JP2022118591A - Cutting Edge Boundary Judgment System and Program - Google Patents

Abstract

The present invention provides a blade edge boundary determination system and program that quantitatively determines a blade edge boundary at low cost. [Solution] The cutting edge boundary determination system determines the cutting edge boundary, which is the boundary between the cutting edge provided at the lower end of a pneumatic caisson and the remaining soil in the work chamber. In the system, an acquisition means for acquiring point cloud data indicating distance information from the position of the sensor in the work chamber to the target object including the blade edge boundary, and from the point cloud data acquired by the acquisition means, From a combination of a detection means for detecting a difference value of distance information between two or more mutually adjacent point cloud data, and two or more mutually adjacent point cloud data in which the difference value detected by the detection means is greater than or equal to a reference value. The present invention is characterized by comprising: an extraction section that extracts edge point group data, and a first determination section that determines the edge boundary portion based on the edge point group data extracted by the extraction section. [Selection diagram] Figure 5

Description

The present invention is a pneumatic caisson having a cutting edge at its lower end, and a cutting edge boundary for determining a cutting edge boundary that is a boundary between the cutting edge in a working chamber and unexcavated soil around the cutting edge. It relates to a part determination system and a program.

A pneumatic caisson construction method is known as a construction method for constructing underground structures such as the foundations of bridges and buildings, and starting shafts for shield tunnels. In the pneumatic caisson construction method, a work chamber is provided at the bottom of the main body of the caisson, and compressed air is sent into it to create a high pressure state, and excavation work is performed. Since the hyperbaric work chamber is in a hyperbaric state, the time during which workers can enter is limited. For this reason, in the pneumatic caisson construction method, unmanned construction that performs construction by remote control from the ground is adopted from the viewpoint of improving work efficiency and safety of the work environment in underwater or high pressure construction. In addition, in such unmanned construction, the image of the work situation in the high-pressure work room taken by the surveillance camera installed in the high-pressure work room is installed in a safe remote work room on land away from the high-pressure work room. The information is displayed on a monitor, and an operator remotely operates a work machine such as an excavator while viewing this screen to carry out construction work.

In addition, in the pneumatic caisson construction method, a pneumatic caisson formed in a cylindrical shape with a bottom and equipped with a working chamber for excavating the ground at the bottom of the cylinder is placed on the ground, and the ground inside the peripheral wall of this caisson and the lower end of the peripheral wall A construction method in which the ground below the cutting edge is excavated, and the caisson is gradually lowered to a predetermined depth by its own weight or by applying a load, etc., and foundations and underground structures are constructed in the ground. be. In this type of caisson subsidence method, the caisson subsides when there is a balance between the subsidence force, which is the force that causes the caisson to subside, and the subsidence resistance force from the ground, etc., which is the force that resists this subsidence force. standing still without This subsidence resistance force mainly consists of the peripheral frictional force acting on the outer surface of the caisson peripheral wall and the reaction force from the ground acting on the inner peripheral surface of the cutting edge of the caisson. Specifically, the inner peripheral surface of the cutting edge portion is formed in a tapered shape that is inclined so as to approach the central axis side of the caisson as it goes upward from the tip of the cutting edge portion, and the ground is in contact with this inclined inner peripheral surface. A reaction force from the undrilled soil is acting. Then, in the method of sinking the caisson, for example, while the caisson is standing still with its cutting edge penetrating into the ground, a part of the ground below the inner peripheral surface of the cutting edge is excavated from the inside of the caisson. , to moderately reduce the reaction force from the ground acting on the caisson. As a result, the squat resistance becomes lower than the squat force and the caisson begins to sink. For this reason, in this type of caisson subsidence method, it is important to grasp the shape of the unexcavated soil in contact with the cutting edge of the caisson in terms of construction management of caisson subsidence.

In addition, as information for grasping the shape of the uncut soil in contact with the cutting edge of the caisson, the cutting edge boundary, which is the boundary between the exposed area on the inner peripheral surface of the cutting edge and the uncut soil in the work chamber and a caisson sinking method using the device are disclosed (see, for example, Patent Document 1).

According to the technology disclosed in Patent Document 1, the blade edge boundary is determined using model data of the intensity distribution of reflected light based on the light intensity distribution in a predetermined wavelength band for each pixel of the image of the blade edge boundary. be judged. As a result, when the caisson is laid down, it is possible to constantly acquire information about the judgment results of the cutting edge boundary. In addition, construction management of caisson subsidence can be performed more reliably and safely.

Japanese Patent Application Laid-Open No. 2019-218740

Here, in Patent Document 1, it is necessary to generate in advance model data of the intensity distribution of light reflected from the inner peripheral surface of the cutting edge portion in order to determine the cutting edge boundary portion. The intensity distribution of this reflected light varies depending on the conditions inside the caisson work room, especially the shape of the ground near the edge of the cutting edge and the amount of sediment. For determination, a large amount of data is required to generate model data. Therefore, there is concern that generation of model data will require a great deal of cost and time. Therefore, there is a need for a low-cost, quantitative method for determining the cutting edge boundary without requiring model data generated in advance.

Accordingly, the present invention has been devised in view of the above problems, and its object is to provide a cutting edge boundary determination system and a program for quantitatively determining the cutting edge boundary at low cost. That's what it is.

A cutting edge boundary portion determination system according to a first aspect of the present invention determines a cutting edge boundary portion that is a boundary between a cutting edge portion provided at the lower end of a pneumatic caisson and undigged soil in a work chamber. In the determination system, an acquisition means for acquiring point cloud data indicating distance information from the position of the sensor in the work chamber to an object including the cutting edge boundary, and from the point cloud data acquired by the acquisition means a detection means for detecting a difference value of distance information of two or more mutually adjacent point cloud data; and a combination of the two or more mutually adjacent point cloud data indicating that the difference value detected by the detection means is equal to or greater than a reference value. and a first determination means for determining the cutting edge boundary portion based on the edge point cloud data extracted by the extraction means.

A cutting edge boundary portion determination system according to a second aspect of the present invention determines a cutting edge boundary portion that is a boundary between a cutting edge portion provided at the lower end of a pneumatic caisson and undigged soil in a work chamber. In the determination system, an acquisition means for acquiring point cloud data indicating distance information from the position of the sensor in the work chamber to an object including the cutting edge boundary, and the point cloud data acquired by the acquisition means are collected into three transforming means for transforming coordinates into coordinate data in a dimensional space; and extracting means for extracting two or more plane coordinate data included on a two-dimensional plane in the three-dimensional space from the coordinate data transformed by the transforming means. and calculating the error of the distance between the approximate straight line made up of the plane coordinate data extracted by the extracting means and the plane coordinate data, and based on the plane coordinate data in which the error is equal to or greater than a reference value, the cutting edge and a second determination means for determining the boundary.

A cutting edge boundary portion determination system according to a third aspect of the present invention determines a cutting edge boundary portion that is a boundary between a cutting edge portion provided at the lower end of a pneumatic caisson and undigged soil in a work chamber. In the determination system, an acquisition means for acquiring point cloud data indicating distance information from the position of the sensor in the work chamber to an object including the cutting edge boundary, and the point cloud data acquired by the acquisition means are collected into three a transforming means for transforming coordinates into coordinate data in a dimensional space; and a two-dimensional plane including two or more pieces of coordinate data indicating the cutting edge portion in the three-dimensional space from the coordinate data transformed by the transforming means. an extracting means for extracting the plane coordinate data of, and the plane coordinate data extracted by the extracting means and a straight line containing two or more of the plane coordinate data representing the cutting edge portion; and third determining means for determining the cutting edge boundary portion based on coordinate data in which is equal to or greater than a reference value.

A cutting edge boundary portion determination system according to a fourth aspect of the present invention determines a cutting edge boundary portion that is a boundary between a cutting edge portion provided at the lower end of a pneumatic caisson and undigged soil in a work chamber. In the determination system, an acquisition means for acquiring point cloud data indicating distance information from the position of the sensor in the work chamber to an object including the cutting edge boundary, and the point cloud data acquired by the acquisition means are collected into three plane coordinates included on a two-dimensional plane perpendicular to the direction indicating the distance information in the three-dimensional space from the coordinate data transformed by the transforming means for coordinate transformation into coordinate data in a dimensional space; (4) Determining the cutting edge boundary portion based on extraction means for extracting data and the plane coordinate data when all the plane coordinate data extracted by the extraction means are included in one straight line on the two-dimensional plane and determination means.

A cutting edge boundary portion determination system according to a fifth aspect of the present invention determines a cutting edge boundary portion that is a boundary between a cutting edge portion provided at the lower end of a pneumatic caisson and undigged soil in a work chamber. In the determination system, an acquisition means for acquiring point cloud data indicating distance information from the position of the sensor in the work chamber to an object including the cutting edge boundary, and the point cloud data acquired by the acquisition means are collected into three From a transforming means for transforming coordinates into coordinate data in a dimensional space, and a set of coordinates satisfying an equation indicating the inner peripheral surface of the cutting edge in the three-dimensional space acquired based on the design information of the pneumatic caisson and fifth determination means for determining the cutting edge boundary portion based on the positional relationship between the mathematical model and the coordinate data coordinate-transformed by the transformation means.

A cutting edge boundary portion determination system according to a sixth aspect of the present invention determines a cutting edge boundary portion that is a boundary between a cutting edge portion provided at the lower end of a pneumatic caisson and undigged soil in a work chamber. In the determination system, point cloud data indicating distance information from the position of the sensor in the work chamber to the object including the cutting edge boundary is acquired, and an object composed of pixels corresponding to each point cloud data is obtained. acquisition means for capturing an image of an object; pixels corresponding to the luminance of the cutting edge portion are extracted from the image captured by the acquisition means; and the point cloud data corresponding to the extracted pixels are further extracted. It is characterized by comprising an extracting means and a fourth judging means for judging the cutting edge boundary portion based on the point cloud data extracted by the color extracting means.

A cutting edge boundary portion determination system according to a seventh invention is a cutting edge boundary portion determination system according to any one of the first to sixth inventions, and calculating means for calculating a width of unexcavated soil in the work chamber based on the cutting edge boundary portion. is further provided.

