through a pump means by a pair of pressure conduits having a closed circuit configuration.

The difference between the measured pressure of the reference point hydraulic pressure sensor and the measured pressure of the measuring point hydraulic pressure sensor is calculated by the calculation/display device, and the relative position of the measuring point in the vertical direction from the reference point is determined.

(Example) In general, the level measurement method of measuring the liquid level in a tank by the difference between the reference pressure at the top of the liquid and the liquid pressure at the bottom of the tank is known, for example, Japanese Patent Application Laid-Open No. 48-53762, Published by Ohmsha [Basics and Applications of Instrumentation Systems J No. 124]
It is disclosed on pages 126 to 126. The present invention utilizes this measurement principle, and the basic configuration and operating principle of the present invention will be explained based on FIG.

Across the boundary of line A, A is the measurement point side where the excavator M is located, and B is the reference point side which is remote from this measurement point. On the reference point side, reference tank 1 is filled with liquid 2 of density ρ to an appropriate level.

3 is a reference point liquid pressure sensor that measures the liquid pressure at a level H between the liquid level and the liquid level using an appropriate point N at the top of the liquid in the tank as a reference point, and Pl is its measurement value.

4 is a pump means, 5 and 6 are impulse lines forming a closed circuit, and the pump means 4 sends the liquid 2 from the lower part of the tank to the impulse line 5, and a measurement point liquid pressure sensor fixed to the excavator M. 7 and is returned to the reference tank 1 via the impulse line 6 for circulation, and the air in the liquid in the pressure impulse line is sent to the reference tank and released to the outside air. In this way, the reference tank 1 forms the reference liquid level N and also serves as a defoaming tank.

Now, the level reference point is N, the level from the reference point N to the measuring point liquid pressure sensor 7 is 81, the level from the reference point N to the liquid level of the reference tank is H1, the pressure measurement value of both sensors 3.7 is Pl, P2, when the density of the liquid is ρ, P2 - ρ (Sl + H) P is the pH Therefore, Sl = (P2 / ρ) - (Pl / ρ)
As in (1), it is possible to obtain Sl by measuring the hydraulic pressures Pi and P2.

8 is a calculation display device provided on the measurement point side, and Pl
, P2 are input, equation (1) is calculated, and the result is displayed to the operator.

When water is used as liquid 2 and its density is 1, (1
) It is possible to omit the division operation of ρ in the equation.

In the present invention, the reason why the reference point N is selected not at the upper surface of the liquid 2 but at an appropriate point above the liquid is that the long-distance impulse conduit 5,
This is to prevent measurement errors caused by fluctuations in the liquid level due to slight liquid leakage during the process.

In addition, as shown in Fig. 2, if the sensor 7 is mounted eccentrically by a distance E (mm) to the left of the axis of the excavator M, then when the excavator M is low-linked by an angle θ, the sensor 7 moves to the position shown by the chain line, causing a level error. Therefore, the calculation display device 8 inputs the signal θ from the tilt sensor 9, and calculates h=E−sinθ(m+n).
<2) to calculate the level error and calculate (1
) Correct the calculation result of the expression.

A specific embodiment of the device of the present invention will be explained with reference to FIGS. 3 and 4. FIG.

In the figure, a measurement point liquid pressure sensor 7 provided on an excavator M is fixed to a reference tank mount 10 via a rearmost portion De of rear bogies D1, D2, etc. by hoses forming pressure conduits 5, 6. The pump means 4 is connected to the lower part of the reference tank 1, which has been installed, via a pump means 4, which is also installed within the pedestal 10.

The measurement signal of sensor 3, 7.9 is lead L1.

L2 and L3 are once connected to the terminal box 11 provided at the rearmost part De of the rear bogie, and the lead wire L4 is connected from this terminal box.
excavator control panel 12 connected to the head of the rear truck via
It is connected to an arithmetic display device 8 provided in the.

Further, as shown in FIG. 4, inside the reference tank mount 10, there are provided a holding start/end switch 13 and a pump operation/stop switch 14, and the signals of these switches are connected to lead wires L1. The signal is transmitted to the arithmetic display device 8 via L4, and is configured so that measurement can be maintained without requiring any special adjustment even when the signal is stuck.

The pump means 4 is configured to be operated for a certain period of time (for example, 25 minutes) before the start of measurement, and to automatically stop after removing air from the pressure conduit.

In the illustrated example, the calculation display device 8 is installed in the operation control panel 12 of the excavator M, takes in the measurement signals from the sensors 3 and 7.9, executes calculations of equations (1) and <2), and displays the results. Or, the calculation output is transmitted to the outside.

