JPS59165796A - Drilling direction control system of drilling machine - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an excavation direction control system for objectively controlling the excavation direction of an excavator in a set direction.

Conventionally, in excavation works such as tunnels, for example, if the excavator was not allowed to move in a set direction, the direction of the excavator's progress was detected using a rotary probe or inclinometer, and the direction of the excavator's progress was determined based on the detected data. A method of correcting this is adopted. However, with these conventional methods, it is difficult to simultaneously control the vertical and horizontal directions of the excavator's traveling direction.
In addition, in particular, in the case where all gyros are used, the drift of the gyro causes an error in the direction of movement of the excavator.

The present invention eliminates the above-mentioned drawbacks and provides a control method that can control the direction of movement of an excavator in both the vertical and horizontal directions, and that has less error in the direction of movement of the excavator, that is, the direction of excavation with respect to the set direction. It is something to do.

The control device according to the present invention processes signals from a light projector or a radio wave transmitter as a reference signal emitter, a light receiver or a radio wave receiver as a reference signal receiver, a light receiver or a radio wave receiver, It consists of an excavation control section that controls the excavator's cutter in all directions based on this.

The light projector or radio wave transmitter is installed at a base point of the set course of the excavator, the light receiver is mounted on the excavator, and the excavator controller is installed at an appropriate location.

A light with a narrow beam width (for example, a laser source) or a wave is emitted from the light projecting unit or radio wave transmitting unit placed at the reference point in the direction set as the excavation direction, and this is mounted on the excavator. The direction of the signal received by the light receiving section or the wave receiver 1g section and the pointing direction of the light receiving section or radio wave receiving section (this pointing direction coincides with the direction of movement of the excavator).
output an error signal corresponding to the deviation difference between the
The excavation control section controls the pointing direction of the cutter in a direction in which the error signal becomes zero, that is, in a direction in which there is no deviation difference between the pointing direction of the light receiving section or the radio wave receiving section and the radiation direction of the reference signal.

Hereinafter, the present invention will be explained in detail with reference to the drawings.

Note that in the embodiment described below, a light beam is used as the reference signal.

The drawings are all for explaining the present invention in detail; Fig. 1 is a block diagram, Fig. 2 is a detailed view of the light receiving surface, and Fig. 3 (
A), (B) and FIGS. 4(A) to (C) show the relationship between the light receiving surface and the light receiving spot.

Figures 1 to 4 (A) to (C) In K, 1 is a milling machine, 2 is a light projecting part, 3 is a light receiving part, 4 is an excavation control part, 5 is a radiation beam, 101 is excavator 10 cutter 201i
l″j: light emitter, 202 is a signal generator, 203 is a modulator, 301 is a light receiver, 302.303 is a differential amplifier,
304 and 305 are synchronous detectors, 306 and 307 are DC amplifiers, 308 is a light receiving element, 401 is a signal processor, 402
is the cutter controller, 501 is the light receiving spot, A, B, C
, D are the light-receiving surfaces of the light-receiving element 308 divided into four parts.

The excavator 1 is equipped with a cutter 101 at the tip in the direction of movement, and this cutter 11 has at least a shaft that swings in the vertical direction and a shaft that is driven in the left-right direction to control its pointing direction. It is equipped.

The light projector 2 is a light projector 2 that emits a radiation beam 5 in a set direction.
It consists of a modulation signal generator 202 that generates a modulation signal of the 011 radiation beam 5 and a modulator 203 that modulates the radiation beam 5,
The light projector 201 may be constructed using, for example, a laser diode as a light emitting element.

The light receiving section 2 includes a light receiver 301 that receives the radiation beam, and a light receiver 301 that outputs a signal representing the difference between two signals (these signals will be explained later) in the vertical and horizontal directions output from the light receiver 301. The two differential amplifiers 302 and 303 detect the output signals of the differential amplifiers 302 and 303 in synchronization with the frequency of the modulation signal from the modulation signal generator 202, and output error signals in the vertical and horizontal directions. Synchronous detectors 304, 305 and synchronous detector 3'04.3
Two DC amplifiers 306 and 307 amplify the error signal output from 05.

The light receiver 301 is, for example, a telescope equipped with an optical lens, and at its imaging position there is a light receiving element 308 (for example, a semiconductor).
(Fig. 2), the mirror axis direction is directed toward the radiation direction of the radiation beam 5 from the floodlight 201, and the direction of the mirror axis is toward the excavator 1.
It is mounted on the excavator 1 so as to match the traveling direction of the excavator 1. Further, as shown in FIG.
are arranged on the top and bottom, and light receiving surfaces C and D are arranged on the left and right, respectively.

