JPH08313239A - Wall surface measuring apparatus, wall surface measuring method, and digging control method using the method - Google Patents

Abstract

PURPOSE: To grasp three-dimensional data on the whole wall surface in a short time by a method wherein an ultrasonic transmission-reception part is raised and lowered and an ultrasonic beam is controlled in such a way that its scanning face is crossed with the raising and lowering direction. CONSTITUTION: An ultrasonic transmission-reception unit 50 is constituted of a cylindrical housing 52 of an ultrasonic transmission-reception part 56 and of a motor 66 as a scanning means to deflect a transmitted and received ultrasonic beam to the horizontal direction. Acoustic windows 54A, 54B are formed at the side face of the housing 52,. The transmission-reception part 56 is attached integrally to a shaft 60, and ultrasonic transducers 58A, 58B which are installed at both ends of the transmission- reception part 56 face the acoustic windows 54A, 54B. By the forward and reverse drive of the motor 66 which is installed at the rear side of a partition plate 62, the transmission-reception part 56 is turned and scanned via the shaft 60. Then, a wall- surface-data computing means computes three-dimensional data in a wall surface on the basis of the received signal of the transmission-reception part 56, on the basis of the scanning direction of the ultrasonic beam and on the basis of the raising and lowering position of the transmission-reception part 56.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wall surface measuring apparatus and method for measuring three-dimensional data of a wall surface using ultrasonic waves.

[0002]

BACKGROUND OF THE INVENTION In the underground wall construction method and the vertical shaft excavation method in civil engineering, it is necessary to measure the excavation accuracy of the wall surface in order to secure the verticality of the excavation wall and the excavation width.

For example, in the underground wall construction method, the excavation trench is filled with a stabilizing solution to prevent the wall from collapsing, the trench is excavated in the ground, and a reinforced concrete wall is built in the excavation trench, a retaining wall, a water blocking wall, It is used to build the foundations of structures and underground structure walls.

Therefore, the inside of the excavation trench is in the state of a turbid liquid in which the stabilizing liquid and the earth and sand are mixed, and the excavation wall surface often extends deep underground, and it is difficult to directly measure the wall surface shape.

As one of the methods for measuring the wall excavation accuracy in the underground wall construction method, vertical shaft excavation method, etc. having such special characteristics, it is effective to measure the wall shape using ultrasonic waves.

In the conventional shape measurement using ultrasonic waves on the excavated wall surface, the shape of the wall surface is measured while moving up and down an ultrasonic wave transmitting / receiving section for emitting a beam directed in a single direction by a winch or the like.

[0007]

However, in the above-mentioned measuring method, only the surface shape of the wall surface can be measured along the ascending / descending path during one ascending or descending operation by the ascending / descending means of the ultrasonic sensor. Further, in order to grasp the shape of the entire wall surface, it is necessary to repeatedly raise or lower the ultrasonic sensor by the elevating means of the ultrasonic sensor while shifting the position, which requires a long time.

In addition, there is a problem that the excavation wall surface shape cannot be grasped in real time during excavation.

The present invention was made on the basis of the above-described examination results, and its object is to provide a wall surface measuring apparatus, a measuring method and a method thereof capable of grasping three-dimensional data of the entire wall surface in a relatively short time. It is to provide a new excavation management method using.

[0010]

[Means for Solving the Problems]

(1) In order to solve the above-mentioned problems, the wall surface measuring apparatus of the invention of claim 1 which measures three-dimensional data of the wall surface of the shaft or groove, and an ultrasonic wave transmitting / receiving unit for transmitting and receiving ultrasonic waves, and the shaft or groove. At least, an elevating means for elevating and lowering the ultrasonic transmitting / receiving section, an ultrasonic scanning means for scanning an ultrasonic beam transmitted by the ultrasonic transmitting / receiving section so that a beam scanning surface thereof intersects the elevating direction, A reception signal of the ultrasonic transmission / reception unit, a scanning direction of the ultrasonic beam,
Wall surface data calculation means for calculating three-dimensional data of the wall surface in the ultrasonic wave transmission direction based on the elevation position of the ultrasonic wave transmitter / receiver portion, and three-dimensional data of the wall surface along the movement path of the ultrasonic wave transmitter / receiver portion. Is measured by the scanning width of the ultrasonic beam.

In the wall surface measuring apparatus according to the first aspect of the present invention, the ultrasonic transmitter / receiver unit is within the scanning range of the ultrasonic beam when the ultrasonic transmitter / receiver unit ascends or descends while scanning the ultrasonic beam. The ultrasonic beam is transmitted to the wall surface of the region corresponding to. Then, the surface three-dimensional data of the wall surface is calculated by the wall surface data calculating means based on the information of the received wave, the corresponding elevation position, and the direction of the corresponding ultrasonic beam. Therefore, claim 1
The wall surface measuring apparatus of the present invention can grasp the three-dimensional data of the entire wall surface in a relatively short time.

(2) The wall surface measuring apparatus according to a second aspect of the invention is the wall surface measuring apparatus according to the first aspect, wherein the ultrasonic scanning means is formed to repeatedly scan the ultrasonic beam with a predetermined angular width. To do.

According to another aspect of the wall surface measuring apparatus of the present invention, the ultrasonic beam is repeatedly scanned with a predetermined angular width during one ascending or descending operation of the ultrasonic transmitting / receiving unit. That is, the ultrasonic beam is transmitted to the wall surface at a predetermined vertical position with a predetermined scanning angle width, and the reflected wave is received. Therefore, claim 2
The wall surface measuring apparatus of the invention can measure the three-dimensional data of the wall surface with a predetermined scanning angle width in a relatively short time.

(3) Further, the wall surface measuring apparatus of the invention of claim 3 is the wall surface measuring apparatus of claim 2, wherein the ultrasonic wave transmitting / receiving section transmits / receives ultrasonic beams in different directions.
It is characterized by including an ultrasonic transducer.

According to the wall surface measuring apparatus of the third aspect of the present invention, since the ultrasonic beam is scanned in different directions by the at least two ultrasonic transducers, the ultrasonic wave transmitting and receiving section is more likely to move during one ascent or descent. Information can be gathered for obtaining the shape of a wall surface having a large area. For example,
In the measurement of the opposing wall surfaces in the underground wall construction method, at least two ultrasonic transducers are provided, and one of them is directed toward one of the opposing wall surfaces, and the other is directed toward the other of the opposing wall surfaces. Surface three-dimensional data of both wall surfaces can be obtained during the ascending or descending motion of the.

(4) In the wall surface measuring apparatus of the invention of claim 4, in claim 1, the ultrasonic scanning means is formed so as to rotationally scan an ultrasonic beam, and the wall surface data calculating means is It is characterized in that three-dimensional data of the wall surface is calculated along the rotational scanning direction.

The wall surface measuring apparatus according to the fourth aspect of the present invention is used in the case of a vertical shaft or the like, and the ultrasonic wave transmitting / receiving unit scans so as to rotate the ultrasonic beam about the vertical line ascending or descending as a rotation axis, and the wall surface is measured. The ultrasonic beam is transmitted to the entire circumference of. Therefore, the wall surface measuring apparatus according to the invention of claim 4 can obtain surface three-dimensional data over the entire circumference of the wall surface of the shaft while the ultrasonic wave transmitting / receiving unit is raised or lowered once.

(5) The wall surface measuring apparatus according to a fifth aspect of the present invention is the control according to any one of the first to fourth aspects, which controls the raising / lowering operation of the raising / lowering means and the ultrasonic beam scanning of the ultrasonic scanning means. It is characterized by including means.

The wall surface measuring apparatus according to the fifth aspect of the present invention has a control means for controlling the ascending / descending operation of the ascending / descending means and the scanning of the ultrasonic beam by the ultrasonic scanning means, whereby the direction in which the ultrasonic beam is emitted is determined. Control surely. Therefore, the wall surface measuring apparatus according to the fifth aspect of the present invention can obtain the information for obtaining the shape of the necessary portion of the wall surface in the minimum necessary time.