A cutting edge boundary portion determination system according to an eighth invention is characterized in that, in any one of the first invention to the seventh invention, the acquisition means acquires the position of the sensor and the design information of the pneumatic caisson from the acquired point cloud data. Based on, the edge boundary range point cloud data including the point cloud data indicating the edge boundary portion is obtained.

A cutting edge boundary portion determination program according to a ninth aspect of the present invention determines a cutting edge boundary portion that is a boundary between a cutting edge portion provided at the lower end of a pneumatic caisson and unexcavated soil in a work chamber. In the determination program, an acquisition step of acquiring point cloud data indicating distance information from the position of the sensor in the work chamber to an object including the cutting edge boundary, and from the point cloud data acquired by the acquisition step a detection step of detecting a difference value of distance information of two or more mutually adjacent point cloud data; and a combination of the two or more mutually adjacent point cloud data indicating that the difference value detected by the detection step is equal to or greater than a reference value. and a first determination step of determining the cutting edge boundary portion based on the edge point cloud data extracted by the extraction step. .

A cutting edge boundary portion determination program according to a tenth aspect of the present invention determines a cutting edge boundary portion that is a boundary between a cutting edge portion provided at the lower end of a pneumatic caisson and undigged soil in a work chamber. In the determination program, an acquisition step of acquiring point cloud data indicating distance information from the position of the sensor in the work chamber to an object including the cutting edge boundary portion; a transforming step of transforming coordinates into coordinate data on a dimensional space; and an extracting step of extracting two or more plane coordinate data included on a two-dimensional plane on the three-dimensional space from the coordinate data transformed by the transforming step. and calculating the error of the distance between the approximate straight line composed of the plane coordinate data extracted in the extraction step and the plane coordinate data, and calculating the plane coordinate data based on the plane coordinate data where the error is equal to or larger than a reference value, and a second determination step of determining the boundary portion.

A cutting edge boundary portion determination program according to an eleventh aspect of the present invention determines a cutting edge boundary portion that is a boundary between a cutting edge portion provided at the lower end of a pneumatic caisson and unexcavated soil in a work chamber. In the determination program, an acquisition step of acquiring point cloud data indicating distance information from the position of the sensor in the work chamber to an object including the cutting edge boundary portion; a transformation step of transforming coordinates into coordinate data in a dimensional space; and a two-dimensional plane including two or more pieces of coordinate data representing the cutting edge portion in the three-dimensional space from the coordinate data transformed in the transformation step. an extracting step of extracting the plane coordinate data of; calculating the error of the distance between the plane coordinate data extracted by the extracting step and a straight line including two or more of the plane coordinate data indicating the cutting edge; and a third judgment step for judging the cutting edge boundary portion based on coordinate data in which is equal to or greater than a reference value.

A cutting edge boundary portion determination program according to a twelfth aspect of the present invention determines a cutting edge boundary portion that is a boundary between a cutting edge portion provided at the lower end of a pneumatic caisson and undigged soil in a work chamber. In the determination program, an acquisition step of acquiring point cloud data indicating distance information from the position of the sensor in the work chamber to an object including the cutting edge boundary portion; a transformation step of transforming coordinates into coordinate data in a dimensional space; and plane coordinates included on a two-dimensional plane perpendicular to the direction indicating the distance information in the three-dimensional space from the coordinate data transformed by the transformation step. an extraction step of extracting data; and a fourth determination of the cutting edge boundary portion based on the plane coordinate data when all of the plane coordinate data extracted by the extracting step are included in one straight line on the two-dimensional plane. and a determination step are executed by a computer.

A cutting edge boundary portion determination program according to a thirteenth aspect of the present invention determines a cutting edge boundary portion that is a boundary between a cutting edge portion provided at the lower end of a pneumatic caisson and undigged soil in a work chamber. In the determination program, an acquisition step of acquiring point cloud data indicating distance information from the position of the sensor in the work chamber to an object including the cutting edge boundary portion; a transforming step of transforming coordinates into coordinate data in a dimensional space; and a fifth determination step of determining the cutting edge boundary portion based on the positional relationship between the mathematical model and the coordinate data coordinate-transformed in the transformation step.

A cutting edge boundary portion determination program according to a fourteenth aspect of the present invention determines a cutting edge boundary portion that is a boundary between a cutting edge portion provided at the lower end of a pneumatic caisson and undigged soil in a work chamber. In the determination program, point cloud data indicating distance information from the position of the sensor in the work chamber to an object including the cutting edge boundary is acquired, and an object composed of pixels corresponding to each point cloud data is acquired. an acquisition step of capturing an image of an object; extracting pixels according to the brightness of the cutting edge portion from the image captured by the acquisition step; and further extracting the point cloud data corresponding to the extracted pixels. A computer is caused to execute an extraction step and a fourth determination step of determining the cutting edge boundary portion based on the point cloud data extracted by the color extraction step.

According to the first aspect of the invention, the cutting edge boundary portion determination system of the present invention, based on edge point cloud data composed of a combination of two or more mutually adjacent point cloud data indicating that the difference value of distance information is equal to or greater than a reference value, Determine the cutting edge boundary. As a result, it is possible to determine the cutting edge boundary portion without using model data, and to quantitatively determine the cutting edge boundary portion at low cost.

According to the second invention, the cutting edge boundary part determination system of the present invention calculates the error of the distance between the approximate straight line composed of the plane coordinate data extracted by the extracting means and the plane coordinate data, and the error is greater than or equal to the reference value. The cutting edge boundary is determined based on the plane coordinate data. As a result, it is possible to determine the cutting edge boundary portion without using model data, and to quantitatively determine the cutting edge boundary portion at low cost.

According to the third aspect of the invention, the cutting edge boundary determination system of the present invention calculates an error in the distance between the plane coordinate data extracted by the extracting means and a straight line including two or more plane coordinate data representing the cutting edge. Then, based on the coordinate data whose error is equal to or greater than the reference value, the cutting edge boundary portion is determined. As a result, it is possible to determine the cutting edge boundary portion without using model data, and to quantitatively determine the cutting edge boundary portion at low cost.

According to the fourth aspect of the invention, the cutting edge boundary determination system of the present invention determines the cutting edge based on the plane coordinate data when all the plane coordinate data extracted by the extracting means are included in one straight line on the two-dimensional plane. Determine boundaries. As a result, it is possible to determine the cutting edge boundary portion without using model data, and to quantitatively determine the cutting edge boundary portion at low cost.

According to the fifth invention, the cutting edge boundary portion determination system of the present invention is based on a set of coordinates satisfying an equation representing the inner circumference of the cutting edge portion in a three-dimensional space obtained based on the design information of the pneumatic caisson. The cutting edge boundary portion is determined based on the positional relationship between the mathematical model and the coordinate data coordinate-transformed by the transforming means. As a result, it is possible to determine the cutting edge boundary portion using model data that is easy to acquire, and to quantitatively determine the cutting edge boundary portion at low cost.

According to the sixth invention, the cutting edge boundary portion determination system of the present invention determines the cutting edge boundary portion based on the point cloud data extracted by the color extraction means. As a result, it is possible to determine the cutting edge boundary portion without using model data, and to quantitatively determine the cutting edge boundary portion at low cost.

According to the seventh invention, the cutting edge boundary portion determination system of the present invention calculates the width of unexcavated soil in the work chamber based on the cutting edge boundary portion. This makes it possible to determine the cutting edge boundary without using model data, making it possible to determine the cutting edge boundary quantitatively at low cost and then calculate the width of the unexcavated soil. Become. Therefore, by calculating the width of the unexcavated soil quantitatively at low cost, it is possible to predict the subsidence resistance of the caisson quantitatively at low cost, thereby improving work efficiency.

According to the eighth invention, the cutting edge boundary portion determination system of the present invention generates point cloud data indicating the cutting edge boundary portion based on the position of the sensor and the design information of the pneumatic caisson from the acquired point cloud data. Acquire the point cloud data of the cutting edge boundary range including It is possible to remove unnecessary point cloud data for judging the cutting edge boundary, and it is possible to speed up the judgment of the cutting edge boundary and further reduce the cost.

FIG. 1 is a longitudinal sectional view showing the main equipment of the pneumatic caisson construction method. FIG. 2 is a longitudinal sectional view showing the cutting edge. FIG. 3 is a side view of an excavator which is an example of the working machine according to the present invention. FIG. 4 is a block diagram showing the control system in the excavator. FIG. 5 is a block diagram showing the overall configuration of a first embodiment of a cutting edge boundary portion determination system to which the present invention is applied. FIG. 6 is a flow chart of the operation of the first embodiment of the cutting edge boundary determination system to which the present invention is applied. FIG. 7 is a diagram showing an example of a method for extracting the edge boundary range point cloud data. FIG. 8 is a diagram showing an example of a method for extracting edge point cloud data. FIG. 9 is a block diagram showing the overall configuration of a second embodiment of a cutting edge boundary determination system to which the present invention is applied. FIG. 10 is a flow chart of the operation of the second embodiment of the cutting edge boundary determination system to which the present invention is applied. FIG. 11 is a diagram showing an example of a plane coordinate data extraction method according to the second embodiment. FIG. 12 is a diagram showing an example of an approximate straight line made up of plane coordinate data. FIG. 13 is a block diagram showing the overall configuration of a third embodiment of a cutting edge boundary determination system to which the present invention is applied. FIG. 14 is a flow chart of the operation of the third embodiment of the cutting edge boundary determination system to which the present invention is applied. FIG. 15 is a diagram showing an example of a plane coordinate data extraction method according to the third embodiment. FIG. 16 is a diagram showing an example of a straight line containing plane coordinate data. FIG. 17 is a block diagram showing the overall configuration of a fourth embodiment of a cutting edge boundary determination system to which the present invention is applied. FIG. 18 is a flow chart of the operation of the fourth embodiment of the cutting edge boundary portion determination system to which the present invention is applied. FIG. 19 is a diagram showing an example of a plane coordinate data extraction method according to the fourth embodiment. FIG. 20 is a diagram showing an example of plane coordinate data when all of the plane coordinate data are included in one straight line on a two-dimensional plane. FIG. 21 is a block diagram showing the overall configuration of a fifth embodiment of a cutting edge boundary determination system to which the present invention is applied. FIG. 22 is a flow chart of the operation of the cutting edge boundary determination system according to the fifth embodiment of the present invention. FIG. 23 is a diagram showing an example of a mathematical model. FIG. 24 is a block diagram showing the overall configuration of a sixth embodiment of a cutting edge boundary determination system to which the present invention is applied. FIG. 25 is a flow chart of the operation of the sixth embodiment of the cutting edge boundary portion determination system to which the present invention is applied. FIG. 26 is a diagram showing an example of a method for extracting color point cloud data.

