JPH08327361A - Method and device for measuring rolling - Google Patents

Abstract

PURPOSE: To provide a rolling-measuring device capable of measuring rolling condition of an object to be measured without lowering working efficiency of a construction work or the like. CONSTITUTION: An optical gyro sensor package 20 comprises an optical fiber gyro compass 46 for measuring an absolute direction of an excavator. The measurement of the absolute direction by the optical fiber gyro compass 46 is executed by utilizing a temporarily stopping time period of an excavation operation by the excavator 10 and a torsion angle of the excavator 10 is obtained.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rolling measuring apparatus and method for detecting a rolling state of a workpiece.

[0002]

2. Description of the Related Art Conventionally, in the excavation of a continuous underground wall of deep underground, a groove has been excavated along a planned excavation route such that an end of the excavator overlaps an adjacent excavation route.

FIG. 9 shows an example of the excavator 10 during the excavation operation.

FIGS. 1A, 1B, and 1C are a front view, a side view, and a plan view, respectively.

In such excavation, since the excavator 10 has its upper surface 10a suspended by a cable,
As shown in FIGS. 9A, 9B, and 9C, pitching, yawing, rolling, or the like occurs. Among these, pitching and yawing can be accurately measured with an inclinometer provided in the excavator, but measurement of rolling around the vertical axis shown in FIG. 9C was not easy.

In general, there is a high possibility that the entire excavator will roll due to the soil condition at the excavation position, the bedrock, and the like. Especially, when excavating a large depth, the effect of this rolling is accumulated. Once such rolling occurs, the excavated trench itself is distorted. For this reason, the previous excavation route and the present excavation route did not satisfactorily continue and meandered, and in the worst case, the excavator could not be taken out to the ground, or the rebar cage for making the wall was installed. There is a problem that it cannot be carried into the groove.

For this reason, conventionally, the excavator is suspended by two wire ropes, and further two are used for measuring the twist angle.
It was suspended by a measuring wire of a book and the twist angle was measured to monitor the rolling. That is, the twist angle of the excavator itself is detected by measuring the relative twist angle of the two measuring wires.

Further, it has been proposed that the excavator itself has a gyrocompass, and the rolling state is monitored by directly detecting the direction of the entire excavator.

[0009]

However, in the conventional method of detecting the rolling of the excavator by using the above-mentioned two measuring wires, the excavator is moved from the groove that has been dug to the next groove. In addition, it is necessary to perform accurate positioning for each of the two measurement wires and set the reference position, which causes a problem that work efficiency of excavation work is significantly reduced. Moreover, in the conventional method in which the mechanical gyrocompass is mounted on the excavator itself, it is easy to be damaged by vibration during excavation, and moreover, it is necessary to stop the excavation and perform measurements, so continuous measurement is impossible. There was a problem with efficiency.

Although a method using an optical gyro has been proposed, this method has a drawback that measurement errors are accumulated.

The present invention has been made in view of the above points, and an object thereof is a rolling measuring device capable of measuring the rolling state of an object to be measured without lowering the work efficiency of construction work or the like. And to provide a method.

[0012]

In order to solve the above-mentioned problems, a rolling measuring apparatus of the present invention is provided with an optical fiber gyro compass for detecting an absolute azimuth around a vertical axis of an object to be measured, and the optical fiber gyro. The optical fiber gyro compass includes a control means for driving and controlling a compass and a rolling calculation means for calculating a twist angle around the vertical axis of the object to be measured, and the optical fiber gyro compass detects a rotational angular velocity around the vertical axis of the object to be measured. And a turntable for rotating the optical fiber gyro about a vertical axis. The control means is configured to rotationally drive the turntable at a timing at which the movement of the measured object stops. The rolling calculation means outputs the output of the optical fiber gyro obtained when the turntable is rotated. Based on the absolute azimuth, the absolute azimuth calculation means for calculating the absolute azimuth at the stop point of the measured object is included, and the twist angle around the vertical axis of the measured object at the stop point is measured. And

According to a second aspect of the present invention, in the first aspect, the optical fiber gyro includes a sensing loop portion in which an optical fiber is formed in a loop shape, and is formed to detect a rotational angular velocity of the sensing loop portion. The turntable may be formed to rotate while holding the sensing loop surface of the optical fiber gyro substantially perpendicular to the ground.