(6) Further, in the wall surface measuring device of the invention of claim 6, in any one of claims 1 to 5, the elevating means is a wire for suspending the ultrasonic wave transmitting and receiving portion at one end side,
It is characterized by including a support part for supporting the wire above the shaft or the groove, and a wire winding means for mounting the other end side of the wire and moving up and down the ultrasonic transmitting / receiving part.

According to a sixth aspect of the wall surface measuring apparatus of the present invention, the ultrasonic wave transmitting / receiving section is hung at one end of the wire, the wire is supported by the supporting section above the groove, and the wire winding means at the other end of the wire lengthens the wire. The vertical position of the ultrasonic transmission / reception unit is changed by adjusting the height. As a result, the wall surface measuring apparatus according to the invention of claim 6 can set the ultrasonic transmitting / receiving unit at a desired vertical position.

Here, it is preferable that the elevating means includes a reference position setting wire suspended from the supporting portion, and the ultrasonic transmitting / receiving unit is formed so as to move up and down along the reference position setting wire.

In this wall surface measuring device, a reference position setting wire is hung from a supporting part, and an ultrasonic wave transmitting / receiving part is moved up and down along the guide of the wire. Therefore, it is possible to suppress undesired fluctuation and rotation of the ultrasonic transmitting / receiving unit mainly in the horizontal plane due to the swing of the suspension wire.

Further, the wall surface measuring apparatus of the present invention includes a detecting means for detecting the attitude of the ultrasonic wave transmitting / receiving section, and the wall surface data calculating means corrects and calculates the three-dimensional data of the wall surface based on the detected attitude. Is preferably formed.

In this wall surface measuring device, the detecting means detects the posture of the ultrasonic wave transmitting / receiving section, and the three-dimensional data of each sample point on the wall surface is corrected and calculated based on the detected information. Therefore, the wall surface measuring device can reduce the measurement error of the wall surface three-dimensional data due to the change in the posture of the ultrasonic wave transmitting / receiving unit.

Further, the wall surface measuring apparatus of the present invention is preferably formed so as to include a stabilizer plate which is provided in the mounting housing of the ultrasonic wave transmitting / receiving section and stabilizes the posture of the ultrasonic wave transmitting / receiving section in the stabilizing solution.

This wall surface measuring device uses a stabilizer provided so as to project from the mounting housing of the ultrasonic wave transmitting / receiving unit into the stabilizing liquid, whereby the ultrasonic transmitter / receiver unit undergoes a sudden change in posture,
In particular, it prevents changes in posture due to rotation about a vertical line. Therefore, this wall surface measuring device can suppress an error in wall surface shape measurement.

(7) Further, the invention of claim 7 is a method for measuring three-dimensional data of a wall surface of a shaft or a groove, wherein an ultrasonic wave transmitting / receiving section for transmitting and receiving ultrasonic waves is moved up and down in the shaft or groove. And a step of scanning an ultrasonic beam transmitted by the ultrasonic transmitting / receiving section such that its beam scanning surface intersects the ascending / descending direction, and at least a reception signal of the ultrasonic transmitting / receiving section, and the ultrasonic beam Based on the scanning direction of, and the elevation position of the ultrasonic transceiver,
A step of calculating three-dimensional data of the wall surface in the ultrasonic wave transmission direction, and the three-dimensional data of the wall surface along the moving path is converted into the ultrasonic beam by one ascending or descending operation of the ultrasonic wave transmitting / receiving unit. It is characterized in that it is measured with a scanning width of.

In the wall surface measuring method according to the invention of claim 7, the ultrasonic transmitter / receiver unit is within the predetermined scanning width of the ultrasonic beam by moving up or down while scanning the ultrasonic beam, and the ultrasonic transmitter / receiver unit An ultrasonic beam is transmitted / received with respect to the wall surface in the area corresponding to the ascending / descending range. Then, the three-dimensional surface data of the wall surface is calculated by the wall surface data calculating means based on the information of the transmitted / received waves, the corresponding elevation position, and the corresponding direction of the ultrasonic beam. Therefore, according to the wall surface measuring method of the invention of claim 7, the three-dimensional data of the entire wall surface can be measured in a relatively short time.

(8) Further, the wall surface measuring device according to claim 8 is
A wall surface measuring device for measuring three-dimensional data on a wall surface of a shaft or a trench, comprising: an ultrasonic wave transmitting / receiving unit capable of transmitting / receiving an ultrasonic beam and scanning the ultrasonic beam in a direction intersecting a vertical direction of an excavator. Based on the ultrasonic measuring device fixed to the top of the excavator, at least the received signal of the ultrasonic transceiver, the scanning direction of the ultrasonic beam, and the position of the ultrasonic transceiver. And wall surface data calculating means for calculating three-dimensional data of the excavated wall surface in the ultrasonic wave transmission direction.

According to the present invention as set forth in claims 1 to 7, since the ultrasonic measuring device is lowered after the excavation to measure the wall surface, there is a gap between the excavation and the wall surface measurement. Therefore, in the wall surface measuring device of the present invention, the ultrasonic measuring device is fixed to the top of the excavator so that the wall surface shape can be measured in real time while excavating. As a result, the wall surface shape data can be reflected in the excavation management.

Since the ultrasonic measuring device is fixed to the excavator itself, the influence of the position / orientation of the excavator is unavoidable when measuring the wall surface, but it can be determined whether or not the wall surface has collapsed. A minute error does not pose any problem, and therefore, it is possible to obtain data with the required accuracy.

(9) The wall surface measuring apparatus of the present invention according to claim 9 is the wall surface measuring apparatus according to claim 8, further comprising a reflector plate fixed to a predetermined position on the top of the excavator, and reflecting waves from the reflector plate. It is characterized in that the scanning direction of the ultrasonic beam in the ultrasonic measuring device is detected by using the ultrasonic measuring device.

For example, when the ultrasonic beam is rotated and sent to the surroundings, a reflector is used as a means for detecting the scanning direction of the ultrasonic beam. That is, since the intensity of the reflected wave from the reflector and the intensity of the reflected wave from the excavated wall surface are different, the ultrasonic wave transmission direction can be detected by determining the strength of the received signal that appears periodically.

(10) In the wall surface measuring apparatus of the tenth aspect of the present invention, in the eighth aspect, the ultrasonic measuring device starts scanning the ultrasonic beam from an initial position when performing ultrasonic scanning. In addition, the ultrasonic beam is configured to be repeatedly scanned within a predetermined angular width.

According to this structure, the ultrasonic wave sending direction can be detected without using the reflector as in the ninth aspect.
That is, when scanning the ultrasonic beam, if the scanning is always started from a predetermined position, then the scanning position of the ultrasonic wave can always be known by measuring the rotational speed of the motor, for example.

(11) The wall surface measuring device of the present invention according to claim 11 is a wall surface measuring device for measuring three-dimensional data of a wall surface of a shaft or a groove, which transmits and receives an ultrasonic beam and is the ultrasonic beam. A plurality of ultrasonic measuring devices fixed to the top end of the excavator, the ultrasonic transmitting / receiving unit being provided with an ultrasonic transmitting / receiving unit capable of scanning the sending direction of the excavator in a direction intersecting with the ascending / descending direction of the excavator; Wall surface data calculation means for calculating three-dimensional data of the excavated wall surface in the ultrasonic wave transmission direction based on the received signal of the section, the scanning direction of the ultrasonic beam, and the position of the ultrasonic wave transmission / reception section. It is a feature.

According to the present invention, a plurality of ultrasonic measuring devices are fixed to the top end of the excavator, and it is possible to acquire a wider range of wall surface data in a short time. By making good use of the top margin of the excavator, a large number of ultrasonic measuring devices can be arranged along the longitudinal direction (wall surface to be measured) of the excavator.

