JPH03221617A - Method for managing execution in pneumatic caisson method - Google Patents

Abstract

PURPOSE:To precisely carry out the remote control of a drilling unit in a pressurized air operation room by analyzing the measured data of an ultrasonic sensor mounted on the drilling unit by a computer in a management control room and jointly using along with a monitor TV. CONSTITUTION:TV cameras 16, 17 are installed in a drilling unit and a pressurized air operation room and a plurality of distance measuring sensors such as ultrasonic sensors 18A-18D, 19, etc., are mounted on the drilling unit. Distance measurement is performed as the drilling unit is traveled, the measured data thereby are analyzed by a computer 27 in a management control room on a land to graphically indicate high and low difference of the faces of drilling in the pressurized air operation room. Monitor TV's 30, 31 installed in the management control room are used together with it to grasp the drilling conditions so that the drilling unit is remote controlled safely and precisely.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a construction management method for controlling an excavation device in a pressurized work chamber and determining excavation locations in a pneumatic caisson construction method.

(Prior technology) As is well known, the pneumatic caisson construction method is a construction method that utilizes the principle of preventing water from entering the working chamber using air pressure, and an airtight working chamber is installed at the bottom of the box that forms the caisson. A major feature of the excavation chamber is that compressed air is pumped into the chamber to prevent groundwater from entering, and the people working on the excavation work must enter this pressurized air chamber.

In addition, the excavated ground in the pressurized work room is dry, so work can be done in the same way as above ground, the work can be done while directly monitoring the excavation surface, obstacles can be easily removed, and there is no drop in the groundwater level. It has advantages that the open caisson construction method does not have, such as not affecting the surrounding ground, being able to manage the submergence accurately and safely, and being able to directly check the condition of the final supporting ground through soil bearing capacity tests.

However, because a person enters the pressurized work room to work, there is a significant saving in work time.For example, in the case of a work pressure of 3 atm, even if the work is limited to once a day, the work time under pressure is reduced. 3.5 hours, decompression time is about 2.5 hours, and two workers are required to work 8 hours a day.

Therefore, the applicant has developed a pneumatic caisson that can achieve complete unmanned operation in the pressurized work room, and also achieve further systemization by allowing a series of management and operations to be performed only in the central control room on the ground. Japanese Patent Application No. 10523/1983 (Japanese Unexamined Patent Publication No. 1/1999)
No. 87228).

A drilling rig that can travel, swivel, raise and lower its arm, extend and retract, and raise and lower its bucket is installed on the ceiling of the pressurized air work room at the bottom of the caisson. Install.

The central control room on the ground is equipped with an excavation monitoring monitor screen that displays images from the television camera, a work room monitoring monitor screen, a computer, a printer, and an excavation operation panel, and a computer that records the detected values from various sensors. Calculate the excavation pattern in which the caisson resistance and load are balanced, remotely control the excavation mechanism from the excavation control panel while watching the excavation monitoring monitor screen and the work room monitoring monitor screen according to the excavation pattern, and then The caisson is automatically lowered by controlling the air supply flow rate valve from the excavation operation panel.
Further, the content is that various information during the natural settlement during the excavation is processed by a computer and fed back to perform settlement management while repeating the excavation and automatic settlement.

[Problem to be solved by the invention]

However, in the pneumatic caisson sinking control system disclosed in Japanese Patent Application No. 63-10523, the determination of excavation locations was solely based on monitoring by television cameras.

The purpose of the present invention is to provide a construction management method for the pneumatic caisson construction method that eliminates the disadvantages of the conventional method and greatly improves work efficiency, safety, and sinking accuracy compared to remote control that relies only on monitoring by television cameras. It's about doing.

