Caisson excavation surface shape measuring device

Abstract

To provide a caisson excavation surface shape measuring device that can prevent the measuring device from being damaged during work such as excavation and can prevent the measuring device from becoming an obstacle to work such as excavation. [Solution] The caisson excavation surface shape measuring device comprises a work chamber installed at the bottom of the caisson body, a storage device attached to a shaft hole opening into the work chamber or to the ceiling slab of the work chamber, a measuring device that is capable of appearing and disappearing from the storage device into the work chamber and measures the excavation surface shape of the soil and sand in the work chamber, and a drive device that drives the measuring device so that it can appear and disappear from the storage device into the work chamber, and the measuring device is configured so that when measuring, it moves by the drive device so as to protrude from the storage device into the work chamber and measures the excavation surface shape, and when not measuring, it is stored in the storage device by the drive device.

Description

[Technical Field]

[0001] The present invention relates to a caisson excavation surface shape measuring device that measures the excavation surface shape in order to perform excavation management of the subsidence excavation situation at the bottom of a caisson in a pneumatic caisson construction method. [Background technology]

[0002] Generally, in the pneumatic caisson construction method, compressed air is sent to the work chamber to prevent groundwater from seeping in, creating a high-pressure environment inside the work chamber. Therefore, by remotely operating the excavator located in the work chamber at the bottom of the pneumatic caisson (hereinafter referred to as the caisson body) from a remote control room installed on the ground, the excavation work can be carried out while minimizing the exposure of workers to the high-pressure environment.

[0003] Since the work chamber will be unmanned, the excavation status inside the work chamber can be checked from a remote control room using images captured by cameras installed inside the work chamber and on the excavator.

[0004] The weight of the caisson body is supported by the ground reaction force that the bottom plate, where the caisson cutting edge and the remaining excavation area are in contact with, receives from the soil. If the remaining excavation area is gradually narrowed, the pressure on the soil in the remaining excavation area increases, causing the caisson body to sink. The location of the remaining excavation area and the area opening ratio (area excluding the remaining excavation area / base area of ​​the caisson body) are important factors in managing the settlement of this caisson body.

[0005] The technology in Patent Document 1 involves installing a dedicated rail on the ceiling slab of the workroom, providing a running section that can run along this rail, and attaching a ranging device such as a radar to this running section.The ranging device scans the remaining excavation area in the vertical direction, while the ranging device itself is moved left and right via the running section to measure.

[0006] The technology of Patent Document 2 calculates the opening ratio by measuring the caisson cutting edge and the ground below it using a measuring device (laser, etc.) installed on the caisson shovel or ceiling slab.

[0007] In the technology of Patent Document 3, a distance measuring device is attached to a mobile excavator that is attached to a ceiling slab, and this distance measuring device has a measuring device main body and a pressure-resistant container, with the measuring device main body stored within the pressure-resistant container. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-229826 [Patent Document 2] Japanese Patent Application Publication No. 2017-82463 [Patent Document 3] Japanese Patent Application Laid-Open No. 2018-155619 Summary of the Invention [Problem to be solved by the invention]

[0009] However, in the technologies described in Patent Documents 1 and 2, although the measuring instruments are installed on the ceiling or on the caisson shovel, the measuring instruments are exposed to the outside, and there is a possibility that the measuring instruments may come into contact with the excavator, bucket, etc.

[0010] In addition, the technology described in Patent Document 3 prevents the possibility of damage to the measuring instrument body because the measuring instrument body is housed in a pressure-resistant container, but since the distance measuring device is constantly exposed to the mobile excavator, it may hinder excavation work.

[0011] The present invention has been made in consideration of the above circumstances, and aims to provide a caisson excavation surface shape measurement device that will not damage the measuring device during excavation work or other operations, and that can prevent the measuring device from becoming an obstacle to excavation work or other operations. [Means for solving the problem]

[0012] In order to solve the above problem, the invention described in claim 1 of the present invention comprises a work chamber installed at the bottom of the caisson body, a storage device attached to a shaft hole opening into the work chamber or to the ceiling slab of the work chamber, a measuring device that is capable of appearing and disappearing from the storage device into the work chamber and measures the shape of the excavation surface of the soil and sand in the work chamber, and a drive device that drives the measuring device so that it can appear and disappear from the storage device into the work chamber, wherein the measuring device is configured to move protruding from the storage device into the work chamber by the drive device when measuring to measure the shape of the excavation surface, and to be stored in the storage device by the drive device when not measuring.

[0013] Furthermore, the invention described in claim 2 of the present invention is characterized in that, in addition to the configuration described in claim 1, the storage device is attached to the shaft hole, and by driving the drive device, the measuring device can be raised and lowered relative to the storage device, so that when measuring, the measuring device protrudes into the work chamber in a lowered state from the storage device, and when not measuring, the measuring device is stored in the storage device in a raised state.

[0014] Furthermore, the invention described in claim 3 of the present invention is characterized in that, in addition to the configuration described in claim 1, the storage device is attached to the ceiling slab, and the measuring device can be rotated relative to the storage device by driving the drive device, so that when measuring, the measuring device protrudes into the work chamber in a state where it is rotated downward from the storage device, and when not measuring, the measuring device is stored in the storage device in a state where it is rotated upward.

[0015] Furthermore, the invention described in claim 4 of the present invention is characterized in that, in addition to the configuration described in any one of claims 1 to 3, a projection / retraction switch is provided on the ground to remotely operate the operation of projecting and retracting the measuring device from the storage device into the work chamber.

[0016] Furthermore, the invention described in claim 5 of the present invention is characterized in that, in addition to the configuration described in any one of claims 1 to 3, the measurement device is a three-dimensional LiDAR or a rotatable two-dimensional LiDAR. [Effects of the Invention]

[0017] According to the invention described in claim 1 of the present invention, the measuring device is configured to move protrudingly from the storage device into the work chamber by the drive device during measurement to measure the excavation surface shape, and to be stored in the storage device by the drive device when not measuring.This means that the measuring device will not be damaged during work such as excavation, and it is possible to prevent the measuring device from becoming an obstacle to work such as excavation.