(12) A wall surface measuring apparatus according to a twelfth aspect of the present invention further comprises excavator position / orientation detecting means for detecting the excavator position / orientation according to the eighth or eleventh aspect, and The wall surface data calculation means calculates the three-dimensional data of the excavated wall surface by converting the coordinates based on the detected excavator position into absolute coordinates that define an ideal excavation groove. It is characterized by doing.

According to the invention of this claim, the measurement data is corrected to measure the wall surface shape with higher accuracy.

As described above, since the ultrasonic measuring device is fixed to the excavator itself, it is affected by the position and orientation of the excavator during wall surface measurement. Therefore, when it is necessary to grasp the wall surface shape with higher accuracy, it is necessary to convert the coordinate axes from the coordinates based on the excavator to the absolute coordinates that define the ideal excavation groove, based on the excavator position and orientation. It is something to do.
As a result, it becomes possible to measure the wall shape more accurately without being affected by the position and orientation of the excavator.

(13) A wall surface measuring method of the present invention according to claim 13 is a wall surface measuring method for measuring three-dimensional data of a wall surface of a shaft or a groove, which transmits / receives an ultrasonic beam and An ultrasonic measuring device having an ultrasonic transmitting / receiving unit capable of scanning in a direction intersecting the vertical direction of the excavator is fixed to the top of the excavator, and the ultrasonic measurement is performed during excavation by the excavator. It is characterized in that three-dimensional data of the excavated wall surface is acquired by a vessel.

The apparatus according to claim 8 is used to measure the wall surface shape in real time during excavation.

(14) The present invention according to claim 14 relates to claim 1.
A method for excavation management using the method according to claim 3, wherein the judgment based on the three-dimensional wall surface data acquired by the method according to claim 13 reveals that the excavated wall surface has collapsed. The feature is that excavation management is performed during excavation by adjusting the viscosity and density of the stabilizing liquid filled in the shaft or the trench.

The main cause of peeling (collapse) of the excavated wall surface is the failure of the stabilizing liquid. Therefore, by diligently managing the stabilizing liquid during excavation, it is possible to prevent large-scale collapse and to perform excavation accurately and efficiently.

Further, when it is found that a collapse has occurred after the completion of excavation, it is difficult to assemble a rebar cage, and it is necessary to fill extra concrete. The cost is also high. On the other hand, the stable liquid during excavation can be efficiently managed at low cost, which is also advantageous.

[0047]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, embodiments of the present invention will be described with reference to the drawings.

(1) First Embodiment FIG. 1 shows an example of an underground wall construction method to which the present invention is applied.

In the underground wall construction method, first, a trench is excavated in the ground. This excavation is performed while filling the excavation trench 18 with the stabilizing solution 16 to prevent the excavation trench wall 20 from collapsing. Next, by making a reinforced concrete wall in this excavation groove 18, for example, an earth retaining wall, a water blocking wall, a foundation of a structure,
Underground structure walls are built.

In the embodiment, the rotary excavator 10
The outline of the underground wall construction method using is shown. As shown in the figure, in the underground wall construction method using the rotary excavator 10,
The rotating pit 12 is rotated to excavate the ground in the vertical direction, and the excavated earth and sand are sucked up together with the stabilizing liquid 16 and discharged from the suction pump 14.

By the way, in many civil engineering methods such as the underground wall method, it is necessary to ensure the verticality and the excavation width of the trench wall 20. However, the trench walls 20A, 20
Part of B may collapse due to vibration during excavation or other causes, and verticality and excavation width may not be reliably ensured. FIG. 2 shows a state in which a part of the wall surface of the excavation trench wall 20B has collapsed. Originally, this excavation groove wall 20B
Is preferably formed along 20B 'shown by the chain double-dashed line in the figure. However, if a part of it collapses,
A depression occurs in this collapse area 22 and the area 2
Sediment collapsed from No. 2 accumulates at the bottom and becomes a deposition area 24. As a result, the excavation ditch wall 20B becomes uneven, and further, the collapsed earth and sand are accumulated to make the excavation depth shallow,
It will affect the subsequent construction.

In order to recognize that such an undesirable situation has occurred on the wall surface, it is important to measure the surface shape of the trench wall 20.

However, the inside of the excavation ditch 18 is in a state of a turbid liquid in which the stabilizing liquid 16 and earth and sand are mixed, and the excavation ditch wall 20 often reaches deep underground. However, it is difficult to measure the wall shape of the excavation trench wall 20.

Therefore, the measurement of the surface shape of the excavation trench wall 20 using ultrasonic waves is effective for the measurement of such excavation trench wall.

FIG. 3 schematically shows an example of the wall surface measuring device of the present invention. The wall surface measuring device of the embodiment is shown in FIG.
After the excavation shown in FIG.
The ultrasonic transmitter / receiver unit 50 has a three-dimensional shape of A and 20B.
It is formed so as to measure with. In particular,
The ultrasonic transmission / reception unit 50 is gradually lowered while the ultrasonic transmission / reception unit 50 is suspended by the wire 42 of the lifting device 40 provided on the ground. Then, the excavation trench walls 20A located on both sides of the ultrasonic transmitting / receiving unit 50,
It is configured to measure the wall surface shape by transmitting and receiving ultrasonic beams 100A and 100B toward 20B.

As shown in FIG. 4, the lifting device 40 includes a winding portion 46, a wire 42 having one end wound around the winding portion 46 and multiple ends attached and fixed to the ultrasonic transmitting / receiving unit 50, and a predetermined measurement. It is configured to include a support portion 44 that is installed at the site and that supports the wire 42 between the ultrasonic transmission / reception unit 50 and the winding portion 46. This support portion 44 is
Since it is necessary to install the ultrasonic wave transmitting / receiving unit 50 so as to be located right above the ultrasonic wave transmitting / receiving unit 50, in the embodiment, the support portion 44 is
Both ends of the excavation groove 18 are mounted and fixed to the center of a movable installation arm 48 which is installed so as to straddle the excavation groove 18. Then, the support arm 48 is moved in accordance with the measurement position of the excavation groove wall 20 so that the ultrasonic transmission / reception unit 50 can be moved and installed in the Z direction (longitudinal direction of the excavation groove 18) in the drawing.

Further, in this embodiment, the wire 42 is
Inside the ultrasonic transmission / reception unit 50 and the arithmetic and control unit 30.
A signal line and a power supply line are provided to communicate with each other. Then, the arithmetic and control unit 30 controls the ultrasonic winding unit 50 while controlling the winding part 46.
Gradually lower to the bottom of.

The feature of this embodiment is that, in conjunction with the descending operation of the ultrasonic wave transmitting / receiving unit 50, the ultrasonic beam 100 is emitted from the ultrasonic wave transmitting / receiving unit 50 to the beam scanning surface 1 thereof.
10 is to scan so as to intersect with the descending direction of the ultrasonic transmitting / receiving unit 50. In the embodiment, the ultrasonic beam is formed to be repeatedly scanned in the horizontal direction within the range of the scanning angle θ _M in accordance with the descending operation of the ultrasonic transmission / reception unit 50.

By doing so, the arithmetic and control unit 30 scans the three-dimensional shapes of the excavation trench walls 20A and 20B along the movement path of the ultrasonic transmission / reception unit 50 with the ultrasonic beams 100A and 100B. It can be measured by the angular width θ _M. That is, the three-dimensional shape of the excavation trench walls 20A and 20B, which can be conventionally measured only along the line, is obtained by moving the ultrasonic transmission / reception unit 50 down or up once using the winding portion 46, and the scanning angle width θ.
It is possible to measure with a width d corresponding to _M.
It becomes possible to efficiently grasp the shapes of A and 20B in a relatively short time.

FIG. 8 schematically shows the measurement data of the excavation trench wall 20B, a part of which has collapsed as shown in FIG. As shown in the figure, the arithmetic and control unit 30 of the embodiment performs the scanning width d of the ultrasonic beam 100B by one measurement operation.
In this range, the three-dimensional shape of the excavation trench wall 20 can be measured in an area of depth h _Max corresponding to the ascending / descending path of the ultrasonic transmitting / receiving unit 50, and this can be displayed as an image on a display (not shown). In addition, in FIG. 8, the measurement image is displayed so that the unevenness of the wall surface of the excavation trench wall 20B is illustrated by contour lines. This makes it possible to visually and accurately grasp the three-dimensional shape.

