Tunnel boom control device and method

Abstract

To provide a boom control unit for a tunnel capable of moving a spray nozzle while keeping the distance between a spray nozzle and the inner wall of a tunnel, which has a cross-sectional shape formed of multiple sectors with different diameters.SOLUTION: A disclosed boom control unit 10 executes the following steps: identifying a sector that includes a tip position of a boom 101 among multiple sectors based on tip position data representing the tip position of the boom 101 in a predetermined coordinate system, cross-sectional contour data representing a cross-sectional contour shape of the tunnel 200, which is a shape formed of multiple arcs of sectors with different radii, and positional relationship data representing a positional relationship between the cross sections of the boom 101 and the tunnel 200; and moving the tip of the boom 101 in the circumferential direction of the cross-section of the tunnel 200 while keeping the distance between the tip of the boom 101 and an intersection point of the two radii of the sector that contains the position of the tip of boom 101 constant.SELECTED DRAWING: Figure 15

Description

Technical Field

[0001] The present invention relates to a boom control device and a boom control method.

Background Art

[0002] Technologies related to the present invention are disclosed in Patent Documents 1 to 4.

[0003] Patent Documents 1 to 3 disclose technologies related to concrete spraying work on the inner wall of a tunnel. Patent Document 1 discloses a device that executes control to maintain the position of the tip of a spraying nozzle within a predetermined plane. Patent Document 2 discloses a device that controls the tip of an arm to move in a substantially circular motion on the same plane in the cross-section of a tunnel. Patent Document 3 discloses a device that obtains a nozzle position function indicating a position at a predetermined distance from the inner wall of a tunnel based on a tunnel cross-section shape function, a spraying distance, and a machine reference position set in advance by manual input or the like, and controls the spraying nozzle to be positioned at the position indicated by the nozzle position function.

[0004] Patent Document 4 discloses a boom control method for moving the tip of a boom to a target position.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Summary of the Invention

Problems to be Solved by the Invention

[0006] In concrete spraying work on the inner walls of tunnels, it is sometimes required to maintain a constant distance between the tunnel wall and the spraying nozzle. Therefore, there is a need for technology that allows the spraying nozzle to be moved while maintaining a constant distance between the tunnel wall and the nozzle.

[0007] According to the technology disclosed in Patent Documents 1 and 2, it is possible to move the spray nozzle while maintaining its position within the same plane. However, Patent Documents 1 and 2 do not disclose a technology for moving the spray nozzle while keeping the distance between the inner wall of the tunnel and the spray nozzle constant.

[0008] According to the technology disclosed in Patent Document 3, the distance between the spray nozzle and the inner wall of the tunnel can be kept constant by controlling the position of the spray nozzle to be located at a position indicated by a nozzle position function. However, Patent Document 3 does not disclose specific examples of the nozzle position function or specific examples of control based on the nozzle position function. The cross-sectional contour shape of a tunnel can be a shape formed by connecting multiple sector arcs with different radii (for example, a 3-centered circle or a 5-centered circle). Special technology is required to move the spray nozzle while keeping the distance from the inner wall of a tunnel with such a complex cross-sectional shape constant.

[0009] Patent document 4 does not disclose a technique for moving a spray nozzle while maintaining a constant distance between the inner wall of a tunnel and the spray nozzle.

[0010] One example of the object of the present invention is to provide a boom control device and boom control method that solve the problem of moving a spray nozzle while maintaining a constant distance between the spray nozzle and the inner wall of a tunnel having a cross-sectional shape formed by connecting multiple sectors with different radii, in view of the problems described above. [Means for solving the problem]

[0011] According to one aspect of the present invention, A position management unit generates tip position data indicating the position of the boom tip in a predetermined coordinate system based on the length of the boom capable of extension, luffing, and slewing, the luffing angle of the boom, and the slewing angle of the boom. A cross-sectional contour shape data receiving unit that receives input of cross-sectional contour shape data indicating the cross-sectional contour shape of a tunnel, which is a shape formed by connecting multiple sector-shaped arcs with different radii, A positional relationship data receiving unit that receives input of positional relationship data indicating the positional relationship between the boom and the cross-section of the tunnel, Based on the aforementioned tip position data, the aforementioned cross-sectional contour shape data, and the aforementioned positional relationship data, a boom control unit identifies a sector among a plurality of sectors that encloses the position of the boom tip, and moves the boom tip in the circumferential direction of the tunnel cross-section while maintaining a constant distance between the point where the two radii of the sector enclosing the position of the boom tip intersect and the boom tip. A boom control device having the following is provided.

[0012] Furthermore, according to one aspect of the present invention, Computers A position management process that generates tip position data indicating the position of the tip of the boom in a predetermined coordinate system, based on the length of the boom capable of extension, luffing, and slewing, the luffing angle of the boom, and the slewing angle of the boom, A cross-sectional contour shape data receiving process that accepts input of cross-sectional contour shape data indicating the cross-sectional contour shape of a tunnel, which is a shape formed by connecting multiple sector-shaped arcs with different radii, A positional relationship data receiving process that receives input of positional relationship data indicating the positional relationship between the boom and the cross-section of the tunnel, A boom control step involves identifying a sector among a plurality of sectors that contains the position of the boom tip, based on the tip position data, the cross-sectional contour shape data, and the positional relationship data, and moving the boom tip in the circumferential direction of the tunnel cross-section while maintaining a constant distance between the point where the two radii of the sector containing the boom tip intersect and the boom tip, A boom control method is provided to perform this action.

Advantages of the Invention

[0013] According to one aspect of the present invention, a boom control device and a boom control method are realized that solve the problem of moving a spray nozzle while keeping the distance between the inner wall of a tunnel having a cross-sectional shape formed by connecting a plurality of sectors with different radii and the spray nozzle constant.

Brief Description of the Drawings

[0014] The above-described object, as well as other objects, features, and advantages, will become more apparent from the following public embodiments and the accompanying drawings below.

[0015] [Figure 1] It is a diagram for explaining the outline of control performed by the boom control device. [Figure 2] It is a diagram showing an example of the configuration of the boom. [Figure 3] It is a diagram showing an example of the hardware configuration of the boom control device. [Figure 4] It is a diagram showing an example of the functional block diagram of the boom control device. [Figure 5] It is a diagram showing an example of the cross-sectional contour shape data received by the boom control device. [Figure 6] It is a diagram for explaining the positional relationship data. [Figure 7] It is a diagram for explaining an example of control performed by the boom control device. [Figure 8] It is a flowchart showing an example of the processing flow of the boom control device. [Figure 9] It is a diagram for explaining an example of control performed by the boom control device. [Figure 10] It is a diagram for explaining the process of registering the positional relationship data. [Figure 11] It is a diagram for explaining an example of the process of specifying the sector that encloses the position of the tip of the boom. [Figure 12] It is a diagram for explaining an example of the process of specifying the sector that encloses the position of the tip of the boom. [Figure 13] This diagram illustrates an example of a process for identifying the sector that encompasses the position of the boom's tip. [Figure 14] This figure shows an example of the coordinates to be identified. [Figure 15] This diagram illustrates an example of the control performed by a boom control device. [Figure 16] This is a diagram showing an example of a boom configuration. [Modes for carrying out the invention]

[0016] Embodiments of the present invention will be described below with reference to the drawings. In all drawings, similar components are denoted by the same reference numerals, and their descriptions are omitted as appropriate.