FIG. 1 is a diagram showing an example of main equipment of a pneumatic caisson construction method using an excavator, which is an example of a work machine according to the present invention. In FIG. 1 the caisson 1 is shown in the process of construction. Specifically, most of the caissons 1 are shown submerged in the ground G and standing still. The pneumatic caisson construction method uses excavation equipment E1, outfitting equipment E2, earth removal equipment E3, air supply equipment E4 and spare/safety equipment E5 to sink a reinforced concrete caisson 1 underground. configured to build structures.

The excavation equipment E1 includes, for example, an excavator 100 (hereinafter referred to as a caisson excavator 100), an automatic earth and sand loading device 11, and a remote control room 13 on the ground. A caisson shovel 100 is installed in a work chamber 2 provided inside a cutting edge 7 provided at the bottom of the caisson 1 . The automatic earth and sand loading device 11 loads earth and sand excavated by the caisson shovel 100 into a cylindrical earth bucket 31 . The ground remote control room 13 includes a remote control device 12 for remotely controlling the operation of the caisson excavator 100 from the ground.

The outfitting facility E2 includes, for example, a man shaft 21, a man lock 22 (air lock), a material shaft 23, and a material lock 24 (air lock). The man shaft 21 is a cylindrical passage that connects the work room 2 with the ground for the worker to enter and exit the work room 2, and is provided with a spiral staircase 25, for example. The manlock 22 is an airtight door with a double-door structure that is provided on the manshaft 21 and adjusts the pressure difference between the atmospheric pressure on the ground and the inside of the working chamber 2 . The material shaft 23 is a cylindrical passage that connects the work room 2 with the ground for carrying the earth bucket 31 loaded with the soil by the automatic soil loading device 11 to the ground. The material lock 24 is an airtight door with a double door structure that is provided on the material shaft 23 and the material shaft 23 for carrying in and out materials and adjusts the pressure difference between the atmospheric pressure on the ground and the pressure inside the work chamber 2 . The man lock 22 and the material lock 24 are configured to prevent changes in the atmospheric pressure in the work chamber 2 and allow the worker and the earth bucket 31 to enter and leave the work chamber 2 .

The earth removal facility E3 includes, for example, an earth bucket 31, a carrier device 32, and an earth and sand hopper 33. The earth bucket 31 is a bottomed cylindrical container into which earth and sand excavated by the caisson shovel 100 are loaded. The carrier device 32 is a device that pulls up the earth bucket 31 to the ground via the material shaft 23 and carries it out. The earth and sand hopper 33 is equipment for temporarily storing the earth and sand carried out to the ground by the earth bucket 31 and the carrier device 32 .

The air supply facility E4 includes, for example, an air compressor 42, an air cleaning device 43, an air supply pressure adjustment device 44, and an automatic pressure reducing device 45. The air compressor 42 is a device that sends compressed air into the work chamber 2 via the air pipe 41 and the air supply path 3 formed in the caisson 1 . The air purifier 43 is a device that purifies the compressed air sent by the air compressor 42 . The air supply pressure adjusting device 44 is a device that adjusts the amount (pressure) of compressed air sent from the air compressor 42 into the working chamber 2 so that the atmospheric pressure in the working chamber 2 becomes equal to the underground water pressure. The automatic pressure reducing device 45 is a device for reducing the pressure inside the manlock 22 .

The standby/safety equipment E5 includes an emergency air compressor 51 and a hospital lock 53, for example. The emergency air compressor 51 is a device capable of sending compressed air into the working chamber 2 instead of the air compressor 42 when the air compressor 42 fails or is inspected. The hospital lock 53 is a decompression chamber into which a worker who has worked in the work chamber 2 enters and gradually adjusts the body of the worker to the atmospheric pressure.

Next, the cutting edge portion 7 according to the present invention will be described with reference to FIG. A cutting edge 7 is provided at the lower end of the caisson 1 . As shown in FIG. 2, the cutting edge 7 is a part that penetrates into the ground 8 when the caisson subsides, and is formed in a generally cylindrical shape. An inner peripheral surface 71 of the cutting edge portion 7 is tapered so as to approach the center side of the caisson 1 as it goes upward from the tip end 72 of the cutting edge portion. Specifically, the inclination angle of the inner peripheral surface 71 at the lowermost end of the cutting edge portion 7 is set to be larger than the above-described inclination angle of the upper inner peripheral surface 71 .

Here, at the time of caisson sinking construction, the cutting edge part 7 penetrates the undigged soil 80 as shown in FIG. The undigged soil 80 is leftover earth and sand provided in the vicinity of the cutting edge 7 for the purpose of weakening the ground reaction force applied to the cutting edge 7 and limiting the sedimentation of the caisson 1 . When the undigged soil 80 reaches the inner peripheral surface 71, the inner peripheral surface 71 receives ground reaction force, so that the sedimentation of the caisson 1 can be suppressed. In particular, on soft ground, settling of the caisson 1 can be suppressed by enlarging the undigged soil 80 to reduce ground reaction force applied to the cutting edge portion 7 . In addition, the cutting edge boundary portion 70 consists of a portion of the inner peripheral surface 71 of the cutting edge portion 7 that is exposed to the work chamber 2 and a portion of the inner peripheral surface 71 that penetrates into the undigged soil 80 . is the boundary of By judging the cutting edge boundary portion 70, the uncut soil width 81 can be calculated.

Next, the caisson excavator 100 according to the present invention will be described with reference to FIGS. 3 and 4. FIG. The caisson excavator 100 includes, for example, a traveling body 110, a boom 130, and a bucket attachment 150, as shown in FIG. The traveling body 110 is attached to a pair of left and right traveling rails 4 provided on the ceiling of the working room 2 and travels along the traveling rails 4 while suspended from the left and right traveling rails 4 . The boom 130 is pivotally connected to the revolving frame 121 of the traveling body 110 so as to be vertically swingable. Bucket attachment 150 is attached to the tip of boom 130 .

The traveling body 110 includes a traveling frame 111 , a revolving frame 121 and traveling rollers 113 . The swivel frame 121 is rotatably provided on the lower surface side of the travel frame 111 . The running rollers 113 are four rollers arranged on the upper surface side of the running frame 111 . The traveling body 110 is configured to travel along the left and right traveling rails 4 by rotationally driving the front, rear, left, and right traveling rollers 113 .

Boom 130 includes, for example, proximal boom 131 , distal boom 132 , telescopic cylinder 133 , and luffing cylinder 134 . The base end boom 131 is attached to the revolving frame 121 so that it can be raised and lowered or can swing vertically. The distal boom 132 is telescopically assembled with the proximal boom 131 . The telescopic cylinder 133 is provided inside the base end boom 131 . Two hoisting cylinders 134 are provided on the left and right sides of the base end boom 131 . The boom 130 is configured such that when the telescopic cylinder 133 is extended and retracted, the distal end boom 132 moves in the longitudinal direction with respect to the proximal end boom 131 , thereby extending and retracting the boom 130 . The base ends of the two hoisting cylinders 134 are rotatably attached to the left and right sides of the base end boom 131, respectively.

Bucket attachment 150 includes base member 151 , bucket 152 , and bucket cylinder 153 . Base member 151 is attached to tip boom 132 . The bucket 152 is attached to the tip of the base member 151 so as to be vertically swingable. The bucket cylinder 153 is configured to vertically swing the bucket 152 with respect to the base member 151 .

As shown in FIG. 4, the control unit 165 includes a main controller 165a, a traveling object controller 165b, and a boom/bucket controller 165c. Also, the control unit 165 may be connected to the caisson excavator 100 and the remote control device 12 . The control unit 165 may be built into the remote control device 12 . The main controller 165a is connected to the traveling body controller 165b and the boom/bucket controller 165c, receives an operation signal from the remote control device 12, and outputs a drive control signal corresponding to the operation signal to the traveling body controller 165b. and the boom/bucket controller 165c. The traveling body controller 165b is configured to drive the traveling body 110 according to the drive control signal output from the main controller 165a. The main controller 165 a and the traveling body controller 165 b are arranged on the revolving frame 121 of the traveling body 110 . The boom/bucket controller 165c is configured to drive the boom 130 and the bucket attachment 150 according to the drive control signal output from the main controller 165a. The boom/bucket controller 165 c is arranged on the side of the base end boom 131 of the boom 130 .

As shown in FIG. 4, the caisson excavator 100 includes a traveling body position sensor 201, a turning angle sensor 202, a boom hoisting angle sensor 203, a boom extension amount sensor 204, a bucket swinging angle sensor 205, and an external sensor 206. and The traveling object position sensor 201 detects where on the traveling rail 4 the traveling object 110 is positioned. The turning angle sensor 202 detects the turning angle of the turning frame 121 with respect to the travel frame 111 . A boom hoisting angle sensor 203 detects the hoisting angle of the boom 130 with respect to the revolving frame 121 . A boom extension amount sensor 204 detects the extension amount of the boom 130 . Bucket swing angle sensor 205 detects the swing angle of bucket 152 with respect to boom 130 or base member 151 of bucket attachment 150 . The external sensor 206 is provided on the traveling body 110 and acquires information such as the distance to the excavated ground in the work chamber 2 and the shape of the ground. Also, the caisson excavator 100 may communicate with the remote control device 12 and the control unit 165 and transmit data obtained by the sensors 201 to 206 to the remote control device 12 and the control unit 165 .

The traveling object position sensor 201 is configured by, for example, a laser sensor arranged on the traveling frame 111 of the traveling object 110 . The traveling object position sensor 201 irradiates the laser light toward the end of the traveling rail 4 or the wall of the working room 2 until the laser light is reflected at the end of the traveling rail 4 or the wall of the working room 2 and returns. to measure the time of The running body position sensor 201 detects the distance from the end of the running rail 4 or the wall of the working room 2 to the running body 110 based on this time. The turning angle sensor 202 is composed of, for example, an optical rotary encoder arranged on the turning frame 121 of the traveling body 110 . The turning angle sensor 202 converts the turning amount of the turning frame 121 with respect to the traveling frame 111 into an electric signal. The turning angle sensor 202 arithmetically processes the signal to detect the turning angle including the turning direction and position of the turning frame 121 . Note that the traveling object position sensor 201 and the turning angle sensor 202 are only examples, and another sensor for detecting the two-dimensional position of the traveling object 110 and another sensor for detecting the turning angle of the turning frame 121 are provided. may be used.

