Drilling Support System

Abstract

To propose a drilling assist system that adequately calculates a tip position of a flea tip and realizes more accurate construction.SOLUTION: A drilling assist system includes: two targets 3, 3 provided at a rear portion of a revolving body 12 of a construction machine; two total stations 4, 4 automatically tracking the targets 3, 3; three-axis acceleration sensor units 5 attached to a boom 13, an arm 14 and a head portion 15 of the construction machine, respectively; and calculation means 7 for calculating a tip position of a flea 16 provided on the head portion 15. The three-axis acceleration sensor unit 5 detects a three-axis acceleration at an attached position. The calculation means 7 calculates pitching angles and rolling angles of the boom 13, the arm 14, and the head portion 15 with the three-axis acceleration, and calculates the tip position of the flea 16 based on the pitching angles, the rolling angles, and a measurement result by the total stations 4, 4.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an excavation assistance system for use in the construction of mountain tunnels. [Background technology]

[0002] In the construction of mountain tunnels using NATM and the like, a rotary construction machine (e.g., a backhoe) with an attachment such as a rock drill may be used as an excavator for mechanical excavation or as a machine for digging work for blasting excavation. In this case, the position information of the tip of the rotary construction machine (such as the chisel tip of the rock drill) may be obtained in real time by measuring a target attached to the rotary construction machine with a total station (see, for example, Patent Document 1). In conventional systems, a target attached to a rotary construction machine is tracked and surveyed using a total station to detect the direction of rotation of the machine, and the tip position of the chisel is calculated by detecting the angle of inclination using an inclinometer attached to the boom, arm, and head of the machine. The inclinometers attached to the boom, arm, and head are generally used to calculate the angle (pitching angle) relative to the rotary construction machine. Meanwhile, inside the tunnel, the road surface is generally not flat due to unevenness and inclination. If the road surface is not flat, the rotary construction machine itself may be inclined, which may affect the angles of the boom, arm, and head. Therefore, in order to accurately calculate the tip position of the chisel tip, it is desirable to perform the calculation while excluding the influence of the orientation of the rotary construction machine (pitching, rolling, yaw angle, etc.). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-190587 A Summary of the Invention [Problem to be solved by the invention]

[0004] An object of the present invention is to propose an excavation assistance system that accurately calculates the tip position of the chisel tip to achieve more accurate construction. [Means for solving the problem]

[0005] In order to solve the above-mentioned problems, the present invention provides an excavation assistance system for use with a construction machine having a running body, a rotating body provided on the running body so as to be rotatable about a vertical axis, a boom attached to the rotating body so as to be rotatable about a horizontal axis, an arm attached to the tip of the boom so as to be rotatable about the horizontal axis, and a head attached to the tip of the arm so as to be rotatable about the horizontal axis, the excavation assistance system comprising: two targets provided at the rear of the rotating body; two total stations that automatically track the targets; three-axis acceleration sensor units provided on the boom, the arm, and the head; and a calculation means for calculating the tip position of a chisel provided on the head. an inertial sensor unit provided on the rotating body; The three-axis acceleration sensor unit detects the three-axis acceleration (acceleration in three mutually orthogonal directions (X-axis, Y-axis, and Z-axis)) of the boom, the arm, or the head portion. The total station measures the coordinates of the target, and the inertial sensor unit detects a three-axis acceleration and a three-axis rotation angular velocity or a three-axis rotation acceleration of the rotating body. The calculation means calculates pitching angle and rolling angle based on the three-axis acceleration. and calculating the yaw angle of the rotating body based on a horizontal plane using the three-axis acceleration and the three-axis rotation angular velocity or the three-axis rotation acceleration of the rotating body, and calculating the coordinates of each of the targets based on the measurement results transmitted from the total station, and calculating the three-dimensional coordinates of the construction machine from the coordinates of both of the targets; and The pitching angle and the rolling angle , taking into consideration the three-dimensional coordinates of the construction machine and the yaw angle The position of the chisel tip is calculated. According to this excavation assistance system, since the pitching angle and rolling angle of the boom, arm and head with respect to the horizontal plane can be calculated, the position information of the tip of the chisel can be calculated more accurately even if the boom, arm and head roll. In addition, since the pitching angle and rolling angle with respect to the horizontal plane are calculated, it is less susceptible to the influence of unevenness and inclination inside the tunnel.