[0017] <First Embodiment> "overview" As shown in Figure 1, the boom control device 10 of this embodiment controls the movement of the boom 101 so that the tip of the boom 101 moves in the circumferential direction of the tunnel 200 along the cross-sectional contour of the tunnel 200 while maintaining a constant distance from the inner wall of the tunnel 200.

[0018] The cross-sectional contour shape of the tunnel 200 is a shape formed by connecting multiple sector-shaped arcs with different radii (for example, a 3-centered circle or a 5-centered circle). The boom control device 10 achieves the movement of the tip of the boom 101 as described above in relation to the tunnel 200 with such a cross-sectional contour shape through characteristic control. This will be explained in detail below.

[0019] "The composition of a boom" The configuration of the boom 101 controlled by the boom control device 10 will now be described. In this embodiment, the configuration of the boom 101 is not particularly limited, and any known configuration can be adopted. However, the boom control device 10 is suitable for use in applications that control the movement of the boom 101 (the posture of the boom 101) so that the tip of the boom 101 moves in the circumferential direction of the tunnel 200 while maintaining a constant distance from the inner wall of the tunnel 200 along the cross-sectional contour of the tunnel 200. Examples of such applications include, but are not limited to, concrete spraying work on the inner wall of the tunnel 200.

[0020] The configuration of the boom 101 and the vehicle 102 on which the boom is mounted can be similar to the configuration disclosed in, for example, Patent Document 1. An example of the configuration of the boom 101 of this embodiment will be described below with reference to Figure 2. The boom 101 may include a first component 104, a second component 100, and a third component 103. The first component 104 is connected to the vehicle 102. The second component 100 is connected to the first component 104. The third component 103 is connected to the second component 100. The first component 104 is configured to be able to extend and retract, luff, and rotate. Sensors for detecting the length, luffing angle, and rotation angle of the first component 104 are attached to the boom 101. The second component 100 is an arm. The third component 103 is a nozzle.

[0021] The configuration of the boom 101 will be explained in more detail using Figure 16. As shown in Figures 16(a) and 16(b), the support member 6 (first component 104) comprises a component 6a attached to the mobile trolley 5, a rectangular tubular component 6b (outer boom) attached to component 6a, and a rectangular prism-shaped component 6c (inner boom) inserted into component 6b. It also comprises a component 6d attached to component 6c, and a component 6e attached to component 6d.

[0022] Between the mobile carriage 5 and component 6a, a boom swing mechanism is formed, consisting of a rotary joint (hereinafter also called "joint 10a") whose axis extending vertically is the axis of rotation (hereinafter also called "axis 9a"). Between component 6a and component 6b, a rotary joint (hereinafter also called "joint 10b") is formed, which serves as a boom lift mechanism, consisting of an axis extending horizontally (left-right direction) of the mobile carriage 5 as the axis of rotation (hereinafter also called "axis 9b"). Furthermore, between component 6b and component 6c, a boom slide mechanism is formed, consisting of a linear joint (hereinafter also called "joint 10c") that extends and retracts along a linear axis (hereinafter also called "linear axis 9c") extending longitudinally of component 6b. In other words, joint 10a allows relative displacement between the mobile trolley 5 and component 6a, joint 10b allows relative displacement between component 6a and component 6b, and joint 10c allows relative displacement between component 6b and component 6c.

[0023] Between component 6c and component 6d, an arm tilt mechanism is formed, consisting of a rotary joint (hereinafter also referred to as "joint 10d") whose axis of rotation (hereinafter also referred to as "axis of rotation 9d") is the axis extending in the left-right direction of the mobile carriage 5 parallel to the axis of rotation 9b. Furthermore, between component 6d and component 6e, an arm swing mechanism is formed, consisting of a rotary joint (hereinafter also referred to as "joint 10e") whose axis of rotation (hereinafter also referred to as "axis of rotation 9e") is the axis extending in a direction perpendicular to the axis of rotation 9d. In the example of Figure 16(a)(b), the axis of rotation 9e is parallel to the axis of rotation 9a (the axis extending in the vertical direction).

[0024] The spray head device 7 (second component 100) comprises a component 7f attached to component 6e of the support member 6, and a component 7g attached to component 7f. A spray nozzle 7h (third component 103) for spraying concrete is attached to component 7g. Between component 6e and component 7f, a nozzle slide mechanism is formed, consisting of a linear joint (hereinafter also called "joint 10f") that extends and retracts along a linear axis (hereinafter also called "linear axis 9f") that extends in a direction perpendicular to the rotation axis 9e. In the example of Figure 16(a)(b), the linear axis 9f is parallel to the linear axis 9c. Between component 7f and component 7g, a nozzle swing mechanism is formed, consisting of a rotary joint (hereinafter also called "joint 10g") with a rotation axis (hereinafter also called "rotation axis 9g") that extends in a direction parallel to the linear axis 9f. Furthermore, a nozzle tilt mechanism is formed between component 7g and the spray nozzle 7h (component), consisting of a rotary joint (hereinafter also referred to as "joint 10h") whose axis of rotation (hereinafter also referred to as "rotation axis 9h") extends perpendicular to the rotation axis 9g. In the example shown in Figures 16(a) and 16(b), the rotation axis 9h is parallel to the rotation axis 9b (the axis extending in the left-right direction).

[0025] The boom control device 10 drives (rotates and extends / retracts) the joints 10a to 10h. For example, it can control hydraulic cylinders, electric motors, etc., provided for each of the joints 10a to 10h. For example, to drive joint 10a, a swing master cylinder 11a or boom swing cylinder 11b is used as a hydraulic cylinder or electric motor. Also, a tilt master cylinder 11c or boom tilt cylinder 11d is used to drive joint 10b. Furthermore, a boom slide cylinder 11e is used to drive joint 10c. Also, an arm tilt cylinder 11f is used to drive joint 10d. Furthermore, an arm swing cylinder 11g is used to drive joint 10e. Also, a nozzle slide cylinder 11h is used to drive joint 10f. Furthermore, a nozzle swing motor 11i is used to drive joint 10g. Also, a nozzle tilt cylinder 11j is used to drive joint 10h.

[0026] "Hardware configuration" Next, an example of the hardware configuration of the boom control device 10 will be described. Each functional unit of the boom control device 10 is realized by any combination of hardware and software, centered around a CPU (Central Processing Unit) of any computer, memory, a program loaded into memory, a storage unit such as a hard disk that stores that program (which can store programs that are pre-installed at the time of shipment, as well as programs downloaded from recording media such as CDs (Compact Discs) or from servers on the Internet), and a network connection interface. It will be understood by those skilled in the art that there are various modifications to the implementation method and the device.

