JPH09221977A - Excavation direction control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve workability and to improve excavation precision by a method wherein the image of the entrance of a pit photographed by a camera attached to an excavator and a plan position are displayed in a superposed state on a monitor and a direction is controlled so that the image and the position coincide with each other. SOLUTION: A camera 2 is attached to an excavator 1 and an entrance 6 of a pit is photographed such that a visual line 3 of the camera 2 is overlapped with an excavation plan line 4 and display on a monitor 8 is effected. Further, plan position display to display the entrance 6 of the pit which may be seen when the excavator 1 is advanced on an excavation plan line 4 is displayed in an overlapping state on the monitor 8. The plan position display is calculated by a signal processing part 12 based on a distance L, measured by a range finder 10, between the camera 2 and the entrance 6 of the pit and an angle θ, measured by an inclinometer 11, between the visual line 3 of the camera 2 and an excavation plan line 4. Excavation is progressed as the advancing direction of the excavator 1 is controlled so that the image of the entrance 6 of the pit coincides with the plan position display.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cutting direction control method for controlling the excavation direction when cutting a pit in the ground.

[0002]

2. Description of the Related Art In the conventional method for controlling the excavation direction, a wire is stretched between a yagura on the ground and an excavator, and a worker visually observes the movement of the wire to check the lateral displacement of the excavator from the planned excavation line. Had detected. In addition, the following conventional techniques are known.

(1) Controlling the direction of the excavator by observing with a transit instead of visual observation, attaching an inclinometer to the wire, measuring the inclination of the wire with a laser displacement meter, a measuring coil or a differential transformer (The Nikkei Construction No. 1996.6.26, pages 30-33, paper "Accuracy 1/1000
Aiming for original detection function ", Japanese Patent Laid-Open No. 1-137093
Reference).

(2) A wire is photographed from a plurality of CCD cameras in a direction perpendicular to the axis, and a deviation from a reference position is estimated to measure a lateral deviation from an excavation planned line of an excavator,
It was controlled (Japanese Patent Laid-Open No. 1-137093).

(3) A laser beam along the planned excavation line is applied to a target attached to the excavator, the beam spot position on the target is measured with a transit, and the deviation of the excavator from the planned excavation line is measured. Was controlled. Alternatively, the beam spot position on the target is observed by a CCD camera installed close to the target, and the displacement of the excavator is measured and controlled (Japanese Patent Laid-Open No. 5-59884).

(4) A two-dimensional sensor array attached to the excavator is irradiated with laser light along the planned excavation line, the beam spot position on the array is read from the sensor output, and the lateral displacement from the excavation planned line of the excavator is read. Was measured and controlled (JP-A-5-52566).

[0007]

The first problem of the prior art as described above is that the cost is high. The reason is that, when excavating a shaft, in order to suspend the excavator from a fixed position, it is necessary to construct a measuring tower for determining a fixed point in the air. Further, when excavating a side shaft, a laser light source for positioning and a transit, which are installed facing the excavator, are indispensable, and the device becomes complicated.

The second problem is that workability is poor. The reason is that when excavating a vertical shaft, when installing a measuring tower, the excavation must be stopped and the crane that suspends the excavator and the measuring tower must be replaced alternately. The workability is poor because the tower is replaced every time measurement is performed. In addition, when excavating a horizontal shaft, it is necessary to adjust the position of the laser light source and to perform transit measurement, which results in poor operability.

The third problem is that the accuracy is low.
When excavating a vertical shaft, when installing a measuring tower, it is necessary to stop the drilling once and replace the crane that suspends the excavator and the measuring tower alternately.
The problem is the reproducibility of the installation position of the measuring tower. Further, the wire is often bent by a disturbance such as wind or vibration. Therefore, accurate measurement is difficult. When excavating a side shaft, the number of laser beams with which the target of the excavator is irradiated is at most several, so there is a limit to improving the measurement accuracy.

