JPH08145673A - Method for detecting position of excavator body or the like - Google Patents

Abstract

PURPOSE: To detect the positron of an excavator body accurately in real time by a constitution wherein a tracking/measuring unit tracks a tracking target on an excavator automatically and continuously and determines the position thereof. CONSTITUTION: A laser director 5 projecting a laser beam 6 is disposed at an appropriate position in a tunnel. A light wave range finder in a tracking/ measuring unit 7 measures the distance between the director 5 and the unit 7 for determining the positional coordinates of the unit 7. An excavator body 1 is provided with a gyro compass/biaxial clinometer 16, and a tracking target 4 having a tracking lamp and a reflective sheet. The unit 7 tracks the target 4 constantly and automatically and measures the vertical angle, horizontal angle and distance of the target 4 with respect to the unit 7 thus operating the positional coordinates of the target 4. The central coordinates of a truck turning body are then determined based on the attitude measurement data from the clinometer 16 and the tip position of a cutter drum is operated by numeric control thus managing the cutting position accurately.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for detecting the position of a moving body such as a tunnel excavator body.

[0002]

2. Description of the Related Art In an excavator in which a telescopic cutting boom having a cutting drum is mounted on a body of an excavator having a self-propelled means such as a crawler so that the telescopic cutting boom can be swiveled up and down. Japanese Patent Laid-Open No. 4-38399 discloses a method for freely detecting the fixed laser beam installed in the tunnel by the photodetector and automatically detecting the position and inclination of the excavator main body with respect to the tunnel axis. ing.

However, in the above-described conventional method for detecting the position and orientation of the excavator body, the work of matching the laser target with the reference laser beam must be performed manually. Then, it becomes necessary to interrupt the excavation work and match the laser target with the laser beam again, which results in incorrect positioning of the cutting drum, low vibration resistance, no practical life, and poor position and attitude detection accuracy. , There was a problem.

[0004]

A method for always detecting the position of the excavator body during excavation work in real time and more accurately is obtained, thereby improving the excavation accuracy and excavation efficiency of a conventionally known excavator and operating it. It is intended to facilitate operability.

[0005]

A method for detecting the position of an excavator body or the like according to the present invention is a tracking method that has a light emitter for tracking and a reflecting mirror for distance measurement on a moving body such as the excavator body of an excavator. And target, a gyro compass for azimuth measurement, and a biaxial inclinometer are installed, and a tracking / measurement device having a tracking device for automatically and continuously tracking the tracking target in an appropriate place in a tunnel and a lightwave distance meter And set up this tracking
Obtain the position of the tracking target with a measuring device,
The gyro compass for azimuth measurement and the attitude data from the two-axis inclinometer are used to obtain the coordinates of the center of the revolving structure, and the position of the tip of the cutter drum is calculated by numerical control.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is an illustration of an embodiment of a method for detecting the position of an excavator body according to the present invention. In the figure, 1 is an excavator main body of the excavator, 2 is a telescopic excavating boom mounted on the main body of the excavator so that it can be swiveled up and down on the reference vertical axis 3, and 4 is a tracking target provided on the main body of the excavator. Reference numeral 5 denotes a laser sighting device which is installed at an appropriate position in the tunnel and emits a reference laser beam 6 for measuring a tunnel cross section in parallel with the tunnel axis.
Is a tracking and measurement device installed in the tunnel. Reference numeral 16 is a two-axis inclinometer and a gyro compass. The tracking target 4 has a tracking lamp 8 and a reflection sheet (prism) 9 as shown in FIG. The tracking / measurement device 7 is shown in FIG.
As shown in, the optical rangefinder 10 and the C for tracking the target
A CD camera (or PSD element camera) 11 is provided. The optical distance meter 10 and the CCD camera 11 are integrated, and the horizontal rotating plate 1 is rotatably mounted on the substrate 12.
It is attached to a vertical rotation shaft 15 supported by a pair of columns 14 standing upright.

FIG. 4 is an explanatory diagram of coordinate axes set for measuring the position of the excavator body in the tunnel. That is, the X axis extends in the vertical direction of the tunnel cross section, the Y axis extends in the horizontal direction of the tunnel cross section, and the Z axis extends in the axial direction of the tunnel. In addition, the azimuth detecting element of the excavator main body, the pitching angle is + when the front of the excavator main body is upward, and the rolling angle is + when the right side when viewed from the cutting face is down,
The yawing angle is + when the excavator body facing the face is rotating clockwise with respect to the tunnel axis.

The tracking / measuring device 7 is installed with the reference laser beam 6 as a reference. Therefore, the distance D between the laser sighting device 5 and the tracking / measuring device 7 can be measured by the optical distance meter 10 of the tracking / measuring device 7. Position coordinate of the laser sighting device 5 (X ₁ , Y
_{From 1} , 0) to the position coordinates (X ₁ ,
Y ₁ , Z ₁ ) can be obtained.

FIG. 5 is an explanatory view of a method for calculating the position of the excavator main body based on the measurement value of the tracking / measuring device 7. The vertical angle measured by the tracking / measurement device 7 is θ ₁ , the horizontal angle is θ ₂ , the distance to the target is L, and the coordinates of the position P ₁ of the tracking / measurement device are (X ₁ , Y ₁ , Z ₁ ). Then, the coordinates of the position P ₂ of the target installed on the excavator body (X ₂ ,
Y _{2, Z 2)} is obtained by Equation 1.