[0027] Figure 3 is a block diagram illustrating the hardware configuration of the boom control device 10. As shown in Figure 3, the boom control device 10 includes a processor 1A, memory 2A, input / output interface 3A, peripheral circuitry 4A, and bus 5A. Peripheral circuitry 4A includes various modules. The boom control device 10 does not necessarily have peripheral circuitry 4A. The boom control device 10 may also be composed of multiple physically and / or logically separated devices. In this case, each of the multiple devices may have the above hardware configuration.

[0028] Bus 5A is a data transmission path for the processor 1A, memory 2A, peripheral circuits 4A, and input / output interface 3A to send and receive data to and from each other. Processor 1A is a processing unit such as a CPU or GPU (Graphics Processing Unit). Memory 2A is a memory such as RAM (Random Access Memory) or ROM (Read Only Memory). Input / output interface 3A includes interfaces for acquiring information from input devices, external devices, external servers, external sensors, cameras, etc., and interfaces for outputting information to output devices, external devices, external servers, etc. Input devices include, for example, keyboards, mice, microphones, physical buttons, touch panels, etc. Output devices include, for example, displays, speakers, printers, mailers, etc. Processor 1A can issue commands to each module and perform calculations based on the results of those calculations.

[0029] "Functional Configuration" Next, the functional configuration of the boom control device 10 of this embodiment will be described in detail. Figure 4 shows an example of a functional block diagram of the boom control device 10. As shown in the figure, the boom control device 10 includes a position management unit 11, a cross-sectional contour shape data receiving unit 12, a position relationship data receiving unit 13, and a boom control unit 14.

[0030] The cross-sectional contour shape data receiving unit 12 receives input of cross-sectional contour shape data indicating the cross-sectional contour shape of the tunnel 200. The user identifies various numerical values ​​indicating the cross-sectional contour shape of the tunnel 200 based on the design data of the tunnel 200, and inputs the identified numerical values ​​into the boom control device 10.

[0031] As described above, the cross-sectional contour shape of the tunnel 200 is a shape formed by connecting multiple sector-shaped arcs with different radii. The cross-sectional contour shape data receiving unit 12 is configured to receive input of various data indicating such a cross-sectional contour shape of the tunnel 200.

[0032] Figure 5 shows an example of data received by the cross-sectional contour shape data receiving unit 12. The cross-sectional contour shape of the tunnel 200 in the illustrated example is a shape formed by connecting the arcs of three sectors with different radii. Specifically, the cross-sectional contour shape of the tunnel 200 in the illustrated example is a shape formed by connecting the arcs of one sector (1) with radius R1, two sectors (2) with radius R2, and two sectors (3) with radius R3. More specifically, the cross-sectional contour shape of the tunnel 200 in the illustrated example is a shape formed by connecting the arcs of sector (3), sector (2), sector (1), sector (2), and sector (3) in this order. In the case of the tunnel 200 shown in Figure 5, the cross-sectional contour shape data receiving unit 12 receives input of the radii R1 to R3 of each of the three sectors, and the central angles A1 to A3 of each of the three sectors.

[0033] Furthermore, the cross-sectional contour shape data receiving unit 12 may also accept input specifying the position of the point where the two radii of each sector intersect. As a modified example, the cross-sectional contour shape data receiving unit 12 may automatically calculate the position of the point where the two radii of each sector intersect, based on the input radius and central angle of each sector, so that the arcs of multiple sectors are connected to each other.

[0034] Furthermore, the cross-sectional contour shape data receiving unit 12 can also accept input of data indicating the size of the cross-sectional contour shape of the tunnel 200. For example, the cross-sectional contour shape data receiving unit 12 can accept input of data indicating the height and width of the cross-section of the tunnel 200. In the example shown in Figure 5, the cross-sectional contour shape data receiving unit 12 can accept input of the width W2 of the lowest part of the tunnel 200 (the distance between the points where the tunnel 200 and the ground meet), the point on the cross-sectional contour of the tunnel 200 that is furthest from the central axis in the width direction of the tunnel 200 (hereinafter referred to as "the first point") and the distance W1 between that point and the central axis, the height H2 from the ground to the first point, the height H1 from the first point to the top of the tunnel 200, etc. The point at height H2 from the ground on the central axis in the width direction of the tunnel 200 is defined as the tunnel center.

[0035] The cross-sectional contour shape data receiving unit 12 may display an image, for example, as shown in Figure 5, and accept input for each parameter. In this configuration, the user can intuitively understand the content of each parameter.

[0036] The cross-sectional contour shape of the tunnel 200 is not limited to that shown in Figure 5. For example, the cross-sectional contour shape of the tunnel 200 may be a shape formed by connecting two sector arcs with different radii. Alternatively, the cross-sectional contour shape of the tunnel 200 may be a shape formed by connecting four or more sector arcs with different radii.

[0037] Returning to Figure 4, the positional relationship data receiving unit 13 receives input of positional relationship data indicating the positional relationship between the boom 101 and the cross-section of the tunnel 200.

[0038] As described above, the boom 101 is attached to the vehicle 102. Therefore, the position of the boom 101 and the positional relationship between the boom 101 and the tunnel 200 change according to the movement of the vehicle 102. The above positional relationship data shows the positional relationship between the boom 101 and the tunnel 200 when the position of the vehicle 102 is fixed at a certain position. If the position of the vehicle 102 changes, the positional relationship data will need to be re-entered.

[0039] When operating the boom 101 of this embodiment, if the position of the vehicle 102 is to be precisely adjusted and positioned at the center of the tunnel 200, the positional relationship between the vehicle 102 and the tunnel 200 will always be the relationship between the vehicle 102 shown in Figure 6 and the tunnel 200 shown by the dashed line as the "vehicle reference" in the figure. If such positional conditions for the vehicle 102 are imposed on the operator of the vehicle 102, input of the above positional relationship data becomes unnecessary. However, if such fine positional adjustments are required, the burden on the operator of the vehicle 102 will be significant.

[0040] The boom control device 10 of this embodiment has a configuration that eliminates the need for such fine position adjustments. In the case of the boom control device 10 of this embodiment, the position of the vehicle 102 may be offset from the center of the tunnel 200, as shown in the relationship between the "actual tunnel position" and the position of the vehicle 102. Even when such an offset occurs, the boom control device 10 can grasp the state (direction, amount) of the offset from the input positional relationship data. Based on this information, it can grasp the positional relationship between the boom 101 and the cross-sectional contour of the tunnel 200 in the world coordinate system. The above offset refers to an offset in a direction parallel to the cross-section of the tunnel 200.

[0041] Here, an example of a means for receiving positional relationship data will be described. First, the user moves the vehicle 102 and fixes the position of the vehicle 102 at a certain location. At this time, it is preferable for the user to ensure that the orientation of the vehicle 102 and the tunnel 200 are in a predetermined relationship (e.g., the direction of travel of the vehicle 102 and the extension direction of the tunnel 200 are approximately parallel).

[0042] The user then operates the boom 101 while the vehicle 102 is fixed in place, bringing a predetermined part of the boom 101, for example, the third component 103, into contact with a predetermined location on the inner wall of the tunnel 200. The predetermined location on the inner wall of the tunnel 200 into contact with the third component 103 is, for example, directly above the center of the tunnel (the top of the tunnel 200), as shown in Figure 6, but is not limited to this. The user then brings the third component 103 into contact with, for example, the support center and performs a predetermined registration operation. The operation of the boom 101 is achieved, for example, by manual operation.

