JPH08100440A - Attitude measuring device and attitude control method for ground excavator - Google Patents

Abstract

PURPOSE: To improve the measuring accuracy and improve the workability of an excavator by detecting the rotation angle of the ground excavator with an optical gyroscope, immediately displaying it as the attitude change of the excavator, and controlling the attitude while confirming the attitude change. CONSTITUTION: An optical gyroscope 22 is fitted to a ground excavator 21, the initial value of the rotation angle is set to zero via a personal computer 23, and the rotation angle of the excavator 21 in an excavation hole 7 is detected. The detected rotation angle data are transmitted to the personal computer 23 arranged in a ground operation room. The attitude change of the excavator 21 is drawn by the calculation section 25 of the personal computer 23 and displayed on a display section 26. The support pad 27 of the excavator 21 is driven and controlled via a controller 29 provided on a control board 28 while the displayed attitude change is confirmed. The attitude control of the ground excavator 21 is repeatedly conducted until the attitude change of the excavator 21 falls within the prescribed error range.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a posture measuring device and a posture controlling method for a ground excavator, and more particularly to a posture controlling device and a posture controlling method for a hydrophrase excavator.

[0002]

2. Description of the Prior Art Excavators for excavating the ground include a hydro phrase excavator, a kelly excavator, a CIS excavator and the like. Of these, the hydro phrase excavator is 100
It is an excavator suitable for deep drilling of about m.

FIG. 4 is a side view showing a state in which such a hydro phrase excavator 1 is suspended by a crane 3 via a suspending wire 2. As you can see in the figure,
The hydro-phrase excavator 1 is equipped with a hydraulic rotary cutter 5 at the lower end of the frame 4, and during excavation, the hydro-phrase excavator 1 is suspended in the excavation groove 7 and the rotary cutter 5 is placed in that state. By operating, the bottom of the excavation groove 7 is dug down.

Here, in order to control the excavation accuracy, it is indispensable to measure and control the attitude of the hydro-phrase excavator 1. The vertical accuracy is controlled by using an inclinometer attached to the frame, and the horizontal accuracy is controlled. Regarding the deviation of the direction and the twist about the vertical axis, the accuracy was controlled by using the displacement measuring device described in Japanese Utility Model Publication No. 6-24429 developed by the present applicant.

FIG. 5 shows such a displacement measuring device. In the displacement measuring device 11 shown in the figure, the horizontal displacement of the pair of measuring wires 14, 14 stretched between the upper end of the hydro-phrase excavator 1 and a predetermined position of a crane (not shown) is attached to the support base 12. It is possible to estimate the horizontal shift of the excavator 1 and the twist amount around the vertical axis by using the detected link mechanism 13.

[0006]

Here, the support pedestal 12 is used.
Is installed on the guide trench 6 so as to straddle the excavation groove 7, and when the hydrophrase excavator 1 is horizontally moved, the support base 12 also has to be replaced. It was In addition, measurement wire 1
Since the displacement of the excavator 1 is measured via the measuring instrument 4, the measurement accuracy is limited. Further, there has been a problem that the workability is deteriorated because the measurement wire 14 and the link mechanism 13 as well as the support base 12 interfere with each other.

The present invention has been made in consideration of the above-mentioned circumstances, and provides a posture measuring apparatus and a posture control method for a ground excavator capable of improving measurement accuracy and improving workability during excavation. The purpose is to

[0008]

In order to achieve the above object, the posture measuring apparatus for a ground excavator according to the present invention has an optical gyro attached to a predetermined position of the ground excavator, as set forth in claim 1. The rotation angle of the ground excavator detected using the optical gyro is displayed in real time as a change in the posture of the ground excavator.

According to the attitude control method of the ground excavator of the present invention, as described in claim 2, the rotation angle of the ground excavator is detected by using the optical gyro attached to the predetermined position of the ground excavator. The process includes: a step of displaying the rotation angle as a change of the posture of the ground excavator on a predetermined computer means in real time; and a process of controlling the posture of the ground excavator while observing the change of the posture.