[0018] Furthermore, according to the invention described in claim 2 of the present invention, in addition to the effects of the invention described in claim 1, a storage device is attached to the shaft hole, and when measuring, the measuring device is lowered from the storage device and protrudes into the work chamber, while when not measuring, the measuring device is stored in the storage device in an elevated state, thereby preventing damage to the measuring device during work such as excavation and preventing the measuring device from interfering with work such as excavation.

[0019] Furthermore, according to the invention described in claim 3 of the present invention, in addition to the effect described in claim 1, the storage device is attached to the ceiling slab, and when measuring, the measuring device rotates downward from the storage device and protrudes into the work room, while when not measuring, the measuring device is stored in the storage device rotated upward, thereby preventing damage to the measuring device during work such as excavation and eliminating the measuring device from interfering with work such as excavation.

[0020] Furthermore, according to the invention described in claim 4 of the present invention, in addition to the effect described in any one of claims 1 to 3, a projection / retraction switch is provided on the ground to remotely operate the operation of projecting and retracting the measuring device from the storage device into the work chamber, so that the operation of projecting and retracting the measuring device from the storage device can be performed remotely on the ground.

[0021] Furthermore, according to the invention described in claim 5 of the present invention, in addition to the effects described in any one of claims 1 to 3, the measuring device is a three-dimensional LiDAR or a rotatable two-dimensional LiDAR, so accurate data on the excavation surface shape of the soil and sand in the work chamber can be obtained. [Brief explanation of the drawings]

[0022] [Figure 1] 1 is a cross-sectional view showing the bottom of a caisson on which a caisson excavation surface shape measuring device according to a first embodiment of the present invention is installed. [Figure 2] 1 is an enlarged cross-sectional view showing a state in which a caisson excavation surface shape measuring device according to a first embodiment of the present invention is installed in a shaft hole and the measuring device is stored in a storage device. FIG. [Figure 3] 3 is an enlarged cross-sectional view showing the state in which the measuring device protrudes from the storage device in the caisson excavation surface shape measuring device of FIG. 2. FIG. [Figure 4] 1 is an enlarged cross-sectional view showing a state in which a caisson excavation surface shape measuring device according to a first embodiment of the present invention is installed on a ceiling slab and the measuring device is stored in a storage device. FIG. [Figure 5] 5 is an enlarged cross-sectional view showing the state in which the measuring device protrudes from the storage device in the caisson excavation surface shape measuring device of FIG. 4. FIG. [Figure 6] FIG. 2 is a block diagram showing a control system of the caisson excavation surface shape measuring device according to the first embodiment of the present invention. [Figure 7] FIG. 10 is a block diagram showing a control system of a caisson excavation surface shape measuring device according to a second embodiment of the present invention. [Figure 8] FIG. 10 is a schematic plan view showing an example in which a caisson excavation surface shape measuring device according to a second embodiment of the present invention is applied to a caisson body. [Figure 9] 10(a) and 10(b) are schematic plan views showing an example in which a caisson excavation surface shape measuring device according to a third embodiment of the present invention is applied to a circular caisson body. [Figure 10] 10(a) and 10(b) are schematic plan views showing an example in which a caisson excavation surface shape measuring device according to a third embodiment of the present invention is applied to a rectangular caisson body. [Figure 11] 10(a) and 10(b) are schematic plan views showing an example in which a caisson excavation surface shape measuring device according to a modified example of the third embodiment of the present invention is applied to an oval caisson body. DETAILED DESCRIPTION OF THE INVENTION

[0023] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0024] [First embodiment] Fig. 1 is a cross-sectional view showing the bottom of a caisson on which a caisson excavation surface shape measuring device according to a first embodiment of the present invention is installed. Fig. 2 is an enlarged cross-sectional view showing a state in which a caisson excavation surface shape measuring device according to a first embodiment of the present invention is installed in a shaft hole and the measuring device is stored in a storage device. Fig. 3 is an enlarged cross-sectional view showing a state in which the measuring device in the caisson excavation surface shape measuring device of Fig. 2 protrudes from the storage device.

[0025] The pneumatic caisson (hereinafter referred to as the caisson body) 1 on which the caisson excavation surface shape measuring device of this embodiment is installed is used in construction using the pneumatic caisson method. This pneumatic caisson method involves first constructing a box body, for example made of reinforced concrete, on the ground, with a work chamber surrounded by a cutting edge at the bottom, and then using an excavator to excavate and sink the box body, and then successively building layers of the box body to install the structure in a predetermined position. When using the excavator to excavate earth and sand in the work chamber, it is important to accurately grasp the remaining earth and sand excavation position and area opening ratio in real time in order to manage the subsidence of the caisson body 1 using the caisson excavation surface shape measuring device of this embodiment.

[0026] As shown in FIG. 1, a caisson body 1 on which the caisson excavation surface shape measurement device of this embodiment is installed has a work chamber 2 installed at the bottom. This work chamber 2 is surrounded by a cutting edge section 3 and a ceiling slab 4. This ceiling slab 4 has two circular shaft holes 4a formed therein for installing two pieces of equipment. These shaft holes 4a open into the work chamber 2. The two pieces of equipment include a man shaft 5 used by workers to enter and exit the work chamber 2, and a material shaft 6 used to transport excavated soil from the work chamber 2 to the ground and to transport materials in and out. A man lock (not shown) is installed at the top of the man shaft 5, and a material lock (not shown) is installed at the top of the material shaft 6.

[0027] A travelling rail 7 is laid on the underside of the ceiling slab 4, and an excavator 8 as work equipment is provided so that it can move along this travelling rail 7. This excavator 8 is used to excavate earth and sand 9 inside the work chamber 2.