[0043] The positional relationship data receiving unit 13 receives data indicating the posture of the boom 101 in the contact state as positional relationship data in response to the registration operation described above. The data indicating the posture of the boom 101 is identified based on the values ​​of sensors attached to various parts of the boom 101. The sensor values ​​indicate, for example, the length, elevation angle, and slewing angle of the boom 101 (length, elevation angle, and slewing angle of the first component 104).

[0044] The positional relationship data receiving unit 13 then calculates data indicating the relative positional relationship between the boom 101 and the tunnel 200 based on the positional relationship data and the cross-sectional contour shape data received by the cross-sectional contour shape data receiving unit 12. The data indicating the relative positional relationship between the boom 101 and the tunnel 200 is represented by the coordinates of a predetermined point on the boom 101 and the coordinates of the tunnel center in the world coordinate system. In other words, the relative positional relationship between the boom 101 and the tunnel 200 is represented by these coordinates shown in the world coordinate system. The origin of the world coordinate system may be determined based on the tunnel or based on the boom 101. In this embodiment, the tunnel center shown in Figures 5 and 6 is set as the origin of the world coordinate system. The left-right direction of the tunnel is defined as the X-axis direction, and the height direction of the tunnel is defined as the Y-axis direction.

[0045] Here, using Figure 14, we will explain the process of calculating the coordinates of a predetermined location on the boom 101 in a world coordinate system with the tunnel center as the origin.

[0046] First, "A: Tunnel vertex coordinates" shown in the diagram are identified based on the cross-sectional contour shape data received by the cross-sectional contour shape data receiving unit 12. As explained using Figure 5, the cross-sectional contour shape data includes the height H1 from the tunnel center to the top of the tunnel 200. "A: Tunnel vertex coordinates" is the point moved in the height direction of the tunnel by a height of H1 from the origin. The scale can be set arbitrarily.

[0047] "B: Relative position of nozzle tip and nozzle base point" indicates the relative positional relationship between the nozzle tip and the nozzle base point. The nozzle tip is the point on the boom 101 that contacts a predetermined position in the tunnel 200 (the uppermost part of the tunnel 200), and is the tip of the third component 103. The nozzle base point is the connection point between the second component 100 and the first component 104. The distance between the nozzle tip and the nozzle base point may be a constant value. In this case, this value is registered in the boom control device 10 in advance. The inclination of the straight line connecting the nozzle tip and the nozzle base point can be determined based on the value of the sensor provided on the boom 101 as described above. In addition, as shown in Figure 14, the posture (inclination, etc.) of the second component 100 and the third component 103 may be defined as a rule when the boom 101 contacts the tunnel 200. The user may then contact the boom 101 with the tunnel 200 while maintaining the posture of the second component 100 and the third component 103 in the state indicated by this rule. In this case, the orientation (tilt, etc.) of the second component 100 and the third component 103 remains constant and can be registered in the boom control device 10 in advance.

[0048] Here, an example of a rule for bringing the boom 101 into contact with the tunnel 200 is explained. Figure 10 shows an example of bringing the boom 101 into contact with the inner wall of the tunnel 200 in accordance with this rule. Note that the vehicle 102 is omitted from Figure 10. For example, as shown in Figure 10, the extension direction of the second component 100 is parallel to the extension direction of the tunnel 200, and the third component 103 is facing directly upwards. This rule may also be applied when performing concrete spraying work. Note that if the orientation of the second component 100 and the third component 103 is determined based on sensor values ​​indicating the orientation of the second component 100 and the third component 103, control based on such a rule is unnecessary.

[0049] "C: Nozzle base point coordinates" are the coordinates of the connection point between the second component 100 and the first component 104. "C: Nozzle base point coordinates" are determined based on the information indicating "B: Relative position between nozzle tip and nozzle base point" and "A: Tunnel apex coordinates". In other words, since "A: Tunnel apex coordinates" determined as described above are the coordinates of the nozzle tip, "C: Nozzle base point coordinates" can be determined such that the relationship with these coordinates satisfies "B: Relative position between nozzle tip and nozzle base point".

[0050] "D: Relative position of vehicle center and nozzle base point" indicates the relative positional relationship between the vehicle center and the nozzle base point. The vehicle center is the connection point between the first component 104 and the vehicle 102. The nozzle base point is the connection point between the second component 100 and the first component 104. This relative positional relationship between the nozzle base point and the vehicle center is shown by the positional relationship data received by the positional relationship data receiving unit 13. That is, as shown in Figure 14, the relative positional relationship between the nozzle base point and the vehicle center is shown by the data indicating the posture of the boom 101 when the boom 101 is in contact with the tunnel 200.

[0051] "E: Vehicle center coordinates" are the coordinates of the connection point between the first component 104 and the vehicle 102. "E: Vehicle center coordinates" are determined based on the information indicating "D: Relative position between vehicle center and nozzle base point" and "C: Nozzle base point coordinates". In other words, "E: Vehicle center coordinates" can be determined such that the relationship with "C: Nozzle base point coordinates" determined as described above satisfies "D: Relative position between vehicle center and nozzle base point".

[0052] In this example, the tunnel center is used as the origin of the world coordinate system, and various coordinates are calculated based on this point. As a variation, as mentioned above, the origin of the world coordinate system can also be defined based on boom 101. For example, the "E: Vehicle Center Coordinates" mentioned above can be used as the origin of the world coordinate system. In this case, "C: Nozzle Base Point Coordinates," "A: Tunnel Apex Coordinates," and the coordinates of the tunnel center can be calculated by reversing the process described above.

[0053] As an alternative, the positional relationship data receiving unit 13 may receive positional relationship data indicating the position of the tip of the boom 101 when the boom 101 is in contact with a predetermined number of locations on the inner wall of the tunnel 200. The boom control device 10 may then perform "control to maintain the position of the tip of the boom 101 within a predetermined plane" based on this positional relationship data, as disclosed in Patent Document 1.

[0054] Returning to Figure 4, the position management unit 11 generates tip position data that indicates the position of the tip of the boom 101, which is capable of extension, luffing, and slewing, in a predetermined coordinate system (world coordinate system). The tip position data indicates the position of any point on the boom 101. Preferably, the tip position data indicates the position of the tip of the third component 103. The position management unit 11 generates the above-described tip position data based on the length of the boom 101, the luffing angle of the boom 101, and the slewing angle of the boom 101. The position management unit 11 can generate tip position data based on "E: Vehicle center coordinates", "B: Relative position between nozzle tip and nozzle base point" in the world coordinate system described above, and "D: Relative position between vehicle center and nozzle base point" at each timing indicated by the sensor values.

[0055] Furthermore, "B: Relative position of nozzle tip and nozzle base point" may be determined based on the values ​​of sensors that detect the attitudes of the second component 100 and the third component 103. Alternatively, offset information indicating the relative positional relationship between the nozzle tip and the nozzle base point, which has been registered in advance, may be used. In the latter case, it is not necessary to install sensors that detect the attitudes of the second component 100 and the third component 103 on the boom 101. As a result, cost and other advantages can be obtained.

