JPS5852483Y2 - Attitude angle detection device - Google Patents

Description

[Detailed explanation of the idea] The present invention relates to a position detection device for small-diameter control equipment, etc.

When burying a small-diameter pipe, there is a small-diameter control equipment that excavates and inserts a hole of a predetermined diameter into the soil.

This is the pilot head 1 of the burial machine as shown in Figure 1.
An attitude angle detector 2 is disposed inside the burial machine, and a laser transit 10 is disposed behind the burial machine to project a laser beam L in a predetermined direction.

After passing through the scale plate 3 of the attitude angle detector 2, this laser beam L is focused by the lens 4Vc, and is irradiated to the position sensor 6 via the half mirror 5, and the position sensor 6 outputs a signal according to the light receiving position. be done.

The signal processing circuit 7 calculates the attitude angle of the burial machine based on the output signal of the position sensor 6, and outputs a signal corresponding to the calculated attitude angle.

The attitude angle is displayed on the display 8.

The attitude angle here includes an azimuth angle indicating the horizontal inclination angle of the burial machine and a pitch angle indicating the vertical inclination angle.

In addition, the light emitted by the lamp 9 disposed in the reflection direction of the half mirror 50 in the direction perpendicular to the optical axis and at the focal point of the lens 4 is reflected by the half mirror 5 and then becomes a parallel beam by the lens 4 and the scale plate 3 Irradiates from the back side.

The operator uses the laser transit 10 to read the scale plate 3.
The displacement (parallel movement amount) of the laser beam L from the reference position is detected by detecting the irradiation position of the laser beam L on the scale plate 3 with reference to The attitude angle of the pilot head 1 with respect to the excavation direction is detected.

However, in the above-mentioned conventional position detection, it is extremely difficult to accurately read the irradiation position of the scale plate during long-distance construction work, and therefore it is difficult to accurately detect the amount of parallel movement (change in position). The disadvantage was that it was impossible to do so.

This invention was made with the purpose of eliminating the above-mentioned drawbacks.
Instead of the scale plate, a light receiver is adopted in which linear light receiving elements of a predetermined width are arranged in a grid pattern at a predetermined interval, and the light receiving position of the laser beam is electrically detected by the light receiver. The shaped structure allows the laser light to easily pass through to the rear position sensor.

The present invention will be described in detail below based on one embodiment of the accompanying drawings.

In FIG. 2, light receiving elements LDX1 to LDXn are arranged on one side of the glass plate 11 at predetermined intervals d in the vertical direction (Y-axis direction), and these light receiving elements LDX1 to LDXn
A glass plate 12 is placed on top.

Then, on this glass plate 12, there is a horizontal direction (X-axis direction) K.
Light receiving elements LDY1 to LDYn are arranged at predetermined intervals d, and a protective glass plate 13 is arranged on these light receiving elements LDY1 to LDYn.

In addition, each light receiving element LDY, ~LDYn, LDX□~LDX
The width of n is approximately 2rrrm, which is approximately the same as the scale width of the scale plate 3.

In this way, the light-receiving elements LDY are accurately spaced between the glass plates 11, 12, and 13 at predetermined intervals d horizontally and vertically in a sandwich-like manner.
1 to LDYn and LDX1 to LDXn are arranged to form a light receiving plate 1.
form 4.

Note that the glass plates 11, 12, 13, etc. are transparent glass plates.

Of course, this light receiving plate 14 can also be used as a scale plate.

Then, this light receiving plate 14 is attached to the pilot head 1 by replacing the scale plate 3 (FIG. 1) with K.

By the way, in this device, it is necessary to detect the displacement (parallel movement amount) and attitude angle of the laser beam from the reference position based on the light receiving position of the incident laser beam.

Therefore, the light receiver disposed on the side of the device near the transit 8 must not only receive the laser light but also pass the laser light through the rear lens 4 and the like.

Therefore, in the present invention, a light receiving device in which linear light receiving elements as described above are arranged in a grid pattern at predetermined intervals is adopted as the light receiver.

Note that the laser beam incident on the light receiver cannot specify the light receiving position unless the light is irradiated onto the linear light receiving elements in both the X and Y axes, so the beam diameter is at least equal to the distance between the linear light receiving elements. It needs to be larger than d.

Next, the light receiving plate 14 will be described in detail with reference to FIG.

For convenience of explanation, the light receiving elements LDY1 to LDY are arranged horizontally and vertically.
DY4 and LDX□ to LDX4 are shown for cases in which there are four music rows, respectively.