[0006] In the case where the rotating body is provided with an inertial sensor unit for detecting the three-axis acceleration and the three-axis rotation angular velocity of the rotating body, the calculation means calculates the three-axis acceleration and the three-axis rotation angular velocity of the rotating body by the three-axis acceleration and the three-axis rotation angular velocity of the rotating body. Based on the horizontal planeCalculate the yaw angle of the rotating body At the same time, the tip position of the chisel is calculated taking the yaw angle into consideration. . According to this excavation assistance system, the yaw angle of the construction machine is calculated by a sensor mounted on the rotating body. That is, the inertial sensor unit can output an angle similar to that obtained by calculating a direction angle from two targets using a total station. Furthermore, if a low-pass filter that processes the signals from each sensor is provided, noise can be removed from the measurement results (detection results), thereby further improving accuracy. Effect of the Invention

[0007] According to the excavation assistance system of the present invention, the position of the tip of the chisel can be accurately grasped, thereby making it possible to carry out more accurate construction. [Brief description of the drawings]

[0008] [Figure 1] FIG. 2 is a schematic diagram showing a construction situation using the rotary construction machine of the present embodiment. [Diagram 2] FIG. 1 is a block diagram showing the seizure assistance system of the present embodiment. [Diagram 3] FIG. 2 is a block diagram showing an outline of a three-axis acceleration sensor unit. [Figure 4] FIG. 2 is a block diagram showing an overview of an inertial sensor unit. [Diagram 5] 2 is a three-dimensional coordinate system of a rotary construction machine. [Figure 6] FIG. 2 is a plan view showing an example of a usage state of the swing type construction machine. [Figure 7] 1A shows the pitching angle and rolling angle of the rotating body before smoothing processing by the low-pass filter, and FIG. 1B shows the pitching angle and rolling angle of the rotating body after smoothing processing by the low-pass filter. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] In this embodiment, a rotating construction machine 1 used in the construction of mountain tunnels will be described. Fig. 1 shows a construction situation using the rotating construction machine 1. As shown in Fig. 1, the rotating construction machine 1 is used to remove loose rocks remaining on the face and tunnel wall immediately after excavation at the face (tunnel tip) after blasting. The slewing construction machine 1 of this embodiment is a so-called backhoe, and includes a running body 11, a rotating body 12 provided on the running body 11 so as to be rotatable about a vertical axis, a boom 13 attached to the rotating body 12 so as to be rotatable about a horizontal axis, an arm 14 attached to the tip of the boom 13 so as to be rotatable about the horizontal axis, and a head unit 15 attached to the tip of the arm 14 so as to be rotatable about the horizontal axis. The head unit 15 is a so-called attachment, and the head unit 15 of this embodiment is a breaker equipped with a chisel 16. The excavation assistance system 2 of this embodiment accurately grasps the tip position of the chisel 16 attached to the head 15 of the rotary construction machine 1. If the tip position of the chisel 16 can be accurately grasped, the rotary construction machine 1 can be operated appropriately, enabling efficient and highly accurate tunnel construction. The tip position of the chisel 16 is calculated by the excavation assistance system 2. FIG. 2 shows an overview of the excavation assistance system. As shown in FIG. 2, the excavation assistance system 2 of this embodiment includes a target 3, a total station 4, a three-axis acceleration sensor unit 5, an inertial sensor unit 6, and a calculation means 7.

[0010] As shown in Fig. 1, the target 3 is fixed to the rear of the revolving body 12 of the revolving construction machine 1. In this embodiment, two targets 3, 3 are arranged at an interval on the upper surface of the revolving body 12. The target 3 is equipped with a reflecting prism, and reflects light waves irradiated from the total station 4 toward the total station 4. In this embodiment, a target prism that allows measurement from all directions (360° directions centered on the target 3) is used.