According to a third aspect of the present invention, in any one of the first and second aspects, the absolute azimuth calculating means detects an angle from true north or true south with respect to the object to be measured as an absolute azimuth, and the absolute azimuth is detected. It is formed so as to calculate the orientation of the object to be measured with respect to the reference orientation.

According to a fourth aspect of the present invention, in any one of the first to third aspects, the optical fiber gyro compass is installed in an excavator for continuous underground wall excavation, and a twist angle of the excavator is measured. It is characterized by doing.

According to a fifth aspect of the present invention, in any one of the first to third aspects, the optical fiber gyrocompass is installed in an underground excavator used for a cast-in-place pile construction method or the like. It is characterized by measuring the twist angle of.

According to a sixth aspect of the present invention, in any one of the first to third aspects, the optical fiber gyro compass and the first optical fiber gyro are installed in an excavator used in a vertical excavation shield method. The twist angle of the excavator is measured.

According to a seventh aspect of the present invention, in a method for detecting a twist angle about a vertical axis of a vertical excavator, an optical fiber gyro for detecting a rotational angular velocity about the vertical axis of the excavator and the optical fiber gyro are provided. A turntable that rotates about a vertical axis, an installation step of installing an optical fiber gyrocompass including the excavator in the excavator, and a rotation driving step of rotationally driving the turntable at a timing when the movement of the excavator stops, Based on the output of the optical fiber gyro obtained when rotating the turntable, including an absolute azimuth measuring step of calculating the absolute azimuth at the stop point of the excavator, based on the absolute azimuth, The feature is that the twist angle around the vertical axis is measured at each stop point during excavation.

According to an eighth aspect of the present invention, in the seventh aspect, the rotation driving step is performed when the excavator is temporarily stopped when the sludge pipe is connected or at rest during excavation.

According to a ninth aspect of the present invention, in any one of the seventh and eighth aspects, the relative azimuth of the excavator during the excavation operation of the excavator is detected, and the absolute direction detected at the relative azimuth and the immediately preceding stop point is detected. Based on the azimuth, and including a measurement step of calculating the twist angle around the vertical axis of the excavator, in the measuring step, the rotational angular velocity of the excavator output from the optical fiber gyro during the excavation operation of the excavator is detected. Vertical axis of the excavator based on the relative direction and the absolute direction detected at the stop point immediately before, and the second step of calculating the relative direction of the excavator based on the detected rotational angular velocity. And a third step of calculating a twist angle around, wherein the twist angle of the excavator between the absolute stop points is complementarily measured.

In the present invention, the twist angle about the vertical axis of the measured object is calculated based on the absolute azimuth of the measured object measured by the optical fiber gyro compass.

Here, because of its structure, the optical fiber gyrocompass must be fixed so that the object to be measured does not move when the absolute azimuth is detected. The present invention
Focused on intermittently or temporarily stopping the excavator for the DUT during excavation, for example, when performing work such as adding drainage pipes or for rest such as lunch. .

In the present invention, first, the absolute azimuth of the object to be measured is detected by the optical fiber gyrocompass at each stop point of the object to be measured, and the twist angle of the object to be measured is measured based on the detection result.

For example, the replenishment work of the sludge discharge pipe is often performed every time a certain amount of excavation is completed, for example, every 6 meters. Therefore, in the present invention, for example, 60
Even when excavating deep underground such as meters, 6
It is possible to measure the twist angle of the measured object at sampling points for each meter and monitor the rolling of the measured object, and it is not necessary to stop the measured object for the measurement work. It is possible to measure without lowering other work efficiency.

It is preferable that the above-mentioned optical fiber gyro compass includes an optical fiber gyro and a turntable that rotates while keeping its sensing loop surface vertical. When the sensing loop surface of this optical fiber gyro is rotated vertically,
Since the interference state of light traveling back and forth within the sensing loop changes depending on the relationship between the direction of the sensing loop surface and the rotation direction of the earth, the true north direction (such as true south direction) is detected as the absolute azimuth by detecting this interference state. The same applies to other directions).

