JPS5930878B2 - Underground excavator position detection method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for detecting the position of an underground excavator that excavates vertically from the ground using the effect of a plumb stroke.

For underground continuous wall construction, etc., an underground excavator is suspended in the direction of gravity using a hanging wire, and the plumbstone effect is used to excavate vertically.

This method attempts to maintain excavation accuracy by maintaining verticality due to the excavator's own weight, but due to the hardness and softness of the excavated strata, the excavator may shift horizontally, tilt, or even twist, causing the excavation to deviate from the set excavation position. There are cases.

To deal with this, attempts have been made to detect the position of the excavator, and when the excavator deviates from the set excavation position, correct the position of the excavator to control drilling.

However, in many of the conventional methods, installing an inclinometer on the excavator simply detects the inclination of the excavator and corrects the position of the excavator. This causes twisting, and conventional methods cannot deal with these deviations.

The present invention seeks to overcome the drawbacks of the prior art by providing a method for accurately and easily detecting the excursion of an excavator in a practical manner.

The present invention will be explained below with reference to the drawings.

FIG. 1 shows a schematic elevational view in which the method for detecting the position of an underground excavator according to the present invention is implemented, and the excavator 1 is suspended from a sheave of a tower (not shown) by a hanging wire 2 according to the plumb-bang principle. , tension is applied to the suspension wire 2 by a winch, which is also not shown.

As a result, the excavator excavates in the vertical direction with a penetration force corresponding to the difference between the excavator's own weight and the tension of the hanging wire, and due to the plumb bob effect.

A wire 4a is connected to displacement meter reels 3a and 3b provided at two points on the ground of an excavation reference surface such as a continuous wall.

4b suspends two weights 5a and 5b, and on the other hand, detectors 5a and 5b, which will be described later, are attached to two places on the left and right of the upper part of the excavator 1, and the weights 5a and 5b (immovable members) and the excavator 1 are connected. The relative positions are measured, and the amount of displacement of the two upper parts of the excavator 1 in the front-rear direction and the left-right direction is measured.

Furthermore, an inclinometer 7 is attached to the excavator 1 to measure the amount of inclination of the excavator in the front-back direction and the left-right direction with respect to the vertical direction.

The amount of displacement of the bit tip A is the amount of displacement of the upper part of the excavator plus the displacement of the bit position due to the inclination of the excavator.

For this purpose, the amount of displacement measured by the displacement meter and the amount of inclination measured by the inclinometer are input into the calculator 8, and a function calculation is performed to calculate the amount of displacement in the longitudinal direction and the displacement in the lateral direction at the bit tip position of the central axis of the excavator. The amount and the amount of twist are displayed on a display device 9 such as a numerical display tube or an analog indicator.

Reference numeral 9a indicates the amount of displacement in the longitudinal direction, 9b indicates the amount of displacement in the lateral direction, and 9c indicates the amount of twist. In the figure, the amount of displacement in the longitudinal direction is 12 minutes, the amount of left and right displacement is 547njn, and the amount of twist is 5.4 minutes. .

The calculation contents of this calculator will be explained with reference to FIG. 2 as follows.

In Figure 2 O2σ: Ground control point shall be.

(1) Displacement at the tip of the bit (,) Left-right direction DBLX=DLX×Lsin
θX (b) Left front and back direction DBLY=DLX+Ls
ireY(C) Right side left/right direction DBRX=DRX 10L
sinθX(d) Right front and back direction DBRY-=DR
Y+LsinθY However, L: Distance between the upper displacement meter measurement point and the tip of the bit DLX: Measured value of the displacement meter Left side lateral direction DLY: Measured value of the displacement meter Left side longitudinal direction DRX: Measured value of the displacement meter Right side lateral direction DRY: Displacement meter Measured value in the right front-rear direction (sign indicates the right direction and front direction is positive) θX Measured value of the two inclinometers Left and right direction θY Measured value of the two inclinometer Front-rear direction (sign indicates the right direction inclination of the bit as positive, (2) Amount of torsion of the excavator (sign indicates positive direction of rotation) However, W: Distance between left side displacement meter and right side displacement meter AA' Figure 3 A, A weight tracking type displacement meter is shown as an example of a displacement meter, and 5 is a weight, which is suspended from two points on the ground of an excavation reference plane such as a continuous wall as described above.