In Fig. 4, light receiving elements LDX1 to LDX4, LDY
, ~ One end side of LDY4 is connected to the power supply + through the resistor γa, respectively.
VK connection, and the other end is grounded.

Outputs Va-Vd of interconnection points a-d between each light-receiving element LDY□-LDY4 and resistor γa are outputted by a comparator circuit 20, respectively.
are input to each of the comparators 20A to 20D.

Further, a reference voltage V is applied to each of the comparators 20A to 20D.

is entered. And the light receiving elements LDY1 to LDY
4 is not receiving light, & East Va = Vd > V □, and when receiving light, Va ” V d (V
□ Tonal.

The comparators 20A to 20D output a signal to turn on the switches 5A to 8D when the voltage is kVa-Vd (V□).

When these switches 5A-8D are turned on, respective predetermined voltages v2 to -v2 are outputted via these switches 5A-8D.

Each of these signals v2 to -v2 is then applied to the average value circuit 21, respectively.

Each of the switches Sa to Sd of this average value circuit 21 operates in conjunction with each of the switches 5A to 8D of the comparison circuit 20.

The average value circuit 21 receives the signal V2, Vl t Vl >
"When 2 is input separately, the signal v2.V1
゜-Vl, -V2 are output, signals v2 and vo, vl and -
When V1゜-v1 and -v2 are input at the same time, 100 (
v2+v□), 02--7i(v1+v2) are output.

Further, outputs Va' to Vd' of interconnection points a' to d' between the light receiving elements LDX□ to LDX4 and the resistors γa are input to the comparator circuit 22, respectively.

This comparator circuit 22 is configured in the same way as the comparator circuit 20, and outputs husband signals v2' to -v2' when each output voltage Va' to Vd'(Vo' (reference value) is reached, and averages the output voltages V2' to -v2'. Add to value circuit 23.

The average value circuit 23 is configured similarly to the average value circuit 21.

These comparison circuits 20, 22, average value circuits 22, 23, etc. are arranged within the pilot head 1.

And the average value circuit 23, 210 output signal Vx.

vy are the comparators 30 of the display circuits 30 and 24 (FIG. 5), respectively.
A~30G, 24A~24GVC are added.

In addition, each of these comparison circuits 24A to 24G, 30A to 3
A predetermined reference voltage is applied to 0GVC.

Comparators 24A, 24B, 24C, 24D, 24E.

24F and 24G are signals v2. hundred (V1+v2), V
ltOy Vl is set to -7 (V1+V2), and a signal is output when -v2 is input.

The switches 25A to 25G are turned on when a signal is applied from the comparators 24A to 24G, and turned off when no signal is applied.

In addition, the switches 26A to 26F are the comparators 24A to 24F.
It turns off when a signal is applied to it, and turns on when no signal is applied.

The display circuit 30 is also configured similarly to the display circuit 24.

One side contact of the switches 25A to 25G of the display circuit 24 is connected to the power supply +V, and the other side contact is connected to the line 41 of the display section 40.
~47.

Further, one side contact of the switches 31A to 31G of the display section 30 is grounded, and the other side contact is connected to the line 51 of the display section 40.
~57.

And each line 41-47 and 51-57 of display part 40
For example, a light emitting diode LED is connected between them.

Lines 51, 53, 55, 57; 41, 4 of the display section 40
3゜45.47 are the light receiving elements LDX□ and LDX2゜L, respectively.
D X3, L DX 4; L DY□, LD
Y2. Compatible with LDY3°LDY4, line 52
, 54.56; 42.44, 46 are light receiving elements LDX, respectively.
□, LDX2tLDX2 and LDX3. LDX3 and LDX
4; LDYl and LDY LDY2 and LDY3. L.D.Y.
It corresponds to the intermediate position between 3 and LDY4.

Therefore, the display unit 40 can display the center position of the laser beam L with an accuracy twice as high as that of the light receiving plate.

These display circuits 24, 30, display section 40, etc. are the display device 8.
(Fig. 1).

Now, as shown in FIG. 4, the light receiving elements LDY2. of the light receiving plate 14'. Assume that a position L' on the LDX3 is irradiated with a laser beam.

When the light receiving element LDY2 is irradiated, the switch SB of the comparator circuit 20 is turned on and the signal v1 is output, and therefore the average value circuit 21 outputs the signal v1.