[0056] Returning to Figure 4, the boom control unit 14 controls the posture of the boom 101 and moves the tip of the boom 101 based on tip position data indicating the position of the tip of the boom 101, cross-sectional contour shape data indicating the cross-sectional contour shape of the tunnel, and positional relationship data indicating the positional relationship between the boom 101 and the cross-section of the tunnel 200. As shown in Figure 7, the boom control unit 14 moves the tip of the boom 101 (the tip of the third component 103) along the cross-sectional contour of the tunnel 200 in the circumferential direction of the tunnel 200, while maintaining a constant distance between the tip of the boom 101 and the inner wall of the tunnel 200. The process for realizing this movement of the tip of the boom 101 will be described below.

[0057] First, the boom control unit 14 identifies which of the multiple sectors constituting the cross-sectional contour shape of the tunnel 200 the tip of the boom 101 is located within. The "position of the boom 101 tip" is the position indicated by the tip position data. That is, the tip of the boom 101 is preferably the tip of the third component 103. Subsequently, the boom control unit 14 calculates the distance between the point where the two radii of the identified sector intersect and the tip of the boom 101. The point where the two radii of the identified sector intersect is the same point as the center of a circle that has the same radius as the sector and has the arc of the sector as part of its arc.

[0058] The boom control unit 14 then moves the tip of the boom 101 in the circumferential direction of the tunnel 200's cross-section while maintaining a constant distance (the distance calculated above) between the point where the two radii of the specified sector intersect and the tip of the boom 101. By moving in this manner, the tip of the boom 101 can be moved circumferentially along the cross-sectional contour of the tunnel 200 while maintaining a constant distance between the tip of the boom 101 and the inner wall of the tunnel 200. Incidentally, the "distance between the tip of the boom 101 and the inner wall of the tunnel 200" maintained during the movement is the value obtained by subtracting the "distance between the tip of the boom 101 and the point where the two radii of the sector intersect" from the "radius of the sector that encloses the position of the tip of the boom 101". During this movement, the boom control unit 14 moves the tip of the boom 101 within approximately the same plane (within one cross-section of the tunnel 200).

[0059] Here, an example of the process for identifying the sector that encloses the position of the tip of the boom 101 will be explained using Figures 11 and 12. Note that the process described below is merely an example, and the identification may be achieved by other processes. Here, as shown in Figure 11, the process when the tip of the boom 101 is moving counterclockwise will be explained. First, as shown in Figure 12, for each sector, a direction vector indicating the starting angle of the sector, a direction vector indicating the ending angle of the sector, and a vector from the point where the two radii of the sector intersect to the position of the tip of the boom 101 are defined.

[0060] Vector n m_start This is the direction vector indicating the starting angle of the sector in area m. Vector n m_stop This is the direction vector indicating the end angle of the sector in area m. Vector V m This is a vector pointing from the point where the two radii of the sector of area m intersect to the position of the tip of boom 101.

[0061] The boom control unit 14, as shown in Figure 12, uses vector n m_start and vector V m The cross product and vector V m and vector n m_stop If the cross product satisfies the predetermined conditions, it can be determined that the position of the tip of the boom 101 is contained within the sector of area m.

[0062] Incidentally, as shown in Figure 13, multiple sectors may overlap with each other. And the tip of the boom 101 may be located in an area where multiple sectors overlap. In such cases, the boom control unit 14 identifies multiple sectors as the sectors that contain the position of the tip of the boom 101. Therefore, the boom control unit 14 is equipped with a means to identify one sector in such cases. Specifically, first, the boom control unit 14 calculates the distance between the arc of each of the multiple sectors and the tip of the boom 101. Then, the boom control unit 14 identifies the sector among the multiple sectors that has the smallest distance. The boom control unit 14 performs the above control assuming that the tip of the boom 101 is located within the single sector identified in this way. In the case of Figure 13, the sectors of areas 1, 3, and 6 contain the position of the tip of the boom 101. Therefore, the boom control unit 14 calculates the distances d1, d3, and d4 between the arc of each of the multiple sectors and the tip of the boom 101. The boom control unit 14 then determines that the sector of area 3 with the smallest distance encompasses the position of the tip of the boom 101.

[0063] By the way, the sector shape encompassing the position of the tip of the boom 101 changes depending on the movement of the tip of the boom 101. Next, we will explain the process when the sector shape encompassing the position of the tip of the boom 101 changes.

[0064] The boom control unit 14 monitors whether the sector containing the position of the boom tip 101 has changed in accordance with the movement of the boom tip 101. When the boom control unit 14 detects that the sector containing the position of the boom tip 101 has changed, it identifies the sector that now contains the position of the boom tip 101. The boom control unit 14 then determines the distance between the point where the two radii of that sector intersect and the boom tip 101, which will be maintained during movement within that sector. Next, the boom control unit 14 moves the boom tip 101 in the circumferential direction of the cross-section of the tunnel 200 while maintaining the distance between the point where the two radii of that sector intersect and the boom tip 101 at a constant level (the distance determined above).

[0065] Here, we will explain the process of determining the distance (hereinafter referred to as the "target distance") between the point where the two radii of the sector, which are maintained during movement within the sector that now includes the position of the tip of the boom 101, intersect, and the tip of the boom 101.

[0066] One example of this process is to calculate the target distance as the point where the two radii of the sector (the sector that now encloses the position of the tip of boom 101) intersect at the moment the sector enclosing the position of the tip of boom 101 switches, and the distance between this point and the tip of boom 101. However, while the tip of boom 101 is moving within the previous sector, the "distance between the tip of boom 101 and the inner wall of tunnel 200" may shift within the range of control error. If the position of the tip of boom 101 switches to another sector while this shift is occurring, in the calculation example described, the distance in that shifted state will be determined as the distance to be maintained. As a result, there is a risk that the "distance between the tip of boom 101 and the inner wall of tunnel 200" will gradually change in accordance with the switching of the sector enclosing the position of the tip of boom 101.

[0067] Therefore, in order to suppress the inconvenience, the boom control unit 14 can calculate the target distance as follows. First, the boom control unit 14 identifies a sector that encloses the position of the tip of the boom 101 (for example, a sector that encloses the position of the tip of the boom 101 at the timing when it switches to the contour mode described later). Next, the boom control unit 14 determines the distance at that time between the point where the two radii of the identified sector intersect and the tip of the boom 101 as the distance between the point where the two radii of the sector intersect and the tip of the boom 101, which will be maintained while moving within that sector. Next, the boom control unit 14 calculates the "distance between the tip of the boom 101 and the inner wall of the tunnel 200" at that time. This "distance between the tip of the boom 101 and the inner wall of the tunnel 200" is the value obtained by subtracting the "distance between the tip of the boom 101 and the point where the two radii of the sector intersect" from the "radius of the sector that encloses the position of the tip of the boom 101". The boom control unit 14 then registers the calculated "distance between the tip of the boom 101 and the inner wall of the tunnel 200 (reference distance)".