Further, the optical fiber gyro is installed in an excavator for excavating a vertical slot, and more specifically, an excavator for continuous deep underground wall excavation, and an excavator used for a cast-in-place pile method. It is suitable for measuring the helix angle of excavators used in the vertical excavation shield method. With the device and method of the present invention, the twist angle of an excavator used in such various construction methods can be measured in real time during excavation work.

Further, by using the invention of claim 9, it is possible to continuously interpolate and measure the torsion angle between each stop point of the excavator. As a result, not only the stop point of the excavator but also the torsion angle thereof can be continuously measured during the excavation operation, so that the posture control of the excavator can be performed with higher accuracy.

[0028]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment to which the rolling measuring device of the present invention is applied will be specifically described below with reference to the drawings. For example, a case will be described where a rolling measuring device is attached to an excavator that excavates a deep underground wall to monitor the rolling state of the excavator.

FIG. 1 is a diagram showing the overall construction of an excavation system according to an embodiment of the present invention.

The excavation system shown in the figure is an excavator 10 which is vertically suspended by a wire (not shown) to excavate a vertical slot in the ground, and a plurality of excavators used to stabilize the excavator 10 in the slot. Adjustable guide 12 of
An excavator operation panel 14 that controls the excavator 10 is included.

The operator operates the operation panel 14 to excavate a groove using an excavator along a planned excavation route.

When excavating such a continuous underground wall, it is necessary to accurately detect and control the position and orientation of the excavator 10.

Therefore, the excavation system of this embodiment has an optical gyro sensor package 20 for detecting the rolling state (twist angle) of the excavator 10, an inclinometer 22 for detecting the inclining state of the excavator 10, and the excavator 10. 24 that functions as a position measurement sensor that detects the horizontal position and depth of the
A position detector 26, an XY slide table 28,
Displacement meter 30, rotary encoder 32, depth meter 34
And a data recorder 36 that records data measured by the various sensors described above, that is, data regarding the twisted state, the tilted state, the horizontal position, and the depth of the excavator 10.
And a computer 38 that performs a predetermined calculation based on these data and sends a control instruction to the excavator operation panel 14.
It is comprised including.

The optical gyro sensor package 20 is for detecting the absolute azimuth of the excavator 10 around the vertical axis. The sensor output of the optical gyro sensor package 20 is transmitted via the rotation measurement cable 40 to the data recorder 3
6 is input and then stored in the computer 38, and then input to the computer 38. The computer 38 performs a predetermined calculation to calculate the torsion angle of the excavator 10. The detailed configuration and operation of the optical gyro sensor package 20 will be described later.

The inclinometer 22 is for detecting the inclination angle of the entire excavator 10. The output of the inclinometer 22 is input to the data recorder 36 via the inclination measuring cable 42 and stored therein.

Cable 2 which functions as a position measuring sensor
4, the position detector 26, the XY slide table 28, and the displacement meter 30 are the excavator 1 in the horizontal plane (XY plane) direction.
It is for detecting the position of 0. The position detector 26 detects the tilted state of the position measuring sensor cable 24,
The XY slide table 28 is moved so that the tilt direction is the vertical direction. Then, the displacement of the excavator 10 in the horizontal direction is obtained by measuring the amount of movement in the X and Y directions with the displacement meter 30.

The rotary encoder 32 and the depth gauge 34 are for determining the depth of the excavator 10 (position in the Z-axis direction). When the cable 24 is wound around the pulley, the rotation of the pulley is detected by the rotary encoder 32, and the depth of the excavator 10 is measured by calculating the depth based on the rotation number by the depth meter 34.

The outputs of the displacement meter 30 and the depth meter 34 described above are both input to the data recorder 36, temporarily stored therein, and then input to the computer 38.

The excavation system according to the present embodiment has such a configuration, and the computer 38 for inputting or calculating various kinds of data, when the excavator 10 deviates from the target trajectory, The effect is displayed on a display not shown, or processing such as sounding an alarm buzzer on the excavator operation panel 14 is performed.