[0010]

In the excavation direction control method of the present invention, a camera (2 in FIG. 1) as an image pickup means attached to an excavator (1 in FIG. 1) is used to detect the visual axis of the camera (FIG. 1).
3) is photographed at the entrance (6 in FIG. 1) of the mine (5 in FIG. 1) so that it overlaps the planned excavation line (4 in FIG. 1). Alternatively, a plane parallel to the plane of the entrance and a circumferential line (target) where the tunnel intersects (7 in FIG. 1) are photographed.

On the monitor (8 in FIG. 2), a planned position display showing the entrance (or target) of the mine and the entrance (or target) of the mine that would be seen when the excavator progresses along the planned excavation line (9 in FIG. 2) is displayed with the image of the entrance to the mine.

The planned position display is, for example, the distance L between the camera and the entrance of the pit measured by a range finder (10 in FIG. 1),
The signal processing unit (12 in FIG. 1) is based on the angle θ between the visual axis of the camera and the planned excavation line measured by the inclinometer (11 in FIG. 1).
Is calculated and displayed on the monitor in a superimposed manner.

The excavator advances the excavation while controlling the traveling direction so that the entrance (or target) of the pit of the raw image overlaps with the superimposed display of the planned position. The control of the excavator may be performed by an operator while looking at the monitor, or may be automatically controlled based on the deviation between the actual image of the entrance of the pit and the display of the planned position.

With the above arrangement, the pit entrance (or target) of the raw image and the planned position indication indicating the pit entrance (or target) that would be seen when the excavator progresses along the planned excavation line are displayed. Since the deviation is detected and the direction of the excavator is controlled so that the deviation disappears, excavation can be performed with extremely high accuracy.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows a block diagram of an embodiment of the present invention. The excavator 1 is suspended from the crane 16 by four wires 16. On the excavator 1, on the side opposite to the cutter, a camera 2 (for example, C
CD camera) is installed. The camera 2 is accurately fixed at a position where the planned excavation line 4 and the visual axis 3 of the camera match. The camera 2 is equipped with a telephoto lens 13 corresponding to a distance L from the entrance of the mine to the excavator 1.
The image signal of the camera 2 is sent to the signal processing unit 12.

Further, a rangefinder 10 is attached to the excavator 1. As the range finder 10, an ultrasonic range finder or an eye-safe laser range finder can be used (the eye-safe laser range finder is preferable in terms of accuracy). Further, an inclinometer 11 is attached to the excavator 1. A plurality of inclinometers 11 are provided, for example, and detect the inclination angle and the inclination direction of the excavator 1.

The signal processing unit 12 is provided with, for example, a CPU and a memory, and after capturing an image from the camera 2, the excavator 1
Based on the depth and inclination data of the, the shape of the entrance that should be visible is displayed as a planned position display 9 shown in FIG. Also, the shape of the entrance that you will see if you continue the excavation,
You may make it display simultaneously.

Next, the operation will be described with reference to the flowchart of FIG. Here, the case where the entrance 6 of the mine can be clearly identified and the target 7 is not used will be described, but the same applies when the target 7 is used.

At the start of excavation, the camera 2 is accurately fixed on the opposite side of the cutter on the excavator 1 so that the central axis of the excavator 1 and the visual axis coincide with each other. Excavate along line 4.

As shown in FIG. 3, first, the distance L between the excavator 1 and the entrance of the mine is measured by the rangefinder 11 (step 301). Next, the inclinometer 11 measures the inclination angle θ of the excavator 11 and its direction (step 30).
2).

The signal processing unit 12 calculates the deviation Δr (= L × θ) between the camera viewing axis 3 and the planned excavation line 4 based on the distance L and the inclination angle θ (step 303).

The signal processing unit 12 further captures the image of the camera 2 (step 304), displays the image of the entrance 6 of the pit on the monitor 8 as shown in FIG. 2 and detects the edge of the contour of this image. (Step 30
5). Then, the contour of the entrance 6 of the pit is moved by a deviation Δr to form a planned position display 9 (FIG. 2), which is superposed on the image of the entrance 6 (step 306). 4 shows a state in which the excavator 1 is tilted to the left side of the figure, and FIG. 5 shows a state in which it is tilted to the right side. The amount of deviation (Δr) between the image of the entrance 6 of the mine and the plan position display 9 superimposed and displayed is the planned excavation line 4 of the excavator 1.
It indicates a lateral shift with respect to.