[0068] Then, when the sector shape encompassing the position of the tip of the boom 101 switches, the boom control unit 14 calculates the target distance by subtracting the registered "distance between the tip of the boom 101 and the inner wall of the tunnel 200 (reference distance)" from "the radius of that sector (the sector shape that now encompasses the position of the tip of the boom 101)". By calculating the target distance in this way, even when the sector shape encompassing the position of the tip of the boom 101 switches, the "distance between the tip of the boom 101 and the inner wall of the tunnel 200" can be kept constant (reference distance).

[0069] There are various methods for moving the tip of the boom 101 while maintaining a constant distance between the tip of the boom 101 and the point where the two radii of the sector enclosing the position of the boom 101 intersect. For example, a function can be found that represents the set of points within the cross-section (plane) of the tunnel to which the tip of the boom 101 moves, such that the distance from the point where the two radii of the sector enclosing the position of the boom 101 intersect is a predetermined value. The above movement can be achieved by moving the tip of the boom 101 so that it lies on a point indicated by this function. Note that the process exemplified here is merely one example, and the process for achieving the above movement is not limited to this. The method for moving the tip of the boom 101 to a predetermined position in the world coordinate system as the target position is widely known, so its explanation is omitted here.

[0070] As shown in Figure 7, there are two patterns of circumferential movement along the inner wall of the tunnel 200: clockwise movement and counterclockwise movement. The boom control unit 14 can receive user input specifying which circumferential direction to move in. The boom control unit 14 can also receive user input specifying the movement speed of the tip of the boom 101. Then, the boom control unit 14 can move the tip of the boom 101 in the circumferential direction specified by the user input and at the movement speed specified by the user input.

[0071] One possible method for receiving user input is the use of an operating lever. In this example, tilting the operating lever in a predetermined direction specifies clockwise movement. Tilting the operating lever in another predetermined direction specifies counterclockwise movement. The amount the operating lever is tilted specifies the movement speed of the tip of the boom 101. Note that the use of an operating lever is merely one example, and the direction and speed of movement may be specified by other input devices.

[0072] The boom control unit 14 can have multiple modes, including contour mode and manual mode. "Contour mode" is a mode in which the tip of the boom 101 described above is moved in the circumferential direction of the tunnel 200 along the cross-sectional contour of the tunnel 200, while maintaining a constant distance between the tip of the boom 101 and the inner wall of the tunnel 200. "Manual mode" is a mode in which there are no restrictions on the movement of the tip of the boom 101 like in contour mode, and the tip of the boom 101 can be moved freely in any direction by independently moving the multiple operating mechanisms of the boom 101 in response to user operation.

[0073] The boom 101 is equipped with multiple operating mechanisms, as described above, including a boom swing mechanism, boom lift mechanism, boom slide mechanism, arm tilt mechanism, arm swing mechanism, nozzle slide mechanism, nozzle swing mechanism, nozzle tilt mechanism, etc. Incidentally, in contour mode, the operation of the boom swing mechanism, boom lift mechanism, and boom slide mechanism is automatically controlled.

[0074] Then, after moving the tip of the boom 101 in manual mode, the boom control unit 14 switches to contour mode. At the moment of switching to contour mode, it identifies the sector that contains the position of the tip of the boom 101 among multiple sectors, calculates the distance at that time between the point where the two radii of the sector containing the position of the tip of the boom 101 intersect and the tip of the boom 101, and registers this distance. The boom control unit 14 then moves the tip of the boom 101 in the circumferential direction of the cross-section of the tunnel 200 while maintaining the registered distance constant.

[0075] As shown in Figure 15, the user first moves the tip of the boom 101 to an arbitrary location in manual mode. Then, in manual mode, the user sets the distance between the tip of the boom 101 and the inner wall of the tunnel 200 to a desired state. In this state, the user switches from manual mode to contour mode. Then, in contour mode, the user moves the tip of the boom 101 along the cross-sectional contour of the tunnel 200 in the circumferential direction of the tunnel 200, while maintaining a constant distance between the tip of the boom 101 and the inner wall of the tunnel 200. Mode switching can be achieved by any means, such as operating a switch.

[0076] Thus, when multiple modes exist, providing a separate control object (operating lever or button) for each mode increases the number of control objects, leading to poor work efficiency. Therefore, the instructions input for each control object may be changed according to the current mode. In this way, each control object can be used for multiple operations.

[0077] Next, an example of the processing flow of the boom control device 10 will be explained using the flowchart in Figure 8.

[0078] Before the process shown in Figure 8, the user inputs positional relationship data indicating the positional relationship between the boom 101 and the cross-section of the tunnel 200.

[0079] Specifically, the user moves the vehicle 102 and fixes its position in a predetermined location within the tunnel 200.

[0080] The user then operates the boom 101 while the vehicle 102 is fixed in place, bringing the tip of the boom 101 into contact with a predetermined location on the inner wall of the tunnel 200 (for example, a support center), and performs a predetermined registration operation. The operation of the boom 101 is achieved, for example, by manual operation in the manual mode described above.

[0081] In response to the registration operation, the boom control device 10 acquires positional relationship data indicating the posture of the boom 101 (length of the boom 101, elevation angle, and slewing angle) in the contact state. Then, using the method explained with reference to Figure 14, it calculates various coordinates such as "E: Vehicle center coordinates" in the world coordinate system.

[0082] Subsequently, the user moves the tip of the boom 101 by manual operation in the manual mode described above, for example, to set the distance between the tip of the boom 101 and the inner wall of the tunnel 200 to the desired state. Then, in this state, the user switches to contour mode, which moves the tip of the boom 101 along the cross-sectional contour of the tunnel 200 in the circumferential direction of the tunnel 200.

[0083] The boom control device 10 then identifies the sector that encompasses the position of the tip of the boom 101 (S10). For example, the boom control device 10 identifies the sector that encompasses the position indicated by the tip position data, based on data indicating the area of ​​each of the multiple sectors in the cross-section of the tunnel 200 where the tip of the boom 101 is located at that time, and tip position data indicating the position of the tip of the boom 101. At this time, the boom control device 10 can calculate and register the "distance between the tip of the boom 101 and the inner wall of the tunnel 200" at that time.

[0084] Subsequently, the boom control device 10 waits for user input. The user's operation involves specifying whether to move clockwise or counterclockwise. The user also operates to specify the movement speed of the tip of the boom 101. These operations are performed, for example, via the aforementioned control lever.

[0085] The boom control device 10 moves the tip of the boom 101 in the circumferential direction of the tunnel cross-section in response to user operation (for example, tilting the operation lever in a predetermined direction by a predetermined amount), while maintaining a constant distance between the point where the two radii of the sector encompassing the position of the tip of the boom 101 intersect and the tip of the boom 101 (S11). The boom control device 10 moves the tip of the boom 101 in the direction specified by the user operation and at the movement speed specified by the user operation.

[0086] Furthermore, the user can spray concrete from the third component 103 located at the tip of the boom 101 while the boom 101 is moving. For example, the user can start spraying concrete from the third component 103 before starting to move the tip of the boom 101, or immediately after starting to move it. The user can then continue spraying while moving the tip of the boom 101 along the inner wall of the tunnel 200. In this way, for example, concrete spraying work is carried out on the inner wall of the tunnel 200.