The boom hoisting angle sensor 203 is composed of, for example, a laser sensor arranged on the side of the cylinder bottom of the hoisting cylinder 134 . The boom hoisting angle sensor 203 measures the time it takes for the laser light to irradiate the revolving frame 121, reflect on the revolving frame 121, and return. The boom hoisting angle sensor 203 detects the extension amount of the hoisting cylinder 134 based on this time, and detects the hoisting angle or the hoisting position of the boom 130 with respect to the revolving frame 121 based on the extension amount of the hoisting cylinder 134 . The boom hoisting angle sensor 203 is also an example, and another sensor that directly detects the hoisting angle of the boom 130 by an optical rotary encoder, potentiometer, or the like may be used.

The boom extension amount sensor 204 is configured by, for example, a laser sensor arranged on the base end boom 131 of the boom 130 . The boom extension amount sensor 204 measures the time it takes for the laser light to irradiate the base member 151 of the bucket attachment 150 attached to the tip of the tip boom 132, reflect on the base member 151, and return. The boom extension amount sensor 204 detects the extension amount of the tip boom 132 with respect to the base end boom 131 as the extension amount of the boom 130 based on this time. The boom extension amount sensor 204 is also described as an example, and other sensors that directly measure the extension amount of a cable that expands and contracts along with the expansion and contraction of the boom may be used.

The bucket swing angle sensor 205 is configured by, for example, a flow rate sensor arranged in the oil passage of the bucket cylinder 153 . Bucket swing angle sensor 205 detects the flow rate of hydraulic oil supplied to bucket cylinder 153 and calculates the integrated value of the flow rate. Bucket swing angle sensor 205 obtains the amount of extension of the piston rod of bucket cylinder 153 based on this flow rate integral value, and based on the amount of extension of bucket cylinder 153, adjusts bucket relative to base member 151 of bucket attachment 150 or boom 130. 152 swing angle or swing position is detected. The bucket swing angle sensor 205 is also an example, and other sensors that directly detect the swing angle of the bucket 152 by an optical rotary encoder, a potentiometer, etc., or other sensors that determine the amount of extension of the bucket cylinder 153 by a laser sensor. A sensor may be used.

The external sensor 206 is composed of, for example, an RGB-D sensor arranged on the revolving frame 121 of the traveling body 110 . The external sensor 206 acquires an RGB image or a color image of the excavated ground and a distance image or point group data, and based on these images, obtains distance information to the excavated ground, shape information of the excavated ground, or the cutting edge boundary 70. Acquire point cloud data 73 including The external sensor 206 may use a stereo camera, an ultrasonic distance meter, a laser sensor, or the like as another example of an RGB-D sensor.

Information detected by the traveling object position sensor 201, turning angle sensor 202, boom hoisting angle sensor 203, boom extension amount sensor 204, bucket swing angle sensor 205, and external sensor 206 is sent to the main controller 165a of the control unit 165. sent. The main controller 165 a includes a traveling body position measuring section 211 , a bucket position measuring section 212 and a ground shape measuring section 213 .

The traveling object position measuring unit 211 measures the distance from the end of the traveling rail 4 or the wall of the working room 2 to the traveling object 110 detected by the traveling object position sensor 201 and The position of the running body 110 in the working room 2 is calculated using the information as to where the running rail is located. Further, the information as to where the running rail 4 is provided in the working room 2 is the information of the running rail 4 to which the running body 110 is attached. may be set in the traveling body position measuring unit 211. Further, by detecting the distance information detected by the traveling body position sensor 201 for a plurality of surrounding locations, the two-dimensional position in the ceiling of the traveling body 110 or the position including the direction of the traveling body 110 can be detected. good.

The bucket position measuring unit 212 measures the turning angle including the turning direction and position of the turning frame 121 with respect to the travel frame 111 detected by the turning angle sensor 202 and the hoisting angle of the boom 130 with respect to the turning frame 121 detected by the boom hoisting angle sensor 203 . Using the angle or hoisting position, the extension amount of the boom 130 detected by the boom extension amount sensor 204, and the swing angle or swing position of the bucket 152 with respect to the boom 130 detected by the bucket swing angle sensor 205, The position of the bucket 152 with respect to the traveling frame 111 of the traveling body 110 is calculated.

The ground shape measuring unit 213 measures the position of the traveling object 110 in the work chamber 2 obtained by the traveling object position measuring unit 211, and the turning direction and position of the turning frame 121 relative to the traveling frame 111 detected by the turning angle sensor 202. Using the turning angle including the position of the external sensor 206 provided on the turning frame 121, the direction in which the distance information is acquired by the external sensor 206, and the distance information acquired by the external sensor 206, the position of the excavation ground and Further, the ground shape measuring unit 213 may calculate the shape of the undigged soil 80 . The shape of the unexcavated soil 80 includes both the shape of the unexcavated soil slope surface 82 and the shape of the surface of the unexcavated soil 80 in contact with the inner peripheral surface 71 in the horizontal plane.

<First embodiment>
A first embodiment of the present invention will be described below with reference to the drawings. FIG. 5 is a block diagram showing the overall configuration of a cutting edge boundary determination system 6 to which the first embodiment of the present invention is applied. The cutting edge boundary portion determination system 6 determines the cutting edge boundary portion 70 . The cutting edge boundary portion determination system 6 includes the above-described external sensor 206 and the remote control device 12 connected to the caisson excavator 100 including the external sensor 206 .

The remote control device 12 is composed of an electronic device such as a personal computer (PC), for example. It may be embodied. Based on data input from the external sensor 206 , the remote controller 12 may determine the edge boundary 70 .

The remote control device 12 includes a deletion unit 610, a detection unit 611 connected to the deletion unit 610, an extraction unit 612 connected to the detection unit 611, a first determination unit 613 connected to the extraction unit 612, a first and a calculation unit 614 connected to the 1 determination unit 613 .

Based on the position information of the external sensor 206 and the design information of the caisson 1, the deletion unit 610 indicates the distance information from the external sensor 206 to the object including the cutting edge boundary 70, which is acquired by the external sensor 206. From the group data 73, cutting edge boundary range point cloud data 74, which is point cloud data around the cutting edge boundary portion 70, is extracted. The deletion unit 610 outputs the extracted cutting edge boundary range point cloud data 74 to the detection unit 611 .

The detection unit 611 detects the difference value of the distance information of two or more adjacent point cloud data from the cutting edge boundary range point cloud data 74 input from the deletion unit 610 . The detection unit 611 outputs the detected difference value to the extraction unit 612 .

The extraction unit 612 extracts edge point cloud data 78 that is a combination of two or more adjacent point cloud data indicating difference values equal to or greater than the reference value input from the detection unit 611 . Extraction section 612 outputs the extracted first edge portion to first determination section 83 .

The first determination unit 613 determines the cutting edge boundary portion 70 based on the position of the first edge portion extracted by the extraction unit 612 . The first determination unit 613 outputs the determined result of the cutting edge boundary portion 70 to the calculation unit 614 .

The calculation unit 614 calculates an unexcavated soil width 81 around the cutting edge portion 7 based on the determination result of the cutting edge boundary portion 70 by the first determination portion 613 .

Next, the operation of the cutting edge boundary determination system 6 to which the first embodiment of the present invention is applied will be described. As shown in FIG. 6, in step S11, the external sensor 206 acquires point cloud data 73 indicating distance information from the external sensor 206 to an object including the cutting edge boundary portion 70 . Point cloud data is data consisting of a collection of points having position information in a three-dimensional space. Position information is information that can determine a position, and refers to coordinates or distance information in a three-dimensional space, for example. The distance information is information indicating the distance to the object. The point cloud data may be, for example, data consisting of a collection of point clouds on a plane in which distance information is indicated by color. Also, the point cloud data may be data consisting of a collection of point clouds on a plane in which distance information is indicated numerically.

Next, in step S12, the deleting unit 610, as shown in FIG. Cutting edge boundary range point cloud data 74, which is point cloud data around the cutting edge boundary portion 70, is extracted. The positional information of the external sensor is obtained by measuring, for example, where the traveling object position measuring unit 211 is located on the running rail 4 or how far the external sensor 206 is from the ground 8 by the ground shape measuring unit 213. good too. As a specific method of extracting the cutting edge boundary range point cloud data 74, for example, the length of the cutting edge portion 7 can be determined based on the design information of the caisson 1. FIG. From the difference between the length of the cutting edge portion 7 and the distance between the external sensor 206 and the ground 8 measured by the ground shape measuring section 213, it is possible to roughly estimate the distance between the cutting edge boundary portion 70 and the ground. Based on this estimation result, the cutting edge boundary portion 70 is roughly estimated in the point cloud data 73 , and the point cloud data including the point cloud data around it is extracted as the cutting edge boundary range point cloud data 74 . This makes it possible to delete point cloud data unnecessary for determining the cutting edge boundary portion 70, thereby increasing the determination speed and reducing the computational load. The deletion unit 610 outputs the extracted cutting edge boundary range point cloud data 74 to the detection unit 611 .

Next, in step S<b>13 , the detection unit 611 detects the difference value of the distance information of two or more adjacent point cloud data from the cutting edge boundary range point cloud data 74 input from the deletion unit 610 . For example, when the point cloud data is data consisting of a collection of point clouds on a plane in which distance information is indicated by color, a numerical value indicating distance information is given to each point cloud based on the color described above. After that, as shown in FIG. 8, the difference values of the above-described numerical values of two or more point cloud data adjacent to each other are detected. When the point cloud data acquisition target is a smooth plane, the distance information of adjacent point cloud data is almost the same. become smaller. Therefore, it is possible to estimate the surface state of the acquisition target from the magnitude of the difference value described above. The detection unit 611 outputs the detected difference value to the extraction unit 612 .