The excavation control section 4 includes a signal processor 401 and a signal processor 40' that convert the error signal from the light receiving section 3 into a cutter control signal.
A cutter controller 402 converts a cutter control signal from 4 into a shaft drive signal for the cutter 101. This excavation control section 4 is installed in a part that is not directly related to the present invention, which requires manual operation, and therefore may be installed at an appropriate location on the ground in cases where the excavation hole is too small to allow a person to enter. ,
If the diameter of the irregularly cut hole is large enough for a person to enter, it may be mounted on the excavator 1 or an axle that moves together with the excavator 1.

The emitted light beam 5 is a light beam with a narrow beam width, such as a laser beam, for example, and a light beam 20 is used to distinguish it from a backlight.
1 is modulated and radiated.

Next, the operation will be explained.

First, the light projector 2 is installed at a reference point, and the pointing direction of the light projector 201 is set so that the direction of the emitted light beam 5 is in the excavation direction (the set traveling direction of the excavator 1).

Next, the excavator 1 is arranged so that the mirror axis direction of the light receiver 301 mounted on the excavator 1 matches the radiation direction of the radiation light m5, and the excavator 1 is started.

The excavator l advances along the radiation beam 5, and the cutter 1
01, the excavation of a tunnel or the like is proceeded.

The radiation light 5 emitted from the light projector 201 is subjected to, for example, brightness modulation by a modulator 203 based on a modulation signal from the hair t4 polarization sense generator 202 in order to distinguish it from other light. When this radiation ray 5 enters the light receiver 301, a light receiving spot is formed on the light receiving element 308 which is divided into four parts as shown in FIG. A received light signal whose magnitude is proportional to is output.

The light reception signals from the elements A and B arranged in the vertical direction are input to the differential amplifier 302, and the received light signals from the elements C and D arranged in the left and right direction are input to the differential amplifier 302.
The received light signals are input to the differential amplifier 303, and the difference signal between the respective received light signals is input to the differential amplifier 302.30.
Output from 3. The signals output from the differential amplifiers 302 and 303 are sent to the synchronous detectors 304 and 3', respectively.
At step 05, the signal is synchronously detected based on the signal from the modulation signal device 202, that is, in synchronization with the modulation frequency of the radiation beam 5, and becomes a DC signal. This DC signal has a level proportional to the difference between the light receivers of the elements A and B and the difference in the amount of light received by the elements C and D, and this DC signal is the error signal.

The error signals output from the synchronous detectors 304 and 305 are each amplified by the INN fluency amplifiers 306 and 307, and
Sent to +51J Sensen 1st Division 4th. The excavation control unit 4 converts the above error signal '(i-synonym processor 401 into a cutter control signal, and a cutter controller 402 into a cutter control signal).
It is sent to the cutter 101 of the excavator 1 as a driving gear. The vertical and horizontal control axes of the cutter 101 are driven by this cutter shaft drive signal, and as a result of excavation progressing in the direction in which the error signal becomes zero, that is, in the direction in which the cutter 101 changes, the light receiving element The vertical and horizontal control axes and the left and right control axes are oriented in a direction such that the spot on the light receiving element 308 is located at the center of the light receiving element 308 .

For example, when the excavator 1 shifts downward and to the right from the direction of the radiation method 5, the light receiving spot 501 shifts upward and to the left from the center of the light receiving element 308, as shown in FIG. 3(A). As a result,
The amount of light received by elements A and C becomes larger than the amount of light received by elements B and D, respectively, and as a result of the above operation, the error signal is no longer zero in both the vertical and horizontal directions, and rack-10
1 changes the pointing direction upward and to the left. As excavation progresses in this state, the position of the light receiving spot 501 moves downward and to the right, and when the excavation direction (the direction in which the excavator 1 moves) and the direction of the synchrotron radiation contact coincide with each other, the third Figure (B
), the position of the light receiving spora) 501 is the light receiving element 3.
At the center of 08, each element A, B, C.

The amount of light received by D becomes equal (at least the amounts of light received by elements A and B and elements C and D become equal) 0 Therefore, the signals output from the differential amplifiers 3o2 and 303 are unchanged, and this causes an error signal. becomes zero. That is, the excavator 1 moves in the direction of the radiation beam 5 while maintaining the current direction of the cutter 1010.

By the way, the initial setting of the positional relationship between the light emitter 201 and the light receiver 3o1 (excavator 1) is performed so that the mirror axis of the light receiver 301 matches the direction of the radiated light 5 from the light emitter 201. In order to improve accuracy in the excavation direction, a light beam with a narrow beam width, for example, a laser beam, is used, so it is extremely difficult to perform the initial setting manually.

To solve this problem, this example does the following:

That is, if the optical V-lens configuration of the light receiver 301 is, for example, a zoom lens structure, a state in which the light receiving spot 501 is not projected onto the light receiving element 308 in the light receiver 301 at the time of initial setting (the state shown in FIG. 4 (4)) is established. When this occurs, the light receiving element 30
The above optical lens is controlled (ii'll by the fact that none of the elements A-D of 8 is affected by
), the total area of the light receiving spot 50J is increased as shown in ().