Then, the comparator 24C of the display circuit 24 outputs a signal to turn on the switch 25C and turn off the switch 26C.

At this time, 26A and 26B are in the on state.

Therefore, the power supply voltage +V is applied to line 43.

Furthermore, when the light receiving element LDX3 is irradiated, the average value circuit 2
3 outputs a signal +v'1.

Therefore, 30E of the display circuit 30 outputs a signal to turn on the switch 31E and turn off the switch 32D, and ground the line 55 by turning on the switches 32E and 32F.

Therefore, line 43 to line 5!1 light emitting diode L
A current flows through EDm, and the light emitting diode L E
Dm emits light.

Lines 43.55 indicate light receiving elements LDY2. It corresponds to LDX3, so the operator can detect the laser beam irradiation position L' by this light emitting diode LEDm.

Furthermore, the light receiving elements LDY3. LDY4゜L
When the laser beam is irradiated to the position L'' on LDX2, the average value circuits 21 and 23
1° signals -1 (V□+v2) and -100 (V1+Vz') are output.

Therefore, comparators 24F, 30B of display circuits 24, 30 output signals connecting line 46 to power supply +V and line 52 to ground.

Therefore, the light emitting diode LEDn emits light.

The operator uses this light emitting diode LED to select the light receiving element LDY3.LDY4 whose light receiving position L" is on the scale plate 14'.
, LDX1tLDX2 can be detected.

In this way, the receiving position of the laser beam can be electrically detected with an accuracy of 1/2 of the distance between the photodetecting elements, making it possible to accurately detect the center position of the laser beam even when the beam diameter is large. , detection accuracy can be improved.

Further, even when the display section is not operated, the irradiation position can be detected by standardizing the light receiving plate 14 with a laser transit.

FIG. 6 is a diagram showing another embodiment of the present invention, which is a scale plate for a simpler deviation detection device.

In the figure, the scale plate 14'' has light-receiving elements LDA at predetermined scales from the center O, for example, at the top, bottom, left and right [2 scale positions].

This is an arrangement of LDB, LDC, and LDD.

The outputs VA to VD of each of these light receiving elements LDA to LDD are inputted to comparators CA to CDK shown in FIG.

Then, the output VA- of these light receiving elements LDA-LDD
When VD is irradiated with light, the reference value e□ also becomes smaller.

Each comparator CA-CD is VA, VB. When VC, VD (e□), a signal is output and added to the OR circuit OR.

The output of the OR circuit OR causes, for example, a light emitting diode (not shown) to emit light.

In this way, the work speed can be increased by measuring the deviation when the light emitting diode emits light, that is, when the laser beam is applied to one of the light receiving elements.

As explained above, according to the present invention, since the light receiver for detecting the displacement of the burial machine with respect to the laser beam light is configured with a grid-like linear light receiving element, the laser beam light is constantly transmitted through two light receivers. It becomes possible to simultaneously detect and display the displacement and attitude angle of the buried device.

[Brief explanation of the drawing]

Figure 1 is an explanatory diagram of the main parts of a small-diameter control equipment, Figure 2 is a partially cutaway diagram showing an embodiment of the light receiving plate used in the position detection device according to the present invention, and Figure 3 is the same as that of Figure 2. 4 and 5 are circuit diagrams of one embodiment of the device of the present invention, FIG. 6 is a diagram showing another embodiment of the light receiving plate shown in FIG. 2, and FIG.
This figure is a block diagram showing one embodiment of a detection circuit when the light receiving plate shown in FIG. 6 is used. 1... Pilot head, 8... Display, 10... Racer transit, 14, 14
', 14''... Light receiving plate, 20, 22...
・Comparison circuit, 21, 23... Average value circuit, 24
, 30...display circuit, 40...display section, 50...pilot tube, LDX. LDX,,LDY1~LDY,,LDA-LDD...
...Light receiving element, LED...Light emitting element.

Claims (1)

[Scope of utility model registration request] a first light receiver in which a plurality of linear light receiving elements having a predetermined width are arranged in a lattice shape at predetermined intervals; and a light receiving position arranged behind the first light receiver and spaced apart from the first light receiver by a predetermined distance. a second light receiver that outputs a signal corresponding to irradiating the first light receiver with a laser beam having a diameter at least larger than the arrangement spacing of the linear light receiving elements of the first light receiver; A position detection device configured to detect a displacement with respect to the laser beam based on the output of each linear light receiving element of the device, and detect an attitude angle with respect to the laser beam based on the output of the second light receiver.