[0010]

In the attitude measuring apparatus and attitude control method for a ground excavator according to the present invention, first, the rotation angle of the ground excavator is detected by using an optical gyro attached to a predetermined position of the ground excavator. Next, the detected rotation angle is displayed in real time on a computer means such as a personal computer as a change in the posture of the ground excavator. Next, while watching the change in the posture displayed on the display of the personal computer, the support pad provided in the ground excavator is drive-controlled to control the posture of the ground excavator.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the attitude measuring apparatus and attitude control method for a ground excavator of the present invention will be described below with reference to the accompanying drawings. It should be noted that parts and the like which are substantially the same as those of the conventional technique are designated by the same reference numerals and the description thereof will be omitted.

FIG. 1 is a schematic view showing a posture measuring apparatus for a ground excavator according to this embodiment. As can be seen from the figure, the attitude measuring apparatus for a ground excavator of this embodiment has an optical gyro 22 attached to a predetermined position of the ground excavator 21, for example, an upper part of the frame 4, and the optical gyro 22 is used for detection. The rotation angle of the ground excavator 21 thus selected can be displayed in real time on the computer means 23 such as a personal computer as a change in the posture of the ground excavator 21.

The optical gyro 22 is preferably a laser tachometer called a ring laser gyro. The ring laser gyro is equipped with a reflecting mirror so that the light emitted from the laser tube makes a round trip in both forward and reverse directions and returns to the same point, and the difference in the oscillation frequency in both directions caused by the rotation of the gyro is converted into an electrical signal. The rotation speed can be measured and the rotation angle can be measured by integrating the measured rotation speed.

The personal computer 23 draws a change in the attitude of the excavator 21 using the control unit 24 that resets the optical gyro 22 to zero the initial value of the rotation angle and the rotation angle detected by the optical gyro 22. The calculation unit 25 and the display unit 26 such as a CRT display for displaying the drawn contents are provided.
The personal computer 23 is preferably installed in the driver's cab on the ground, for example.

Next, the operation of the posture measuring apparatus and the posture control method for the ground excavator of this embodiment will be described with reference to the flow chart shown in FIG. As can be seen from the figure, in the attitude measuring apparatus and attitude control method for the ground excavator of this embodiment, first, the optical gyro 22 attached to a predetermined position of the ground excavator 21 is passed through the control unit 24 of the personal computer 23. To reset the initial value of the rotation angle to zero (Step 1
01).

Next, the rotation angles θx, θy, θz of the ground excavator 21 in the excavation hole 7 are detected using the optical gyro 22 (step 102). Here, θx is the direction along the guide trench, that is, the rotation angle around the x-axis as shown in FIG. 3A, and θy is the direction orthogonal to the guide trench, that is, y.
Represents a rotation angle around the axis, and θz represents a rotation angle corresponding to a twist component around the vertical axis (z-axis direction).

Next, the detected rotation angle data is transmitted to the personal computer 23 installed in the cab on the ground (step 10).
3). It is preferable to use a dedicated cable for transmission.

Next, using the transmitted rotation angle data, the operation unit 25 of the personal computer 23 draws a change in the posture of the ground excavator 21, and the drawn data is displayed on the display unit 26 in real time. Step 104).

FIGS. 3B to 3D show θx, θy, and θz, respectively.
9 illustrates a state in which a change in posture in a direction is displayed on the display unit 26.

Finally, while watching the change in the posture displayed on the display unit 26, the support pad 27 provided on the ground excavator 21 is mounted on the control panel 2 of the support pad 27 as shown in FIG.
The posture of the ground excavator 21 is controlled by driving and controlling it via the control unit 29 provided in FIG. 8 (FIG. 2, step 105). As can be seen in FIG. 1, the support pads 27 are arranged on the upper and lower front, rear and both sides of the frame 4 of the excavator 21, and the contact surfaces of the pads are pressed against the wall surface of the excavation hole 7 by a hydraulic actuator. Thus, the posture of the ground excavator 21 can be controlled.

