JPH10245864A - Method and apparatus for treating buried article - Google Patents

Abstract

PROBLEM TO BE SOLVED: To treat a buried article surely by installing a buried-article detecting means at the working-machine front end of an arm type working machine and mounting a paint discharge means near the buried-article detecting means. SOLUTION: A buried-article detector 12 as a buried-article detecting means is set up at the front end of a working arm 9 for an arm type working machine, and a paint ejector 14 as a paint discharge means is fitted near the detector 12. The buried article such as an explosive substance buried into a ground can be detected surely by horizontally moving the detector 12, and the buried articles can be detected certainly within a wide range when operation, in which the arm type working machine is stationed beforehand and the buried articles are detected while slewing a revolving super structure, the arm type working machine is shifted after the buried articles are detected at regular interval and the buried articles are detected while swivelling the revolving super structure 8, is repeated. Paints such as powder, a liquid, etc., are injected from an injection nozzle 15 for the paint ejector 14, and marks can be put surely at buried places, where the buried articles such as the explosive substance are detected.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a buried object processing method and apparatus for removing buried objects buried at irregular intervals in the ground, for example.

FIG. 13 is a schematic explanatory view showing a configuration and an operation example of a method for preventing damage to underground buried objects according to an embodiment described in Japanese Patent Application Laid-Open No. 7-317107. In the operation example shown in FIG. 13, the transponder 2 that receives an interrogation signal by an electromagnetic wave of a predetermined frequency, generates operating power, and transmits information stored in advance as a response signal is fixed to the underground object 1. The transponder stores at least information on the existence of an underground object, and a transceiving device 6 is installed at the tip of the excavating blade 5 of the excavating machine 4. Receiving the response signal 24, the excavator detects the presence of an underground object and performs a damage prevention operation.

Next, FIG. 14 shows land mines buried in a battlefield,
It is a figure showing an example exploration method which performs exploration processing of explosives, such as an unexploded bomb. Conventionally, land mine detectors used as means for detecting land mines and the like are almost hand-held, and usually incorporate a search coil at the tip of a long rod close to the ground. Then, an energy field (energy field) of the search coil is created, and since this energy field is distorted by the presence of a metal, the exploration operator detects the distortion, the acoustic signal, or the like. Reference numeral 3 in FIG. 14 denotes a mine detector according to one embodiment of the related art.

[0004]

In the method for preventing damage to underground objects shown in FIG. 13, the transponder must be buried in advance together with the underground objects such as gas pipes, water pipes, and power cables. The presence of underground objects cannot be detected. That is, it is impossible to detect the presence of a device without a transponder. Further, in the exploration method for explosives such as land mines shown in FIG. 14, the detection operation is performed by hand. In many cases, many mines are buried at irregular intervals in the battlefield, and the detection operator may unexpectedly encounter an explosion accident. The detection work lacked certainty and the efficiency of the detection work was poor. SUMMARY OF THE INVENTION An object of the present invention is to provide a method and an apparatus for treating a buried object, which is reliable and highly efficient, using an arm type working machine having a hydraulic shovel or the like as a base machine.

[0005]

According to the present invention, a buried object detecting means is attached to the tip of a working machine of an arm type working machine, a paint discharging means is provided near the buried object detecting means, and the buried object detecting means is provided. Is provided with a colored part recognizing means for recognizing an embedded part colored by the paint discharging means, and the tip of the working machine can be moved horizontally by a single operating means. Still further, the buried object detection means has a detection unit and a non-metallic support arm, and the detection unit is separated from the work machine by a predetermined distance so that the metal part constituting the work machine can serve as the detection means. The accuracy is not affected. A step of detecting a buried object by a buried object detection means attached to the tip of the working machine of the arm type working machine; a step of marking a buried location of the detected buried object; and a buried object from the marked buried location. And a step of digging up. When the buried object is an explosive, the buried portion is excavated by excavating means attached to the tip of the arm type working machine.
Attaching grass mowing means to the tip of the arm-type working machine to remove weeds near the embedding location; removing grass mowing means from the tip of the arm-type working machine and attaching the embedded object detecting means; The method includes a step of detecting a buried object by a detecting means, a step of marking a buried location of the detected buried object, and a step of excavating the buried object from the marked buried location.