[0087] "Effects and Effects" According to the boom control device 10 of this embodiment, through characteristic control, the tip of the boom 101 can be moved in the circumferential direction of the tunnel 200 along the cross-sectional contour of the tunnel 200, which has a contour cross-sectional shape formed by connecting multiple sector-shaped arcs with different radii, while maintaining a constant distance from the inner wall of the tunnel 200. Furthermore, as described in the functional configuration above, the boom control device 10 of this embodiment has multiple characteristic configurations, and characteristic effects are realized by each configuration.

[0088] Furthermore, according to the boom control device 10 of this embodiment, as shown in Figure 15, the user can first move the tip of the boom 101 to an arbitrary location in manual mode, and then switch from manual mode to contour mode once the distance between the tip of the boom 101 and the inner wall of the tunnel 200 is set to a desired state. Then, in contour mode, the user can move the tip of the boom 101 along the cross-sectional contour of the tunnel 200 in the circumferential direction of the tunnel 200, while maintaining a constant distance between the tip of the boom 101 and the inner wall of the tunnel 200. With this boom control device 10 of this embodiment, the user can visually confirm the distance between the actual tip of the boom 101 and the inner wall of the tunnel 200 while in manual mode and set that distance to a desired state. Then, the user can switch to contour mode in that state. Thus, the boom control device 10 of this embodiment is highly operable. The user can move the tip of the boom 101 along the inner wall of the tunnel 200 from any point according to the site conditions, while maintaining an arbitrary distance.

[0089] <Second Embodiment> The boom control device 10 of this embodiment has the function of adjusting the distance between the tip of the boom 101 and the inner wall of the tunnel 200 in response to user operation. This will be described in detail below.

[0090] During the "contour mode" described in the first embodiment, in which the tip of the boom 101 is moved in the circumferential direction of the tunnel 200 along the cross-sectional contour of the tunnel 200, the boom control unit 14 can receive circumferential movement operations and distance adjustment operations from the user.

[0091] The circumferential movement operation is an operation to move the tip of the boom 101 along the inner wall of the tunnel 200 in the circumferential direction of the tunnel 200. In response to the circumferential movement operation, the boom control unit 14 moves the tip of the boom 101 along the cross-sectional contour of the tunnel 200 in the circumferential direction of the tunnel 200, while maintaining a constant distance from the inner wall of the tunnel 200, as shown in Figure 9 as "circumferential movement along the tunnel cross-sectional contour".

[0092] In the circumferential movement operation, it is specified whether the tip of the boom 101 is moved clockwise or counterclockwise along the inner wall of the tunnel 200. Furthermore, the movement speed of the tip of the boom 101 is specified during the circumferential movement operation. These operations are as described in the first embodiment.

[0093] The distance adjustment operation is an operation to adjust the distance between the tip of the boom 101 and the inner wall of the tunnel 200. In response to the distance adjustment operation, the boom control unit 14 moves the tip of the boom 101 closer to or further away from the inner wall of the tunnel 200, as shown as "radial movement" in Figure 9.

[0094] The distance adjustment operation specifies whether to move the tip of the boom 101 closer to the inner wall of the tunnel 200 or further away from the inner wall of the tunnel 200.

[0095] In response to such distance adjustment operations, the boom control unit 14 moves the tip of the boom 101 along a straight line connecting the point where the two radii of the sector encompassing the position of the tip of the boom 101 intersect, and the position of the tip of the boom 101.

[0096] There are various ways to achieve this movement of the tip of boom 101. For example, in the world coordinate system, one can find a function of the line connecting the point where the two radii of the sector containing the position of the tip of boom 101 intersect, and the position of the tip of boom 101. Then, by moving the tip of boom 101 so that it lies on the point shown by this function, the above movement can be achieved. Note that the process exemplified here is merely one example, and the process for achieving the above movement is not limited to this.

[0097] The other configurations are the same as in the first embodiment.

[0098] The boom control device 10 of this embodiment achieves the same effects and advantages as the boom control device 10 of the first embodiment. Furthermore, the boom control device 10 of this embodiment allows adjustment of the distance between the tip of the boom 101 and the tunnel 200.

[0099] Furthermore, according to the boom control device 10 of this embodiment, when adjusting the distance between the tip of the boom 101 and the inner wall of the tunnel 200, the tip of the boom 101 can be moved along a straight line connecting the point where the two radii of a sector encompassing the position of the tip of the boom 101 intersect and the position of the tip of the boom 101. With this configuration, the distance between the tip of the boom 101 and the inner wall of the tunnel 200 can be adjusted without changing the location of the inner wall of the tunnel 200 that the tip of the boom 101 faces.

[0100] The embodiments of the present invention have been described above with reference to the drawings, but these are illustrative examples of the present invention, and various other configurations can be adopted. The configurations of the embodiments described above may be combined with each other, or some configurations may be replaced with other configurations. Furthermore, the configurations of the embodiments described above may be modified in various ways without departing from the spirit of the invention. In addition, the configurations and processes disclosed in each of the embodiments and modifications described above may be combined with each other.