Next, in step S14, the extraction unit 612 extracts edge point cloud data 78, which is a combination of two or more mutually adjacent point cloud data indicating difference values equal to or greater than the reference value, from the difference values input from the detection unit 611. Extract. The edge point cloud data 78 is data composed of two or more point cloud data for determining the cutting edge boundary portion 70 . As shown in FIG. 8, when the reference value is set to 3, for example, the extraction unit 612 extracts two or more adjacent point cloud data showing a difference value of 3 or more, and combines the above-described point cloud data. Edge point cloud data 78 is extracted. As a result, compared to the inner peripheral surface 71 of the cutting edge portion 7, the unexcavated soil slope surface 82 has many irregularities and is rough. A point cloud data set is extracted.

Next, in step S<b>15 , the first determination section 613 determines the cutting edge boundary portion 70 based on the edge point group data 78 extracted by the extraction section 612 . For example, as shown in FIG. 8 , the first determination unit 613 may use the position information of one or more point cloud data included in the edge point cloud data 78 as the cutting edge boundary portion 70 . Also, two or more point cloud data such as a line connecting two or more point cloud data included in one set of edge point cloud data 78 and the perpendicular bisector of the above-described line connecting two or more point cloud data are connected. A straight line that intersects with the line or a region surrounded by the above-described line may be used as the cutting edge boundary portion 70 . As for the edge point cloud data 78, since a set of point cloud data of the uncut soil slope surface 82 including the cutting edge boundary 70 is extracted as described above, the edge point cloud data 78 is, for example, the outermost edge point cloud data 78. The point cloud data may be used as the cutting edge boundary portion 70 .

Next, in step S<b>16 , the calculation unit 614 calculates the unexcavated soil width 81 around the cutting edge 7 based on the cutting edge boundary 70 obtained by the first determination unit 613 . For example, the calculation unit 614 calculates a A height H from the cutting edge boundary portion 70 to the ground 8 may be calculated. Further, for example, from the height H, the inclination of the cutting edge portion 7 determined from the design information of the caisson 1, and the inclination of the unexcavated soil slope 82 measured by the ground shape measurement unit 213, the unexcavated soil width 81 is calculated. can be calculated. Alternatively, the cross-sectional area of the unexcavated soil 80 may be calculated from the height H and the unexcavated soil width 81, and the volume of the unexcavated soil 80 may be calculated from the cross-sectional area and the design information of the caisson 1. . Also, the volume of the uncut soil 80 may be used as the volume of the uncut soil 80 . As a result, it is possible to calculate the volume of the unexcavated soil 80 and determine the shape of the unexcavated soil 80 in more detail.

Through steps S11 to S16 described above, it is possible to quantitatively determine the cutting edge boundary portion 70 at low cost without using a pre-generated model.

<Second embodiment>
A second embodiment of the present invention will be described below with reference to the drawings. FIG. 9 is a block diagram showing the overall configuration of a cutting edge boundary determination system 6 to which the second embodiment of the present invention is applied. The cutting edge boundary portion determination system 6 determines the cutting edge boundary portion 70 . The cutting edge boundary portion determination system 6 includes the above-described external sensor 206 and the remote control device 12 connected to the caisson excavator 100 including the external sensor 206 . Hereinafter, description of the same components as in the first embodiment will be omitted.

The remote control device 12 includes a conversion section 620 , a coordinate extraction section 621 connected to the conversion section 620 , and a second determination section 622 connected to the coordinate extraction section 621 .

The transformation unit 620 coordinates-transforms the point cloud data 73 acquired by the external sensor 206 into coordinate data 75 in a three-dimensional space. The conversion unit 620 outputs the coordinate data 75 after the coordinate conversion to the coordinate extraction unit 621 .

The coordinate extraction unit 621 extracts coordinate data included on the two-dimensional plane 701 in the three-dimensional space from the coordinate data 75 input from the conversion unit 620 as plane coordinate data. The coordinate extraction section 621 outputs the plane coordinate data to the second determination section 622 .

The second determination unit 622 calculates the first error, which is the error in the distance between the approximate straight line 76 made up of the plane coordinate data input from the coordinate extraction unit 621 and the plane coordinate data, and calculates the plane coordinate data whose error is equal to or greater than the reference value. A cutting edge boundary portion 70 is determined based on the coordinate data.

Next, the operation of the cutting edge boundary determination system 6 to which the second embodiment of the present invention is applied will be described. As shown in FIG. 10, in step S21, the external sensor 206 acquires the point cloud data 73 as in step S11.

Next, in step S22, the conversion unit 620 coordinates-converts the point group data 73 acquired by the external sensor 206 into coordinate data 75 in a three-dimensional space. In addition, the conversion unit 620 may use a digital representation of the topography of the ground surface, such as a DEM (Digital Elevation Model), as the coordinate data 75 . The conversion unit 620 outputs the coordinate data 75 after the coordinate conversion to the coordinate extraction unit 621 .

Next, in step S23, the coordinate extraction unit 621 extracts the coordinate data 75 included on the two-dimensional plane 701 in the three-dimensional space from the coordinate data 75 input from the conversion unit 620 as plane coordinate data. For example, as shown in FIG. 11, the coordinate extractor 621 extracts the coordinate data 75 included in the two-dimensional plane 90a as plane coordinate data, with the xy plane parallel to the ceiling of the working room 2 as the two-dimensional plane 90a. Alternatively, the coordinate extraction unit 621 may select, for example, the xz plane or a plane parallel to the yz plane as the two-dimensional plane 90a. Further, the coordinate extraction unit 621 may extract the coordinate data 75 included on a plurality of two-dimensional planes 90a as one set of plane coordinate data for each two-dimensional plane 90a. In this case, the plurality of two-dimensional planes 90a described above are preferably parallel, but this is not the only option. The coordinate extraction section 621 outputs the plane coordinate data to the second determination section 622 .

Next, in step S<b>24 , the second determination section 622 calculates the approximate straight line 91 a of the planar coordinate data input from the coordinate extraction section 621 . For example, as shown in FIG. 12, the second determination unit 622 uses coordinate data 75 included in a two-dimensional plane 90a parallel to the xy plane as plane coordinate data, approximates the plane coordinate data, and calculates an approximate straight line 91a. do. Further, in step S24, the distance calculated by the method of least squares or the like between the approximate straight line 91a and the plane coordinate data is calculated as the first error. Further, in step S24, the cutting edge boundary portion 70 is determined based on the coordinate data 75 with the error equal to or greater than the reference value. The first error increases when the surface represented by the plane coordinate data is rough, and decreases when the surface is smooth. The error of the distance from the plane coordinate data indicating 82 becomes large. From this, it can be determined that the coordinate data 75 of the location where the magnitude of the error exceeds the reference value is the cutting edge boundary portion 70 .

Through steps S21 to S24 described above, it is possible to quantitatively determine the cutting edge boundary portion 70 at low cost without using a pre-generated model.

<Third embodiment>
A third embodiment of the present invention will be described below with reference to the drawings. FIG. 13 is a block diagram showing the overall configuration of a cutting edge boundary determination system 6 to which the third embodiment of the present invention is applied. The cutting edge boundary portion determination system 6 determines the cutting edge boundary portion 70 . The cutting edge boundary portion determination system 6 includes the above-described external sensor 206 and the remote control device 12 connected to the caisson excavator 100 including the external sensor 206 . Further, the third embodiment differs from the second embodiment in the method of determining the cutting edge boundary portion 70 using plane coordinate data. Hereinafter, descriptions of the same components as in the first and second embodiments will be omitted.

The remote control device 12 includes a conversion section 630 , a coordinate extraction section 631 connected to the conversion section 630 , and a third determination section 632 connected to the coordinate extraction section 631 .

The third determination unit 632 calculates a second error, which is an error in the distance between the plane coordinate data input from the coordinate extraction unit 631 and the straight line 91b including two or more plane coordinate data indicating the cutting edge 7, The cutting edge boundary portion 70 is determined based on the plane coordinate data whose error is equal to or greater than the reference value.

Next, the operation of the cutting edge boundary determination system 6 to which the third embodiment of the present invention is applied will be described. As shown in FIG. 14, in step S31, the external sensor 206 acquires the point cloud data 73 as in step S11.

Next, in step S32, the transformation unit 630 coordinates-transforms the point cloud data 73 acquired by the external sensor 206 into coordinate data 75 in a three-dimensional space. In addition, the conversion unit 630 may use a digital representation of the topography of the ground surface, such as a DEM (Digital Elevation Model), as the coordinate data 75 . The conversion unit 630 outputs the coordinate data 75 after the coordinate conversion to the coordinate extraction unit 631 .

Next, in step S33, the coordinate extraction unit 631 converts the coordinate data 75 input from the conversion unit 630 onto a two-dimensional plane 90b including two or more pieces of coordinate data 75 indicating the cutting edge 7 in the three-dimensional space. The included coordinate data 75 is extracted as plane coordinate data. For example, as shown in FIG. 15, the coordinate extraction unit 631 extracts the coordinate data 75 included in the two-dimensional plane 90b parallel to the xz plane when the height direction of the work chamber 2 is the z direction as plane coordinate data. is preferred, but not limited to this. Further, the coordinate extraction unit 631 may extract the coordinate data 75 included on a plurality of two-dimensional planes 90b as one set of plane coordinate data for each two-dimensional plane 90b. In this case, the plurality of two-dimensional planes 90b described above are preferably parallel, but this is not the only option. The coordinate extraction section 631 outputs the plane coordinate data to the third determination section 632 .

Next, in step S<b>34 , the third determination section 632 calculates a straight line 91 b including two or more pieces of plane coordinate data representing the cutting edge portion 7 input from the coordinate extraction section 631 . For example, as shown in FIG. 16 , the third determination unit 632 uses coordinate data 75 included in a two-dimensional plane parallel to the xz plane as plane coordinate data, and determines a straight line including two or more plane coordinate data indicating the cutting edge 7 . Calculate 91b. In this case, two or more plane coordinate data are extracted in order from the plane coordinate data having the largest z-direction component among the coordinate data 75 included in the two-dimensional plane 91b parallel to the xz plane, A straight line 91b containing the extracted plane coordinate data may be determined. Furthermore, in step S34, the distance between the straight line 91b and the plane coordinate data is calculated as a second error. Furthermore, in step S34, the cutting edge boundary portion 70 is determined based on the coordinate data 75 in which the second error is equal to or greater than the reference value. As for the second error, when the plane coordinate data indicates the inner peripheral surface 71 , the second error is small, and when the undigged soil slope 82 is indicated, the second error is large. From this, it can be determined that the coordinate data 75 of the location where the magnitude of the second error exceeds the reference value is the cutting edge boundary portion 70 .