In the present invention, since the embedded object detecting means is attached to the tip of the working machine of the arm type working machine, the tip of the working machine is moved horizontally (in addition, the movement in a plan view can be freely moved in the front-rear, left-right, and oblique directions, and zig-zag movement). By doing so, it is possible to reliably search for a buried object buried underground. In addition, since a paint discharging means capable of injecting a required color is provided in the vicinity of the buried object detecting means, a paint such as a powder or a liquid is ejected from, for example, an ejection nozzle of the paint ejecting means, and the explosive or the like is ejected. Mark can be reliably attached to the buried location where the buried object was detected,
A person other than the operator can be notified of that fact. In addition, since a colored portion recognizing means (for example, a television camera or the like) for recognizing an embedded portion colored by the paint discharging means is provided at the tip of the work machine, the colored portion recognizing means determines whether or not the marking has been reliably performed. The operator can visually check the projected color image and the like in the driver's cab.

Further, in the present invention, a mowing means (eg, a mowing machine) can be attached to the tip of the arm type working machine. Therefore, in a place near the burial where a tall grass is overgrown, the detection is possible. Before the work, the grass can be cut by the grass cutting means, and the exploration by the buried object detecting means can be easily performed. The size, depth, and the like of a buried object such as an explosive can be determined based on a buried object detection signal emitted from the buried object detection means, for example, a manner of generating a detection reaction sound. The position detected by the buried detecting means and marked by the paint discharging means may be reconfirmed using a manual detector if necessary, and the processing may be performed by various means.

In the case where the buried object is an explosive (for example, an antipersonnel mine having relatively low explosive power), a digging means (for example, a digging bucket,
By excavating the buried area with a fork bucket, a breaker fork, a roller with a digging blade, a vibrating roller with a projection, a rotating body with a chain, etc., the explosive is shocked and exploded, so that it can be reliably treated. . Note that the arm-type work machine that excavates the buried area by the excavation means does not always need an operator to board and perform a driving operation, for example, travels by wireless operation (remote control operation) and activates rotation of the excavation means. It is also possible to make it. Also, in places where explosives that cannot be detected by the detector, which is the means for detecting buried objects, may be buried, excavation may be performed by excavating the surrounding area to positively impact the explosive and cause it to explode. it can.

[0009]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a side view of an arm-type working machine equipped with an embedded object processing apparatus according to one embodiment of the present invention. In this embodiment, the base machine of the arm type working machine is a hydraulic shovel. In FIG. 1, reference numeral 7 denotes a lower traveling body of an arm type working machine, 8 denotes an upper revolving body connected to an upper portion of the lower traveling body 7, 9 denotes a working machine connected to a front portion of the upper revolving body 8, and 10 denotes a working machine 9. Make up the boom,
Reference numeral 11 denotes an arm, 12 denotes a buried object detector which is a buried object detecting means attached to the tip of the working arm 9, 13 denotes a support arm of the buried object detector 12 (hereinafter, referred to as a detector 12), and 14 denotes a buried object detector 12. A paint ejector, which is a paint ejecting means attached near the nozzle, 15 is an ejection nozzle of the paint ejector 14;
Reference numeral 6 denotes a television camera mounted near the front side of the detector 12 as means for recognizing colored portions, 17 denotes a boom cylinder, 18
Is an arm cylinder, 19 is a bucket cylinder, 20 is a cab mounted on the upper swing body 8, and 21 is the ground. FIG.
FIG. 2 is an enlarged view of a portion A in FIG. 1. FIG. 3 is a perspective view of the arm type working machine shown in FIG. FIG. 4 is a side view showing a buried object detector 12 ′ (hereinafter, referred to as a detector 12 ′) of another embodiment in a state in which the arrangement of the paint ejector (14) and the television camera (16) in FIG. 2 is changed. is there. In the figure,
14 'is a paint ejector, 15' is an ejection nozzle of the paint ejector 14 ', and 16' is a television camera.