[0101] Some or all of the above embodiments may also be described as follows, but are not limited to the following. 1. A position management unit that generates tip position data indicating the position of the tip of the boom in a predetermined coordinate system, based on the length of the boom capable of extension, luffing, and slewing, the luffing angle of the boom, and the slewing angle of the boom, A cross-sectional contour shape data receiving unit that receives input of cross-sectional contour shape data indicating the cross-sectional contour shape of a tunnel, which is a shape formed by connecting multiple sector-shaped arcs with different radii, A positional relationship data receiving unit that receives input of positional relationship data indicating the positional relationship between the boom and the cross-section of the tunnel, Based on the aforementioned tip position data, the aforementioned cross-sectional contour shape data, and the aforementioned positional relationship data, a boom control unit identifies a sector among a plurality of sectors that encloses the position of the boom tip, and moves the boom tip in the circumferential direction of the tunnel cross-section while maintaining a constant distance between the point where the two radii of the sector enclosing the position of the boom tip intersect and the boom tip. Previous boom control device. 2. The boom control unit shall This includes a contour mode in which the tip of the boom is moved in the circumferential direction of the tunnel's cross-section while maintaining a constant distance between the tip of the boom and the inner wall of the tunnel, and a manual mode in which the tip of the boom is moved while independently moving multiple operating mechanisms of the boom in response to user operation. The boom control device according to claim 1, which, after moving the tip of the boom in the manual mode, receives an operation to switch to the contour mode, identifies a sector among the plurality of sectors that encloses the position of the tip of the boom at the time of switching to the contour mode, and moves the tip of the boom in the circumferential direction of the cross-section of the tunnel while maintaining a constant distance between the point where the two radii of the sector enclosing the position of the tip of the boom at that time intersect and the tip of the boom. 3. The boom control unit shall In response to the movement of the boom tip, the system detects that the sector encompassing the position of the boom tip has changed, and identifies the sector that now encompasses the position of the boom tip. A boom control device according to claim 1 or 2, which, after detecting that the sector containing the position of the boom tip has changed, moves the boom tip in the circumferential direction of the tunnel cross-section while maintaining a constant distance between the point where the two radii of the sector now containing the position of the boom tip intersect and the boom tip. 4. The boom control unit shall In response to switching to a contour mode in which the tip of the boom moves in the circumferential direction of the tunnel's cross-section while maintaining a constant distance between the tip of the boom and the inner wall of the tunnel, the sector containing the position of the boom tip among the multiple sectors is identified, and the reference distance, which is the distance between the tip of the boom and the inner wall of the tunnel at that time, is calculated and registered. The boom control device according to claim 3, which, after detecting that the sector containing the position of the boom tip has switched, calculates a target distance by subtracting the reference distance from the radius of the sector that now contains the position of the boom tip, and moves the boom tip in the circumferential direction of the tunnel cross-section while maintaining the distance between the point where the two radii of the sector that now contains the position of the boom tip intersect and the boom tip as the target distance. 5. The boom control unit shall A circumferential movement operation that determines whether the tip of the boom moves clockwise or counterclockwise along the inner wall of the tunnel, A distance adjustment operation to adjust the distance between the tip of the boom and the inner wall of the tunnel, A boom control device according to 1 or 2 that accepts the following. 6. The boom control unit shall The boom control device according to claim 5, which moves the tip of the boom along a straight line connecting the point where two radii of a sector encompassing the position of the tip of the boom intersect and the position of the tip of the boom, in response to the distance adjustment operation. 7. The computer, A position management process that generates tip position data indicating the position of the tip of the boom in a predetermined coordinate system, based on the length of the boom capable of extension, luffing, and slewing, the luffing angle of the boom, and the slewing angle of the boom, A cross-sectional contour shape data receiving process that accepts input of cross-sectional contour shape data indicating the cross-sectional contour shape of a tunnel, which is a shape formed by connecting multiple sector-shaped arcs with different radii, A positional relationship data receiving process that receives input of positional relationship data indicating the positional relationship between the boom and the cross-section of the tunnel, A boom control step involves identifying a sector among a plurality of sectors that contains the position of the boom tip, based on the tip position data, the cross-sectional contour shape data, and the positional relationship data, and moving the boom tip in the circumferential direction of the tunnel cross-section while maintaining a constant distance between the point where the two radii of the sector containing the boom tip intersect and the boom tip, A boom control method that performs this operation. [Explanation of symbols]

[0102] 10 Boom control device 11 Location Management Department 12 Cross-sectional contour shape data receiving section 13. Location Relationship Data Reception Unit 14 Boom Control Unit 100 Second component 101 Boom 102 vehicles 103 Third component 104 First component 200 tunnels 1A Processor 2A Memory 3A input / output I / F 4A Peripheral Circuits 5A Bus

Claims

1. A position management unit generates tip position data indicating the position of the boom tip in a predetermined coordinate system based on the length of the boom capable of extension, luffing, and slewing, the luffing angle of the boom, and the slewing angle of the boom. A cross-sectional contour shape data receiving unit that receives input of cross-sectional contour shape data indicating the cross-sectional contour shape of a tunnel, which is a shape formed by connecting multiple sector-shaped arcs with different radii, A positional relationship data receiving unit that receives input of positional relationship data indicating the positional relationship between the boom and the cross-section of the tunnel, A boom control unit identifies a sector among a plurality of sectors that contains the position of the boom tip, based on the tip position data, the cross-sectional contour shape data, and the positional relationship data, and moves the boom tip in the circumferential direction of the tunnel cross-section while maintaining a constant distance between the point where the two radii of the sector containing the boom tip intersect and the boom tip, Previous boom control device.

2. The boom control unit is This includes a contour mode in which the tip of the boom is moved in the circumferential direction of the tunnel's cross-section while maintaining a constant distance between the tip of the boom and the inner wall of the tunnel, and a manual mode in which the tip of the boom is moved while independently moving multiple operating mechanisms of the boom in response to user operation. The boom control device according to claim 1, which, after moving the tip of the boom in the manual mode, receives an operation to switch to the contour mode, identifies a sector among the plurality of sectors that encloses the position of the tip of the boom at the time of switching to the contour mode, and moves the tip of the boom in the circumferential direction of the cross-section of the tunnel while maintaining a constant distance between the point where the two radii of the sector enclosing the position of the tip of the boom at that time intersect and the tip of the boom.

3. The boom control unit is In response to the movement of the boom tip, the system detects that the sector encompassing the position of the boom tip has changed, and identifies the sector that now encompasses the position of the boom tip. The boom control device according to claim 1 or 2, which, after detecting that the sector containing the position of the boom tip has switched, moves the boom tip in the circumferential direction of the tunnel cross-section while maintaining a constant distance between the point where the two radii of the sector now containing the position of the boom tip intersect and the boom tip.

4. The boom control unit is In response to switching to a contour mode in which the tip of the boom moves in the circumferential direction of the tunnel's cross-section while maintaining a constant distance between the tip of the boom and the inner wall of the tunnel, the sector containing the position of the boom tip among the multiple sectors is identified, and the reference distance, which is the distance between the tip of the boom and the inner wall of the tunnel at that time, is calculated and registered. The boom control device according to claim 3, which, after detecting that the sector containing the position of the tip of the boom has switched, calculates a target distance by subtracting the reference distance from the radius of the sector that now contains the position of the tip of the boom, and moves the tip of the boom in the circumferential direction of the cross-section of the tunnel while maintaining the distance between the point where the two radii of the sector that now contains the position of the tip of the boom intersect and the tip of the boom as the target distance.

5. The boom control unit is A circumferential movement operation that determines whether the tip of the boom moves clockwise or counterclockwise along the inner wall of the tunnel, A distance adjustment operation to adjust the distance between the tip of the boom and the inner wall of the tunnel, A boom control device according to claim 1 or 2 that accepts a signal.

6. The boom control unit is The boom control device according to claim 5, wherein, in response to the distance adjustment operation, the tip of the boom is moved along a straight line connecting the point where two radii of a sector encompassing the position of the tip of the boom intersect and the position of the tip of the boom.

7. Computers A position management process that generates tip position data indicating the position of the tip of the boom in a predetermined coordinate system, based on the length of the boom capable of extension, luffing, and slewing, the luffing angle of the boom, and the slewing angle of the boom, A cross-sectional contour shape data receiving process that accepts input of cross-sectional contour shape data indicating the cross-sectional contour shape of a tunnel, which is a shape formed by connecting multiple sector-shaped arcs with different radii, A positional relationship data receiving process that receives input of positional relationship data indicating the positional relationship between the boom and the cross-section of the tunnel, A boom control step involves identifying a sector among a plurality of sectors that contains the position of the boom tip, based on the tip position data, the cross-sectional contour shape data, and the positional relationship data, and moving the boom tip in the circumferential direction of the tunnel cross-section while maintaining a constant distance between the point where the two radii of the sector containing the boom tip intersect and the boom tip, A boom control method that performs this operation.

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