Through steps S31 to S34 described above, it is possible to quantitatively determine the cutting edge boundary portion 70 at low cost without using a pre-generated model.

<Fourth embodiment>
A third embodiment of the present invention will be described below with reference to the drawings. FIG. 17 is a block diagram showing the overall configuration of a cutting edge boundary determination system 6 to which the third embodiment of the present invention is applied. The cutting edge boundary portion determination system 6 determines the cutting edge boundary portion 70 . The cutting edge boundary portion determination system 6 includes the above-described external sensor 206 and the remote control device 12 connected to the caisson excavator 100 including the external sensor 206 . Hereinafter, the description of the same as the first embodiment, second embodiment, and third embodiment will be omitted.

The remote control device 12 includes a conversion section 640 connected to the external sensor 206 , a coordinate extraction section 641 connected to the conversion section 640 , and a fourth determination section 642 connected to the coordinate extraction section 641 .

The fourth determining section 642 determines the cutting edge boundary portion 70 based on the plane coordinate data extracted by the coordinate extracting section 641 when all of the plane coordinate data are included in one straight line 91c on the two-dimensional plane 90c.

Next, the operation of the cutting edge boundary determination system 6 to which the fourth embodiment of the present invention is applied will be described. As shown in FIG. 18, in step S41, the external sensor 206 acquires the point cloud data 73 as in step S11.
Next, in step S42, the conversion unit 640 coordinates-converts the point group data 73 acquired by the external sensor 206 into coordinate data 75 in a three-dimensional space. In addition, the conversion unit 630 may use a digital representation of the topography of the ground surface, such as a DEM (Digital Elevation Model), as the coordinate data 75 . The conversion unit 640 outputs the coordinate data 75 subjected to the coordinate conversion to the coordinate extraction unit 641 .

Next, in step S43, the coordinate extraction unit 641 extracts the coordinate data 75 included on the two-dimensional plane 90d perpendicular to the direction indicating the distance information in the three-dimensional space from the coordinate data 75 input from the conversion unit 640. Extract as plane coordinate data. For example, as shown in FIG. 19, the coordinate extraction unit 641 extracts coordinate data 75 included in a two-dimensional plane 90d parallel to the yz plane when the direction indicating the distance information is the x direction, as plane coordinate data. Further, the coordinate extractor 641 may extract the coordinate data 75 included on a plurality of two-dimensional planes 90d as one set of plane coordinate data for each two-dimensional plane 90d. In this case, the plurality of two-dimensional planes 90d described above are preferably parallel, but this is not the only option. The coordinate extraction section 641 outputs the plane coordinate data to the fourth determination section 642 .

Next, in step S44, the cutting edge boundary portion 70 is determined based on the plane coordinate data extracted by the coordinate extraction section 641 when all of the plane coordinate data are included in one straight line 91c on the two-dimensional plane 90c. The distance information increases as it gets closer to the cutting edge boundary 70, and decreases as it moves away. Therefore, as shown in FIG. 20, the plane coordinate data indicating the position away from the cutting edge boundary portion 70 is two discontinuous straight lines 91c. On the other hand, the plane coordinate data indicating the cutting edge boundary portion 70 is one continuous straight line 91c. Therefore, it is possible to determine the cutting edge boundary portion 70 based on the plane coordinate data in which the plane coordinate data is a straight line.

Through steps S41 to S44 described above, it is possible to quantitatively determine the cutting edge boundary portion 70 at low cost without using a pre-generated model.

<Fifth Embodiment>
A fifth embodiment of the present invention will be described below with reference to the drawings. FIG. 21 is a block diagram showing the overall configuration of a cutting edge boundary determination system 6 to which the fifth embodiment of the present invention is applied. The cutting edge boundary portion determination system 6 determines the cutting edge boundary portion 70 . The cutting edge boundary portion determination system 6 includes the above-described external sensor 206 and the remote control device 12 connected to the caisson excavator 100 including the external sensor 206 . Hereinafter, descriptions of the same components as in the first and second embodiments will be omitted.

The remote control device 12 includes a conversion section 650 and a fifth determination section 651 connected to the conversion section 630 .

The fifth determination unit 651 uses a mathematical model consisting of a set of coordinates that satisfy the equation representing the inner peripheral surface 71 of the cutting edge 7 in the three-dimensional space acquired based on the design information of the pneumatic caisson, and the conversion unit 650 The cutting edge boundary portion 70 is determined based on the positional relationship with the coordinate data 75 coordinate-transformed by .

Next, the operation of the cutting edge boundary determination system 6 to which the fifth embodiment of the present invention is applied will be described. As shown in FIG. 22, in step S51, the external sensor 206 acquires the point cloud data 73 as in step S11.

Next, in step S52, the transformation unit 650 coordinates-transforms the point group data 73 acquired by the external sensor 206 into coordinate data 75 in a three-dimensional space. In addition, the conversion unit 650 may use a digital representation of the topography of the ground surface, such as a DEM (Digital Elevation Model), as the coordinate data 75 . The conversion unit 650 outputs the coordinate data 75 after the coordinate conversion to the fifth determination unit 631 .

各平面を示す式１に座標データ７５を代入することで、式１の左辺の値が０よりも大きくなるか小さくなるかによって、座標データ７５と、数学モデルとの位置関係を判断することができる。 Next, in step S53, the fifth determination unit 652 consists of a set of coordinates that satisfy the equation representing the inner peripheral surface 71 of the cutting edge 7 in the three-dimensional space acquired based on the design information of the pneumatic caisson. The cutting edge boundary portion 70 is determined based on the positional relationship between the mathematical model and the coordinate data 75 coordinate-transformed by the transformation portion 650 . For example, as shown in FIG. 23, the mathematical model is the inner peripheral surface of the cutting edge 7 in a three-dimensional space where the height direction of the work chamber 2 is the z direction and the plane parallel to the ceiling of the work chamber 2 is the xy plane. It consists of a set of coordinates that satisfy the equations shown in 71. In such a case, the inner peripheral surface 71 of the cutting edge portion 7 may be a plane consisting of planes 71a, 71b, 71c and 71d indicating the inner peripheral surface 71 of the cutting edge portion. Also, a plane showing the ceiling of the working room 2 may be added. These planes are represented by Equation 1.

By substituting the coordinate data 75 into Equation 1 representing each plane, the positional relationship between the coordinate data 75 and the mathematical model can be determined depending on whether the value on the left side of Equation 1 is greater or smaller than 0. can.

In step S53, the fifth determination unit 652 removes the coordinate data 75 whose positional relationship determined by Equation 1 is outside or overlaps the mathematical model described above, for example. It is possible to extract the coordinate data 75 on the inner side, that is, the coordinate data 75 indicating the ground 8 including the unexcavated soil 80 in the working room 2 . In such a case, it can be determined that the coordinate data 75 positioned on the outer periphery of the coordinate data 75 indicating the ground 8 including the extracted undigged soil 80 in the work chamber 2 is the coordinate data 75 indicating the cutting edge boundary portion 70 .

Further, in step S53, the coordinate data 75 having the positional relation determined by the formula 1, for example, overlapping with the mathematical model may be extracted. In such a case, it can be determined that the coordinate data 75 located on the outer circumference of the extracted coordinate data 75 is the coordinate data 75 indicating the cutting edge boundary portion 70 .

Through steps S51 to S53 described above, it is possible to determine the cutting edge boundary portion 70 using easily obtainable model data, and to quantitatively determine the cutting edge boundary portion 70 at low cost.

<Sixth Embodiment>
A sixth embodiment of the present invention will be described below with reference to the drawings. FIG. 24 is a block diagram showing the overall configuration of a cutting edge boundary determination system 6 to which the sixth embodiment of the present invention is applied. The cutting edge boundary portion determination system 6 determines the cutting edge boundary portion 70 . The cutting edge boundary portion determination system 6 includes the above-described external sensor 206 and the remote control device 12 connected to the caisson excavator 100 including the external sensor 206 . Hereinafter, description of the same components as in the first embodiment will be omitted.

The remote control device 124 includes a color extraction section 660 and a sixth determination section 661 connected to the color extraction section 660 .

The color extraction unit 660 extracts pixels according to the brightness of the cutting edge 7 from the image captured by the external camera 206, and extracts point cloud data corresponding to the extracted pixels as color point cloud data. Color extraction section 660 outputs the extracted color point cloud data to sixth determination section 661 .

The sixth determination section 661 determines the cutting edge boundary portion 70 based on the color point cloud data extracted by the color extraction section 660 .

Next, the operation of the cutting edge boundary determination system 6 to which the sixth embodiment of the present invention is applied will be described. As shown in FIG. 17, in step S61, the external sensor 206 acquires the point cloud data 73 as in step S11. Further, in step S61, the external sensor 206 colors the inner peripheral surface 71 of the cutting edge 7 in a color different from that of the inside of the work chamber 2, and captures an image at the same time as acquiring the point cloud data 73 described above. good. At this time, for example, by using an RGB-D sensor, the position of the RGB-D sensor and the angle and direction of the RGB-D sensor when the point cloud data 73 was acquired, and the position and the direction of the same RGB-D sensor. The angle and orientation of the sensor can be used to capture images simultaneously. As a result, each point cloud data of the point cloud data 73 corresponds to each pixel in the image described above, and each point cloud data and each pixel indicate the same object. The external sensor 206 outputs the acquired point cloud data 73 and the captured image to the color extractor 660 .

Next, in step S62, as shown in FIG. 18, the color extraction unit 660 extracts pixels corresponding to the brightness of the cutting edge 7 from the captured image, and converts the point cloud data corresponding to the extracted pixels into color. Extract as point cloud data. For example, the same color as that colored on the inner peripheral surface 71 in the image is extracted, and point cloud data 73 corresponding to the same position as the extracted image is extracted as color point cloud data. As a result, the point cloud data of the inner peripheral surface 71 of the cutting edge portion 7 can be used as the color point cloud data. Color extraction section 660 outputs the extracted color point cloud data to sixth determination section 661 .