FIG. 2 shows a specific internal structure of the optical sensor package 20, and FIG. 3 shows its circuit structure.

The optical sensor package 20 has a base 44, an optical fiber gyro compass 46 and the like provided therein. The package 20 is formed as a water resistant container and is fixed to the upper surface of the excavator 10 as shown in FIG.

As shown in FIG. 9, the optical fiber gyro compass 46 is formed so as to detect the absolute azimuth around the vertical axis 300 of the excavator 10 as a twist angle (rolling angle).

In particular, the optical fiber gyro compass 4
Due to its structure, No. 6 cannot perform the measurement unless the excavator 10 is stationary. However, according to the present embodiment, during excavation, the excavator 10 is temporarily added to replenish the drainage pipes. The measurement is performed by using the timing of stopping without hindering the excavation operation of the excavator 10. In the embodiment, since the sludge pipe of about 6 meters is used, the twist angle can be measured at intervals of 6 meters. Therefore, for example, when performing deep underground excavation of about 50 to 60 meters, 6 meters. It is possible to measure the twist angle of the excavator 10 at intervals and control the posture of the excavator 10 to efficiently excavate with high accuracy.

The configuration will be described in detail below.

In the embodiment, the base 44 is integrally fixed to the excavator 10.

The optical fiber gyro compass 46 is mounted and fixed on the base 44 so as to be rotatable in the horizontal direction indicated by an arrow 200. Here, the optical fiber gyro compass 46 includes a turntable 52 fixedly mounted on a base 44 so as to be rotatable in the horizontal direction shown by an arrow 200, and the turntable 52 in a direction shown by an arrow 200 in the figure. A rotary pulse motor 50 that is rotationally driven, a fixed base 54 that is fixedly mounted on the turntable 52 so as to be tiltable in the vertical direction shown by arrow 210 in the figure, and fixed integrally on the fixed base 54. The optical fiber gyro 58, the tilt angle sensor 60 mounted on the fixed base 54 and detecting the tilt angle, and the fixed base 5 so that the tilt angle detected by the tilt angle sensor 60 is zero.
4 is configured to include a vertical pulse motor 56 for controlling tilting in the direction indicated by arrow 210 in the figure.

The optical fiber gyro compass 46 uses a pulse motor 50 and a turntable 52.
When rotationally driving, the true north direction is detected as an absolute azimuth based on the rotation angular velocity signal output from the optical fiber gyro 58, and the orientation of the excavator 10 with respect to the true north direction is set as the reference azimuth. The measurement of the reference azimuth by the optical fiber gyro compass 46 is performed by utilizing the timing at which the excavator 10 is temporarily stopped due to the addition of the sludge pipe during excavation. In the embodiment, as the sludge discharge pipe of about 6 meters is used,
Do at meter intervals.

Next, a specific structure of the optical fiber gyro 58 will be described with reference to FIGS.

The optical fiber gyro 58 includes a sensing loop portion 110 formed by winding an optical fiber 112 in a loop, a phase modulator 114, and a polarizer 11.
6, optical couplers 118 and 122, a light source 120, and a photodetector 124.

The optical fiber 112 is a long optical fiber (for example, 1 km) and has a relatively small diameter (for example, 2.5 cm).
By forming the sensing loop portion 110 by winding the wire around, the detection sensitivity is improved.

In the optical fiber gyro 58 constructed as described above, when the light output from the light source 120 is propagated to the sensing loop section 110 forming the loop-shaped optical path, when the optical path itself rotates, the The rotation angular velocity can be detected by utilizing the Sagnac effect that a propagation time difference is generated between the surrounding light and the counterclockwise light. As such an optical fiber gyro, various types such as an optical interference type optical fiber gyro and a passive ring resonance type optical fiber gyro are known, and any type may be used. Such an optical fiber gyro generally has no moving parts as compared with a mechanical gyro, and therefore has an advantage of being strong against acceleration and vibration, and has an effect of being less likely to be damaged by vibration of the excavator 10. . In the embodiment, an optical interference type optical fiber gyro is described as an example.