[Means to solve the problem]

In order to achieve the above object, the present invention maintains the working chamber at the bottom of the box forming the caisson in a pressurized state, and allows the arm installed on the ceiling of the pressurized working room to travel, swivel, move up and down, extend and contract, and move the bucket up and down. In the pneumatic caisson construction method, in which the bottom of the work chamber is excavated using an excavating device and the boxes are successively deposited, a television camera is installed inside the excavator and the pressurized work chamber, and distance measurement sensors such as ultrasonic sensors are installed on the excavator. The distance measurement sensor measures the distance while the excavation equipment is running, and this data is analyzed by a computer in the management control room on the ground, and the difference in height of the excavation surface in the pneumatic work room is displayed graphically. ,
The gist of this project is to use a monitor TV installed in the control room to monitor the air pressure work room to determine where to excavate, and to remotely control the excavation equipment inside the air pressure work room from the ground management control room.

[Effect]

According to the invention as set forth in claim 1, a plurality of distance measurement sensors are installed, each having a different measurement point, and the distance measurement sensor is mounted on the excavation rig such that it faces the caisson cutting edge. By fixing the excavator and running it on the rail, the excavation shape of the caisson blade mouth is continuously measured.

In this way, the excavation status of the caisson cutting edge, which has an important influence on caisson sinking management, can be quantitatively grasped, and the sinking management can be performed with high precision.

In addition, data for sinking management can be immediately fed back to the drilling rig operator.

According to the present invention as set forth in claim 2, in addition to the above-mentioned effects, even if the excavator is remotely operated from the ground, the position of the excavator in the pneumatic work chamber, the angle of the arm, the status of the bucket, etc. can be monitored in real time. Since it can be monitored on the ground, it is possible to obtain detailed information on the position and attitude of the excavating machine, which is difficult to judge using only surveillance television cameras, etc., and allows for smooth and safe remote control.

〔Example〕

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

Fig. 1 is a side view of the main parts showing one embodiment of the construction management method in the pneumatic caisson construction method of the present invention, and Fig. 2 is an explanatory view of the overall appearance. 1b is the bottom plate, 1b is the cutting edge, and 2 is the pressurized air working chamber formed by the cutting edge 1b.

A hole to which the material lock 3 is connected and a hole to which the man lock 4 is connected are provided in the bottom plate 1a, and a hole to which the material lock 3 is connected and a hole to which the man lock 4 is connected are provided, and a compressor 5 is also provided.
The 6 ends of the air supply pipes also open into the pressurized air work chamber 2 below the bottom plate 1a. 7 in the figure indicates the pressurized air work chamber 2 via the material lock 3.
The soil removal bucket 8 is lowered into the interior, and 8 is the lock control panel of the material lock 3.

The excavation equipment installed in the pressurized air work chamber 2 includes a bottom plate 1
Running rail lO on the lower surface of a, that is, the ceiling of the pressurized air work chamber 2.
An excavator 11 is movably provided here. The excavator 11 is suspended from a traveling rail 10 and has an arm 14 that is extendable and tiltable supported on a freely movable traveling cart 12 via a rotating disk 13, and a bucket 15 is attached to the tip of the arm 14 at a tilting angle. It is of a shovel type that can be freely installed, and its working range extends to every corner of the pressurized air work chamber 2.

Excavator camera 1 by TV camera on this excavation W111
6 is attached, and a white meat camera 17 using a television camera is attached to the lower surface of the bottom plate 1a in the pressurized air work chamber 2.

The above is the same as the conventional example, but the present invention provides the excavator 11
Ultrasonic sensor 18A, 1 is used as a distance measurement sensor.
8B, 18C, and 18D were provided for blade edge measurement, an ultrasonic sensor 19 was provided as a reference sensor for correction, and a computer 20 was also installed.

Ultrasonic sensors 18A and 18B for measuring the blade edge.

18C and 18D have different measurement points.

Although four ultrasonic sensors were used in this embodiment, the number, angle, etc. of the ultrasonic sensors can be variously selected depending on the purpose. Furthermore, it is also possible to use an optical sensor such as an infrared sensor or other sensor as a distance measuring sensor instead of the ultrasonic sensor.

