JPH0245768Y2 - - Google Patents

Description

[Detailed description of the invention] The present invention relates to an attitude detection device for an excavator used in propulsion methods, tunnel excavation, etc. Specifically, it includes a half mirror for a laser beam projected from a laser transit toward an excavation target, and a A first light receiver detects a reflected laser beam from the half mirror, and a second light receiver detects a transmitted laser beam from the half mirror. The amount of displacement of the center axis of the excavator in the X-axis direction and the Y-axis direction on the orthogonal X-Y coordinate plane is measured, and based on the detection result of the second light receiver and the displacement measurement result. The present invention relates to an excavator attitude detection device that measures the azimuth angle or pitch angle of the excavator center axis with respect to the excavation direction.

Conventionally, as shown in Japanese Utility Model Publication No. 57-26169, the excavation attitude was measured only by automatic detection using the first and second receivers, but this method caused various disturbances and electrical troubles. Since it is not possible to recognize erroneous detections caused by automatic detection, the operator may unexpectedly deviate from the target excavation posture, and there is still a problem of lack of reliability.

The purpose of this invention is to make it possible to prevent unexpected deviations in the excavation posture caused by automatic detection errors through rational improvements, and to make the measurement itself accurate and easy. It is in.

A characteristic configuration of the present invention is that, in the above-mentioned attitude detection device for an excavator, a visual target is provided between the half mirror and the second light receiver at a position where the distance to the half mirror is approximately equal to that of the first light receiver. There is a certain thing, and its action and effect are as follows.

In other words, by providing a visual target that can be seen through a half mirror in addition to the first and second light receivers for automatic detection, the X
Since the displacement in the axial and Y-axis directions can be visually confirmed, it is possible to reliably prevent unexpected deviations in the excavation posture due to erroneous detection in automatic detection, and in turn, it has become possible to greatly improve excavation accuracy.

Moreover, by arranging the first light receiver and the visual target at the same distance from the half mirror, it is possible to eliminate measurement errors between the automatic detection result and the visual detection result due to the distance difference between them. It is possible to directly compare both detection results without error correction, etc., and the measurement itself can be performed with high precision and simplicity, and as a result,
A posture detection device with extremely high detection reliability, excellent measurement accuracy and measurement result processing performance, and great practical effects has been created.

Next, an embodiment will be explained with reference to FIGS. 1 to 3.

In the excavator 2 for propulsion method, which is installed at the tip of the propulsion pipe 1 that is pushed into the soil from the pit by an appropriate propulsion device, the device for detecting the excavation posture is configured to perform excavation parallel to the central axis of the excavator. An orthogonal X-Y coordinate that is orthogonal to the machine reference axis P' and where the reference axis P' passes through the coordinate origin is virtually arranged, and the propulsion tube 1 is connected from the laser transit 3 installed in the pit.
A half mirror 4 is installed on the reference axis at an angle of 45 degrees with respect to the reference axis P', and the laser beam L ₁ reflected from the half mirror 4 is directed toward the excavation target. The first light receiver 5 is arranged so that its light receiving surface 5a is virtual P'-X
parallel to the plane and the half mirror 4
The transmitted laser beam from the half mirror 4 is placed at a distance l ₁ in the Y-axis direction from the
The lens 6 that focuses L ₂ and the second light receiver 7 that receives the focused transmitted laser beam L ₂ are arranged so as to be concentric with and orthogonal to the reference axis P'.
Further, the second light receiver 7 is arranged in parallel so as to be located at a position apart from the lens 6 by the focal length f of the lens 6.

The first light receiver 5 is constructed by a plurality of Y-axis direction light receiving position detection element arrays 8Y in which a large number of light receiving elements 8 are arranged in the reference axis P' direction, and a large number of light receiving elements 8 are arranged in the X-axis direction. Element array for detecting light receiving position in X-axis direction 8X
are arranged in a grid pattern on the substrate within the light receiving surface 5a, and a biaxial light receiving device detects the light receiving position of the reflected laser beam _L1 in the two axial directions of the X-axis direction and the reference axis P' direction. It is a position detection type.

To configure the second light receiver 7, a plurality of element rows 8'X for detecting the light receiving position in the X-axis direction, in which a large number of light-receiving elements 8' are arranged in the X-axis direction, are arranged on a substrate, and the reference axis P' is It is positioned so as to pass through the center _O1 of the two light receivers 7, and is of an X-axis light receiving position detection type that detects the light receiving position of the condensed transmitted laser beam _L2 in the X-axis direction.