Then, for example, the light source 120 is constituted by a semiconductor laser diode or the like, and the laser light of a predetermined frequency emitted from this light source 120 is passed through the coupler 118, the polarizer 116 and the coupler 122 to the sensing loop section 110. Enter as clockwise and counterclockwise light respectively. The light thus input is transmitted through the phase modulator 11
4 and polarized by the polarizer 116, the photodetector 12
Detected in 4. In this way, the rotational angular velocity of the sensing loop unit 110 can be calculated by measuring the interference state of the two lights detected by the photodetector 124.

FIG. 5 schematically shows the operating principle of the optical fiber gyro 58. This optical fiber gyro 58 has the sensing loop unit 110 as described above.
Only the angular velocity of rotation of the sensing loop surface 110a is detected. Therefore, for the sensing loop surface 110a, θ
When the rotational angular velocity Ω is generated in the inclined direction, the angular velocity ωθ sensed by the sensing loop unit 110 is ωθ
= Ω · cos θ.

The optical fiber gyro 58 of the embodiment
Is an optical fiber gyro 5 configured as shown in FIG.
The sensing loop surface 110a of No. 8 is attached and fixed so as to be perpendicular to the ground. Particularly, in the optical fiber gyro compass 46, when the tilt angle detected by the tilt angle sensor 60 becomes 0, the optical fiber gyro 5
The eight sensing loop surfaces 112 are set to be vertical.

By doing so, the rotational angular velocity of the excavator 10 in the direction around the vertical axis can be satisfactorily detected by using the optical fiber gyro 58.

6 and 7 show the principle of absolute azimuth measurement by the optical fiber gyro compass 46.

First, as shown in FIG. 6, the sensing loop surface 110a of the optical fiber gyro 58 is set perpendicular to the ground. Then, the turntable 52 is rotated to direct the sensing loop surface 110a in a plurality of directions, and the rotation angular velocity of the earth is detected. FIG. 7 shows the detection signal output from the optical fiber gyro 58 at this time. As shown in the figure, when the sensing loop surface 110a faces to the north or the south, this output becomes zero.
In this way, the true north or true south direction can be detected as the absolute azimuth.

Optical fiber gyro compass 46 of the embodiment
Using such a principle, the true north direction is detected as the absolute direction while rotating the turntable 52, and the direction in which the excavator 10 is currently facing is detected as the reference direction based on the true north direction. Is configured to.

FIG. 3 shows a circuit configuration of the rolling measurement system of the embodiment.

The sensor package 20 of the embodiment is formed as a water pressure resistant container, and is configured so that the liquid does not enter inside even if the groove is filled with the stabilizing liquid.

The sensor package 20 has an I / O
It is configured to be connected to an external data recorder 36, a computer 38, etc. via an interface 62 and a waterproof connector 64.

In an embodiment, the computer 38
Are configured to function as the compass controller 70 and the rolling calculator 72.

The compass control unit 70 includes a cable 40.
A control signal is output to the motor actuators 66 and 68 inside the sensor package 20 via the to control the pulse motors 50 and 56. In particular,
In the present embodiment, the turntable 52 is rotationally driven at the timing when the excavator 10 is temporarily stopped due to the addition of a mud discharge pipe or the like, and the absolute direction measurement operation is performed.

The rolling operation means 72 is an optical fiber gyro 50 input via the data recorder 36.
The rolling state of the excavator 10, that is, the twist angle around the vertical axis of the excavator 10 is detected based on the detection signal of 1.

Specifically, this rolling calculation means 72
Is an absolute azimuth calculation means for calculating the absolute azimuth of the excavator 10 based on the detection signal of the optical fiber gyro 50, and a twist angle calculation means for calculating the helix angle around the vertical axis of the excavator 10 based on the absolute azimuth. It is configured to work.

FIG. 8 shows an operation flowchart of the rolling measuring system of the embodiment.

First, when the excavator 10 is stopped, the optical gyro sensor package 2 is transferred from the compass controller 70 of the computer 38 via the rotation measurement cable 40.
A control command is output to the optical fiber gyro compass 46 within 0 to measure the absolute direction of the excavator 10 (step S1).