[0028] The caisson excavation surface shape measuring device 10 of this embodiment comprises a storage device 11 attached to the shaft hole 4a in which the man shaft 5 is installed, as shown in Figure 2, a measuring device (scanner) 12 that is capable of appearing and disappearing from the storage device 11 into the work room 2 and measures the excavation surface shape of the soil and sand in the work room 2, and a driving device 13 that drives the measuring device 12 so that it can appear and disappear from the storage device 11 into the work room 2.

[0029] Specifically, the caisson excavation surface shape measuring device 10 of this embodiment is configured so that the measuring device 12 can be raised and lowered relative to the storage device 11 by driving the drive device 13, and as shown in Figure 3, when measuring, the measuring device 12 is lowered from the storage device 11 and protrudes (exposed) into the work chamber 2, while when not measuring, the measuring device 12 is stored in the storage device 11 in an elevated state, as shown in Figure 2.

[0030] The storage device 11 of the caisson excavation surface shape measuring device 10 in this embodiment may be of any shape as long as it surrounds and stores the measuring device 12 when the measuring device 12 is not being used for measurement, and lowers the measuring device 12 relative to the storage device 11 so that it protrudes into the work chamber 2 when measuring.

[0031] The measuring device 12 of this embodiment includes, for example, a three-dimensional LiDAR (Light In this embodiment, a three-dimensional LiDAR or a two-dimensional LiDAR (Liquid Detection And Ranging) or a rotatable two-dimensional LiDAR is used. This LiDAR irradiates a laser beam toward an object to be measured, measures the distance based on the time it takes for the beam to bounce back, and displays the collected measurement data in three dimensions as a collection of points on a CPU, i.e., point cloud data. Note that while this embodiment uses a three-dimensional LiDAR or a two-dimensional LiDAR, the present invention is not limited to these, and other sensors such as a stereo camera, an ultrasonic rangefinder, or a laser sensor may also be used, in addition to an RGB-D sensor.

[0032] In this embodiment, an electric cylinder (electric actuator) that converts the rotational force of a motor into linear motion is used as the drive device 13. Also, in this embodiment, limit switches (not shown) are provided to detect when the electric cylinder causes the measuring device 12 to protrude and extend from the storage device 11, and when the measuring device 12 is retracted and stored in the storage device 11. These limit switches make it possible for the measuring device 12 to always stop at the same position.

[0033] In this embodiment, an example has been described in which an electric cylinder is used as the drive device 13, but the drive device is not limited to this and any mechanism that converts the rotational motion of the output shaft of the motor into linear motion may be used, such as a ball screw that converts the rotational motion of the output shaft of the motor into linear motion, or a combination of a pinion gear and a rack fixed to the output shaft of the motor.

[0034] Next, an example in which the caisson excavation surface shape measuring device 20 according to the first embodiment is installed on the bottom surface of a ceiling slab 4 will be described.

[0035] Fig. 4 is an enlarged cross-sectional view showing the state in which the caisson excavation surface shape measuring device according to the first embodiment of the present invention is installed on a ceiling slab and the measuring device is stored in a storage device. Fig. 5 is an enlarged cross-sectional view showing the state in which the measuring device protrudes from the storage device in the caisson excavation surface shape measuring device of Fig. 4.

[0036] As shown in Figures 4 and 5, the caisson excavation surface shape measuring device 20 of this embodiment comprises a storage device 21 attached to the bottom surface of the ceiling slab 4 near the shaft hole 4a in which the material shaft 6 is installed as shown in Figure 4, a measuring device 22 that is capable of appearing and disappearing from the storage device 21 into the work room 2 and measures the excavation surface shape of the soil and sand in the work room 2, and a driving device 23 that drives the measuring device 22 so that it can appear and disappear from the storage device 21 into the work room 2.

[0037] Specifically, in this embodiment, the caisson excavation surface shape measuring device 20 is configured so that the measuring device 22 can be rotated relative to the storage device 21 by driving the drive device 23, and as shown in Figure 5, when measuring, the measuring device 22 protrudes (exposes) into the work chamber 2 in a state where it has rotated at an angle of approximately 90 degrees counterclockwise (downward) relative to the storage device 21, while when not measuring, as shown in Figure 4, the measuring device 12 is stored in the storage device 11 in a state where it has rotated at an angle of approximately 90 degrees clockwise (upward).

[0038] The storage device 21 of the caisson excavation surface shape measuring device 20 in this embodiment may be of any shape, as long as it surrounds and stores the measuring device 22 when the measuring device 22 is not being used for measurement, and rotates the measuring device 22 downward relative to the storage device 21 to protrude into the work chamber 2 when measuring, similar to the caisson excavation surface shape measuring device 10 installed in the shaft hole 4a.

[0039] As with the measuring device 12, a three-dimensional LiDAR or a rotatable two-dimensional LiDAR is used for the measuring device 22. For example, a stepping motor, a servo motor, or the like is used for the driving device 23. The measuring device 22 is connected to the output shaft of these motors directly or via a transmission mechanism. The driving device 23 is configured to drive the motor to rotate the measuring device 22 counterclockwise (downward) or clockwise (upward) around the output shaft of the motor.

[0040] Next, the control system of this embodiment will be described.

[0041] FIG. 6 is a block diagram showing a control system of the caisson excavation surface shape measuring device according to the first embodiment of the present invention.

[0042] The measuring devices 12, 22 and the driving devices 13, 23 shown in Figures 2 and 3 are installed on the work room 2 side. The lift switch 15a and the rotation switch 25a, which are provided on the control panel 15 shown in Figure 6, as switches for raising and lowering the device and for rotating the device, are installed on the ground side. The lift switch 15a is connected to the storage device 11 on the work room 2 side through a cable 19. Similarly, the rotation switch 25a is connected to the storage device 21 on the work room 2 side through a cable 29. When a power current is supplied from the control panel 15, this power current is supplied to the storage devices 11, 21 through the cables 19, 29, respectively. These storage devices 11, 21 supply driving currents to the measuring devices 12, 22, respectively.

