JPH0772690B2 - Underground excavator excursion measurement system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION “Industrial field of application” The present invention relates to a bias for an underground excavator used when forming a vertical pile for an element, which is formed when constructing an underground continuous wall, for example. It is related to the position measurement system.

"Prior Art" Conventionally, the deviation measuring device for this type of underground excavator has been as shown in FIG. In the figure, reference numeral 2 is an excavator turret installed on the ground G, and reference numeral 1 is an excavator that is suspended from the excavator turret 2 and excavates a vertical pile on the ground G.
The excavator 1 has one end fixed to the base of the excavator turret 2 and the other end suspended by a wire rope 8 for suspending the excavator wound around the main winch 7.
Can be supported, sent out and collected.

An inclinometer 4 is attached to the upper portion of the excavator turret 2, and a reel device 5 is also provided to the lower portion of the excavator turret 2. Between the inclinometer 4 and the reel device 5, one end is fixed to the inclinometer 4 and the other end is wound around the reel device 5 via a pulley 13 provided in the lower part of the excavator 1. A measurement wire 3 is suspended. And excavator 1
The excavation depth of the excavator 1 is detected by the feed amount of the measurement wire 3 of the reel device 5 which is caused by the downward movement of the excavator 1, and the inclination of the measurement wire 3 (deviation of the excavator 1) is detected by the inclinometer 4. The displacement of the excavator 1 can be detected from these data. Reference numeral 6 is a depth gauge attached to the reel device 5 for measuring the delivery amount of the measuring wire 3.

[Problems to be Solved by the Invention] In the conventional excavation measuring device for an underground excavator, an inclinometer 4 for detecting a positional deviation of the excavator 1 is provided on the excavator turret 2, particularly at an upper portion thereof. Since it is attached, the effect of vibration of equipment and wind, or the excavation hole is filled with stabilizing liquid L in order to stabilize the excavation wall surface. Due to the influence of shaking and the like, there were cases where it was difficult to obtain an accurate deviation when pursuing an accuracy of one-thousandth or more.

The present invention has been made in view of the above circumstances, the excavator excursion can be highly accurately detected under all conditions without being affected by disturbances such as equipment vibration and wind. The purpose is to realize a measurement system.

"Means for Solving Problems" The present invention relates to a displacement measuring system for an underground excavator that excavates a standing pile on a ground suspended from an excavator turret installed on the ground, one end of which is the excavator. A measuring wire that is fixed and sent out from the excavator turret in the axial direction of the vertical pile, a depth meter that detects the excavation depth of the excavator by the amount of the measuring wire sent out, and a vertical direction of the measuring wire. An image measuring device for detecting a positional deviation within a horizontal plane is provided, and the image measuring device is installed in the same horizontal plane at a predetermined distance and at a position equidistant from the reference point toward the reference point. And an image processing device for calculating the data obtained by these two image pickup devices to detect the positional deviation amount, and the image measurement device installed on the ground. Including It

[Operation] Since the position shift of the measuring wire is detected by the image measuring device, non-contact measurement can be performed without directly touching the wire, and further, it is strong against disturbance such as noise.

Moreover, the arithmetic processing unit calculates the data obtained from each of the two image pickup devices to obtain the position coordinates of the measuring wire,
The position of the excavator can be corrected easily and accurately by detecting the amount of positional deviation with respect to the reference point from the position coordinates.

In addition, the installation of the image measuring device on the ground will not be adversely affected by wind or vibration of the device.

[Embodiment] An embodiment of the present invention will be described below with reference to FIGS. 1 to 4. FIG. 1 is an application of the present invention to an excavator for excavating a vertical pile (element) that is excavated when constructing a continuous underground wall, and the symbol 1 indicates an excavator. Here, FIG. 1 (a) is a front view and FIG. 1 (b) is a side view. By the way, the excavator 1 is capable of excavating the ground G by the drum cutter 1a provided in the lower part and propelling the ground G vertically downward to form an excavation hole H which is a substantially rectangular parallelepiped. Further, the excavator 1 is provided on its side surface with a direction correcting plate 1b that extends in all directions by hydraulic pressure. The excavation hole H is filled with the stabilizing liquid L in order to stabilize the wall surface during excavation. The stabilizing liquid L is replenished as the drill hole H is formed below. In the figure, the sand removal pipe and the like of the excavator 1 are omitted for simplicity. An excavator turret 2 is installed on the surface of the ground G, and the excavator 1 is suspended and supported on the excavator turret 2 by a wire rope 8 for suspending the excavator. One end of the excavator suspension wire rope 8 is wound around a main winch 7 equipped on the excavator turret 2, and when the excavator 1 moves forward, the excavator suspension wire rope 8 is pulled from the main winch 7. When the excavator 1 is recovered, it can be wound up.