That is, as shown in FIG. 3, from the light receiving position detection results (△X, △Y) of the first light receiver 5, the X-axis direction (horizontal direction) and , the amount of displacement (△X, △Y) in the Y-axis direction (vertical direction) can be directly measured, and the positional deviation of the excavator 2 with respect to the excavation target direction can be determined. From the position detection result △X', calculate and measure the azimuth angle θx of the excavator reference axis P' with respect to the laser beam optical axis P (θx = △X'/f)
It is configured so that it can be done.

In the figure, P'' is an axis passing through the center of the lens 6 and parallel to the laser beam optical axis P.

Incidentally, the pitch angle θy of the excavator reference axis P' with respect to the laser beam optical axis P is measured by an inclinometer provided as a separate device.

In the figure, 9 and 10 are the first and second light receivers 5, respectively.
A processing circuit that processes the detection signal from 7,
Further, 11 is a display control device that displays displacement amounts ΔX, ΔY in both directions, and azimuth angle θx based on voltage signals from these processing circuits.

A grid-like body 12A formed by arranging thread-like bodies 12a and 12b in a grid is stretched over a rectangular frame to form a rectangular coordinate type visual target 12, and the visual target 12 is set at its coordinate origin. _O2
so that the reference axis P′ passes through the
The grid-shaped body 12A is disposed so as to be orthogonal to P' and is provided between the condenser lens 6 and the half mirror 4, so that the laser transit 3 and the first and second light receiving During excavation propulsion with automatic attitude detection by the devices 5 and 7, the visual transit 3A looks through the visual target 12 and determines the amount of displacement △ of the excavator 2 in the X-axis and Y-axis directions at appropriate intervals.
It is configured so that X and ΔY can be visually confirmed.

When the visual target 12 is arranged, the visual target 12 and the half mirror 4 of the first light receiver 5 are arranged.
Set the distances l ₁ and l ₂ to be equal (l ₁ = l ₂ ) to eliminate errors between the visual measurement results and the receiver measurement results due to the difference in the distances l ₁ and l ₂ (l ₁ ≠ l ₂ ). Accordingly, the two measurement results can be easily compared without any correction calculations or the like.

Among the thread-like bodies 12a and 12b forming the grid-like body 12A in the visual target 12, red fluorescent paint is applied to the thread-like body 12a serving as the coordinate axis, and fluorescent paint of another color is applied to the other filament-like body 12b. At the same time, the half mirror 4 is placed on the visual target 12.
An ultraviolet lamp 13 for irradiating a visual target that mainly emits ultraviolet rays is installed on the opposite side of the half mirror 4 from the first receiver 5, and is used as an irradiation mirror for the target. The structure is such that visual measurement can be easily performed by light emission from the grid-shaped body 12A in a dark field.

The ultraviolet lamp 13 used for irradiation is mainly a blacklight fluorescent lamp, but in order to make collimation easier, it is preferable to use a mixture of general fluorescent lamps at a ratio of 20 to 60%.

Next, another embodiment will be explained with reference to FIG.

In place of the X-axis direction light receiving position detection type photoreceptor consisting of a collection of photoreceptors arranged in the X-axis direction used in the above-mentioned embodiment, the second photoreceiver 7 is a lattice-shaped photoreceiver having the same configuration as the first photoreceiver 5 described above. It is constructed as a biaxial light receiving position detection type, and the special aspherical condensing lens 6 is omitted to reduce manufacturing costs.

Note that the first and second light receivers 5 and 7 receive a laser beam.
It is possible to apply light receivers with various structures as long as they are of a type that detects the light receiving positions of L ₁ and L ₂ as coordinates on an orthogonal coordinate plane.

Further, the specific structure of the visual target 12 can be modified in various ways.

[Brief explanation of the drawing]

1 to 3 show embodiments of the present invention,
1 is a schematic overall view, FIG. 2 is a schematic perspective view of the posture detection device, FIG. 3 is a principle diagram of posture detection, and FIG. 4 is a diagram corresponding to FIG. 2 showing another embodiment. 3... Laser transit, 4... Half mirror, 5... First light receiver, 7... Second light receiver, 12
... Visual target, L, L ₁ , L ₂ ... Laser beam, l ₁ , l ₂ ... distance.

Claims (1)

[Scope of utility model registration request] Half mirror 4 for the laser beam L projected from the laser transit 3 in the direction of the excavation target
and the reflected laser beam from the half mirror 4
A first light receiver 5 detects the laser beam L ₁ and a second light receiver 5 detects the transmitted laser beam L ₂ from the half mirror 4.
In the attitude detection device for an excavator including a light receiver 7, between the half mirror 4 and the second light receiver 7,
A visual target 12 is placed at a position where distances l ₁ and l ₂ to the half mirror 4 are approximately equal to the first light receiver 5.
Excavator attitude detection device equipped with