[0043] The control panel 15 may be installed separately for each of the storage devices 11 and 21, or may be installed together as one without being divided.

[0044] Furthermore, the measuring devices 12, 22 and the ground control unit 17 are each connected by a LAN cable 27, and control signals (scan start signals and scan stop signals from the measuring devices 12, 22) and various data are sent and received through these LAN cables 27. Furthermore, each LAN cable 27 is routed through the storage devices 11, 21 with a portion of it embedded in the caisson body (not shown), and then routed to the ground control unit 17. Here, if a longer LAN cable 27 is required, this can be achieved by installing a repeater (hub, etc.) along the way and connecting it.

[0045] The lift switch 15a outputs a signal for raising or lowering the measuring device 12 to the driving device 13 via a cable 19. The rotation switch 25a outputs a signal for rotating the measuring device 22 downward or upward from the storage device 21 or a signal for lowering the measuring device 22 to the driving device 23 via a cable 29.

[0046] The drive device 13 receives a signal for raising or a drive signal for lowering from the lift switch 15a and drives the measuring device 12 to raise or lower. The drive device 23 receives a signal for rotating downward or a drive signal for rotating upward from the rotation switch 25a and drives the measuring device 22 to rotate downward or upward. The rotation switch 25a is a switch that switches the motor of the drive device 23 between, for example, forward rotation or reverse rotation to rotate the motor.

[0047] In this embodiment, the drive signal is output from the lift switch 15a or the rotation switch 25a to the drive device 13 or 23 through the cable 19 or 29, but the drive signal may also be transmitted wirelessly.

[0048] Furthermore, cables 19 and 29 may each be a single cable with a large number of cores, or multiple cables with a small number of cores. When multiple cables are used, the multiple cables may be bundled together.

[0049] When the measuring device 12 is measuring the shape of the excavated surface of the soil and sand in the work chamber 2, the measuring device 12 descends from the storage device 11 and protrudes into the work chamber 2. When the measuring device 12 is not measuring the shape of the excavated surface of the soil and sand in the work chamber 2, the measuring device 12 rises from inside the work chamber 2 and is stored in the storage device 11.

[0050] Similarly, when the measuring device 22 is measuring the shape of the excavated surface of the soil and sand in the work chamber 2, the measuring device 22 rotates downward from the storage device 21 and protrudes into the work chamber 2. When the measuring device 22 is not measuring the shape of the excavated surface of the soil and sand in the work chamber 2, the measuring device 22 rotates upward and is stored in the storage device 21.

[0051] The input unit 16 is used to input various information such as the three-dimensional coordinates during measurement by the measuring devices 12, 22, the bottom shape and bottom area of ​​the work chamber 2, etc. to the control unit 17, and this various information is pre-stored in the ROM (Read Only Memory) of the memory unit 17a of the control unit 17.

[0052] The control unit 17 is mainly configured with a well-known microcomputer including a storage unit 17a having the above-mentioned ROM and RAM (Random Access Memory), an analysis unit 17b consisting of a CPU (Central Processing Unit), and the like.

[0053] Of these, the RAM of the storage unit 17a temporarily stores data. The ROM stores the necessary data and programs, whose contents are retained even when the power is turned off. The CPU, which is the analysis unit 17b, realizes each function by executing the programs installed in the ROM. The storage unit 17a includes computer-readable electronic media such as DVD-ROM (Digital Versatile Disk Read Only Memory), CD-ROM (Compact Disc Read Only Memory), and hard disks in addition to the ROM. The data may be stored in a separately provided database instead of in the ROM. The programs may also be pre-installed on the hard disk.

[0054] The control unit 17 sequentially collects measurement data of the excavation surface shape of the soil and sand inside the work chamber 2 scanned by the measuring devices 12, 22, and sequentially stores this measurement data in the RAM of the memory unit 17a as a collection of points on the analysis unit 17b, i.e., as three-dimensional coordinate data that can be displayed three-dimensionally as point cloud data, and displays it on the display unit 18. The analysis unit 17b of the control unit 17 analyzes the three-dimensional coordinate data to calculate the soil volume of the soil and sand inside the work chamber 2 and the area opening ratio (area excluding the remaining excavated area / bottom area of ​​the caisson body).

[0055] Next, the operation of this embodiment will be described.

[0056] First, when measuring the shape of the excavated surface of the soil and sand in the work chamber 2, the lift switch 15a is operated to drive the drive device 13, causing the measuring device 12 to descend from the storage device 11 and protrude into the work chamber 2. Furthermore, the rotation switch 25a is operated to drive the drive device 23, causing the measuring device 22 to rotate downward from the storage device 11 and protrude into the work chamber 2. Then, the measuring devices 12 and 22 scan the shape of the excavated surface of the soil and sand in the work chamber 2 to collect measurement data.

[0057] Then, the measuring devices 12, 22 scan the shape of the excavated surface of the soil and sand in the work chamber 2, sequentially collecting measurement data, which is then stored in the RAM of the storage unit 22a as three-dimensional coordinate data that can be displayed stereoscopically as point cloud data on the analysis unit 22b, and displayed on the display unit 18. This three-dimensional coordinate data is analyzed by the analysis unit 17b of the control unit 17 to calculate the soil volume and area opening ratio of the soil and sand in the work chamber 2. The display unit 18 displays a three-dimensional image of the shape of the excavated surface of the soil and sand in the work chamber 2, any two-dimensional cross-sectional image, the area opening ratio, the soil volume, etc.

[0058] Furthermore, when the measuring device 12 is not measuring after measuring the excavation surface shape of the soil and sand in the work chamber 2, the lifting switch 15a is operated to drive the driving device 13, thereby raising the measuring device 12 and storing it in the storage device 11. Similarly, when the measuring device 22 is not measuring, the rotation switch 25a is operated to drive the driving device 23, thereby rotating the measuring device 22 upward and storing it in the storage device 11.