As a result, the light receiving spora) 501id is received (two elements 3
When the projection heat is applied to any of the elements A to D of 08, the excavator 1 comes under the control of the synchrotron radiation element 59, where β and t are the above operations,
As shown in FIG. 4(C), the homogeneous direction of the excavator 10 cuffer 101 is controlled so that the light receiving spot 5 Fl 1 is located at the center of the light receiving element 308. Also, in the control process to bring the light receiving spot 501 to the center of the light receiving element 308, the light receiving spot 501 gradually moves to the center of the light receiving element 308.
When it reaches the center of the
Control is performed to narrow the size of 501 to the original size, thereby maintaining the accuracy of excavation.

The above control can also be performed on the projector 201 side. That is, since the light-receiving spot 501 of the radiation beam 5 is not projected onto the light-receiving element 308 of the light receiver 301, the radiation beam width of the radiation beam 5 from the light projector 201 is fully expanded. By doing so, the size of the light receiving spot 501 on the light receiver 301 becomes large, so that the capture of the emitted light beam 5 becomes easy, similar to the control on the light receiving side 6301 described above. Needless to say, this ratio also reduces the size of the light receiving spot 501 after the light receiving spot 501 is captured.

The above operation is also effective when the excavator 1 deviates from the planned course for some reason during excavation work.

That is, in such a case, the light receiving spot 501 of the emitted light beam 5 is removed from the light receiving surface of the light receiving element 308, so control is performed to enlarge the light receiving spot 501, and the re-capturing of the emitted light beam 5 is easily controlled. become.

In the embodiment described above, the light is emitted completely in the excavation direction of the excavator 1, but the emitter 201 is replaced by a radio wave transmitter, and the light receiver 301 is replaced by a radio wave receiver. Especially the above-mentioned light commercial! The present invention can also be implemented by using all radio waves instead. In this case, in order to narrow the radiation beam width of the radio waves, it is necessary to set the frequency fJ: sharply.

In this case, four receiving antennas are installed to correspond to the four light receiving elements. t, and the error signal is detected based on the difference in strength between two radio waves received by the four antennas.

In this case, as in the case of using the original source, the reception homology angle at the radio wave receiver or This facilitates initial settings and re-acquisition of 4JR radio waves.

As explained in detail above, according to the method of the present invention,
Visually tracks the reference signal (light beam or radio wave) emitted from the reference point in the set direction, and monitors the excavator's traveling direction (the homologous direction of the cutter) so that the excavation direction is always in the direction of the reference number. Since the excavation work is controlled in such a manner that the excavation work can be carried out with high accuracy, it is possible to obtain the remarkable effect that the excavation work can be carried out with high precision.

[Brief explanation of the drawing]

The drawings are all for explaining the present invention in detail, and Fig. 1 is a block diagram, Fig. 2 is a detailed view of the light receiving surface, and Fig. 3 (4).
, (B), and FIGS. 4(A) to (C) show the relationship between the light receiving surface and the light receiving spot. 1: Excavator 2: Light emitter 3: Light receiver 4: Excavation control unit 5: Radiation beam 101: Cutter 201: Light emitter 301: Light receiver 302.303: Differential amplifier 308: Light receiving element] °Toy'l display ut+ sum 1-g +r rt'r lj+'t i+
3242 / Connection with z゛1・f'l Departure 1 person 4 agents fI place East 5.・2nd Department Chiyoda-ku Marunouchi 2-6-243 Marunouchi To Shizusu Building 330 Name (3667) Kario Taniyama ■Bottom:. One + - two □ S lottery・1 ・・内、・ separate i (noto j5ri
5. Amendment We will amend item g6 below in the specification of the application. Note 1, page 5, line 5 [Cutter 111 is corrected to read "cutter 101". 2. In the 14th line of page 5, the text [light-receiving section 2] is corrected to "fluorescent section 3." 484-

Claims (1)

[Claims] 1. Emitting a reference signal from a reference point in a set excavation direction, receiving the reference signal at an excavator, and detecting all deviations between the radial direction and the direction of travel of the excavator. An excavation direction control method for an excavator, in which an error signal corresponding to the deviation difference is obtained, and the pointing direction of a cutter of the excavator is controlled in a direction in which the error signal becomes zero. 2. The excavation direction control method for an excavator according to claim 1, wherein the reference signal is a light beam. 3. The excavation direction control method for an excavator according to claim 2, wherein the light beam is a laser beam. 4. The excavation direction control method for an excavator according to claim 1, wherein the reference signal is a radio wave. 5. Claim 1 in which the reception width of the reference signal is controlled so that it is wide when the reference signal is not captured by the receiving section of the excavator and narrowed when it is captured.
An excavation direction control method for an excavator according to any one of items 1 to 4. 6. Claim 1, wherein the radiation width of the reference signal is controlled so that it is wide when the reference signal is not captured by the receiver of the excavator, and becomes narrow when it is captured.
An excavation direction control method for an excavator according to any one of items 1 to 4.