JPH0427031A - Earth lifting-up device - 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 [Field of Industrial Application] The present invention relates to an earth lifting device for lifting earth and sand excavated by underground excavation work, such as in an underground tank, to the ground.

[Conventional technology] Conventionally, earth and sand excavated by underground excavation work are
The tags are lifted to the ground using earth lifting equipment and transported to designated locations by trucks, etc. In such earth lifting equipment, in order to perform underground excavation work smoothly, it is necessary to quickly and efficiently pull up the excavated earth and sand, and for this reason, the bucket of the earth lifting equipment is It is required to increase the lifting speed as high as possible.

[Problem to be solved by the invention] However, the lifting speed of the bucket is lower than the conventional speed of about 2.
If the speed is doubled to 70 m/min, it will take about 2 minutes of bucket operation per cycle to ensure a soil lifting efficiency of 250 m3/h at a depth of 30 m underground. Therefore, the soil lifting work is performed extremely frequently, 30 times/hour, which not only increases the fatigue of the operator but also causes the operator to become distracted. This misjudgment by the air supply operator may lead to operational errors such as a collision between the bucket and a construction machine within the work area, and there is a risk that the soil lifting work will not be carried out smoothly and quickly.

The present invention has been made in view of the above circumstances, and its purpose is to reduce operational errors by the operator and to smoothly and quickly carry out soil lifting operations even when the bucket lifting speed is set at high speed. The object of the present invention is to provide a soil lifting device capable of carrying out soil lifting.

[Means for Solving the Problem] In order to solve the above-mentioned problem, the invention of claim 1 provides a monitoring system for monitoring a predetermined work range in an earth lifting device that pulls up excavated earth and sand upward using a bucket that can be raised and lowered. When it is determined that it is necessary to stop the descent of the bucket based on each signal from the device, a bucket position detection device that detects the position of the bucket, an alarm device, the monitoring device, and the bucket position detection device, It is characterized in that it comprises a control device that outputs an alarm signal to the alarm device, and the alarm device issues an alarm in response to the alarm signal from the control device.

Further, the invention of claim 2 includes a bucket emergency stop device,
The control device is characterized in that when it outputs the alarm signal, it also outputs a bucket emergency stop signal to the bucket/emergency stop device to issue an alarm and stop the bucket.

Furthermore, the invention of claim 3 includes a bucket emergency stop device,
The control device is characterized in that when the alarm signal is continuously output for a predetermined period of time, the control device also outputs a bucket emergency stop signal to the bucket emergency stop device to issue an alarm and stop the bucket.

Furthermore, the invention according to claim 4 provides an earth lifting device for lifting excavated earth and sand upward using a bucket that can be raised and lowered, which comprises: a monitoring device for monitoring a predetermined work range; a bucket position detection device for detecting the position of the bucket; an emergency stop device; and a control device that outputs a bucket emergency stop signal to the bucket emergency stop device when it is determined that it is necessary to stop the descent of the bucket based on each signal from the monitoring device and the bucket position detection device. The bucket emergency stop device is characterized in that the bucket emergency stop device brings the bucket to an emergency stop in response to the bucket emergency stop signal from the control device.

[Function] In the earth lifting device according to the invention of claim 1 having such a configuration, the control device needs to stop the descent of the bucket based on each signal from the monitoring device and the bucket position detection device. When it is determined, an alarm signal is output to the alarm device, so that the alarm device issues an alarm. Therefore, the operator realizes that the bucket should not be lowered and stops lowering the bucket, and others within the work area are aware that the bucket is lowering.

Further, in the invention according to claim 2, a warning is issued and the lowering of the bucket is automatically stopped by the control device. In this case, in the invention of claim 3, when the alarm is continuously issued for a predetermined period of time, the lowering of the bucket is automatically stopped by the control device.

Furthermore, in the invention according to claim 4, when the control device determines that it is necessary to stop the descent of the bucket based on each signal from the monitoring device and the bucket position detection device, it sends an emergency stop signal to the bucket emergency stop device. Since it outputs
A bucket emergency stop device brings the bucket to an emergency stop. Therefore, the lowering of the bucket is automatically stopped without the operator being aware that the bucket should not be lowered.

[Example code] Hereinafter, the present invention will be explained in detail using the drawings.