[0059] Therefore, in this embodiment, the measuring devices 12, 22 are stored in the storage devices 11, 21 when not measuring, while when measuring, the lifting switch 15a or the rotation switch 25a on the control panel 15 is operated from the ground to output a drive signal through the cable 19 or 29, and the measuring devices 12, 22 are lowered or rotated downward from the storage device 11 to protrude into the work chamber 2 for measurement, thereby eliminating the need to work in a high-pressure environment inside the work chamber 2, reducing the risk of damage to the caisson excavation surface shape measuring device 10, and the measurement results of the excavation surface shape can be obtained in real time.

[0060] According to this embodiment, when measuring, the measuring devices 12, 22 are moved by the driving devices 13, 23 so as to protrude from the storage devices 11, 21 into the work chamber 2 to measure the shape of the excavation surface, while when not measuring, they are stored in the storage devices 11, 21 by the driving devices 13, 23.This means that the measuring devices 12, 22 will not be damaged during work such as excavation, and it is possible to prevent the measuring devices 12, 22 from becoming an obstacle to work such as excavation.

[0061] Furthermore, according to this embodiment, the storage device 11 is attached to the shaft hole 4a, and when measuring, the measuring device 12 is lowered from the storage device 11 and protrudes into the work chamber 2, while when not measuring, the measuring device 12 is stored in the storage device 11 in an elevated state, thereby preventing damage to the measuring device during work such as excavation and preventing the measuring device 12 from becoming an obstacle to work such as excavation.

[0062] Similarly, according to this embodiment, the storage device 21 is attached to the ceiling slab 4, and when measuring, the measuring device 22 rotates downward from the storage device 21 and protrudes into the work room 2, while when not measuring, the measuring device 22 is stored in the storage device 21 in an upward rotated state, thereby preventing damage to the measuring device 22 during work such as excavation, and preventing the measuring device 22 from becoming an obstacle to work such as excavation.

[0063] Furthermore, according to this embodiment, the lifting switch 15a for raising and lowering the measuring device 12 from the storage device 11 into the work room 2, and the rotation switch 25a for rotating the measuring device 22 upward or downward from the storage device 21 are both provided on the ground, so that the lifting and lowering operation of the measuring device 12 from the storage device 11 can be performed on the ground, improving operability and eliminating the need to work in a high-pressure environment inside the work room 2.

[0064] According to this embodiment, the measuring devices 12 and 22 are three-dimensional LiDARs or rotatable two-dimensional LiDARs, so that accurate data on the shape of the excavated surface of the earth and sand in the working chamber 2 can be obtained.

[0065] In this embodiment, an example has been described in which the caisson excavation surface shape measuring device 10 is attached to the shaft hole 4a in which the man shaft 5 is installed, but it may also be attached to the shaft hole 4a in which the material shaft 6 is installed.

[0066] [Second embodiment] Figure 7 is a block diagram showing a control system of a caisson excavation surface shape measuring device according to a second embodiment of the present invention. Figure 8 is a schematic plan view showing an example in which a caisson excavation surface shape measuring device according to the second embodiment of the present invention is applied to a caisson body. In this embodiment, an example will be described in which measuring device 12 and measuring device 22 are installed at positions separated from each other in a working chamber. In addition, in this embodiment, parts that are the same as or correspond to those in the first embodiment will be described using the same reference numerals.

[0067] In this embodiment, as shown in Figure 8, multiple (two) measurement devices 12, 22 are arranged in positions spaced apart from each other in the workroom 2, and these measurement devices 12, 22 each use a three-dimensional LiDAR or a rotatable two-dimensional LiDAR, as in the first embodiment.

[0068] The measuring devices 12 and 22 each partially scan an area that is approximately half of the entire area on the XY coordinate system of the bottom surface of the work chamber 2 to determine the overall shape of the excavated surface of the soil and sand within the work chamber 2. As shown in Fig. 7, the measurement data measured by the measuring devices 12 and 22 is output to the control unit 17. The control unit 17 reads the measurement data measured by the measuring devices 12 and 22 and converts it into three-dimensional point cloud data.

[0069] The control unit 17 has a filter unit 17c, which removes unnecessary data of work equipment such as the excavator 8 and a bucket (not shown) in the work chamber 2 from each point cloud data by filtering. The amount of point cloud data after removing this unnecessary data is smaller than the amount of overall point cloud data. Note that the unnecessary data of work equipment is determined based on the presence or absence of point cloud data in which the amount of change between adjacent point cloud data in the overall point cloud data of the work chamber 2 changes more rapidly than a preset threshold, for example.

[0070] In addition, the filtering process to remove unnecessary data of work equipment such as the excavator 8 and bucket (not shown) in the workroom 2 from each point cloud data may be performed by analysis software installed in the measuring devices 12 and 22, respectively.

[0071] The control unit 17 also has a synthesis unit 17d as a data synthesis means, which synthesizes the point cloud data measured by the measuring devices 12 and 22. The control unit 17 uses the point cloud data synthesized by the synthesis unit 17d as data on the excavation surface shape of the entire earth and sand in the work chamber 2.

[0072] The process of combining the point cloud data measured by the measuring devices 12 and 22 may be performed by control software installed in each of the measuring devices 12 and 22. In this case, by setting the coordinate data of each of the measuring devices 12 and 22 and the coordinate transformation matrices of each of the measuring devices 12 and 22 in advance, the data can be converted into a coordinate system common to both devices before being combined. When the combining process is performed by the above-mentioned combining unit 17d, the coordinate transformation using the coordinate transformation matrix is ​​performed as a process that can be executed by the combining unit 17d.

[0073] Here, the point cloud data combined by the combining unit 17d may contain a mixture of three-dimensional point cloud data measured by the measuring device 12 and three-dimensional point cloud data measured by the measuring device 22. In this case, the point cloud data with a high density is thinned out. Whether the point cloud data is high density or not is determined, for example, by calculating the average of all the point cloud data, and determining that the point cloud data is high density if the density is higher than this average, or if the density is higher than a preset threshold.