One end of each of the measuring wires 3 is fixed to both lower side surfaces of the excavator 1. The other end of the measuring wire 3 is wound around a reel device 5 installed on the excavator turret 2,
The reel device 5 is arranged above the excavator turret 2 via a pulley 14 and hangs down from there to a fixed portion of the excavator 1. The measuring wire 3 has a small diameter such as an air line, and is fed and wound by the reel device 5 as the excavator 1 moves downward and moves upward. The reel device 5 is provided with a depth system 6, and the excavator 1 according to the feed amount of the measurement wire 3 is used.
It is possible to detect the excavation depth of.

An image measuring device 9 is installed at the entrance of the excavation hole H corresponding to each measuring wire 3. The image measuring device 9 detects a deviation of the measuring wire 3 from the reference position. As shown in FIG. 2, one image measuring device 9 includes two image pickup devices 10. These image pickup devices 10 are separated by a distance d from each other in the same plane, and at the same distance from the measurement wire 3 together, a reference point P ₀ (0,0) where the measurement wire 3 should originally exist.
It is set facing. Also, these two imagers
A light source 11 is provided on the opposite side of the ten measurement wires 3 so that the position of the measurement wire 3 of the image pickup device 10 can be detected more reliably. As shown in FIG. 3, the image pickup device 10 includes a lens 15, a two-dimensional solid-state image pickup device (CCD, etc.) 1
6, the measurement circuit section 17 and the like are the main constituent elements, and the coordinates of the image of the measurement wire 3 projected on the pixel surface of the image pickup device 16 are detected by the measurement circuit section 17, and the detection signal s ₁
Is sent to the arithmetic processing unit 12. The image measuring device 9 is configured by the image pickup device 10 and the arithmetic processing unit 12. In the present embodiment, since the measuring wires 3 are provided on both sides of the excavator 1, the four image pickup devices 10 are provided in total, but these four image pickup devices 10 are provided. As shown in FIG. 4, the signal s ₁ transmitted from the display device 19 is input to the arithmetic processing unit 12 and then displayed on the display monitor 19 installed in the operation room of the excavator turret 2. .

Next, the operation of the excursion measuring system for an underground excavator configured as described above will be described.

The excavator 1 is suspended from the excavator turret 2 and starts excavation. The hoisting is performed by the main winch 7 sending out the wire rope 8 for suspending the excavator. At the same time as the wire rope 8 for suspending the excavator is fed, the measuring wire 3 is also fed by the reel device 5. The feeding length of the measuring wire 2 is determined by the drum cutter under the excavator 1.
It is measured by the depth meter 6 from the time when 1a starts excavation, that is, the time when it touches the ground surface of the ground G.

When the excavator 1 is excavating along a predetermined line, that is, when the excavator 1 vertically moves downward with sufficient accuracy, the measuring wire 3 is the reference shown in FIG. 2 of the image measuring device 9. It is located at point P ₀ . Here, the two image pickup devices 10
Since both a and 10b are installed with their optical axes facing this reference point P ₀ , the measurement wire 3 is the reference point.
In the state of being positioned at P ₀ , the measuring wire 3 is the image pickup device.
It is captured in the center of the image sensor 16 of 10. Since this state is the normal position, the measurement circuit unit 1 of both imagers 10a, 10b
7 sends a detection signal s ₁ to the arithmetic processing unit 12 to display on the display monitor 19 that the position of the measuring wire 3, that is, the position of the excavator 1 is normal, to inform the operator (Fig. 3, Fig. 3). (See Fig. 4).

If the excavator 1 is displaced from the normal position, the measurement wire 3 will be displaced from the reference point P _{0 accordingly} . Assuming that the measurement wire 3 is located at a certain deviation point P (x, y) as shown in FIG. 2, this wire 3 is used for two image pickup devices 10a and 10b, respectively. It is caught in a place that is offset from the optical axis of. Now two imagers 10a, 10
The line connecting the centers of the lenses 15 of b is l, and this line l and the image pickup device 10
The angle between the a and 10b optical axes is θ, the line l and the deviation point P (x, y)
If the angles formed by the lines connecting the lens centers of the image pickup devices 10a and 10b are α ₁ and α ₂ , respectively, the coordinates of the deviation point P can be obtained by the following equation.