FIG. 5 shows the ultrasonic transmitting / receiving unit 50.
Is shown. The ultrasonic transmitting / receiving unit 50 of the embodiment has a housing 52 formed in a cylindrical shape.
And an ultrasonic transmitting / receiving unit 56 provided in the housing 52, and a scanning unit for horizontally scanning the ultrasonic beam transmitted / received from the ultrasonic transmitting / receiving unit 56.

The housing 52 is provided on both sides of its side with
Acoustic windows 54A and 54B, which are slightly larger than the predetermined angular width θ _M , are formed, and a window material capable of transmitting an ultrasonic beam is attached and fixed to the acoustic windows 54A and 54B.

Further, inside the housing 52, the partition plate 6
It is divided into 3 chambers by 2, 64.
A rotary shaft 60 is rotatably attached and fixed between the two and 64. An ultrasonic transmitter / receiver 56 is integrally attached and fixed to the rotary shaft 60, and ultrasonic transducers 58A and 58B provided at both ends of the transmitter / receiver 56 are
It is formed so as to face the acoustic windows 54A and 54B.

A motor 66 is provided as an ultrasonic scanning means on the rear surface side of the partition plate 62, and the ultrasonic transmitter / receiver 5 is driven through the rotary shaft 60 by the forward / reverse driving of the motor 66.
As shown in FIG. 6, 6 is repeatedly rotated and scanned with a predetermined scanning angular width θ _M.

Here, in the housing 12, the space surrounded by the partition plates 62 and 64, that is, the space where the ultrasonic transducer 58 is present is filled with a predetermined oil, and the ultrasonic transmitting / receiving unit 50 is stabilized. 16
When located inside, the acoustic impedances inside and outside the acoustic window 54 are configured to be substantially the same. Thereby, the energy loss due to the reflection of the ultrasonic beam on the boundary surface of the acoustic window 54 can be reduced, and the ultrasonic wave can be transmitted and received efficiently.

FIG. 9 shows an example of the circuit configuration of the wall surface measuring apparatus of the embodiment.

The apparatus of the embodiment is the arithmetic and control unit 30.
An operation unit 36, a display device 38, and a transmission / reception circuit 70.
And an ultrasonic transmitting / receiving unit 56 and a scanning unit 66.

The arithmetic and control unit 30, the operating section 36 and the display unit 38 are provided on the ground side.

The transmitter / receiver circuit 70 and the ultrasonic wave transmitter / receiver 5
6 and a motor 66 functioning as a scanning unit are provided in the housing 52 of the ultrasonic transmission / reception unit 50.

The transmitter / receiver circuit 70 is configured to drive the ultrasonic transducers 58A and 58B of the ultrasonic transmitter / receiver 56 to transmit / receive ultrasonic beams. Specifically, the transmission / reception circuit 70 includes a trigger pulser 72, a transmission pulser 74, a transmission / reception separation circuit 76, an STC (S
(encytime Time Control)
The circuit 78, the detection circuit 80, and the amplification circuit 82 are included.

The trigger pulser 72 is configured to output a trigger signal to the transmission pulser 74 when a signal instructing transmission is input from the control means 34 as described later.

The transmission pulser 74 outputs the transmission pulser to the ultrasonic transducers 58A and 58B of the ultrasonic transmission / reception section 56 via the transmission / reception separation circuit 76 in synchronization with the input of the trigger signal, and the ultrasonic transducers 58A are output. , 5
The ultrasonic beams 100A and 100B are output from 8B.

The ultrasonic beam 1 output in this way
00A and 100B are reflected by the excavation trench walls 20A and 20B, received again by the ultrasonic transducers 58A and 58B, converted into electric signals here, and then input to the transmission / reception separation circuit 76. At this time, since the signals converted into electric signals by the ultrasonic transducers 58A and 58B include the signals of the transmitted waves in addition to the received waves, the transmission / reception separation circuit 76 causes the ultrasonic transducers 58A and 5B to transmit.
Only the reception signal of the ultrasonic beam 100 is separated from the signal output from 8B and output to the STC circuit 78, where the reception signal is adjusted to a predetermined gain and then output to the detection circuit 80.

The detection circuit 80 extracts only the component corresponding to the modulated wave of the transmission signal from the input reception signal of the ultrasonic beam and outputs it to the arithmetic and control unit 30 via the amplification circuit 82.

In this way, the transmitting / receiving circuit 70 of the embodiment is
Is configured to transmit and receive the ultrasonic beams 100A and 100B used for the ultrasonic transducers 58A and 58B, and output the received signals to the arithmetic and control unit 30.

The arithmetic and control unit 30 includes a RAM, a ROM in which a predetermined arithmetic and control program is stored, and a CPU, and is formed so as to function as the wall surface data arithmetic means 32 and the control means 34.

The control means 34 moves up and down the ultrasonic wave transmitting / receiving unit 50, ultrasonic wave transducers 58A,
58B drive control and motor 66 functioning as a scanning unit
Is used to control the ultrasonic beam scanning. Specifically, the control means 34 is configured to
6, a hoisting control signal for controlling the ascending / descending position of the ultrasonic wave transmitting / receiving unit 50 is output, a rotation control signal for instructing the scanning direction θ of the ultrasonic wave transmitting / receiving unit 56 is output to the motor 66, and the trigger pulser 72 is output. It is formed to output a signal instructing directed transmission.

The wall surface data calculating means 32 includes a storage unit for storing the transmission / reception signals of the ultrasonic transducers 58A and 58B, the scanning direction of the ultrasonic beam 100, and the elevation position of the ultrasonic transmission / reception unit 56. Based on the above, the three-dimensional wall surface shape of the scanning width d of the ultrasonic beam is calculated along the movement path of the ultrasonic transmitting / receiving unit 56, and the display circuit 38
Formed as shown above. Specifically, every time the ultrasonic beam is transmitted / received, the output timing of the trigger signal output from the trigger pulser 72 and the amplification circuit 82.
The distance between each of the ultrasonic transducers 58A and 58B and the wall surface is calculated based on the time difference from the reception timing of the reception signal output from. At this time, at the same time, the winding part 46
Depth of each ultrasonic transducer 58A, 58B (Y coordinate data in the depth direction) based on the control signal output to
Motor 66 that detects the
The scanning direction θ of the ultrasonic beam 100 is detected based on the drive signal directed to the. And, based on each of these data,
Wall surfaces 20A, 20B of ultrasonic beams 100A, 100B
The reflection point above is specified, and three-dimensional data (each coordinate value of X, Y, Z) at each point is calculated. Then, the calculated three-dimensional data is displayed on the display device 38 as an image as shown in FIG.

In particular, in the present embodiment, as shown in FIG. 8, the portions having the same X coordinate data perpendicular to the wall surface are connected by contour lines and displayed, so that the three-dimensional shape of the wall surface can be visually instantly understood. It becomes possible to do.

FIG. 10 shows a flowchart of a specific measuring operation of the wall surface measuring apparatus of the embodiment.

First, as shown in FIG. 3 and FIG.
While setting the support portion 44 at a predetermined measurement point of
The ultrasonic transmission / reception unit 50 is set at the opening position above the excavation groove 18. At this time, as shown in FIG. 6, the attitude of the housing 52 is initially set so that the acoustic windows 54A and 54B of the ultrasonic transmission / reception unit 50 face the excavation trench walls 20A and 20B on both sides.

Then, the wall surface data calculating means 32 stores the ascending / descending position h of the ultrasonic wave transmitting / receiving unit 50 at this time as an initial value h ₀ (step S10).