[0074] Furthermore, the control unit 17 analyzes the above point cloud data in the analysis unit 17b to obtain a three-dimensional image of the overall excavation surface shape of the soil and sand in the work chamber 2, the opening rate, the soil volume, etc., and displays these three-dimensional images of the overall excavation surface shape of the soil and sand in the work chamber 2, the opening rate, the soil volume, etc. on the display unit 18.

[0075] According to this embodiment, two measuring devices 12 and 22 are arranged at positions spaced apart from each other within the work chamber 2 and measure the overall excavation surface shape of the soil and sand within the work chamber 2. The measurement data measured by these measuring devices 12 and 22 is synthesized by the synthesis unit 17d, and the measurement data synthesized by this synthesis unit 17d is used as the excavation surface shape data for the entire soil and sand within the work chamber 2. This reduces blind spots when scanning with the measuring devices 12 and 22 and reduces the effort required to delete unnecessary measurement data from work equipment such as the excavator 8 from the measurement data of the excavation surface shape of all the soil and sand within the work chamber 2.

[0076] Furthermore, according to this embodiment, a filter unit 17c is provided as a filtering means for filtering and removing measurement data of work equipment such as the excavator 8 disposed in the work chamber 2 from the measurement data measured by the measuring devices 12, 22. Since unnecessary data is removed by this filter unit 17c, the amount of point cloud data is reduced, and it is possible to significantly reduce the time required for the manual process of removing unnecessary data.

[0077] In this embodiment, an example has been described in which the measuring device 12 is arranged in the shaft hole 4a in which the man shaft 5 is installed, and the measuring device 22 is arranged on the bottom surface of the ceiling slab 4, but this is not limited to this, and three or more measuring devices 22 may be arranged at positions spaced apart from each other on the bottom surface of the ceiling slab 4.

[0078] Furthermore, in this embodiment, an example in which two measuring devices, measuring device 12 and measuring device 22, are installed has been described, but this is not limiting, and for example, it is also possible to install one measuring device, either measuring device 12 or measuring device 22, and configure this measuring device to be movable within working chamber 2 so that the shape of the entire excavation surface of the soil and sand within working chamber 2 can be measured at positions spaced apart from each other.

[0079] Furthermore, in this embodiment, an example has been described in which measuring device 12 is arranged in the shaft hole 4a where man shaft 5 is installed, measuring device 22 is arranged on the bottom surface of the ceiling slab 4, and measuring device 12 and measuring device 22 are arranged at positions spaced apart from each other, but measuring device 12 and measuring device 22 may be arranged at positions spaced apart so as to minimize blind spots at the measurement position.

[0080] [Third embodiment] 9(a) and (b) are schematic plan views showing an example in which a caisson excavation surface shape measuring device according to the third embodiment of the present invention is applied to a circular caisson body. Note that the configuration of the control system of this embodiment is the same as that of the second embodiment of FIG. 7 except that one measuring device 12 is provided, and therefore will be described using the same reference numerals as in FIG. 7.

[0081] 9(a) and (b) is formed in a circular shape in a plan view, and the measurement area for measuring the overall excavation surface shape of the soil and sand inside the work chamber 2 installed below the caisson body 1A is divided into multiple areas, for example, two, on the XY coordinate system. Specifically, data on the bottom area inside the work chamber 2 is input from the input unit 16 to the control unit 17, and the control unit 17 calculates to divide it into two on the XY coordinate system based on the bottom area data, and the XY coordinates of the divided measurement areas A1 and A2 are stored in advance in the memory unit 17a of the control unit 17.

[0082] The measuring device 12 is configured to be able to measure the shape of the excavation surface of the soil and sand for each XY coordinate of the two divided measurement areas A1 and A2 that are stored in advance in the memory unit 17a. Specifically, the measuring device 12 is configured to be swivelable by being mounted on a rotating device, or configured to be movable by being mounted on a moving rail. As in the first embodiment, the measuring device 12 uses a three-dimensional LiDAR or a rotatable two-dimensional LiDAR.

[0083] Rails 30 are laid across the divided measurement areas A1 and A2 on the caisson body 1A, and an excavator 8 serving as work equipment is movably mounted along these rails 30. The shape of the excavated surface of the soil and sand is scanned by the measuring device 12 for each of these two divided measurement areas A1 and A2, and the respective measurement data is output to the control unit 17.

[0084] In other words, this embodiment is configured to change the position of the excavator 8 and sequentially measure the excavation surface shape of the soil and sand in the divided measurement areas A1 and / or A2 where the excavator 8 is not located using the measuring device 12, thereby measuring all divided measurement areas A1, A2 where the excavator 8 is not located.

[0085] The measurement data of all divided measurement areas A1, A2 where no excavator 8 is located, measured by the measurement device 12, is output to the control unit 17. This control unit 17 reads the measurement data of all divided measurement areas A1, A2 and converts them into point cloud data. Unnecessary data of the excavator 8 is filtered and removed from this point cloud data as needed by the filter unit 17c.

[0086] The point cloud data of the divided measurement areas A1 and A2 are then combined by the combining unit 17d, and the point cloud data combined by the combining unit 17d is used as three-dimensional excavation surface shape data of the entire earth and sand in the working chamber 2.

[0087] Here, the point cloud data combined by the combining unit 17d may contain a mixture of three-dimensional point cloud data measured by the measuring device 12 and three-dimensional point cloud data measured by the measuring device 22. In this case, the point cloud data with a high density is thinned out. Whether the point cloud data is high density or not is determined, for example, by calculating the average of all the point cloud data, and determining that the point cloud data is high density if the density is higher than this average, or if the density is higher than a preset threshold.