In the figure, reference numeral 26 denotes a management control room installed on the ground, inside of which there is a personal computer 27, a printer 28 connected to this, the excavator camera 16, and a coaxial cable 2.
CRT excavation monitoring monitor TV 30 connected with 9, CR connected with coaxial cable 29 as well as white meat camera 17
A working room monitoring television 31 was installed, and an operation panel 33 was also installed to remotely control the excavator 11 and adjust the opening of the air flow rate valve 32 provided in the middle of the air pipe 6.

Further, as shown in FIG. 4, the excavator 11 includes a sensor 41 for measuring travel distance, a sensor 42 for measuring turning angle,
Sensor 43 for measuring arm elevation angle, sensor 44 for measuring arm extension/contraction amount, sensor 45 for measuring bucket elevation angle
Further, a proximity switch 46 for correcting the turning angle, a proximity switch 47 for correcting the arm elevation angle, a proximity switch 48 for correcting the arm extension/contraction amount, and a proximity switch 49 for correcting the bucket elevation angle are provided.

Incremental optical rotary encoders are used for the sensors 41 to 45, but since the values measured by the rotary encoders have cumulative errors, these proximity switches are operated in conjunction with high frequency oscillation type proximity switches 46 to 49. Each time, the measured value is returned to the default value or the origin value.

By using the proximity switches 46 to 49, the error between the actual operation of the excavator 11 and the measured value can be kept to a certain value or less, resulting in a highly accurate monitoring system.

FIG. 5 is a block diagram showing an embodiment of the present invention.
The sensors 41 to 45 and proximity switches 46 to 49 are connected to a personal computer 27 via a measurement/control cable 22, and ultrasonic sensors 18A and 18B.
18c, 18D and an ultrasonic sensor 19 serving as a reference sensor for correction are connected to a personal computer 27 via a computer 20.

In addition, accurately grasping the position of the excavator 11 within the caisson is an important matter in order to prevent contact and collision between the excavator 11 and other equipment, cables, wires, etc. in the pneumatic work chamber 2. be. Therefore, the distance measuring sensor 41
, an excavator running rail 10 installed on the ceiling
Since the coordinates of the excavator 11 are accurately known, by measuring the positional relationship between the excavator 11 and the traveling rail 11, the excavator 1
1 in the pressurized air work chamber 2. This sensor 41 measures the travel distance on the chain 21 by meshing gears with the chain 21 installed on the traveling rail 10. In addition, in order to prevent cumulative errors in travel distance, several check points were installed on the rail, and proximity switches 50 to 54 were installed at these points, and the measured value was reset to the default value each time the vehicle passed through these points. .

As mentioned earlier, ultrasonic sensors 18A, 18B.

18C and 1'8D have different measurement points. Therefore, as shown in Figure 3, the sensor 1
The excavator 11 is fixed so that 8A, 18B, 18c, and 18D face the caisson blade part, and the excavator 11 is attached to the rail 1.
0, the excavated shape of the caisson blade mouth is continuously measured.

In addition, since the air density changes in the pressurized air work chamber 2, the sound speed changes, and the ultrasonic sensors 18A and 18B.

The measured value of 18C18D may not indicate the correct distance value. Therefore, an ultrasonic sensor 19 was installed as a reference sensor for correcting measured values. This ultrasonic sensor 19
is installed so as to always measure the distance from the sensor to the reflector located 1m away, and based on this measurement value, the ultrasonic sensors 18A, 18B, 18C, 1 at the blade mouth are activated.
By correcting the 8D measurement value, it is possible to calculate the correct distance value no matter how the working pressure changes.

The distance measurement values of the ultrasonic sensors 18A, 18B, 18C, and 18D are sent to the personal computer 27 in the central management control room 26 via the computer 20, where they are analyzed and Displays the height difference graphically.

The state of this graphical display is shown in FIGS. 6a and 6b, and the state of excavation of the caisson cutting edge portion is displayed in a developed view as shown in FIG. 6a and a sectional view as shown in FIG. 6b. From this display screen, it is possible to judge where excavation is insufficient and where to excavate when correcting the caisson inclination.

Furthermore, the excavation location is determined using the monitor TV 30 and 31, and the pressurized air work room 2 is
Remotely control the excavator 1.1 inside.