The detectors indicated by 6 are installed at two locations on the left and right sides of the upper part of the excavator as described above.

The detector 6 includes proximity switches 61a to 61d, a mounting tube 62 to which the proximity switches 61a to 61d are attached, threaded longitudinally moving rods 63a, 63b, and threaded leftwardly moving rods 63c, 63d. ,
It consists of a motor 64a for left and right movement and a motor 64b for movement back and forth.

Now, when the excavator 1 is displaced horizontally or longitudinally relative to the weight 5 and any of the proximity switches 61a to 61d approaches the weight 5, the forward and backward movement motor 54a
Alternatively, (and) the left/right movement motor 64b operates until the proximity switches 61a to 61d assume the positions shown.

For example, a pulse signal corresponding to the number of rotations of the forward/backward movement motor 64a or (and) the left/right movement motor 64b is input to the calculator 8, and as described above, the upper part 2 of the excavator 1
Measure the amount of displacement in the anteroposterior and lateral directions of the location.

Note that the displacement meter is not limited to the above-mentioned weight-following displacement meter, but may also be a displacement meter using ultrasonic waves, magnetism, capacitance, or light.

The position of the excavator is corrected based on the horizontal displacement amount, longitudinal displacement amount, and twist amount of the bit tip detected as described above.

As a method for correcting the position of the excavator, a conventional method may be used, such as manually or automatically operating an adjustable guide in contact with the hole wall using a jack.

As explained above, according to the underground excavator position detection method of the present invention, the longitudinal and lateral displacements of the bit tip with respect to the reference line and the torsion amount with respect to the vertical axis are detected during excavation, regardless of the posture of the excavator. can be detected,
Excavation of continuous walls, etc. can be performed with high precision.

[Brief explanation of drawings]

Fig. 1 is a schematic elevational view in which the position detection method of an underground excavator of the present invention is implemented, Fig. 2 is an explanatory diagram for explaining the calculation mode of the computing unit, and Fig. 3 FIG. 2 is a plan view and a side view showing an example of a displacement meter used in the excavator position detection method. 1... Excavator, 2... Excavator hanging wire, 3a, 3b... Displacement meter reel, 4.4a
, 4b... Weight hanging wire, s, sa, sb
... Weight, 6.6a, 6b ... Detector, 7 ... Inclinometer, 8 ... Arithmetic unit, 9.
... Display device, 61 a, 61 d ...
・Proximity switch, 62...Proximity switch mounting pipe, 63a-63b...Back and forth moving rod, 63
c~63d...Left and right moving rod, 64a...
... Motor for forward and backward movement, 64b ... Motor for left and right movement.

Claims (1)

[Claims] 1. In a method for detecting the position of an underground excavator that excavates vertically from the ground using the effect of a plumb stroke, displacement gauges are provided at two locations on the top of the excavator, and the displacement gauges detect the location of the two locations on the top of the excavator. After excavation, an inclinometer is installed, and the inclinometer measures the amount of inclination in the longitudinal and lateral directions with respect to the vertical direction of the excavator. Underground excavation characterized in that the amount of displacement in the longitudinal direction, the amount of displacement in the lateral direction, and the amount of torsion at the bit tip position of the central axis of the excavator are calculated by inputting the amount of displacement measured by the excavator and the amount of inclination measured by the inclinometer into a calculator. How to detect the position of the machine. 2. A patent claim characterized by displaying on a display device such as a numerical display tube or an analog indicator the amount of longitudinal displacement, lateral displacement, and torsion of the center shaft of the excavator at the bit tip position calculated by a calculator. A method for detecting the position of an underground excavator according to item 1.