The attitude control is repeated or continuously until the change in the attitude of the ground excavator 21 falls within a predetermined error range.

As described above, according to the posture measuring apparatus and posture control method for the ground excavator of this embodiment, the rotation angle of the ground excavator is measured by using the optical gyro. It is possible to improve the accuracy of measurement as compared with the conventional technique using, and consequently to improve the accuracy of excavation. Moreover, the number of ultrasonic hole wall measurements can be reduced by improving the excavation accuracy.

Further, since it is not necessary to replace the ground excavator 21 due to the movement of the ground excavator 21 and there are no wires or facilities near the guide trench 6 which hinder the work, the excavation work can be performed as compared with the conventional method. The workability of is greatly improved.

Further, since the optical gyro which is strong against vibration and impact is adopted instead of the mechanical gyro, the reliability regarding the attitude control of the ground excavator is improved.

The present embodiment is a particularly effective means when the excavator has a strong tendency to shake like a gravel layer or a sand layer.

In this embodiment, all the rotation angles around the three axes are detected by the optical gyro and the posture of the excavator is controlled and managed by using the rotation angles. For example, rotation around the vertical axis, that is, Only the rotation angle of the twist component may be detected by the optical gyro, and the rotation angles of the other components may be detected using a normal inclinometer.

In this embodiment, no particular reference was made to the displacement of the ground excavator in the horizontal direction, but when an excavator such as a hydrophrase excavator horizontally moves in relatively viscous mud water, it is almost impossible to move. In the case of, it is accompanied by rotational movement. Therefore, if the above-described rotation angle is measured and managed, it is possible to accurately control the horizontal shift.

In this embodiment, the ring laser gyro is used as the optical gyro, but a gyro using an optical fiber may be used instead.

[0029]

As described above, the posture measuring apparatus for a ground excavator according to the present invention is provided with an optical gyro attached to a predetermined position of the ground excavator, and the ground excavator detected using the optical gyro. With the computer means capable of displaying the rotation angle of No. 1 in real time as a change in the posture of the ground excavator, it is possible to improve measurement accuracy and workability during excavation.

Further, the attitude control method of the ground excavator of the present invention includes the step of detecting the rotation angle of the ground excavator using an optical gyro attached to a predetermined position of the ground excavator, Since it includes a step of displaying in real time as a change in the attitude of the ground excavator and a step of controlling the attitude of the ground excavator while observing the change in the attitude, it improves measurement accuracy and improves workability during excavation. can do.

[0031]

[Brief description of drawings]

FIG. 1 is a schematic diagram of a posture measuring device for a ground excavator according to the present embodiment.

FIG. 2 is a flowchart showing a posture control method for a ground excavator according to this embodiment.

FIG. 3 is an explanatory diagram showing a state in which a change in the posture of the ground excavator is displayed on the display unit.

FIG. 4 is a side view showing the ground excavator.

FIG. 5 is a side view showing a displacement measuring device for a conventional ground excavator.

[Explanation of symbols]

 21 ground excavator 22 optical gyro 23 personal computer (computer means) 24 control unit 25 arithmetic unit 26 display unit

Claims (2)

[Claims] 1. An optical gyro attached to a predetermined position of a ground excavator, and a rotation angle of the ground excavator detected using the optical gyro can be displayed in real time as a change in the attitude of the ground excavator. A posture measuring device for a ground excavator, comprising: computer means. 2. A step of detecting a rotation angle of the ground excavator using an optical gyro attached to a predetermined position of the ground excavator, and the rotation angle is displayed in real time as a change in the attitude of the ground excavator. A method of controlling the attitude of a ground excavator, comprising: a step of controlling the attitude of the ground excavator while observing a change in the attitude.