[0010]

[Equation 1]

FIG. 6, FIG. 7, FIG. 8 and FIG. 9 are explanatory views showing the relationship between the center position of the bogie revolving structure center and the target. The coordinates of the target are (X ₂ , Y ₂ , Z ₂ ), and the revolving structure center coordinates are shown. Be (X ₃ , Y ₃ , Z ₃ ). The distance between the center of the revolving structure and the target in the traveling direction of the bogie is L ₁ , and the distance between the center of the revolving structure in the transverse direction of the bogie and the target is L _2, and the inclination of the bogie at this time is the pitching angle θ ₁ and the rolling angle θ. ₂ and yaw angle θ ₃ . Then, when the rolling angle is corrected, the formula 2 is obtained, and when the pitching angle is corrected, the formula 3 is obtained.

[0012]

[Equation 2]

[0013]

(Equation 3)

If the target and the revolving structure center position are on the same plane, the revolving structure center coordinates can be expressed by equation (4).

[0015]

[Equation 4]

As described above, a position measuring system that uses a laser beam, installs a station at the irradiation position, and tracks a target mounted on a trolley from the station, an attitude measuring system using a gyro compass and a two-axis inclinometer. Thus, the center coordinates of the bogie revolving structure can be obtained. After the revolving structure center coordinates are obtained, the tip position of the cutter drum can be calculated by numerical control (NC control), and the cutting position of the excavator can be managed accurately.

[0017]

The position (coordinate value) of the excavator main body can be detected continuously and with higher accuracy as compared with the conventionally known method, so that excavation accuracy and excavation efficiency of the tunnel can be improved. The position measurement reference work of the excavator body can be performed in an extremely short time. The tracking target, which consists of a reflector and a light emitter, is not easily affected by the vibration of the excavator. Since the position of the excavator body is automatically detected and the driver does not have to perform the position detection work during the operation, even an unskilled driver can excavate an accurate tunnel cross section as well as a skilled driver.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of an embodiment of a method for detecting the position of an excavator body according to the present invention.

FIG. 2 is a perspective view of a tracking target.

FIG. 3 is a perspective view of a tracking / measurement device.

FIG. 4 is an explanatory diagram of tunnel coordinate axes.

FIG. 5 is an explanatory diagram of a method of calculating the position of the excavator body based on the measurement values of the tracking / measuring device.

FIG. 6 is an explanatory diagram showing the relationship between the center position of the bogie revolving structure and the target.

FIG. 7 is an explanatory view showing the relationship (rolling angle) between the center position of the bogie revolving structure and the target.

FIG. 8 is an explanatory diagram showing the relationship (pitching angle) between the center position of the bogie revolving structure and the target.

FIG. 9 is an explanatory diagram showing the relationship (yaw angle) between the center position of the bogie revolving structure and the target.

[Explanation of symbols]

 1 Excavator Main Body 2 Telescopic Cutting Boom 4 Tracking Target 5 Laser Sight 6 Laser Beam 7 Tracking-Measuring Device 10 Lightwave Distance Meter 11 CCD Camera

 ─────────────────────────────────────────────────── ─── Continuation of the front page (71) Applicant 000219875 Tokyu Corporation 1-16-14 Shibuya, Shibuya-ku, Tokyo (71) Applicant 000140982 2-5-8 Kita-Aoyama, Minato-ku, Tokyo (71) ) Applicant 000005924 Mitsui Miike Manufacturing Co., Ltd. 2-1-1 Nihombashi Muromachi, Chuo-ku, Tokyo (72) Inventor Masaru Ozumi 5-27-1, Tendai, Inage-ku, Chiba-shi, Chiba Ministry of Construction Kanto Regional Construction Bureau Chiba National Road Inside the construction office (72) Inventor Takeshi Takeshi 5-27-1 Tendai, Inage-ku, Chiba-shi, Chiba Prefecture Kanto Regional Construction Bureau, Ministry of Construction Chiba National Highway Construction Office (72) Inventor Yoshio Iso, 2-chome, Otowa, Bunkyo-ku, Tokyo 10-2 No. 2 Foundation Lawyer Advanced Technology Center (72) Inventor Takashi Okada No. 2 Tsukutocho, Shinjuku-ku, Tokyo Kumagai Gumi Co., Ltd. (72) Inventor Kotaro Eda 2-1, Tsukudo-cho, Shinjuku-ku, Tokyo Kumagai Gumi Co., Ltd. (72) Inventor Tsutomu Sato 3062-1, Soneshita Tana, Sagamihara City, Kanagawa Tokyu Construction Co., Ltd. Technical Research Institute (72) Inventor Ken Endo 3062-1, Soneshita, Sagamihara-shi, Kanagawa Tokyu Construction Co., Ltd. Technical Research Institute (72) Inventor Makiro Higo 2-5-8 Kita-Aoyama, Minato-ku, Tokyo Intra-company (72) Inventor Kazuyuki Sakata 2-5-8 Kita-Aoyama, Minato-ku, Tokyo In stock company inter-group (72) Inventor Yasushi Yasushi 2-28 Asahi-cho, Omuta-shi, Fukuoka Stock company Mitsui Miike Works Miike Plant (72) Invention Sumio Yamada 2-28-2 Asahi-cho, Omuta-shi, Fukuoka Mitsui Miike Works Miike Plant

Claims (1)

[Claims] 1. A tracking target having a light emitter for tracking and a reflecting mirror for distance measurement, a gyro compass for measuring direction, and a biaxial inclinometer are installed on a moving body such as an excavator body of an excavator. , A tracking / measuring device having a tracking device for automatically and continuously tracking the tracking target and an optical distance meter is installed in a proper place in the tunnel, and the position of the tracking target is obtained by this tracking / measuring device. The gyro compass for the direction measurement and the attitude data from the two-axis inclinometer are used to find the coordinates of the center of the revolving structure, and the position of the tip of the cutter drum is calculated by numerical control. Position detection method.