Specifically, based on a control command from the compass controller 70, the motor actuator 68 drives the vertical pulse motor 56 to vertically control the sensing loop surface of the optical fiber gyro 58. Compass control unit 7
0 monitors the output of the tilt angle sensor 60 and stops the rotation of the vertical pulse motor 50 when the sensing loop surface of the optical fiber gyro 50 becomes vertical.

In this way, the optical fiber gyro 58
The compass control unit 70 then outputs a control command to the motor actuator 66 in a state where the sensing loop surface of No. 2 is kept vertical, and drives the rotation pulse motor 50 to discontinuously rotate at regular intervals. In the embodiment, the turntable 52 is rotationally driven discontinuously in one direction at intervals of 36 degrees, and the rotation of the turntable 52 is stopped every 36 degrees.

In this way, the detection signal of the optical fiber gyro 50 measured for one round (360 degrees) is input to the rolling calculation means 72 via the data recorder 36, and the rolling calculation means 72 receives the input detection. The true north direction is detected based on the signal.

That is, when the sensing loop surface of the optical fiber gyro 50 faces the true north, the rotation direction of the earth intersects this sensing loop surface at a right angle, so that θ shown in FIG. 5 becomes 90 degrees, The angular velocity shown in FIG. 7 is also zero. Therefore, the rolling calculation means 72 is
The true north direction can be detected by calculating the direction in which the detection signal input from the optical fiber gyro 50 becomes “0”.

In this way, if the true north direction is known, the current twisting state of the excavator 10 can be accurately known. Therefore, the rolling calculation means 72 determines the rotation angle θ0 representing the current twist position from the true north direction. Obtain as the reference azimuth.

When the measurement of the reference azimuth is completed in this way, the actual excavation work by the excavator 10 is then started (step S2).

In parallel with the excavation work by the excavator 10, the excavator control panel 14 automatically performs posture control based on the measured twist angle θ (step S3). The measured twist angle may be displayed only on the display 74 connected to the computer 38. In this case, an operator or the like who sees this display operates the excavator operation panel 14 to excavate the excavator 10. Control the state.

In this way, the posture control based on the measured twist angle is performed in parallel with the excavation operation.

Then, as shown in FIG. 10, when the excavation by the excavator 10 progresses for a certain length (6 meters in the embodiment) to reach the P ₁ point, the next sludge pipe 200 is connected to the next sludge pipe 200.
The excavator 10 is temporarily stopped and controlled in order to connect and connect (step S4). At this time, the excavation control panel 14
It is determined that this stop control is not the end of the excavation operation (step S5), and the absolute azimuth measurement operation of step S1 is repeated again.

Such a series of steps S1 to S5 is repeated as one cycle until the excavation of 6 meters is performed and the next sludge pipe 200 is connected.

As described above, according to the rolling measuring device using the optical gyro sensor package 20 of this embodiment,
Each stop point P ₁ , P ₂ ... P at which the excavator 10 temporarily stops due to the additional connection of the next sludge pipe 200
_{By using n} to measure the twist angle of the excavator 10, the attitude control of the excavator 10 can be performed without interrupting the excavation work and causing a reduction in work efficiency as in the conventional case.

The present invention is not limited to the above embodiment, and various modifications can be made within the scope of the gist of the present invention.

For example, in the above-mentioned embodiment, the optical fiber gyro compass 46 is used only at the points P ₁ , P _2, ... At which the excavation work is temporarily stopped to measure the absolute azimuth. The present invention is not limited to this, and during the excavation operation of the excavator 10, the optical fiber gyro compass 46 may be used as a yaw rate sensor for relative twist angle measurement.

FIG. 11 shows a flowchart showing an example of such a measurement procedure. The steps corresponding to those in the flowchart shown in FIG. 8 are designated by the same reference numerals, and the description thereof will be omitted.

The present embodiment is characterized in that the twist angle of the excavator 10 is interpolated between the stop points P ₁ , P _2, ... Of the excavator 10 shown in FIG.