Then, the operator controls the wire 16 to correct the direction of the excavator 1 in the direction in which the amount of displacement becomes 0, that is, so that the actual image 6 and the planned position display 9 coincide with each other (( Step 307). Alternatively, if a means for detecting a deviation between the actual image of the entrance of the pit and the display of the planned position and a means for controlling the wire 16 according to the deviation amount are provided, the excavator can be automatically operated without manual labor. Direction control can be realized.

With the above arrangement, the excavation direction of the excavator 1 can be controlled without interrupting excavation as in the conventional case.

FIGS. 6 and 7 show an example in which the present invention is applied to excavating a shaft, and the same components as those in FIG. 1 are designated by the same reference numerals. In the case of FIG. 6, the planned position display 9
The target 7 is used to clearly indicate Also in the case of a side shaft, the excavation direction can be controlled as in the case of FIG.

[0026]

The first effect of the present invention is that the cost is reduced. The reason is that when excavating a vertical shaft, the construction of a measuring tower is unnecessary. This is because when excavating a side shaft, a positioning laser beam and a transit, which are installed to face the excavator, are unnecessary.

The second effect is that workability is improved. The reason is that when excavating a vertical shaft, the work of exchanging the yagura, which has been performed every time measurement is not required, and measurement can be performed in almost real time while excavating. This is because when excavating a horizontal shaft, position adjustment of the laser light source and transit measurement are unnecessary.

The third effect is that accuracy is improved. When excavating the vertical shaft, the reproducibility of the installation position of the measuring tower has been a problem, but in the present invention, it is not necessary to re-install the measuring tower, so the error factor is reduced. Further, even if the wire receives a disturbance such as wind or vibration, it is irrelevant to the measurement. When excavating a horizontal shaft, the number of laser beams applied to the target of the excavator is at most several, so there was a limit to improving the measurement accuracy, but in the present invention, the planned position display is displayed. Since it is set, the control becomes accurate. In particular, if the contour of the entrance of the mine is used as the planned position display and the direction of the excavator is controlled so that the raw image and the planned position display (contour) overlap, highly accurate direction control can be realized.

[Brief description of drawings]

FIG. 1 is a diagram showing an embodiment of the present invention.

FIG. 2 is a diagram showing an example of a monitor display.

3 is a flowchart illustrating the operation of the embodiment of FIG.

FIG. 4 is a diagram showing an example of a state of excavation work.

FIG. 5 is a diagram showing another example of a state of excavation work.

FIG. 6 is a diagram showing another embodiment of the present invention.

7 is a diagram showing a monitor display in the embodiment of FIG.

[Explanation of symbols] 1 excavator 2 camera 3 visual axis of camera 4 excavation planned line 6 entrance to pit 8 monitor 9 planned position display 10 rangefinder 11 inclinometer 12 signal processor 15 crane 16 wire

Claims (4)

[Claims] 1. An image pickup means is attached to an excavator, and an image of the entrance of a pit taken by the image pickup means is displayed together with a display of a planned position where the entrance of the pit should originally be visible. An excavation direction control method, characterized in that the direction of the excavator is controlled so as to match the display. 2. An image pickup means attached to an excavator for excavating a tunnel underground, a display means for displaying an image of the camera, and a plan which should be originally visible at the tunnel entrance on the display means. An excavation direction display device, comprising: a planned position display means for superimposing and displaying a position. 3. The planned position display means, based on the distance and the inclination, a rangefinder that measures a distance from the excavator to the entrance of the excavator, an inclinometer that measures an inclination of the excavator, The display device according to claim 2, further comprising means for obtaining the planned position display. 4. The display device according to claim 2, wherein the planned position display is a contour of a counter entrance.