For remote control of this excavator 11, the computer 2
7, the signals from the sensors 41 to 45 are analyzed, and the position and posture of the excavator 11 in the pressurized air work chamber 2 are graphically displayed as shown in FIGS. This is done while monitoring on the ground in real time.

In this way, the excavator 11 on the screen moves in real time in accordance with the actual operation, and the positional relationship between the excavator 11 and other equipment, cables, wires, etc. in the pneumatic work chamber 2 is accurately displayed. Furthermore, the operator monitors the monitoring television 30.
By using it in conjunction with 31, more detailed and reliable information can be obtained.

〔Effect of the invention〕

As described above, the construction management method in the pneumatic caisson construction method of the present invention can quantitatively grasp the excavation status of the caisson cutting edge, which has an important influence on caisson sinking management, and enables accurate sinking management. As a result, remote control can be performed smoothly, safely, and accurately.

When working under high pressure using the pneumatic caisson construction method,
Although there are many problems such as work time constraints, safety, and working environment, the present invention makes it possible to construct caissons at depths that were previously thought to be the limit by using ground-based remote control. be.

[Brief explanation of drawings]

Fig. 1 is a side view of the main parts showing one embodiment of the construction management method in the pneumatic caisson construction method of the present invention, Fig. 2 is an explanatory view of the overall appearance, Fig. 3 is an explanatory view of the main parts, and Fig. 4 is a side view of the excavator, FIG. 5 is a block diagram showing an embodiment, and FIG. 6 is a side view of the excavator.
Figure a is a developed view showing the excavation status of the caisson blade opening in graphic ink, Figure 6b is a sectional view of the same as above, Figure 7 is a plan view graphically displaying the movement of the excavator, and Figure 8 is a side view of the same as above. . ■...Box 1a...Bottom plate 1b...Blade tip 2...Pressure working chamber 3...Material lock 4--Manlock 5...Compressor 6-
... Air pipe 7 ... Soil removal bucket 8 ... Lock control panel 10 ... Traveling rail 11 ... Excavator 12
...Traveling trolley 13...-Swivel disc 14...
Arm I5...Bucket 16...Excavator camera 17...White meat camera 18A, 18B, 18
C, 18D, 19... Ultrasonic sensor 20... Computer 21... Chain 22... Measurement/control cable 26... Ground management control room 27... Personal computer 28... Printer 29.・・Coaxial cable 3
0... Excavation monitoring monitor TV 31... Working room monitoring monitor TV 32... Air supply flow rate valve 33... Operation panel 41-4
5...Sensor 46~4...Proximity switch 5
0~54...Proximity switch

Claims (2)

[Claims] (1) The work chamber at the bottom of the box that forms the caisson is maintained in a pressurized state, and the bottom of the work chamber is operated by an excavator that is installed on the ceiling of the pressurized work chamber and is capable of traveling, turning, raising and lowering the arm, extending and contracting, and raising and lowering the bucket. In the pneumatic caisson construction method, which excavates and sequentially deposits the boxes, a television camera is installed in the excavation equipment and the pressurized work room, and multiple distance measurement sensors such as ultrasonic sensors are installed on the excavation equipment.
While the drilling rig is running, a distance measurement sensor measures the distance, and this data is analyzed by a computer in the management control room on the ground, and the difference in height of the excavation surface in the pneumatic work room is displayed graphically. A construction management method for the pneumatic caisson construction method, which is characterized by determining the excavation location using a monitor TV that monitors the installed pneumatic work room, and remotely controlling the excavation equipment in the pneumatic work room from the ground management control room. (2) Remote control of the excavation equipment is possible by installing sensors on the excavation equipment to detect travel distance, rotation angle, arm elevation angle, extension/contraction amount, bucket elevation angle, etc., and using a computer in the management control room installed on the ground. 2. The pneumatic caisson construction method according to claim 1, wherein the movement of the drilling rig is monitored on the ground in real time by analyzing the signal from the sensor and graphically displaying the position and posture of the drilling rig in the pressurized work chamber. Construction management method.