Next, in step S63, the cutting edge boundary portion 70 is determined based on the color point group data extracted by the color extractor 660. FIG. For example, since the color point cloud data indicates the point cloud data of the inner peripheral surface 71, the point cloud data of the outer circumference of the color point cloud data is used as the point cloud data of the cutting edge boundary portion 70, and from the position of the point cloud data described above. , the edge boundary 70 may be determined.

Through steps S61 to S63 described above, it is possible to quantitatively determine the cutting edge boundary portion 70 at low cost without using a pre-generated model.

While embodiments of the invention have been described, the embodiments have been presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and modifications can be made without departing from the scope of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are included in the scope of the invention described in the claims and equivalents thereof.

1 caisson 2 working room 3 air supply path 4 running rail 6 cutting edge boundary determination system 7 cutting edge 8 ground 11 automatic earth and sand loading device 12 remote control device 13 ground remote control room 21 man shaft 22 man lock 23 material shaft 24 Material lock 25 Spiral staircase 31 Earth bucket 32 Carrier device 33 Earth and sand hopper 41 Air pipe 42 Air compressor 43 Air cleaning device 44 Air pressure adjustment device 45 Automatic decompression device 51 Emergency air compressor 53 Hospital lock 70 Cutting edge boundary 71 Inner peripheral surface 72 Blade tip 73 Point cloud data 74 showing distance information from an external sensor to an object including the blade boundary part Blade boundary range point cloud data 75 Coordinate data 76 Horizontal function 77 Vertical function 78 Edge point cloud Data 80 Leftover soil 81 Leftover soil width 82 Leftover soil slope 90 Two-dimensional plane 91 Straight line 100 Caisson excavator 110 Traveling body 111 Traveling frame 113 Traveling roller 121 Revolving frame 130 Boom 131 Base end boom 132 Tip boom 133 Telescopic cylinder 134 Elevating cylinder 150 Bucket attachment 151 Base member 152 Bucket 153 Bucket cylinder 165 Control unit 165a Main controller 165b Traveling body controller 165c Boom/bucket controller 201 Traveling body position sensor 202 Turning angle sensor 203 Boom hoisting angle sensor 204 Boom extension amount sensor 205 Bucket swing angle sensor 206 External sensor 211 Traveling object position measuring unit 212 Bucket position measuring unit 213 Ground shape measuring unit 610 Deleting unit 611 Detecting unit 612 Extracting unit 613 First determining unit 614 Calculating unit 620 Converting unit 621 Point group extracting unit 622 Second determining unit 620 Transforming unit 621 Coordinate extracting unit 622 Second determining unit 630 Transforming unit 631 Coordinate extracting unit 632 Third determining unit 640 Transforming unit 641 Coordinate extracting unit 642 Fourth determining unit 650 Transforming unit 651 Fifth determining unit 660 Color Extraction unit 661 Sixth determination unit

A cutting edge boundary portion determination system according to a first aspect of the present invention determines a cutting edge boundary portion that is a boundary between a cutting edge portion provided at the lower end of a pneumatic caisson and undigged soil in a work chamber. In the determination system, an acquisition means for acquiring point cloud data indicating distance information from the position of the sensor in the work chamber to an object including the cutting edge boundary, and the point cloud data acquired by the acquisition means are collected into three transforming means for transforming coordinates into coordinate data in a dimensional space; and extracting means for extracting two or more plane coordinate data included on a two-dimensional plane in the three-dimensional space from the coordinate data transformed by the transforming means. and calculating the error of the distance between the approximate straight line calculated by the least squares method consisting of the planar coordinate data extracted by the extracting means and the planar coordinate data, and the unexcavated soil in which the error is equal to or greater than a reference value. and second determination means for determining the cutting edge boundary portion based on the plane coordinate data indicating .

A cutting edge boundary portion determination system according to a second aspect of the present invention determines a cutting edge boundary portion that is a boundary between a cutting edge portion provided at the lower end of a pneumatic caisson and undigged soil in a work chamber. In the determination system, an acquisition means for acquiring point cloud data indicating distance information from the position of the sensor in the work chamber to an object including the cutting edge boundary, and the point cloud data acquired by the acquisition means are collected into three a transforming means for transforming coordinates into coordinate data in a dimensional space; and a two-dimensional plane including two or more pieces of coordinate data indicating the cutting edge portion in the three-dimensional space from the coordinate data transformed by the transforming means. an extracting means for extracting the plane coordinate data of, and the plane coordinate data extracted by the extracting means and a straight line containing two or more of the plane coordinate data representing the cutting edge portion; and third determining means for determining the cutting edge boundary portion based on coordinate data indicating the unexcavated soil having a value equal to or greater than a reference value.

A cutting edge boundary portion determination system according to a third aspect of the present invention determines a cutting edge boundary portion that is a boundary between a cutting edge portion provided at the lower end of a pneumatic caisson and undigged soil in a work chamber. In the determination system, an acquisition means for acquiring point cloud data indicating distance information from the position of the sensor in the work chamber to an object including the cutting edge boundary, and the point cloud data acquired by the acquisition means are collected into three plane coordinates included on a two-dimensional plane perpendicular to the direction indicating the distance information in the three-dimensional space from the coordinate data transformed by the transforming means for coordinate transformation into coordinate data in a dimensional space; an extracting means for extracting data; and the cutting edge boundary based on the plane coordinate data indicating the cutting edge portion when all the plane coordinate data extracted by the extracting means are included in one straight line on the two-dimensional plane. and a fourth determination means for determining the part.

A cutting edge boundary portion determination system according to a fourth invention is a cutting edge boundary portion determination system according to any one of the first to third inventions, and calculating means for calculating a width of unexcavated soil in the work chamber based on the cutting edge boundary portion. is further provided.

A cutting edge boundary portion determination system according to a fifth invention is the cutting edge boundary portion determination system according to any one of the first to fourth inventions, wherein the acquisition means acquires the position of the sensor and the design information of the pneumatic caisson from the acquired point cloud data. Based on, the edge boundary range point cloud data including the point cloud data indicating the edge boundary portion is obtained.

A cutting edge boundary portion determination program according to a sixth aspect of the present invention determines a cutting edge boundary portion that is a boundary between a cutting edge portion provided at the lower end of a pneumatic caisson and unexcavated soil in a work chamber. In the determination program, an acquisition step of acquiring point cloud data indicating distance information from the position of the sensor in the work chamber to an object including the cutting edge boundary portion; a transforming step of transforming coordinates into coordinate data on a dimensional space; and an extracting step of extracting two or more plane coordinate data included on a two-dimensional plane on the three-dimensional space from the coordinate data transformed by the transforming step. and calculating the error of the distance between the approximate straight line calculated by the least-squares method consisting of the plane coordinate data extracted in the extraction step and the plane coordinate data, and the unexcavated soil in which the error is equal to or greater than a reference value. and a second judgment step of judging the cutting edge boundary portion based on the plane coordinate data indicating .

A cutting edge boundary portion determination program according to a seventh aspect of the present invention determines a cutting edge boundary portion that is a boundary between a cutting edge portion provided at the lower end of a pneumatic caisson and unexcavated soil in a work chamber. In the determination program, an acquisition step of acquiring point cloud data indicating distance information from the position of the sensor in the work chamber to an object including the cutting edge boundary portion; a transformation step of transforming coordinates into coordinate data in a dimensional space; and a two-dimensional plane including two or more pieces of coordinate data representing the cutting edge portion in the three-dimensional space from the coordinate data transformed in the transformation step. an extracting step of extracting the plane coordinate data of; calculating the error of the distance between the plane coordinate data extracted by the extracting step and a straight line including two or more of the plane coordinate data indicating the cutting edge; and a third judgment step for judging the cutting edge boundary portion based on the coordinate data indicating the unexcavated soil with a value equal to or greater than a reference value.

A cutting edge boundary portion determination program according to an eighth aspect of the present invention determines a cutting edge boundary portion that is a boundary between a cutting edge portion provided at the lower end of a pneumatic caisson and undigged soil in a work chamber. In the determination program, an acquisition step of acquiring point cloud data indicating distance information from the position of the sensor in the work chamber to an object including the cutting edge boundary portion; a transformation step of transforming coordinates into coordinate data in a dimensional space; and plane coordinates included on a two-dimensional plane perpendicular to the direction indicating the distance information in the three-dimensional space from the coordinate data transformed by the transformation step. an extraction step of extracting data; and the cutting edge boundary based on the plane coordinate data indicating the cutting edge portion when all of the plane coordinate data extracted by the extracting step are included in one straight line on the two-dimensional plane. and a fourth determination step of determining the part.

According to the first invention, the cutting edge boundary part determination system of the present invention calculates the error of the distance between the approximate straight line calculated by the least squares method consisting of the plane coordinate data extracted by the extracting means and the plane coordinate data. , the cutting edge boundary portion is determined based on the plane coordinate data indicating the uncut soil whose error is equal to or greater than the reference value. As a result, it is possible to determine the cutting edge boundary portion without using model data, and to quantitatively determine the cutting edge boundary portion at low cost.

According to the second invention, the cutting edge boundary portion determination system of the present invention calculates the error in the distance between the plane coordinate data extracted by the extracting means and a straight line including two or more plane coordinate data representing the cutting edge portion. Then, based on the coordinate data indicating the unexcavated soil whose error is equal to or greater than the reference value, the cutting edge boundary portion is determined. As a result, it is possible to determine the cutting edge boundary portion without using model data, and to quantitatively determine the cutting edge boundary portion at low cost.

According to the third aspect of the present invention, the cutting edge boundary portion determination system of the present invention provides plane coordinate data representing the cutting edge portion when all of the plane coordinate data extracted by the extracting means are included in one straight line on a two-dimensional plane. Based on, the cutting edge boundary is determined. As a result, it is possible to determine the cutting edge boundary portion without using model data, and to quantitatively determine the cutting edge boundary portion at low cost.

According to the fourth invention, the cutting edge boundary portion determination system of the present invention calculates the width of unexcavated soil in the work chamber based on the cutting edge boundary portion. This makes it possible to determine the cutting edge boundary without using model data, making it possible to determine the cutting edge boundary quantitatively at low cost and then calculate the width of the unexcavated soil. Become. Therefore, by calculating the width of the unexcavated soil quantitatively at low cost, it is possible to predict the subsidence resistance of the caisson quantitatively at low cost, thereby improving work efficiency.