Next, FIG. 5 shows the detector 12 shown in FIGS.
(Including 12 ') and the mowing machine 22 as mowing means.
FIG. 9 is a side view of a main part showing a state in which is attached to the tip of the working machine 9. FIG. 6 is a perspective view of an essential part showing a state in which the excavating bucket 25 has been attached (replaced) to the tip of the working machine. FIG.
FIG. 4 is a side view of a main part showing a state where the fork bucket 26 is attached to the tip of the working machine 9. FIG. 8 is a side view of a main part showing a state where the breaker fork 27 is attached to the tip of the work machine 9. FIG. 9 is a side view showing the arm type working machine in a state where the roller 28 with the excavating blade is attached to the tip of the working machine 9. FIG. 10 is a main part side view showing a state in which the vibrating roller 29 with a projection is attached to the tip of the working machine 9. FIG.
It is a principal part side view which shows the state which attached the rotating body with a chain 30 to the front-end | tip.

Next, a configuration of a buried object processing apparatus according to an embodiment of the present invention and a buried object processing method will be described with reference to FIGS. In this embodiment, the working machine 9 of the arm type working machine is used.
A detector 12 is attached to the tip, and is located near the detector 12, for example, a rear position of the detector 12 as shown in FIGS. 1 to 3 or a lateral position of a detector 12 'as shown in FIG. In addition, a paint ejector 14 (a paint ejector 14 ′ in the detector 12 ′ shown in FIG. 4) is provided, and the paint ejector 14 is further provided.
A television camera 16 (in the case of the detector 12 ′ shown in FIG. 4, a television camera 16 ′) for recognizing an embedded portion colored by (including 14 ′) is provided, and
The tip can be moved horizontally by operating a single operation lever, for example. Then, a step of detecting a buried object by a detector 12 attached to a tip of the working machine 9 of the arm type working machine, a step of marking a buried portion of the detected buried object, and a step of marking the buried portion colored by the marking. And a step of recognizing.

As described above, the working machine 9 of the arm type working machine
Since the buried object detector 12 is attached to the tip, by moving the buried object detector 12 horizontally, an buried object such as an explosive buried underground can be reliably detected. In order to make the detection more reliable, for example, an arm type work machine is fixed, and the upper revolving unit is swiveled and detected, and after detecting at a fixed interval, the arm type work machine is moved, and the upper revolving unit is also moved. By repeating the work of detecting while turning, a wide area can be reliably detected. Further, since a paint ejector 14 capable of ejecting a required color is provided at the tip of the working machine 9 to which the buried object detector 12 is attached, powder, liquid, etc. are ejected from the ejection nozzle 15 of the paint ejector 14. Is sprayed, and a mark (marking) can be reliably attached to a buried location where a buried object such as the explosive is detected. In addition, the marking is colored in a different color from the marking indicating the location of the explosive to indicate whether the land is a safe place where the detection operation has been performed, and can also be used as a display to notify a person other than the operator of the fact. . Further, when the type of the buried object can be determined by detection, it is effective to set a plurality of injection nozzles and change the color of the paint according to the type of the buried object.
Here, in order to determine the type of the buried object, for example, a speaker is provided in the cab of the arm type working machine, and means for notifying the operator of the buried object detection signal from the detector 12 as sound is provided. In addition, since the television camera 16 for recognizing the embedded portion colored by the paint jetting device 14 is provided at the tip of the working machine 9, the television camera 16 projects whether or not the marking has been reliably performed. The operator can visually check the color image and the like in the cab 20. In addition, depending on the television camera 16, it is also possible to project explosives such as land mines exposed on the ground surface and visually check them. It is conceivable that the metal member constituting the working machine may affect the detection accuracy of the buried object detection means. In the present embodiment, for example, the support arm 13 made of a non-metallic material such as a resin material is used. Is supported at the tip of the working machine 9 at a predetermined distance from the tip of the working machine 9, so there is no influence. Support arm 1
The length of 3 may be appropriately set according to the capability of the detector 12.