[0011] 1, the total station 4 is installed behind the rotary construction machine 1 and automatically tracks the target 3. In this embodiment, two total stations 4 are installed, and each total station 4 surveys a different target 3 (one total station 4 automatically tracks one target 3, and the other total station 4 automatically tracks the other target 3). The total station 4 measures the position of the target 3 and transmits the measurement result to the calculation means 7 .

[0012] As shown in Fig. 1, the three-axis acceleration sensor unit 5 is attached to each of the boom 13, the arm 14 and the head portion 15. An outline of the three-axis acceleration sensor unit 5 is shown in Fig. 3. As shown in FIG. 3, each triaxial acceleration sensor unit 5 includes a triaxial accelerometer 51, a low-pass filter 52, a communication control means 53, a power supply means 54, and a control means 55. The triaxial accelerometer 51 detects triaxial acceleration at the mounting position. The triaxial acceleration is acceleration in three mutually orthogonal axes (X-axis, Y-axis, Z-axis). The X-axis and Y-axis are mutually orthogonal axes in a horizontal plane, and the Z-axis is an axis (vertical axis) perpendicular to the horizontal plane. The low-pass filter 52 performs signal processing (removal of high-frequency components) of the triaxial accelerometer 51. The cutoff frequency of the low-pass filter 52 is set to a magnitude (for example, 1 to 2 Hz) that can remove high-frequency acceleration (noise) caused by vibration of the drive source of the rotary construction machine 1 or vibration of a breaker. The communication control means 53 controls communication of the measurement result by the triaxial accelerometer 51 that has been signal-processed via the low-pass filter 52. The triaxial acceleration sensor unit 5 transmits the triaxial acceleration to the calculation means 7 via the communication control means 53. The power supply means 54 supplies power to the triaxial accelerometer 51, the low-pass filter 52, the communication control means 53, the control means 55, etc. The control means 55 controls the start / stop of the triaxial accelerometer 51 and the low-pass filter 52.

[0013] The inertial sensor unit 6 is provided on the rotating body 12. The inertial sensor unit 6 detects the three-axis acceleration and the three-axis rotational angular velocity of the rotating body 12. The three-axis rotational angular velocity is the angular acceleration around three mutually orthogonal axes (X-axis, Y-axis, and Z-axis). FIG. 4 shows an overview of the inertial sensor unit 6. As shown in FIG. 4, the inertial sensor unit 6 includes a three-axis gyro 61, a three-axis accelerometer 62, a low-pass filter 63, a communication control means 64, a power supply means 65, and a control means 66. The three-axis gyro 61 detects the three-axis rotational angular velocity of the rotating body 12. The three-axis accelerometer 62 detects the three-axis acceleration at the mounting position. The low-pass filter 63 performs signal processing (removal of high-frequency components) of the three-axis rotational angular velocity detected by the three-axis gyro 61 and the three-axis acceleration detected by the three-axis accelerometer 62. The cutoff frequency of the low-pass filter 63 is set to a value (e.g., 1 to 2 Hz) that can remove high-frequency acceleration (noise) caused by vibrations of the drive source of the rotary construction machine 1, vibrations of a breaker, etc. The communication control means 64 controls communication to the calculation means 7 of the triaxial acceleration and triaxial rotational angular velocity that have been signal-processed via the low-pass filter 63. The power supply means 65 supplies power to the triaxial gyro 61, the triaxial accelerometer 62, the low-pass filter 63, the communication control means 64, the control means 66, etc. The control means 66 controls the start / stop of the triaxial gyro 61, the triaxial accelerometer 62, and the low-pass filter 63.