When the measurement is started in this state, a control command for setting the scanning angle θ to the initial value θ ₀ is first output to the motor 66 functioning as a scanning unit (step S1).
2) The first ultrasonic transmission / reception operation is performed (step S14).

Then, the ultrasonic wave transmission / reception data at this time is subjected to data calculation processing, and three-dimensional coordinate data (X, X, at the wall reflection points of the ultrasonic beams 100A, 100B)
Y, Z) is obtained (step S16).

After that, the scanning angle θ of the ultrasonic beam is
It is moved by θ in the horizontal direction (step S18), and similarly, transmission / reception of ultrasonic beams and data processing are performed (steps S14, 16). Such steps S14-1
The process of the example 8 is performed by changing the scan angle θ to a predetermined scan angle θ _M.
Repeat until As a result, as shown in FIG. 7, the ultrasonic beam 1 for the first time along the scanning surface 110-1
00 beam scanning is sequentially performed in the direction of arrow 120, and three-dimensional coordinate data of each measurement point P ₁ , P ₂ ... P _K is obtained.

When it is determined that the beam scanning angle θ has reached the predetermined reference value θ _M (step S20), the wire is sent out from the winding portion 46 by Δh (step S22), and similarly. The operations shown in steps S12 to S20 are repeated. As a result, as shown in FIG.
3 of the excavation trench walls 20A and 20B along the scanning surface 110-2
The dimensional shape will be measured.

Such a series of measurement operations (step S1
2 to S22) are repeated until the ultrasonic transmission / reception unit 50 reaches the predetermined depth hmax, and when it is determined that the predetermined depth has been reached (step S24), the measurement is terminated and the ultrasonic transmission / reception unit 50 Will be wound up.

Next, the support portion 44 is moved and installed in the axial direction by the distance d, and the measurement is performed in the same manner.

Such measurement operation is repeated until the measurement of the entire wall surface is completed.

As described above, according to this embodiment,
By performing a single lifting operation of the ultrasonic transmission / reception unit 50, the wall surface shapes of the excavation trench walls 20A and 20B can be three-dimensionally measured within the range of the width d (width corresponding to the scanning angle θ _M ) and the height h _Max. It will be possible.

In particular, according to this embodiment, as shown in FIG. 6, ultrasonic transducers 58A and 58B are provided toward both sides of the ultrasonic transmitting / receiving unit 50, and both wall surfaces 20A and 20B facing each other are measured in one measurement. It is configured for simultaneous measurement. Thus, as in the case of the underground wall construction method, when the excavation trench walls 20A and 20B are present so as to face each other, the measurement of both wall surfaces can be performed more efficiently.

Here, information obtained by the conventional measuring method,
The information obtained by the measuring method of this example will be compared.

In the conventional measurement, the information obtained by moving the ultrasonic transducer up and down once in the trench is the three-dimensional information of the sample points along one vertical line of the trench wall 20. This is an ultrasonic transducer 5
It means that the information of the line along the line AA shown in FIG. 7 can be obtained by the single ascending or descending operation of 8.

On the other hand, according to the measuring method of the present embodiment, the ultrasonic beam 10 is moved up or down once in the excavation groove 18 to make the ultrasonic beam 10
The three-dimensional shape of the wall surface can be measured with a width d corresponding to a scan angle width of zero. That is, in FIG. 7, the wall surface 20 in the area having the scanning beam width d of the ultrasonic beam and the height h _Max.
You can get information about the aspect. From this, it can be understood that the measuring method of the present embodiment can measure the three-dimensional shape of the wall surface extremely efficiently as compared with the conventional technique.

In the present embodiment, the depth h of the ultrasonic transducer 58 is not changed until each horizontal scanning is completed. However, the present embodiment is not limited to this, and the ultrasonic wave is not necessary. The ultrasonic beam may be horizontally scanned while changing the depth h of the transducer 58.

(2) Second Embodiment FIGS. 11 and 12 show a second preferred embodiment of the present invention. The members corresponding to those in the first embodiment are designated by the same reference numerals and the description thereof will be omitted.

The wall surface measuring apparatus of this embodiment is characterized in that it is formed so as to continuously measure the three-dimensional shape of the side wall 20 of the shaft 26.

Therefore, the ultrasonic wave transmitting / receiving unit 50 of the embodiment is constructed so as to rotate and scan the ultrasonic beam 100. Specifically, the acoustic window 54 is formed on the side surface of the housing 52 within a range of 360 degrees. Then, the ultrasonic wave transmitting / receiving unit 56 is formed so as to continuously rotate and scan over a range of 360 degrees as indicated by an arrow 200 in FIG. The difference from the ultrasonic transmitter / receiver 56 of the first embodiment is that the ultrasonic transmitter / receiver 56 in the first embodiment has two ends on both sides.
In contrast to the case where the individual ultrasonic transducers 58A and 58B are formed, in the present embodiment, the ultrasonic transducer 58 is formed only on one end side thereof.

With the above configuration, the ultrasonic wave transmitting / receiving unit 50 is gradually lowered from above the shaft 26 as shown in FIG. 12, and at the same time, the ultrasonic wave transmitting / receiving unit 56 is continuously rotated and scanned. , Dashed line 210 in the figure
Measured points P1, P2 on the spiral curve
Then, the three-dimensional coordinates of the side wall 20 can be obtained.

By doing so, the wall surface measuring apparatus of this embodiment can efficiently measure the three-dimensional shape of the side wall 20 of the shaft 26 in a short time.

(3) Third Embodiment FIG. 13 shows a preferred third embodiment of the present invention. The members corresponding to those in the above-mentioned respective embodiments are designated by the same reference numerals, and the description thereof will be omitted.

In each of the above embodiments, the ultrasonic beam 100 is mechanically scanned by using a motor or the like, but in the present embodiment, the ultrasonic beam 100 is electrically scanned. Is.

That is, in this embodiment, the ultrasonic wave transmitting / receiving section 56 includes a plurality of ultrasonic wave transducers 58-1,
58-2 ... 58-5 are arranged as an ultrasonic transducer array arranged at a predetermined interval, and each ultrasonic transducer 5 constituting this transducer array is arranged.
By controlling the phase of the drive signal supplied to 8,
The ultrasonic beam 100 is configured to scan in the horizontal direction.

For example, each ultrasonic transducer 58-
By supplying a driving signal having a predetermined delay phase to 1, 58-2, ...
-1 can be transmitted and received, and the ultrasonic beam 100-3 can be transmitted and received by reversing the phase delay. In addition, each transducer 58-1, 58
The ultrasonic beam 100-2 can be transmitted and received by driving -2 ... 58-5 in the same phase.

As described above, according to this embodiment, by controlling the transducer array of the ultrasonic transmitting / receiving unit 56, the ultrasonic beam 100 can be repeatedly scanned within a predetermined scanning angle width.

Particularly, according to this embodiment, the ultrasonic beam 1
Since 00 scanning is performed by processing an electric signal, the mechanical structure for ultrasonic beam scanning can be simplified, and relatively high-speed scanning can be easily performed as compared with mechanical ultrasonic beam scanning. be able to.

(4) Fourth Embodiment FIG. 14 shows a preferred fourth embodiment of the present invention.

The feature of this embodiment is that the posture of the housing 52 provided with the ultrasonic wave transmitting / receiving section 56 is stabilized, and the three-dimensional shape of the wall surface can be measured with higher accuracy.

For this reason, the measuring apparatus of this embodiment is constructed so as to suspend the reference position setting wire 80 from the support portion 48, and a weight 82 for preventing the wire 80 from shaking is attached to the lower end portion of the wire 80. Installed and fixed.

The housing 52 is configured to slidably engage with the reference position setting wire 80. With such a configuration, the wall surface measuring apparatus of the present embodiment can prevent the ultrasonic wave transmitting / receiving unit 50 from making an undesired movement in the stabilizing liquid 16, and in particular, the ultrasonic wave transmitting / receiving unit 50 can be moved in a horizontal plane. It is possible to prevent undesired movement such as blurring and rotation, and as a result, it is possible to suppress an error in measuring the three-dimensional shape of the wall surface 20.