Next, in this embodiment, when the buried object is an explosive, the buried portion is excavated by the excavating means attached to the tip of the working machine 9 of the arm type working machine (by changing the attachment) to actively dig it. I tried to make it explode with a shock. FIG. 6 shows a digging bucket 25 as an example of digging tools of the digging means. FIG. 7 shows a fork bucket 26. FIG. 8 shows a breaker fork 2
7 The one shown in FIG. 9 is a digging blade (indicated by the symbol a).
It is an attached roller 28. What is shown in FIG. 10 is a vibrating roller 29 with a projection (indicated by the symbol b). FIG. 11 shows a rotating body 30 with a chain (indicated by the symbol c).
A step of attaching a mower 22 to the tip of the working machine 9 to remove weeds near the embedding point; a step of removing the mower 22 from the tip of the working machine 9; and a step of digging a buried object from the marked embedding point And so on.

Since the mowing machine 22 can be attached to the tip of the working machine 9 as described above, in a place where tall grasses are overgrown at the site near the burial place, the mowing machine 22 is used before the detecting operation. Mowing the grass with the detector
Exploration can be performed easily. And detector 12
The operator can be notified of a buried object detection signal emitted from the user as, for example, a detection reaction sound, and the size, depth, etc. of the buried object can be determined based on the sounding method. In some cases, the position detected by the detector 12 and marked by the paint ejector 14 is further manually operated (not shown, but similar to that of the mine detector 3 of the embodiment shown in FIG. 4). ), And can be digged out and removed manually, or blasted with TNT or the like.

The buried object is an explosive (including, for example, an antipersonnel mine having a relatively low explosive power, and a mine whose plastic portion is made of metal and is not used for a very small part of the fuse section depending on the type). In such a case, the excavating means (excavating tools of the excavating means include excavating buckets 25, fork buckets 26, breaker forks 27, excavating blade rollers 28, protruding vibrating rollers 29 , The rotator 30 with a chain) excavates the buried portion to explode an explosive, thereby reliably treating the explosive.

FIG. 12 is a side view showing an arm type working machine provided with an embedded object processing apparatus according to another embodiment of the present invention. In the figure, reference numeral 31 denotes an antenna for receiving an operation command signal from an external transmitter (not shown), and reference numeral 30 'denotes a rotating body with a chain for blasting explosives attached to the tip of the working machine 9'. Although no operator is mounted on the arm-type work machine shown in FIG. 12, the arm-type work machine travels, the work machine 9 'operates, and the chain rotating body 30' rotates by a wireless operation (remote control operation) from outside. And so on.

[0017]

According to the present invention, since the buried object detecting means is attached to the tip of the working machine of the arm type working machine, the tip of the working machine is moved horizontally by a single operating means. And the zigzag movement is also possible), so that the buried object buried in the ground can be reliably searched. Further, since the detector of the buried object detecting means is separated from the tip of the working machine by a predetermined distance by the non-metal supporting arm, the detection accuracy of the buried object detecting means can be maintained even when the detecting means is mounted on the metal working machine. Further, since a paint discharge means capable of ejecting a required color is provided at the tip of the working machine to which the buried object detection means is attached, paint such as powder or liquid is ejected from, for example, an ejection nozzle of the paint discharge means. Thus, it is possible to reliably attach a mark (marking) to the buried location where the buried object is detected. In addition, since a colored portion recognizing means (for example, a television camera or the like) for recognizing an embedded portion colored by the paint discharging means is provided at the tip of the work machine, the colored portion recognizing means determines whether or not the marking has been reliably performed. Projected by
An operator can visually check the projected color image or the like in the cab. In addition, depending on the coloring portion recognition means, it is also possible to project a buried object exposed on the ground surface and visually check it. Also, in the present invention, a mowing means (eg, a mower) can be attached to the tip of the arm type working machine. Therefore, in a place where tall grass is growing at the site where the embedding point is added, the detecting operation is performed. The grass can be cut beforehand by the grass cutting means, and the exploration by the buried object detecting means can be easily performed. Then, the size, depth, etc. of the buried object can be determined by the buried object detection signal emitted from the buried object detection means, for example, the manner of sounding the detection reaction sound. Then, the position detected by the buried object detecting means and marked by the paint discharging means are reconfirmed using a manual detector, and are manually excavated and removed or blasted with TNT or the like. Can be done. When the buried object is an explosive, the excavating means (for example, excavating bucket, fork bucket, breaker fork, roller with excavating blade, vibrating roller with projection, rotating body with chain) The explosives can be positively exploded by excavating the buried area, thereby reliably treating the explosives. That is, since it has a plurality of types of digging means as described above, select a digging tool suitable for land with different conditions, efficiently perform buried object processing work,
The removal rate of buried objects can be as close as possible to 100%. And the land after explosive buried objects have been removed
It can be secured as safe, for example, arable land.