[0088] In addition, the control unit 17 analyzes the three-dimensional image of the overall excavation surface shape of the soil and sand in the work chamber 2, the opening rate, the soil volume, etc. from the above-mentioned synthesized point cloud data using the analysis unit 17b, and displays these three-dimensional images of the overall excavation surface shape of the soil and sand in the work chamber 2, the opening rate, the soil volume, etc. on the display unit 18.

[0089] 10(a) and 10(b) are schematic plan views showing an example in which a caisson excavation surface shape measuring device according to a third embodiment of the present invention is applied to a rectangular caisson body.

[0090] The caisson body 1B shown in Figures 10(a) and (b) is formed in a rectangular shape in a plan view, and the measurement area for measuring the overall excavation surface shape of the soil and sand inside the work chamber 2 installed below the caisson body 1B is divided into two on the XY coordinate system, as in Figures 9(a) and (b). The measurement device 12 is configured to be able to measure the excavation surface shape of the soil and sand for each of the two divided measurement areas A1 and A2 pre-stored in the memory unit 17a. Specifically, the measurement device 12 is configured to be swivelable and mounted on a rotating device, or movable and mounted on a moving rail, as in the measurement device 12 shown in Figures 9(a) and (b).

[0091] Rails 31 are laid across the divided measurement areas A1, A2 on the caisson body 1A, and an excavator 8 serving as work equipment is movably mounted along these rails 31. The shape of the excavated surface of the earth and sand is measured for each of these two divided measurement areas A1, A2 by the measuring device 12, and the respective measurement data is output to the control unit 17. The other configurations and operations are the same as those described for the caisson body 1A shown in Figures 9(a) and (b), and therefore description thereof will be omitted.

[0092] According to this embodiment, the measurement area for measuring the overall excavation surface shape of the soil and sand in the work chamber 2 is divided, for example, into two, and the measurement device 12 measures the excavation surface shape of each of these two divided measurement areas A1 and A2. The measurement data for each of the two divided measurement areas A1 and A2 measured by this measurement device 12 is synthesized by the synthesis unit 17d, and the measurement data synthesized by this synthesis unit 17d is used as the excavation surface shape data for the entire soil and sand in the work chamber 2. This eliminates blind spots when measuring with the measurement device 12 and reduces the effort required to delete unnecessary measurement data from work equipment such as the excavator 8 from the measurement data of the excavation surface shape of all the soil and sand in the work chamber 2.

[0093] In addition, according to this embodiment, the excavator 8 is movably arranged within the work chamber 2, and the position of this excavator 8 is changed to measure the excavation surface shape of the soil in the divided measurement area A1 and / or A2 where the excavator 8 is not arranged using the measuring device 12, and all divided measurement areas A1, A2 where the excavator 8 is not arranged are measured.This eliminates blind spots when measuring with the measuring device 12, and makes it possible to reliably reduce the effort required to delete unnecessary measurement data from the excavator 8 from the measurement data of the excavation surface shape of all the soil in the work chamber 2.

[0094] Furthermore, according to this embodiment, rails 30 are laid across the two divided measurement areas A1, A2, and the excavator 8 is arranged to be able to move along these rails 30, so that it is possible to easily move to and measure all divided measurement areas A1, A2 where the excavator 8 is not installed.

[0095] In order to create data on the excavation surface shape of the entire soil and sand inside the work chamber 2, in addition to the third embodiment described above, for example, the entire measurement area inside the work chamber 2 is scanned using the measurement device 12 with the excavator 8 placed at the position shown in Figures 9(a) and 10(a), and then the excavator 8 is moved to the position shown in Figures 9(b) and 10(b) to scan the entire measurement area inside the work chamber 2. Then, by processing using analysis software implemented in the measurement device 12, the entire measurement area inside the work chamber 2 is divided into two, and the side where the excavator 8 is not placed at the position shown in Figures 9(a) and 10(a) is selected and registered.

[0096] Furthermore, by processing with the above software, the entire measurement area within the work chamber 2 is divided into two, and the side where the excavator 8 is not located is selected and registered as shown in Figures 9(b) and 10(b). Furthermore, by processing with the above software to combine (combine) the measurement areas within the work chamber 2, it is possible to create point cloud data of the entire excavation surface shape of the soil and sand within the work chamber 2 that does not contain unnecessary point cloud data. This makes it possible to reduce the effort required to delete unnecessary point cloud data of work equipment such as the excavator 8 from the measurement data of all the excavation surface shapes of the soil and sand within the work chamber 2.

[0097] 11(a) and (b) are schematic plan views showing an example in which a caisson excavation surface shape measuring device according to a modified example of the third embodiment of the present invention is applied to an oval caisson body.

[0098] 11(a) and (b) is formed in an oval shape in a plan view, and the measurement area for measuring the overall excavation surface shape of the soil and sand inside the work chamber 2 installed below the caisson body 1C is divided into four on the XY coordinate system. As above, data on the base area inside the work chamber 2 is input from the input unit 16 to the control unit 17, and the control unit 17 calculates to divide it into four on the XY coordinate system based on the base area data, and the XY coordinates of the four divided measurement areas A1, A2, A3, A4 are stored in advance in the memory unit 17a of the control unit 17.

[0099] The measuring device 12 is configured to be able to measure the shape of the excavated soil surface in, for example, two of the four divided measurement areas A1 and A2, respectively. The measuring device 22 is configured to be able to measure the shape of the excavated soil surface in, for example, two of the four divided measurement areas A3 and A4, respectively.

[0100] The measuring devices 12, 22 are configured to be swivelable by being mounted on a rotating device, or movably mounted on a rail for movement, similar to the measuring device 12 shown in FIGS. 9(a) and 9(b).

[0101] In the caisson body 1C, rails 32 are arranged across the divided measurement areas A1 and A2, and rails 32 are laid across the divided measurement areas A3 and A4, and excavators 8 as work equipment are provided so that they can move along these rails 32. The excavation surface shapes of the soil and sand are measured for each of these four divided measurement areas A1 to A4 by measuring devices 12 and 22, and the respective measurement data are output to the control unit 17.