Further, in the present embodiment, a pair of stabilizers 84a, 84b are formed on the side surface of the housing 52 in the vertical direction, so that the posture of the housing 52 changes abruptly, especially by rotation about the vertical axis. It is possible to prevent the posture from changing and to measure the three-dimensional shape of the wall surface with higher accuracy.

Further, the wall surface measuring apparatus of this embodiment is provided with means for detecting the attitude of the housing 52, such as a gyrocompass and an inclinometer, in order to correct a measurement error caused by an unintended change in the attitude of the housing 52. There is. The gyro compass can detect the true north and the deviation (rotation) from the true north, and the two-axis inclinometer can detect pitching and yawing. Then, how much the attitude of the housing 52 deviates from the reference attitude is measured, and the wall surface data calculating means 32 is configured to correct the measurement error of the three-dimensional shape of the wall surface based on the measurement result. ing.

With the above-described structure, according to the embodiment, it is possible to measure the three-dimensional wall surface shape with higher accuracy.

The wall surface measuring apparatus of this embodiment is configured to include all of the reference position setting wire 80, the stabilizer 84, and the attitude detecting means of the housing 52. However, if necessary, these three configurations are possible. Of these, any one or two may be included.

The present invention is not limited to the above embodiments, but various modifications can be made within the scope of the present invention.

For example, in the above-described embodiment, the case where the wall surface shape is measured while the ultrasonic wave transmitting / receiving unit 50 is moved down has been described as an example, but the present invention is not limited to this, and the ultrasonic wave transmitting / receiving unit 50 may be used, for example. The wall surface shape may be measured while moving up.

Further, in the above embodiment, the case where the wall surface shape is sequentially calculated simultaneously with the raising or lowering operation of the ultrasonic wave transmitting / receiving unit 50 has been described as an example, but the present invention is not limited to this, and for example, the ultrasonic wave transmitting / receiving unit. By moving down or up, only the measurement data (for example, transmission / reception timing of ultrasonic beam, scanning direction, depth position, etc.) at each measurement point is stored in the memory in the wall surface data calculating means 32 in the same manner as in the above embodiment. After the completion of the series of measurement operations, the three-dimensional shape data of the wall surface in the measurement area is calculated based on the data stored in the memory.
For example, it may be displayed on the display device 38 as shown in FIG.

(5) Fifth Embodiment Next, a fifth embodiment of the present invention will be described with reference to the drawings.

In the above-mentioned embodiment, the ultrasonic measuring device is lowered after the excavation to measure the wall surface, but in the present embodiment, the ultrasonic measuring device is fixed to the top end of the excavator to perform the excavation. While performing the measurement, the wall surface shape can be simultaneously measured.

As a result, the wall shape can be measured in real time without the time lag between excavation and wall surface measurement.
The wall surface shape data thus obtained can be directly reflected in excavation management.

In this case, since the ultrasonic measuring device is fixed to the excavator itself, the influence of the position and orientation of the excavator is inevitable when measuring the wall surface, but it is possible to determine whether or not the wall surface has collapsed. The small error does not cause any problem, and therefore, it is possible to obtain the data with the required accuracy.

Hereinafter, a specific description will be given with reference to FIGS.

FIG. 15 (a) is a perspective view of the top end (upper end) portion of the excavator, and FIG. 15 (b) is a plan view thereof.

The excavator 10 is suspended by a suspension wire 520, and an ultrasonic wave transmitting / receiving unit (ultrasonic wave measuring device) is used.
50 is fixed to a corner of the top of the excavator, and reflectors 540A, 54 are provided on both sides of the ultrasonic transmitting / receiving unit 50.
OB is also fixedly provided at the top of the excavator.

The ultrasonic wave transmitting / receiving unit 50 is provided with an ultrasonic wave transmitting / receiving section 56.
It is a rotary transducer capable of transmitting ultrasonic waves in the horizontal direction (direction intersecting the vertical direction of the excavator) and receiving the reflected waves through the surrounding transparent window while rotating 0 degrees.

In this embodiment, one ultrasonic wave transmitting / receiving unit 50 acquires the shape data of the front and rear excavation wall surfaces 600A and 600B all at once.

The rotational position of the ultrasonic wave transmitter / receiver 56 is
The detection is performed based on the received signals of the reflected waves from the reflection plates 540A and 540B. In other words, since the reflector is installed near, the received signal of a higher level than the reflected wave from the excavated wall surface can be obtained. Therefore, it is possible to determine the relative rotational position of the ultrasonic transmission / reception unit 56 (the ultrasonic wave sending direction) by determining the periodic strength of the received signal accompanying the rotation.

Further, the reflection plates 540A and 540B can be distinguished from each other, for example, by making the sizes of the reflection plates different or by giving the respective shape characteristics. Then, by scanning the ultrasonic wave transmitting / receiving unit 56 in a clockwise direction stepwise at a predetermined angle,
It is possible to specify the absolute rotational position.

(6) Sixth Embodiment The feature of this embodiment is that ultrasonic waves are transmitted in an ultrasonic wave transmission / reception unit provided at the top end of an excavator without using a reflector as shown in FIG. That is, the direction can be detected.

That is, when performing ultrasonic scanning, the ultrasonic transmission / reception section 56 of the ultrasonic transmission / reception section 56 is configured so that the scanning of the ultrasonic beam is always started from the initial position and the ultrasonic beam is repeatedly scanned within a predetermined angular width. The position can be specified.

A detailed description will be given below with reference to FIG.

FIG. 16 shows the ultrasonic wave transmitting / receiving section 5 shown in FIG.
The scanning mechanism of No. 6 is slightly modified.

The feature is that the encoder plate 6 having the light emitting element 620A, the light receiving element 620B and the opening 640.
3 is provided with a rotational position detection mechanism, and the motor 6
A pulse motor is used as 6, a pulse is supplied from the pulse supply circuit 670 to the motor 66, and the position reset circuit 660 controls the pulse supply circuit 670, so that the ultrasonic transmitter / receiver unit 54 always performs the initial scanning. That is why we started from the position.

The encoder plate 66 is designed to rotate integrally with the rotary shaft 60. When the encoder plate 66 is in the position shown in FIG. 16, light is incident on the light receiving element 620B through the opening 640 and a light detection signal is output. Is obtained. This position is the initial position.

The position reset circuit 660 instructs the pulse supply circuit 670 to output pulses until the photodetection signal is obtained from the light receiving element 620B when starting the rotation (scanning of ultrasonic waves) of the ultrasonic wave transmitting / receiving unit 56. When the photodetection signal is output from the light receiving element 620B in the position state,
Stop pulse supply. As a result, ultrasonic scanning is always started from a predetermined initial position.

The position after rotation is, for example, the pulse motor 6
It can always be grasped by counting the number of pulses supplied to 6.

With such a structure, it is not necessary to provide a reflector for detecting the rotational position as shown in FIG.

(7) Seventh Embodiment FIG. 17 shows a seventh embodiment. As shown in the figure, the feature of this embodiment is that the ultrasonic transmission / reception unit 51 and reflectors 541A and 541B are further provided in the configuration of FIG.

Thus, by fixing a plurality of ultrasonic measuring devices to the top of the excavator, it is possible to acquire a wider range of wall surface data at once.

Further, if the margin of the top of the excavator is effectively used, it is possible to arrange a large number of ultrasonic measuring devices along the longitudinal direction of the excavator (the wall surface to be measured).

(8) Eighth Embodiment In this embodiment, the excavator position / position for detecting the excavator position / orientation is detected.
Based on the excavator position / orientation detected by the attitude detection means, the coordinates based on the excavator are converted into the absolute coordinates that define the ideal excavation groove to correct the measurement data to achieve higher accuracy. It is characterized in that three-dimensional data of the excavated wall surface is calculated.