[0014] The calculation means 7 calculates the tip position of the chisel 16 provided on the head portion 15. The calculation means 7 calculates the coordinates of each target 3 based on the measurement results transmitted from the total station 4, and calculates the direction and inclination of the rotary construction machine 1 from the coordinates of both targets 3, 3. The total station 4 mainly determines the three-dimensional coordinates of the rotary construction machine 1 in the on-site coordinate system, and determines the pitching and rolling angles of the rotating body 12 with a three-axis accelerometer, and as a result, the three-dimensional coordinates, direction angle and inclination of the rotary construction machine 1 are detected. Figure 5 shows the three-dimensional coordinate system of the rotary construction machine 1. Furthermore, the calculation means 7 calculates the pitching angle θ1 and the rolling angle φ1 at the mounting position (boom 13, arm 14 or head section 15) of the triaxial acceleration sensor unit 5 based on the data (the triaxial acceleration (Ax, Ay, Az) of the boom 13, arm 14 and head section 15) transmitted from the triaxial acceleration sensor unit 5. After calculating the pitching angle θ1 and the rolling angle φ1, the calculation means 7 calculates the tip position of the chisel 16 based on the calculation results (the pitching angle θ1 and the rolling angle φ1 at the mounting position of the triaxial acceleration sensor unit 5) and the measurement results of the total station 4. The pitching angle θ1 of the boom 13, the arm 14, or the head portion 15 is calculated by Equation 1. The rolling angle φ1 of the boom 13, the arm 14, or the head portion 15 is calculated by Equation 2.

[0015]

number

[0016] In addition, the calculation means 7 calculates the pitching angle θ2 and rolling angle φ2 of the rotating body 12 based on the three-axis acceleration (Ax, Ay, Az) of the rotating body 12 transmitted from the inertial sensor unit 6, and calculates the yaw angle Ψ of the rotating body 12 based on the pitching angle θ2, rolling angle φ2, and the three-axis rotational angular velocity (Rx, Ry, Rz) of the rotating body 12 transmitted from the inertial sensor unit 6. The pitching angle θ2 of the rotating unit 12 is calculated using Equation 3, and the rolling angle φ2 of the rotating unit 12 is calculated using Equation 4. In addition, the yaw angle Ψ of the rotating unit is calculated using Equation 5.

[0017]

number

[0018] According to the excavation assistance system 2 of this embodiment, the pitching angle and rolling angle of the boom 13, the arm 14, and the head 15 can be calculated based on the horizontal plane, so that even if the boom 13, the arm 14, and the head 15 roll, the position information of the tip position of the chisel 16 can be calculated more accurately. In addition, since the pitching angle and rolling angle are calculated based on the horizontal plane, they are less susceptible to the unevenness and inclination of the tunnel. In addition, the hinge part of the boom 13, the arm 14, and the head 15 may bend in the left-right direction at the hinge part due to the weight of the head 15. In the excavation assistance system 2 of this embodiment, the rolling angle as well as the pitching angle of the boom 13, the arm 14, and the head 15 are calculated based on the horizontal plane, so that the position coordinates of the tip of the chisel 16 can be calculated with high accuracy.

[0019] In addition, a more accurate angle can be calculated by calculating the yaw angle of the rotating body 12 with respect to the horizontal plane based on the three-axis acceleration and three-axis rotation angular velocity of the rotating body 12 measured by the inertial sensor unit 6 (a six-axis inertial sensor consisting of a three-axis gyro and a three-axis accelerometer) provided on the rotating body 12. That is, the accuracy is improved by calculating the position information of the tip position of the chisel 16 taking into account the yaw angle of the rotating body 12. Note that when the rotation angle of the rotating construction machine 1 is measured by the two targets 3, 3 and the total stations 4, 4, even if the rotating construction machine 1 is moved with the orientation of the rotating body 12 relative to the running body 11 fixed (see the construction machine 1b in FIG. 6), the measurement result is that the rotating body 12 has rotated. In addition, when measuring the target prism by the total station 4, it may not be possible to capture (sight) one point of the prism every time, so if the yaw angle is calculated using the measurement results of the total stations 4, 4, there is a risk that errors in the yaw angle will accumulate over time. On the other hand, according to the excavation assistance system 2 of this embodiment, the yaw angle of the rotating body 12 is calculated based on the measurement results of the inertial sensor unit 6, so that it is possible to grasp the direction of the rotating construction machine 1 and the rotation angle of the rotating body 12 relative to the running body 11. Note that although the rotation angle of the rotating body 12 relative to the running body 11 can also be detected by a gyro of the rotation axis, it is necessary to grasp the yaw angle in order to grasp how the actual heavy equipment is rotating in the site coordinate system.