[Brief description of the drawings]

FIG. 1 is a side view of an arm-type work machine equipped with an embedded object processing device according to an embodiment of the present invention.

FIG. 2 is an enlarged view of a portion A in FIG.

FIG. 3 is a perspective view of the arm type working machine shown in FIG. 1;

FIG. 4 is a side view showing another embodiment of the buried object detector in a state in which the arrangement of the paint ejector and the television camera in FIG. 2 is changed.

FIG. 5 is a side view of a main part showing a state in which the detector shown in FIGS. 1 to 4 is removed and a mower is attached.

FIG. 6 is a perspective view of an essential part showing a state in which a digging bucket is attached to the tip of the work machine.

FIG. 7 is a main part side view showing a state in which a fork bucket is attached to a tip end of the work machine.

FIG. 8 is a side view of a main part showing a state in which a breaker fork is attached to the tip of the working machine.

FIG. 9 is a side view showing the arm type working machine in a state in which a roller with a cutting blade is attached to the tip of the working machine.

FIG. 10 is a side view of a main part showing a state in which a vibrating roller with a protrusion is attached to the tip of the working machine.

FIG. 11 is a main part side view showing a state in which a rotating body with a chain is attached to the tip of the work machine.

FIG. 12 is a side view showing an arm type working machine provided with a buried object processing apparatus according to another embodiment of the present invention.

FIG. 13 is a schematic explanatory view showing a configuration and an operation example of a method for preventing damage to an underground buried object according to an embodiment of the prior art.

FIG. 14 is a diagram showing a method of searching for an embodiment in which a search for landmines, unexploded bombs, and the like buried in a battlefield is performed.

[Explanation of symbols]

 7 Lower traveling body 8 Upper revolving body 9, 9 'Work machine 12, 12' Buried object detector 14, 14 'Paint ejector 16, 16' Television camera 20 Operator's cab 22 Mower 25 Excavation bucket 26 Fork bucket 27 Breaker fork 28 roller with digging blade 29 vibratory roller with projection 30, 30 'rotating body with chain

Claims (7)

[Claims] 1. An apparatus for treating a buried object, comprising means for detecting a buried object attached to the tip of a working machine of an arm type working machine, and means for discharging paint near the buried object detecting means. 2. A buried object processing apparatus according to claim 1, further comprising a colored part recognizing means for recognizing a buried part colored by said paint discharging means in the vicinity of said buried object detecting means. 3. The buried object detection means has a detection unit and a support arm that supports the detection device at a predetermined distance from the tip of the work machine, and the support arm is formed of a non-metallic member. The buried object processing apparatus according to claim 1, wherein: 4. The work machine according to claim 1, wherein a tip of said work machine can be moved horizontally by a single operation means.
A buried object processing apparatus according to claim 1. 5. A step of detecting a buried object by a buried object detection means attached to a tip of a working machine of an arm type working machine, a step of marking a buried location of the detected buried object, and the marked buried location Digging and burying a buried object from a buried object. 6. A method for treating a buried object, wherein when the buried object is an explosive, the explosive is exploded by digging the buried portion by a digging means attached to a tip of an arm type working machine. 7. A step of attaching grass mowing means to a tip of said arm type working machine to perform weeding near said embedding point, and removing said grass mowing means from the tip of said arm type working machine and attaching said embedded object detecting means. A step of detecting a buried object by the buried object detecting means, a step of marking a buried place of the detected buried object, and a step of digging a buried object from the marked buried place. Buried object disposal method.