That is, as described above, when the ultrasonic wave transmitting / receiving unit (ultrasonic wave measuring device) is fixed to the excavator itself, it is possible to avoid being affected by the position / orientation of the excavator during wall surface measurement. Absent. Therefore, when it is necessary to grasp the wall shape with higher accuracy, the coordinates (x, y, z in FIG. 18) based on the excavator position / orientation are used as the reference.
To the absolute coordinates (X, Y, Z in FIG. 18) that define the ideal excavation groove, and the position of the excavator
It is a more accurate grasp of the wall shape that is not affected by the posture.

Such conversion of the coordinate axes is performed by the wall surface data calculating means 32 of FIG. 9 by the method illustrated in FIG. A brief description will be given below.

In FIG. 18, the ultrasonic wave transmitting / receiving unit 5
Excavator-based data (a, b,
Regarding c), consider a case where coordinate conversion is performed to obtain coordinates in absolute coordinates.

As shown in FIG. 19, the conversion from the excavator reference coordinate mark (x, y, z) to the absolute coordinate (X, Y, Z) is performed by parallel movement (T) and rotation about the x axis ( Rx), rotation around the y axis (Ry), and rotation around the z axis (Rz). Therefore, by the operation using the determinant (affine transformation), the coordinates (A, B,
C) is required.

(9) Ninth Embodiment FIG. 20 is a diagram showing an example of the overall configuration of a system for excavation management using the wall surface measuring device described above.

The present embodiment is a system used for excavating a continuous underground wall for the construction of a deep shaft.

One of its characteristics is that during excavation, the excavator position / orientation is detected based on the detection output of the inclination angle sensor 720, and the distance to the excavation wall surface by the ultrasonic wave transmission / reception unit (ultrasonic wave measuring device) 50. It is to measure the shape of the excavated wall surface by using the measurement data of. The calculation of the measurement data is performed by the calculation means 2000.

Another feature is that the operation panel 990 controls the excavator 10 on the basis of the detection result of the excavator position / orientation to realize highly accurate excavation and to stabilize the excavator based on the measurement result of the wall shape. Liquid viscosity (density) and density control means 8
10. By viscous and density adjusting means 820, the viscous and density of the stabilizing solution are carefully controlled (excavation control).

A detailed description will be given below.

The excavation groove 18 is filled with the stabilizing liquid 16, and the excavator 10 excavates the groove bottom portion by the rotary bit 12.

The vertical position of the excavator 10 is controlled by adjusting the length of the suspension wire 520 by the winch 740. The number of rotations of the winding unit 850 is detected by the rotary encoder 900,
The position of the excavator 10 in the vertical direction is detected by the depth gauge 910.

A tilt angle sensor 720 is attached to the top end (upper end) of the excavator 10. This tilt angle sensor 7
The detection output of 20 and the like are led to the ground via the communication cable 522 and detected by the inclination angle detecting means 920.

Further, the ultrasonic wave transmitting / receiving unit 50 is fixed to the top end of the excavator 10, and the measurement data is led to the ground via the communication cable 522 and detected by the distance calculating means 930. Has become.

The position detecting means 950 also has a function of detecting the position / orientation of the excavator and giving an instruction to the depth control means 940 to adjust the vertical position of the excavator by the winch 740. .

The position / orientation of the excavator 10 detected by the position detection means 950 is displayed in real time on the display means 96.
It is displayed at 0 and is recorded in, for example, a data recorder (not shown).

The excavator control device 980 gives an instruction to the excavator operation panel 990 based on the excavator position information sent from the position etc. detecting means 950, and the excavator operation panel 990 follows the instruction. Correct the excavation posture. As a result, highly accurate excavation control is realized by detecting the excavator position / orientation in real time.

On the other hand, the wall surface shape detecting device 970 calculates the wall surface shape based on the distance data to the excavation wall surface sent from the distance calculating means 930 and displays it on the display means 960 in real time. Record on a recorder (not shown).

Further, the wall surface shape information detected by the wall surface shape detecting means 970 is sent to the viscosity and density control means 810, and when peeling is recognized on the excavated wall surface, the viscosity and density adjusting means 820 stabilizes it. The viscosity and density of the liquid are adjusted to the optimum viscosity and density so that peeling does not occur. Specifically, the management of stable liquid (drilling management) is performed as follows.

That is, the earth and sand excavated by the rotary bit 12 of the excavator 10 is suction pump (P1) 78.
With 0, it is sucked together with the stabilizing solution through the suction pipe 14.

Thereafter, the sediment separating means 790 separates the sediment from the stabilizing solution, and then the viscosity and density adjusting means 820 adjusts the viscosity and the density of the stabilizing solution. P
2) It is sent out by 830, and is returned in the excavation groove 18 via the water supply pipe 832.

The viscosity and density of the stabilizing liquid after the sediment separation is detected by the viscosity and density detecting means 800, and the viscosity control means 810 utilizes the detected viscosity and density information to adjust the viscosity and density adjusting means 820. To adjust the viscosity and density of the stabilizing solution.

As described above, according to the present embodiment, when it is found by measurement of the wall surface shape that the excavation wall surface has collapsed, the viscosity and density of the stabilizing liquid filled in the shaft or the groove are determined. It is possible to adjust and perform excavation management during excavation. The main cause of peeling (collapse) of the excavated wall surface is the failure of the stabilizing solution. Therefore, by diligently managing the stabilizing liquid during excavation, it is possible to prevent large-scale collapse and to perform excavation accurately and efficiently.

Further, when it is found that a collapse has occurred after the completion of excavation, it is difficult to assemble a rebar cage, and it is necessary to fill extra concrete, resulting in a decrease in work efficiency. The cost is also high. On the other hand, the stable liquid during excavation can be efficiently managed at low cost, which is also advantageous.

Although the present invention has been described with reference to the embodiments, the present invention is not limited to the embodiments, and the present invention can be variously modified and applied. For example, in the case where only the configuration shown in FIG. 14 has a large flow resistance when vertically descending and ascending, the ultrasonic measuring instrument is caused to flow in a specific direction due to variations in the viscosity and density of the stabilizing liquid. Can also be considered. In such a case, as shown in FIG.
It is effective to employ a structure in which members 57a and 57b are provided on the bottom surface or the top surface of the ultrasonic measuring device or the like for promoting vertical descent or ascent. The member 57 described above
As shown in FIG. 22A, a and 57b are conical members. In addition to the conical shape,
A member whose width (thickness) as shown in (b) becomes smaller toward the tip can also be used.

Further, as shown in FIG. 23, in addition to the first ultrasonic transceiver, a second ultrasonic transceiver capable of moving up and down independently can be used. In FIG. 23,
Reference numeral 50b is a first ultrasonic transceiver for wall surface shape measurement, and reference numeral 50a is a second ultrasonic transceiver capable of moving up and down independently.

According to this structure, the first ultrasonic transmitter / receiver 50b is fixed at a predetermined depth position, while the second ultrasonic transmitter / receiver 50a is freely moved up and down,
It is possible to monitor the wall condition at any point from the top to the bottom of the trench.

[0168]

[Brief description of drawings]

FIG. 1 is an explanatory diagram of an example of an underground wall construction method to which the present invention is applied.

FIG. 2 is an explanatory diagram showing how the excavation trench wall collapses.

FIG. 3 is an explanatory diagram showing an example of an operation of measuring a side surface shape of an excavation groove.

FIG. 4 is an explanatory diagram showing a schematic configuration of an apparatus of this embodiment.

5A and 5B are explanatory views showing a configuration of an ultrasonic transmission / reception unit of an embodiment, FIG. 5A is a schematic perspective view of the ultrasonic transmission / reception unit as seen from the outside of the housing, and FIG. FIG. 3 is a schematic explanatory view of an ultrasonic wave transmitting / receiving unit provided inside the housing and a scanning unit thereof.

FIG. 6 is an explanatory diagram showing an example of ultrasonic beam scanning of the ultrasonic transmission / reception unit of the embodiment.

FIG. 7 is a schematic explanatory view showing an example of a three-dimensional shape measuring operation of a trench wall.