Fig. 1 is an overall schematic diagram schematically showing a system for underground excavation work using an embodiment of the earth lifting device according to the present invention, and Fig. 2 is an enlarged view of the earth lifting equipment of this embodiment. . In the figure, 1 is a soil lifting device, 2 is a support, 3 is a lattice, 4 is a moving script, 5 is a winch, 6 is a wire cable, 7 is a clamshell bucket, 8 is a pan head, 9 is a surveillance camera,
10 is a camera position control and detection device, 11 is a bucket position detection device 212 is an image processing device, 13 is a control device,
14 is an underground level setting device, 15 is a bucket emergency stop device, and 16 is an alarm device.

As shown in the first diagram, for example, in order to construct an underground tank 17, a rail is attached along the outer circumferential upper edge of this underground tank 17. 6 This earth lifting device 1 is equipped with a support 2 having wheels running on a rail at the lower end, and a cross beam 3 is placed over the top of this support 2. Further, a movable trolley 4 that can be moved along the longitudinal direction of the cross beam 3 is disposed, and a clamshell bucket 7 is suspended from the movable trolley 4 via a winch 5 and a wire cable 6 as in the past. It is suspended.

In addition, a monitoring camera 9 is installed at the bottom of the operator room provided on the cross beam 3 via a pan head 8.
A camera position control and detection device 1° is provided. Furthermore, a bucket position detection device 11 is provided on the cross beam 3.

FIG. 3 is a control block diagram in this embodiment.

As shown in FIG. 3, the surveillance camera 9 is connected to the image processing device 1.
The image processing device 12 can perform image processing using pattern recognition or color recognition. This image processing device 12 is connected to a control device 13. Therefore, the signal obtained by the camera 9 is processed by the image processing device 12, and the processed signal is sent to the control device 13. Similarly,
The camera position control and detection device 1o and the bucket position detection device 11 are also connected to the control device 13, and the position signal of the camera 9 and the position signal of the bucket 7 are also sent to the control device 13.

A camera position control signal is outputted from the control device 13 to the camera position control and detection device 10. This camera position control signal causes, for example, the ground level (GL) as shown in FIG.
As the underground excavation progresses, the direction of the camera 9 and the zoom lens of the camera 9 are controlled so that the field of view changes from A to B. The field of view of the camera 9 always covers a certain range to improve detection accuracy and blind spots, etc. We are trying to eliminate the influence of In that case, the zoom control method is to capture a depth signal from the earth lifting device 1 side, and then the control device 13 outputs a control signal based on this depth signal. It can also be controlled by manual operation.

Furthermore, an underground level setting device 14 is connected to the control device 13, and a level signal set for underground excavation is transmitted to the control device 1.
Sent to 3. Further, a bucket emergency stop device 15 and an alarm device 16 are connected to the control device 13. Thereby, the control device 13 outputs a bucket emergency stop signal to the bucket emergency stop device 15 and an alarm signal to the alarm device 16 based on the image processing signal and the bucket position signal.

Next, the operation of this embodiment configured as described above will be explained.

First, align the screen with the work area of the underground area.

That is, the control device 13 controls the pan head 8 and the zoom lens of the camera 9 to adjust the screen so that it falls within a predetermined monitoring range, that is, a working range. Next, the bucket position detection device 11 detects the forward and backward and up and down positions of the bucket 7 to measure the current position of the bucket, and sends the position signal to the control device 13.

Further, the signal from the camera 9 is image-processed by the image processing device 12 to measure the presence or absence of the construction machine M within the work area and the position of the construction machine M, if any, and the presence or absence and position signal are sent to the control device 12. send to

In that case, if the image processing method is a pattern recognition method, the shape of the construction machine M will be recognized and memorized, and if the image processing method is a color recognition method, a special color will be applied to a part of the construction machine M. Paint is applied and monitored with a CCD camera, the shading histogram of the image is measured, the shading histogram with brightness above a certain level is binarized, the X-Y shading data of the image is analyzed, and - on the scaffolding. If there is a boundary of area, construction machine M
1 by detecting and storing the color as .

If the control device 13 determines that there is a construction machine M within the work range based on the bucket position signal and the presence/absence of the construction machine M and the position signal, the control device 13 moves the Nokukerato 7 to an approximately ground position above the excavation area. When it reaches the vicinity, an alarm signal is output to the alarm device 16.

As a result, the alarm device 16 issues an alarm, warning the operator of the earth lifting equipment that the construction machine M is within the work area, and warning the operator of the construction machine M that the bucket will be lowered. Arouse. In addition, the control device 1
3 does not issue an alarm signal to the alarm device 16 when it is determined that the construction machine M is outside the work area, and the alarm device 16
does not issue an alarm.