When the deviation amount is calculated, the excavator 1 may be guided so that the measuring wire 3 is located at the reference point P ₀ by operating the direction correcting plate 1b. This operation is not limited to manual operation by the operator, but may be automatic control based on the measurement signal.

As described above, the deviation measuring system uses the measuring wire 3
The position deviation measuring device is an image measuring device that can be carried out in a non-contact state without directly touching the wire 3, and since it is installed on the ground, the measuring device that requires extremely high accuracy is wind or equipment. In addition to being unaffected by vibration, etc., it is strong against external disturbances such as noise. In addition, since the measurement wire 3 has one end fixed to the lower portion of the excavator 1,
The wire 3 does not need to be doubled, and only one wire (attached at one place) is required, and the mechanism becomes simple.
The pulley 13 shown in the figure becomes unnecessary, and in the past, there was a possibility that pebbles or the like would get stuck in the pulley and the pulley would stop working, and the wire would be cut.

[Advantages of the Invention] As described above, the present invention is an excavation excavator excavation measurement system that is suspended from an excavator turret installed on the ground and excavates a vertical pile in the ground. A measuring wire that is fixed and sent out from the excavator turret in the axial direction of the vertical pile, a depth meter that detects the excavation depth of the excavator by the amount of the measuring wire sent out, and a vertical direction of the measuring wire. An image measuring device for detecting a positional deviation in a horizontal plane, wherein the image measuring devices are two units installed at a predetermined distance in the same horizontal plane and equidistant from a reference point toward the reference point. Imager and these 2
Since the calculation processing unit calculates the position coordinates of the measurement wire by calculating the data obtained from each of the image pickup devices and detects the displacement amount from the position coordinates with respect to the reference point, The wire suspension structure is simplified to eliminate the cause of failure, and because the measurement wire position deviation measurement can be realized without contacting the wire, high-precision measurement is possible without being affected by noise or other disturbances. In addition, the arithmetic processing unit calculates data obtained from each of the two image pickup devices to obtain position coordinates of the measurement wire, and detects the amount of positional deviation with respect to the reference point from the position coordinates. As a result, there is an excellent effect that the position of the excavator can be corrected easily and accurately on the basis of the position shift amount.

[Brief description of drawings]

1 to 4 show an embodiment of the present invention, and FIG. 1 (a) is a front view showing an overall configuration of a deviation measuring system according to the present invention together with an excavator 1 and an excavator turret 2 and the like. , First
FIG. 1B is a side view of FIG. 1A, FIG. 2 is a top view for explaining the image pickup device 10 which constitutes the image measuring device, FIG. 3 is a schematic diagram of the image measuring device, and FIG. 3 is a block diagram showing the configuration of a detection signal transmission system of the container 10. FIG. FIG. 5 is a side view showing a conventional example. 1 ... excavator, 2 ... excavator turret, 3 ... measuring wire,
6 ... Depth gauge, 8 ... Wire rope for suspending excavator, 9 ...
… Image measuring device, 10 …… Imager, 12 …… Arithmetic processing unit, G
…… Ground, H …… Drilling hole, P ₀ …… Reference point.

Claims (2)

[Claims] 1. An excursion measuring system for an underground excavator suspended from an excavator turret installed on the ground to excavate a pile in the ground, one end of which is fixed to the excavator and stands from the excavator turret. A measuring wire that is sent in the axial direction of the pile, a depth gauge that detects the excavation depth of the excavator based on the sending amount of the measuring wire, and an image that detects the positional deviation of the measuring wire in the vertical direction in a horizontal plane. A measuring device, and the image measuring device includes two image pickup devices installed at a predetermined distance in the same horizontal plane and equidistant from the reference point toward the reference point, and these two image pickup devices. Underground excavation, comprising: an arithmetic processing unit that calculates the position coordinates of the measuring wire by calculating the data obtained from each of the image pickup devices and detects the amount of positional deviation with respect to the reference point from the position coordinates. Machine deviation Measurement system. 2. The excursion measuring system for an underground excavator according to claim 1, wherein the image measuring device is installed on the ground.