An example of measurement by the apparatus of the present invention will be explained with reference to FIGS. 5 and 6. The measurement range is 1000m, and the excavation gradient is 1.
2/1000, the measurement range is PVI: level from the setting point of the reference tank mount 10 (mogging point) to the excavator = -100 to O to 300 mm, Pol: from the excavation start point (plus or minus Qnv) ■ point The level to the jamming point is -100 to 300 mm. Note that the symbols in the figure are as follows.

◎: Position of measurement point liquid pressure sensor Dimensions (m
n+) PO2: Level from excavation start point ■ (±Omm) to repositioning point T10: Level from excavation start point ■ to point ■ When mount 10 is installed at point ■ Lower 2: Mount 10 or point ■ Level T3 from point ■ to point ■: Level standard tank mount from point ■ to point ■ when mount 10 is at point ■ and excavator M does not advance from point ■ to point ■ 10 is installed in the shaft V at the start of excavation, and when the excavator M moves forward, the rearmost rear bogie De in the tunnel is located before the impulse lines 5 and 6 are connected (for example, 150 m) (Fig. 3). Move (move) to a nearby location,
After that, the installation point is changed every time the excavator M advances about 150 TI.

The calculation display means 8 calculates according to the following formula.

L=l-POI (3)P
O1=PO2+T3 (4) PO
2=T10-72 (5) Here,
T3. TIO and T2 are determined from the PVI at that time, the details of which are omitted.

During excavation, the positional shift of the reference tank 1 is checked with the excavator M installed at the excavation starting point (3). Then,
Based on the measured value θ from the tilt sensor 9, a low link correction value, that is, a level error is calculated using equation (2).

The excavator M moves forward and returns to the position where the pedestal 10 has advanced approximately 150 m before the impulse line 5.6 is closed. At this time, before starting the twisting, press the twisting start/end switch 13.
Turn on (start) and calculate TIO. When the transfer is completed, turn off the switch 13 (#complete), calculate T2, calculate PO2 by formula (5), calculate T3, and use formula (
4) to P.

Calculate 1. Next, L is calculated using equation (3), and I- is corrected using the rolling correction value from (2).

After that, the advance of the excavator M and the holdup of the reference tank mount 10 are repeated as shown in Fig. 5, and the ground control point PG is reached at an excavation depth of 8 gM.
By continuously measuring the dimensions from
Construction accuracy can be significantly improved to within ±20 mm.

(Effects of the Invention) As explained above, according to the present invention, the measurement point liquid pressure sensor provided on the excavator is communicated with the reference tank provided at the reference point via the impulse conduit having a closed loop configuration. , the current vertical position of the excavator can be measured and displayed with high accuracy in real time.

Also, even if the impulse line is long, the pump = 1
2 - Since the air in the pipe is reliably removed by means,
Measurement reliability can be ensured.

[Brief explanation of the drawing]

FIG. 1 is a basic configuration diagram of the device of the present invention, FIG. 2 is a diagram explaining rolling correction, FIGS. 3 and 4 are a side view and system configuration diagram explaining a specific embodiment of the present invention, 5
Figure 6 is a vertical cross-sectional view explaining the state of excavation, Figure 6 is a partially enlarged detailed view of Figure 5, Figure 7 is a vertical cross-sectional view of the tunnel explaining the conventional measurement method, and Figure 8 is the conventional measurement method. FIG. 3 is a side view illustrating a measurement method using an inclinometer. ■...Reference tank 2...Liquid 3...Reference point liquid pressure sensor 4...Pump means 5, 6...
Impulse line 7...Measuring point liquid pressure sensor 8...Calculation display device 9...Inclination sensor Agent Patent attorney Nobusuke Kozawa

Claims (1)

[Claims] a reference tank provided at a reference point remote from the excavator and filled with liquid; a reference point liquid pressure sensor for measuring the liquid pressure in the upper part of the reference tank; and a measuring point liquid pressure provided in the excavator. a sensor, a pair of impulse lines that reciprocate and guide liquid in the tank from the lower part of the reference tank to the measurement point liquid pressure sensor, a pump means inserted into one of the impulse lines on the reference point side; An excavator equipped with a calculation display device that calculates the difference between the measured pressure of the reference point hydraulic pressure sensor and the measured pressure of the measurement point hydraulic pressure sensor to determine the relative position of the measurement point in the vertical direction from the reference point. vertical position measuring device.