That is, while the excavator 10 is performing the excavation operation, it has been described above that the absolute azimuth measurement using the optical fiber gyrocompass 46 cannot be performed. In this embodiment,
During the operation of the excavator 10, the optical fiber gyro compass 46 is used as a yaw rate sensor for measuring the relative orientation of the excavator 10.

Since the sensing loop surface of the optical fiber gyro 58 is installed so as to be perpendicular to the wire that suspends the excavator 10, when the excavator 10 rotates around this wire during excavation work, The optical fiber gyro 58 outputs a detection signal indicating the rotational angular velocity thereof.

In the system of the embodiment, the rotational angular velocity of the excavator 10 during the excavation operation is determined by the optical fiber gyro 58.
Is output as a rotation angular velocity detection signal from the output to the rolling calculation means 72 via the data recorder 36 (step S11). The turntable 52 is stopped during this rotational angular velocity measurement period.

The rolling calculation means 72 calculates the twist angle θ1 with respect to the reference azimuth based on the detection signal thus input (step S12). Specifically, by integrating the rotational angular velocity output from the optical fiber gyro 58, the twist angle θ1 representing the relative azimuth can be calculated.

Then, the rolling calculation means 72 adds or subtracts the relative azimuth θ1 thus obtained and the absolute azimuth θ0 obtained immediately before the relative azimuth θ1 to obtain the vertical axis of the excavator 10 with reference to the true north direction. The twist angle θ around the wire (around the wire that suspends the excavator 10) is calculated (step S1).
3).

As described above, according to the system of the embodiment,
Even between the stop measurement points P ₁ , P ₂ ... P _n shown in FIG. 10, the torsion angle of the excavator 10 can be continuously interpolated and measured, whereby more accurate posture control can be realized. Is possible.

Further, in the above-mentioned embodiment, the case of monitoring the rolling state of the excavator 10 for excavating the deep underground wall is explained as an example, but the present invention excavates other kinds of slots. It can also be applied when monitoring the rolling condition of an excavator.

For example, when the optical gyro sensor package 20 of this embodiment is attached to an excavator used for the cast-in-place pile construction method, or when the optical gyro sensor package of this embodiment is used for an excavator used for the vertical excavation shield construction method. A case where 20 is attached may be considered. In any case, the rolling state of the excavator for excavating the slot can be continuously measured without interrupting the work.

Further, in the above-mentioned embodiment, the case where the twist angle is measured at the time of replenishment of the sludge pipe is explained as an example, but the present invention is not limited to this, and the excavator is temporarily stopped at the time of rest such as lunch. The period may be used to make a twist measurement.

Further, in the above embodiment, the case where the torsion angle of the excavator 10 is measured as the object to be measured has been described as an example, but the present invention is not limited to this, and various objects to be measured other than this are measured. This twist angle can be measured.

[0093]

As described above, according to the present invention, the twist angle of the object to be measured can be accurately measured without lowering other work efficiency.

[0094]

[Brief description of drawings]

FIG. 1 is a diagram showing an overall configuration of an excavation system according to an embodiment to which the present invention is applied.

FIG. 2 is a diagram showing a detailed configuration of an optical gyro sensor package.

FIG. 3 is a block diagram showing a circuit configuration of the system of the embodiment.

FIG. 4 is a diagram showing an example of a configuration of an interference-type optical fiber gyro.

FIG. 5 is an explanatory diagram of the principle of angular velocity detection of the optical fiber gyro of the embodiment.

FIG. 6 is an explanatory diagram of a principle of detecting an absolute direction of an optical fiber gyro.

7 is an explanatory diagram of a detection signal output from the sensing loop unit shown in FIG.

FIG. 8 is a flowchart showing a rolling measurement operation of the apparatus of the embodiment.

9A and 9B are explanatory views showing a posture of a cutting machine during a cutting operation, in which FIG. 9A is a front view thereof, FIG. 9B is a side view thereof, and FIG. Is.

FIG. 10 is an explanatory view showing connection points of the sludge discharge pipe during an excavation operation.

FIG. 11 is a flowchart showing the operation of another embodiment of the present invention.