[0020] In addition, noise in the data output from the three-axis acceleration sensor unit 5 and the inertial sensor unit 6 is removed by the low-pass filters 52 and 63, so that the transitions of the pitching angle, rolling angle, and yaw angle are smoothed, and the accuracy is further improved. FIG. 7(a) shows the pitching angle and rolling angle before smoothing by the low-pass filter, and FIG. 7(b) shows the pitching angle and rolling angle after smoothing. As is clear from the comparison of FIG. 7(a) and (b), the use of the low-pass filter reduces the blurring of the acceleration and rotational acceleration, and as a result, the transitions of the pitching angle and rolling angle are also smoothed. The cutoff frequency of the low-pass filter (strength of the filter effect) can be set appropriately.

[0021] Although an embodiment of the present invention has been described above, the present invention is not limited to the above-described embodiment, and each of the above-described components can be appropriately modified without departing from the spirit of the present invention. For example, in the above embodiment, the rotating construction machine 1 is a backhoe, but the machine that constitutes the rotating construction machine 1 is not limited to this as long as it has a rotating body. In the above embodiment, the three-axis rotation angular velocity is output by the inertial sensor unit, but in the case of the three-axis rotation acceleration, it may be calculated based on the angle detection (by double integration). [Explanation of symbols]

[0022] 1. Swivel construction machinery 11 Running body 12 Rotating body 13. Boom 14 Arm 15 Head section 16 Flea 2. Drilling Support System 3. Target 4. Total Station 5 Three-axis acceleration sensor unit 6 Inertial Sensor Unit 7 Calculation method

Claims

1. An excavation auxiliary system for use with a construction machine having a traveling body, a rotating body provided on the traveling body so as to be rotatable about a vertical axis, a boom attached to the rotating body so as to be rotatable about a horizontal axis, an arm attached to a tip of the boom so as to be rotatable about the horizontal axis, and a head attached to the tip of the arm so as to be rotatable about the horizontal axis, Two targets provided at the rear of the rotating body; Two total stations that automatically track the target; a triaxial acceleration sensor unit attached to each of the boom, the arm, and the head portion; A calculation means for calculating a tip position of a chisel provided on the head portion; an inertial sensor unit provided on the rotating body; The three-axis acceleration sensor unit detects three-axis acceleration at an attachment position, The total station measures the coordinates of the target; The inertial sensor unit detects a three-axis acceleration and a three-axis rotation angular velocity or a three-axis rotation acceleration of the rotating body, The calculation means calculates the pitching angles and rolling angles of the boom, arm and head section based on the triaxial acceleration, the yaw angle of the rotating body relative to a horizontal plane based on the triaxial acceleration and triaxial rotational angular velocity or triaxial rotational acceleration of the rotating body, and the coordinates of each of the targets based on the measurement results transmitted from the total station, and calculates the three-dimensional coordinates of the construction machine from the coordinates of both targets, and further calculates the tip position of the chisel taking into account the pitching angle, the rolling angle, the three-dimensional coordinates of the construction machine and the yaw angle.

2. The calculation means calculates the pitching angle θ １ Calculate the rolling angle φ using Equation 2. １ The excavation assist system according to claim 1, characterized in that it calculates: [0010]

3. 3. The excavation assist system according to claim 1, wherein the calculation means calculates the yaw angle Ψ of the rotating body by using Equation 5. [0025]

4. 4. The excavation auxiliary system according to claim 1, further comprising a low-pass filter for performing signal processing of each sensor.

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