FIG. 8 is an explanatory diagram of a three-dimensional shape measuring screen of a trench wall displayed on the display.

FIG. 9 is an explanatory diagram showing a circuit configuration of the device of the example.

FIG. 10 is a flowchart showing the operation of the apparatus of the embodiment.

FIG. 11 is a schematic explanatory view of a second preferred embodiment of the present invention.

FIG. 12 is an explanatory diagram showing a measuring operation of the apparatus of the second embodiment.

FIG. 13 is an explanatory diagram of an ultrasonic transducer array used in the device of the third embodiment.

FIG. 14 is a schematic explanatory diagram of a main part of an apparatus according to a fourth embodiment.

FIG. 15 (a) is a perspective view showing an example of the structure of the top (upper end) portion of the excavator, and FIG. 15 (b) is a plan view thereof.

FIG. 16 is a schematic diagram of a main part showing a rotating mechanism and an initial position resetting mechanism of an ultrasonic wave transmitting / receiving unit 56.

FIG. 17 is a perspective view showing another example of the structure of the top (upper end) portion of the excavator.

FIG. 18 is a diagram showing a relationship between coordinates based on an excavator (machine coordinates) and absolute coordinates.

FIG. 19 is a diagram for explaining a method of converting coordinates (machine coordinates) based on an excavator into absolute coordinates.

FIG. 20 is a diagram showing an example of the overall configuration of a system for performing excavation management using the wall surface measuring device described above.

FIG. 21 is a diagram showing a configuration of a modified example of the present invention.

22 (a) and 22 (b) are each a diagram showing an example of a member that can be used in the configuration of FIG. 21 for promoting vertical descent of the ultrasonic measuring device.

FIG. 23 is a diagram showing another modification of the present invention.

[Explanation of symbols]

 10 excavator 16 stabilizing liquid 18 excavation groove 20 excavation groove wall 22 collapse area 24 deposition area 30 arithmetic control device 32 wall surface data arithmetic means 34 control means 38 display device 40 lifting device 42 wire 44 support portion 46 winding head 50 ultrasonic transmission / reception unit 52 housing 56 ultrasonic wave transmitting / receiving section 58A, 58B ultrasonic wave transducer 60 rotating shaft 66 motor 100 ultrasonic beam 740 winch 810 viscosity and density control means 970 wall surface shape detecting means 2000 computing means

Claims (14)

[Claims] 1. A wall surface measuring device for measuring three-dimensional data of a wall surface of a shaft or a groove, and an ultrasonic wave transmitting / receiving unit for transmitting / receiving ultrasonic waves, and raising / lowering the ultrasonic wave transmitting / receiving unit in the shaft or groove. Elevating and lowering means, ultrasonic scanning means for scanning the ultrasonic beam transmitted by the ultrasonic transmitting and receiving part so that its beam scanning surface intersects the ascending and descending direction, and at least a reception signal of the ultrasonic transmitting and receiving part, A wall surface data calculating means for calculating three-dimensional data of a wall surface in the ultrasonic wave transmission direction based on the scanning direction of the ultrasonic beam and the elevation position of the ultrasonic wave transmitter / receiver; A wall surface measuring device for measuring three-dimensional data of a wall surface along a path by a scanning width of the ultrasonic beam. 2. The wall surface measuring device according to claim 1, wherein the ultrasonic scanning unit is formed to repeatedly scan an ultrasonic beam with a predetermined angular width. 3. The wall surface measuring device according to claim 2, wherein the ultrasonic wave transmission / reception unit includes at least two ultrasonic wave transducers that transmit and receive ultrasonic beams in different directions. 4. The ultrasonic scanning unit according to claim 1, wherein the ultrasonic scanning unit is formed to rotationally scan an ultrasonic beam, and the wall surface data calculation unit calculates three-dimensional data of a wall surface along the rotational scanning direction. A wall surface measuring device characterized in that 5. The wall surface measuring device according to claim 1, further comprising a control unit that controls an elevating operation of the elevating unit and an ultrasonic beam scanning of the ultrasonic scanning unit. 6. The lifting / lowering device according to claim 1, wherein the lifting / lowering unit supports a wire that suspends the ultrasonic transmission / reception unit on one end side, and a support that supports the wire above the shaft or groove. And a wire winding means for winding the other end side of the wire and moving up and down the ultrasonic transmission / reception unit. 7. A method for measuring three-dimensional data of a wall surface of a shaft or a trench, wherein an ultrasonic transceiver for transmitting and receiving ultrasonic waves is moved up and down in the shaft or trench and transmitted by the ultrasonic transceiver. Scanning the ultrasonic beam so that its beam scanning surface intersects the ascending / descending direction, at least a reception signal of the ultrasonic transmitting / receiving unit, a scanning direction of the ultrasonic beam, and the ultrasonic transmitting / receiving unit. Calculating three-dimensional data of the wall surface in the ultrasonic wave transmission direction based on the ascending / descending position of 1. A wall surface measuring method, wherein dimension data is measured by a scanning width of the ultrasonic beam. 8. A wall surface measuring device for measuring three-dimensional data of a wall surface of a shaft or a trench, which is capable of transmitting and receiving an ultrasonic beam and scanning the ultrasonic beam in a direction intersecting a vertical direction of an excavator. An ultrasonic measuring device fixed to the top of the excavator, comprising an ultrasonic transmitting / receiving unit, at least a reception signal of the ultrasonic transmitting / receiving unit, a scanning direction of the ultrasonic beam, and the ultrasonic transmitting / receiving unit. And a wall surface data calculating means for calculating three-dimensional data of the excavated wall surface in the ultrasonic wave transmission direction. 9. The scanning device according to claim 8, further comprising a reflecting plate fixed to a predetermined position on a top end of the excavator, wherein a reflected wave from the reflecting plate is used to scan an ultrasonic beam in the ultrasonic measuring device. A wall surface measuring device characterized by detecting a direction. 10. The ultrasonic measuring device according to claim 8, when performing ultrasonic scanning, starts scanning of the ultrasonic beam from an initial position and repeatedly scans the ultrasonic beam within a predetermined angular width. A wall surface measuring device having the above structure. 11. A wall surface measuring device for measuring three-dimensional data of a wall surface of a shaft or a trench, which transmits and receives an ultrasonic beam, and a direction in which the ultrasonic beam is sent out is a direction intersecting a vertical direction of an excavator. A plurality of ultrasonic measuring devices fixed to the top of the excavator, the ultrasonic measuring unit having an ultrasonic transmitting / receiving unit capable of scanning, and at least a reception signal of the ultrasonic transmitting / receiving unit and a scanning direction of the ultrasonic beam. And a wall surface data calculation means for calculating three-dimensional data of the excavation wall surface in the ultrasonic wave transmission direction based on the position of the ultrasonic wave transmission / reception unit. 12. The excavator position / orientation detecting means for detecting the excavator position / orientation according to claim 8 or 11, further comprising: the wall surface data computing means; A wall surface measuring device that calculates three-dimensional data of a wall surface for excavation by converting coordinates based on an orientation of an excavator into absolute coordinates that define an ideal excavation groove. 13. A wall surface measuring method for measuring three-dimensional data of a wall surface of a shaft or a trench, which is capable of transmitting and receiving an ultrasonic beam and scanning the ultrasonic beam in a direction intersecting a vertical direction of an excavator. An ultrasonic measuring device including an ultrasonic transmitting / receiving unit is fixed to the top of the excavator, and three-dimensional data of the excavated wall surface is acquired by the ultrasonic measuring device during excavation by the excavator. Wall measurement method characterized by. 14. An excavation management method using the method according to claim 13, wherein the excavation wall surface collapses as a result of the determination based on the three-dimensional wall surface data acquired by the method according to claim 13. When it is determined that the excavation is found, the excavation control method is characterized in that the viscosity and density of the stabilizing liquid filled in the shaft or the trench are adjusted to perform excavation control during excavation.