[0102] That is, in this embodiment, the position of the excavator 8 is changed as shown in Figure 11(a) and the measuring device 12 measures the excavation surface shape of the soil in the divided measurement areas A2 and / or A3 where the excavator 8 is not placed, and then the position of the excavator 8 is changed as shown in Figure 11(b) and the measuring device 12 measures the excavation surface shape of the soil in the divided measurement areas A1 and / or A4 where the excavator 8 is not placed, thereby measuring all divided measurement areas A1 to A4.

[0103] The measurement data of all divided measurement areas A1 to A4 where no excavator 8 is located, measured by the measurement device 12, is output to the control unit 17. This control unit 17 reads the measurement data of all divided measurement areas A1 to A4 and converts them into point cloud data. Unnecessary data of the excavator 8 is removed from this point cloud data as needed by filtering processing using the filter unit 17c.

[0104] The point cloud data of the divided measurement areas A1 to A4 are then combined by the combining unit 17d, and the point cloud data combined by the combining unit 17d is used as the excavation surface shape data for the entire earth and sand within the working chamber 2. The other configurations and functions are the same as those described for the caisson body 1A shown in Figures 9(a) and (b), and therefore their description will be omitted.

[0105] As shown in FIGS. 11(a) and 11(b), the same effect as above can be obtained by configuring the four divided measurement areas A1 to A4 so that the excavation surface shape of the earth and sand is measured by the measuring devices 12 and 22, respectively.

[0106] In addition, in Figures 11(a) and (b), an example in which two measuring devices 12 and 22 are arranged is described, but this is not limited to this, and it is also possible to use only one measuring device by arranging rails to allow the measuring device to be moved.

[0107] In this modified example, as in the third embodiment, for example, with the excavator 8 placed at the position shown in Figure 11(a), the entire measurement area within the work room 2 is scanned using the measuring devices 12, 22, and then the excavator 8 is moved to the position shown in Figure 11(b) to scan the entire measurement area within the work room 2. Then, by processing using analysis software installed in each of the measuring devices 12, 22, the entire measurement area within the work room 2 is divided into four, and the side where the excavator 8 is not placed at the position shown in Figure 11(a) is selected and registered.

[0108] Furthermore, by processing with the above software, the entire measurement area within the work chamber 2 is divided into four parts, and the side where the excavator 8 is not placed is selected and registered as shown in Figure 11(b). Furthermore, by processing with the above software and combining (combining) the measurement areas within the work chamber 2, it is possible to create point cloud data of the excavation surface shape of the entire soil and sand within the work chamber 2 without unnecessary point cloud data.

[0109] [Another embodiment of the invention] Although various embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be embodied in various other forms, and various omissions, substitutions, modifications, and combinations can be made without departing from the spirit of the invention. These embodiments are included within the scope and spirit of the invention, as well as within the scope of the inventions described in the claims and their equivalents.

[0110] For example, in each of the above embodiments, an example in which two shaft holes 4a are provided has been described, but the present invention is also applicable to an example in which one or more shaft holes 4a are provided.

[0111] Furthermore, in each of the above embodiments, the configuration may be a combination of the features of the first embodiment and the features of the second embodiment, or a combination of the features of the first embodiment and the features of the third embodiment. [Explanation of symbols]

[0112] 1 Pneumatic caisson (caisson body) 2. Workroom 3 Blade mouth part 4 Ceiling slab 4a Shaft hole 5 Mannschaft 6 Material Shaft 7 Running rail 8 Excavators (Work Equipment) 9. Sediment 10. Caisson excavation surface shape measuring device 11 Enclosure 12 Measuring equipment 13 Drive unit 15 Control Panel 15a Lift switch (appearance switch) 16 Input section 17 Control Unit 17a Storage section 17b Analysis section 17c Filter section (filter means) 17d Synthesis section (composition means) 18 Display 19 Cable 20 Caisson excavation surface shape measuring device 21 Enclosure 22 Measuring equipment 23 Drive unit 25a Rotation switch (appearance switch) 27 LAN cable 29 Cable 30 Rail 31 Rail 32 Rail A1 divided measurement area A2 divided measurement area A3 divided measurement area A4 divided measurement area

Claims

1. A work room is installed under the caisson body, and a storage device is attached to a shaft hole opening into the work room or to the ceiling slab of the work room; a measuring device that is provided so as to be able to appear and disappear into the work chamber from the storage device and that measures the shape of the excavated surface of the earth and sand in the work chamber; a drive device that drives the measuring device so that it can appear and disappear from the storage device into the working chamber, A caisson excavation surface shape measuring device characterized in that the measuring device is configured to move protruding from the storage device into the work chamber by the drive device during measurement to measure the excavation surface shape, and to be stored in the storage device by the drive device when not measuring.

2. The caisson excavation surface shape measuring device described in claim 1, characterized in that the storage device is attached to the shaft hole, and by driving the drive device, the measuring device can be raised and lowered relative to the storage device, so that when measuring, the measuring device protrudes into the work chamber in a lowered state from the storage device, and when not measuring, the measuring device is stored in the storage device in an elevated state.

3. The caisson excavation surface shape measuring device described in claim 1, characterized in that the storage device is attached to the ceiling slab, and by driving the drive device, the measuring device can be rotated relative to the storage device, so that when measuring, the measuring device protrudes into the work chamber in a state rotated downward from the storage device, and when not measuring, the measuring device is stored in the storage device in a state rotated upward.

4. A caisson excavation surface shape measuring device as described in any one of claims 1 to 3, characterized in that a retraction switch is provided on the ground to remotely operate the retraction and retraction of the measuring device from the storage device into the work chamber.

5. A caisson excavation surface shape measuring device according to any one of claims 1 to 3, characterized in that the measuring device is a three-dimensional LiDAR or a rotatable two-dimensional LiDAR.

Images