According to the fifth invention, the cutting edge boundary portion determination system of the present invention generates point cloud data indicating the cutting edge boundary portion from the obtained point cloud data based on the position of the sensor and the design information of the pneumatic caisson. Acquire the point cloud data of the cutting edge boundary range including It is possible to remove unnecessary point cloud data for judging the cutting edge boundary, and it is possible to speed up the judgment of the cutting edge boundary and further reduce the cost.

Claims (14)

In the cutting edge boundary part determination system that determines the cutting edge boundary part, which is the boundary between the cutting edge part provided at the lower end of the pneumatic caisson and the unexcavated soil in the work room,
Acquisition means for acquiring point cloud data indicating distance information from the position of the sensor in the work chamber to an object including the cutting edge boundary;
a detection means for detecting a difference value of distance information of two or more adjacent point cloud data from the point cloud data acquired by the acquisition means;
an extraction means for extracting edge point cloud data consisting of a combination of two or more of the point cloud data adjacent to each other indicating that the difference value detected by the detection means is equal to or greater than a reference value;
A cutting edge boundary part determination system, comprising: a first determination means for determining the cutting edge boundary part based on the edge point cloud data extracted by the extraction means. In the cutting edge boundary part determination system that determines the cutting edge boundary part, which is the boundary between the cutting edge part provided at the lower end of the pneumatic caisson and the unexcavated soil in the work room,
Acquisition means for acquiring point cloud data indicating distance information from the position of the sensor in the work chamber to an object including the cutting edge boundary;
transforming means for transforming the point cloud data acquired by the acquiring means into coordinate data in a three-dimensional space;
extracting means for extracting two or more plane coordinate data included on a two-dimensional plane in the three-dimensional space from the coordinate data coordinate-transformed by the transforming means;
An error in the distance between the approximate straight line composed of the plane coordinate data extracted by the extracting means and the plane coordinate data is calculated, and based on the plane coordinate data in which the error is equal to or greater than a reference value, the cutting edge boundary portion is calculated. A cutting edge boundary portion determination system comprising: a second determination means for determining In the cutting edge boundary part determination system that determines the cutting edge boundary part, which is the boundary between the cutting edge part provided at the lower end of the pneumatic caisson and the unexcavated soil in the work room,
Acquisition means for acquiring point cloud data indicating distance information from the position of the sensor in the work chamber to an object including the cutting edge boundary;
transforming means for transforming the point cloud data acquired by the acquiring means into coordinate data in a three-dimensional space;
extracting means for extracting plane coordinate data on a two-dimensional plane containing two or more of the coordinate data representing the cutting edge portion in the three-dimensional space from the coordinate data coordinate-transformed by the transforming means;
calculating an error in the distance between the plane coordinate data extracted by the extracting means and a straight line containing two or more of the plane coordinate data representing the cutting edge, and a third determination means for determining the cutting edge boundary portion based on the cutting edge boundary portion determination system. In the cutting edge boundary part determination system that determines the cutting edge boundary part, which is the boundary between the cutting edge part provided at the lower end of the pneumatic caisson and the unexcavated soil in the work room,
Acquisition means for acquiring point cloud data indicating distance information from the position of the sensor in the work chamber to an object including the cutting edge boundary;
transforming means for transforming the point cloud data acquired by the acquiring means into coordinate data in a three-dimensional space;
extracting means for extracting plane coordinate data included on a two-dimensional plane perpendicular to the direction indicating the distance information in the three-dimensional space from the coordinate data coordinate-transformed by the transforming means;
and fourth determining means for determining the cutting edge boundary portion based on the plane coordinate data when all the plane coordinate data extracted by the extracting means are included in one straight line on the two-dimensional plane. Cutting Edge Boundary Judgment System. In the cutting edge boundary part determination system that determines the cutting edge boundary part, which is the boundary between the cutting edge part provided at the lower end of the pneumatic caisson and the unexcavated soil in the work room,
Acquisition means for acquiring point cloud data indicating distance information from the position of the sensor in the work chamber to an object including the cutting edge boundary;
transforming means for transforming the point cloud data acquired by the acquiring means into coordinate data in a three-dimensional space;
A mathematical model consisting of a set of coordinates satisfying an equation indicating the inner peripheral surface of the cutting edge in the three-dimensional space acquired based on the design information of the pneumatic caisson, and the coordinates transformed by the transformation means. A cutting edge boundary portion determination system, comprising: fifth determination means for determining the cutting edge boundary portion based on a positional relationship with data. In the cutting edge boundary part determination system that determines the cutting edge boundary part, which is the boundary between the cutting edge part provided at the lower end of the pneumatic caisson and the unexcavated soil in the work room,
Acquiring point cloud data indicating distance information from the position of the sensor in the work chamber to an object including the cutting edge boundary, and obtaining an image of the object composed of pixels corresponding to each of the point cloud data. an acquisition means for imaging;
a color extracting means for extracting pixels according to the brightness of the cutting edge portion from the image captured by the acquiring means, and further extracting the point cloud data corresponding to the extracted pixels;
A cutting edge boundary part determination system, comprising: fourth determining means for determining the cutting edge boundary part based on the point cloud data extracted by the color extracting means. The cutting edge boundary portion determination according to any one of claims 1 to 6, further comprising calculating means for calculating a width of unexcavated soil in the work chamber based on the cutting edge boundary portion. system. The acquiring means acquires cutting edge boundary range point cloud data including point cloud data indicating the cutting edge boundary portion based on the position of the sensor and the design information of the pneumatic caisson from the acquired point cloud data. The cutting edge boundary portion determination system according to any one of claims 1 to 7, characterized in that: In the cutting edge boundary portion determination program for determining the cutting edge boundary portion, which is the boundary between the cutting edge portion provided at the lower end of the pneumatic caisson and the unexcavated soil in the work chamber,
an acquisition step of acquiring point cloud data indicating distance information from the position of the sensor in the work chamber to an object including the cutting edge boundary;
a detection step of detecting a difference value of distance information between two or more adjacent point cloud data from the point cloud data acquired by the acquisition step;
an extraction step of extracting edge point cloud data consisting of a combination of two or more of the point cloud data adjacent to each other indicating that the difference value detected by the detection step is equal to or greater than a reference value;
A cutting edge boundary determination program for causing a computer to execute a first determination step of determining the cutting edge boundary based on the edge point cloud data extracted in the extraction step. In the cutting edge boundary portion determination program for determining the cutting edge boundary portion, which is the boundary between the cutting edge portion provided at the lower end of the pneumatic caisson and the unexcavated soil in the work chamber,
an acquisition step of acquiring point cloud data indicating distance information from the position of the sensor in the work chamber to an object including the cutting edge boundary;
a conversion step of coordinate-converting the point cloud data acquired by the acquisition step into coordinate data in a three-dimensional space;
an extracting step of extracting two or more plane coordinate data included on a two-dimensional plane in the three-dimensional space from the coordinate data coordinate-transformed by the transforming step;
An error in the distance between the approximate straight line composed of the plane coordinate data extracted in the extraction step and the plane coordinate data is calculated, and based on the plane coordinate data in which the error is equal to or greater than a reference value, the cutting edge boundary portion A cutting edge boundary judgment program characterized by causing a computer to execute a second judgment step of judging In the cutting edge boundary portion determination program for determining the cutting edge boundary portion, which is the boundary between the cutting edge portion provided at the lower end of the pneumatic caisson and the unexcavated soil in the work chamber,
an acquisition step of acquiring point cloud data indicating distance information from the position of the sensor in the work chamber to an object including the cutting edge boundary;
a conversion step of coordinate-converting the point cloud data acquired by the acquisition step into coordinate data in a three-dimensional space;
an extracting step of extracting plane coordinate data on a two-dimensional plane containing two or more of the coordinate data representing the cutting edge portion on the three-dimensional space from the coordinate data coordinate-transformed by the transforming step;
calculating an error in the distance between the plane coordinate data extracted by the extracting step and a straight line containing two or more of the plane coordinate data representing the cutting edge, and a third determination step of determining the cutting edge boundary portion based on the program. In the cutting edge boundary portion determination program for determining the cutting edge boundary portion, which is the boundary between the cutting edge portion provided at the lower end of the pneumatic caisson and the unexcavated soil in the work chamber,
an acquisition step of acquiring point cloud data indicating distance information from the position of the sensor in the work chamber to an object including the cutting edge boundary;
a conversion step of coordinate-converting the point cloud data acquired by the acquisition step into coordinate data in a three-dimensional space;
an extracting step of extracting plane coordinate data included on a two-dimensional plane perpendicular to the direction indicating the distance information in the three-dimensional space from the coordinate data coordinate-transformed by the transforming step;
causing a computer to execute a fourth determination step of determining the cutting edge boundary portion based on the plane coordinate data when all the plane coordinate data extracted by the extracting step are included in one straight line on the two-dimensional plane; A cutting edge boundary judgment program characterized by: In the cutting edge boundary portion determination program for determining the cutting edge boundary portion, which is the boundary between the cutting edge portion provided at the lower end of the pneumatic caisson and the unexcavated soil in the work chamber,
an acquisition step of acquiring point cloud data indicating distance information from the position of the sensor in the work chamber to an object including the cutting edge boundary;
a conversion step of coordinate-converting the point cloud data acquired by the acquisition step into coordinate data in a three-dimensional space;
A mathematical model consisting of a set of coordinates satisfying an equation indicating the inner peripheral surface of the cutting edge in the three-dimensional space obtained based on the design information of the pneumatic caisson, and the coordinates transformed by the transformation step. and a fifth determination step for determining the cutting edge boundary portion based on the positional relationship with the data. In the cutting edge boundary portion determination program for determining the cutting edge boundary portion, which is the boundary between the cutting edge portion provided at the lower end of the pneumatic caisson and the unexcavated soil in the work chamber,
Acquiring point cloud data indicating distance information from the position of the sensor in the work chamber to an object including the cutting edge boundary, and obtaining an image of the object composed of pixels corresponding to each of the point cloud data. an acquisition step of imaging;
a color extraction step of extracting pixels according to the brightness of the cutting edge portion from the image captured in the acquisition step, and further extracting the point cloud data corresponding to the extracted pixels;
and a fourth judgment step for judging the blade edge boundary portion based on the point cloud data extracted by the color extraction step.

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