[Explanation of symbols]

 10 excavator 20 optical gyro sensor package 36 data recorder 38 computer 44 base 46 optical fiber gyro compass 50 rotation pulse motor 52 turntable 54 fixed base 56 vertical pulse motor 58 optical fiber gyro 60 tilt angle sensor 70 compass control means 72 Rolling calculation means

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hidetomo Kobayashi 1-7-1, Kyobashi, Chuo-ku, Tokyo Toda Construction Co., Ltd.

Claims (9)

[Claims] 1. An optical fiber gyrocompass for detecting an absolute azimuth around a vertical axis of an object to be measured, a control means for driving and controlling the optical fiber gyrocompass, and a twist angle around the vertical axis of the object to be measured. The optical fiber gyro compass, comprising: a rolling calculation means for performing the optical fiber gyro compensating means, wherein the optical fiber gyro compass includes: an optical fiber gyro that detects a rotational angular velocity about a vertical axis of the object to be measured; The control means is formed to rotationally drive the turntable at a timing at which the movement of the object to be measured is temporarily stopped, and the rolling calculation means includes the light obtained when the turntable is rotated. Absolute azimuth calculation at the stop point of the DUT based on the output of the fiber gyro Position includes an operational unit, based on said absolute direction, rolling measuring apparatus characterized by measuring the twist angle of the vertical axis of the object in the stop point. 2. The optical fiber gyro according to claim 1, wherein the optical fiber gyro includes a sensing loop portion formed by looping an optical fiber, and is formed to detect a rotational angular velocity of the sensing loop portion. A rolling measuring device, wherein the optical fiber gyro is formed to rotate while holding a sensing loop surface of the optical fiber gyro substantially perpendicular to the ground. 3. The absolute azimuth calculation means according to claim 1, wherein the absolute azimuth calculating means detects an angle from true north or true south with respect to the object to be measured as an absolute azimuth, and the object to be measured with respect to the absolute azimuth. A rolling measuring device, wherein the rolling measuring device is formed so as to calculate an orientation as a reference azimuth. 4. The optical fiber gyro compass according to claim 1, wherein the optical fiber gyro compass is installed in an excavator for continuous underground wall excavation, and measures a twist angle of the excavator. Rolling measuring device. 5. The optical fiber gyro compass according to claim 1, wherein the optical fiber gyro compass is installed in an underground excavator used for a cast-in-place pile method and the twist angle of the underground excavator is measured. A rolling measuring device characterized by: 6. The excavator according to claim 1, wherein the optical fiber gyro compass and the first optical fiber gyro are installed in an excavator used for a vertical excavation shield method. A rolling measuring device characterized by measuring a twist angle. 7. A method for detecting a twist angle about a vertical axis of a vertical excavator, comprising: an optical fiber gyro for detecting a rotational angular velocity about the vertical axis of the excavator; and rotating the optical fiber gyro about the vertical axis. A turntable that causes the optical fiber gyrocompass to be installed in the excavator, a rotation driving step that rotationally drives the turntable at a timing when the movement of the excavator stops, and the turntable is rotated. And an absolute azimuth measuring step of calculating an absolute azimuth at the stop point of the excavator based on the output of the optical fiber gyro obtained when the twisting about the vertical axis of the excavator. A rolling measurement method characterized by measuring a corner at each stop point during excavation. 8. The rolling measurement method according to claim 7, wherein the rotation driving step is performed when the excavator is temporarily stopped, such as when the sludge pipe is connected or at rest during excavation. 9. The excavator according to claim 7, wherein the relative orientation of the excavator during the excavating operation of the excavator is detected, and based on the relative orientation and the absolute orientation detected at the immediately preceding stop point, A first step of detecting a rotational angular velocity of the excavator output from the optical fiber gyro during the excavating operation of the excavator, the first step of detecting a rotational angle speed of the excavator including an operation and measurement step of calculating a twist angle around a vertical axis of the excavator. And the second step of calculating the relative azimuth of the excavator based on the detected rotational angular velocity, and the twist about the vertical axis of the excavator based on the relative azimuth and the absolute azimuth detected at the immediately preceding stop point. A third step of calculating an angle, and a supplementary measurement of the torsion angle of the excavator between the respective stop points.