If the alarm continues to be generated while the bucket 7 is lowering, such as when the operator lowers the bucket 7 without noticing the alarm signal, the control device 13 takes into account the braking distance of the bucket 7 and sends an alarm to the construction machine M. When the bucket 7 reaches a position where it can be reliably stopped before contact, an emergency stop signal is output to the bucket emergency stop device 15. As a result, the bucket emergency stop device 15 stops the drive device of the winch 5 and applies the brake to bring the bucket 7 to an emergency stop.

Note that the control device 13 can also output an emergency stop signal at the same time when it outputs the alarm signal.

After that, the operator checks the situation within the work area and restarts the drive device of the winch 5. In this case, if the control device 13 determines that there is no construction machine M within the work area, the control device 13 restarts the drive device of the winch 5. This causes the bucket 7 to descend again to the excavation level. Further, when the control device 13 determines that the construction machine M is within the work range, the control device 13 disables restarting the drive device of the winch 5. While these control operations are repeated, the bucket 7 is raised and lowered, and the soil lifting work is performed.

In this way, since the lifting and lowering of the bucket is controlled by the control device 13, operational errors such as collision of the bucket 7 with the construction machine M due to an operator's misjudgment are reliably prevented. It will be done quickly.

[Effects of the Invention] As is clear from the above explanation, according to the earth lifting device according to the present invention, since there is a construction machine, etc. within the working range at the time when the bucket starts its lowering operation, the lowering of the bucket is stopped. When it is necessary to stop the equipment, an alarm is issued to alert the operators of the earth lifting equipment and construction machinery, etc., so each operator can stop the lowering of the bucket or stop the construction machinery, etc. You can evacuate from within range. Furthermore, as described above, when it is necessary to stop the bucket from descending, the bucket is automatically stopped from descending, so collisions between the bucket and construction machinery can be prevented.

In this way, according to the present invention, it is possible to reliably prevent operational errors due to erroneous judgment by the operator, and it is possible to carry out soil lifting work smoothly and quickly.

[Brief explanation of drawings]

Fig. 1 is an overall schematic diagram schematically showing a system for underground excavation work using an embodiment of the earth lifting device according to the present invention, Fig. 2 is an enlarged view of the earth lifting equipment of this embodiment, and Fig. 3 is a control block diagram in this embodiment. 1... Earth lifting device, 2... Payment 3... Yokorin 4.
...Movement script 5.. Winch, 6.. Wire cable, 7.. Clamshell bucket, 8.. Pan head, 9.. Surveillance camera, 10.. Camera position control and detection device, 11...Bucket position detection device, 12
...Image processing device, 13...Control device, 14...
Underground level setting device, 15...Bucket emergency stop device, 16...Alarm device Patent applicant: Shimizu Corporation Patent attorney, Ryukichi Abe (7 others)

Claims (4)

[Claims] (1) In an earth lifting device that lifts excavated earth and sand upward using a bucket that can be raised and lowered, the equipment includes a monitoring device that monitors a predetermined work range, a bucket position detection device that detects the position of the bucket, and an alarm device;
a control device that outputs an alarm signal to the alarm device when it is determined that it is necessary to stop the descent of the bucket based on each signal from the monitoring device and the bucket position detection device; An earth lifting device characterized in that the alarm device issues an alarm in response to the alarm signal. (2) A bucket emergency stop device is further provided, and the control device outputs a bucket emergency stop signal to the bucket emergency stop device when outputting the alarm signal, and issues an alarm and stops the bucket. The earth lifting device according to claim 1. (3) Furthermore, a bucket emergency stop device is provided, and the control device outputs a bucket emergency stop signal to the bucket emergency stop device when the alarm signal is continuously output for a predetermined period of time, and issues an alarm and stops the bucket. The earth lifting device according to claim 1, characterized in that the earth lifting device is stopped. (4) An earth lifting device that lifts excavated earth and sand upward using a bucket that can be raised and lowered, comprising a monitoring device that monitors a predetermined work range, a bucket position detection device that detects the position of the bucket, and a bucket emergency stop device; a control device that outputs a bucket emergency stop signal to the bucket emergency stop device when it is determined that it is necessary to stop the descent of the bucket based on each signal from the monitoring device and the bucket position detection device;
An earth lifting device characterized in that the bucket emergency stop device brings an emergency stop to the descent of the bucket in response to the bucket emergency stop signal from the control device.