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41. 发明专利

JPH06247686A DEFLECTION DETECTING METHOD FOR CRANE HOISTING HOOK AND DEVICE 失效
公开(公告)号：JPH06247686A
公开(公告)日：1994-09-06
申请号：JP3180993
申请日：1993-02-22
申请人： KAJIMA CORP
发明人： SATO TATSURO , KUBO KIRYO , ENOMOTO MAKOTO , MATSUDA HIROAKI , MINAMI SATOSHI
IPC分类号： B66C13/08 , B66C1/34 , B66C15/00
摘要： PURPOSE:To quantitatively detect the deflection angle of a crane hoisting hook with inexpensive devices having a simple structure by detecting the tilt liquid level of a conducting liquid in a tank, and detecting the deflection of the hoisting hook. CONSTITUTION:Detecting devices 3 are provided on both sides of the weight block section of a crane hoisting hook 1. Each detecting device 3 is provided with a tank 4 as its main body, the tank 4 is formed with a steel plate into the same cross sectional shape as that of a weight block 2, and a prescribed quantity of a conducting liquid 5 is filled in the tank 4. Multiple pairs of detecting electrodes 7a, 7b-13a, 13b are provided on the inner face of the tank 4 at the positions for detecting the liquid level 6 of a conducting liquid 5 tilted by the deflection of the hook 1. A lamp 18 is connected via a battery 17 to each pair of electrodes, e.g. electrodes 7a, 7b. The lamp 18 is lighted when the electrodes 7a, 7b are short-circuited by the conducting liquid 5, and the deflection of the hoisting hook 1 is displayed.

42. 发明专利

JPH06158982A AUTOMATIC MEASURING METHOD FOR SHIELD MACHINE 失效
公开(公告)号：JPH06158982A
公开(公告)日：1994-06-07
申请号：JP33105592
申请日：1992-11-17
申请人： KAJIMA CORP
发明人： SHIBATA MANABU , MIZUTANI AKIRA , SATO TATSURO
IPC分类号： E21D9/06
摘要： PURPOSE:To make it possible to automatically measure the position of a shield machine along a straight line and curved line of a tunnel, wherein accumulation of measuring errors is not generated and turning work is easily completed, while turning accuracy is not required. CONSTITUTION:Positions of a target 13 placed in a tunnel 1 are measured, following which a direction angle thetag of a shield machine 3 is measured by means of a gyrocompass 7 in the machine 3 which is excavating and distances R1, R2 from the target 13 are measured by means of a light-wave range finders 9, 11 and differences in level between the target 13 and the range finders 9, 11 are measured by means of a level sensor 15 and a rolling meter 12. By using these values, positions of the machine 3 are measured. When the range finders 9, 11 can no longer aim at the target 13, the target 13 and the level sensor are turned. At a given time, the position of the target 13 is remeasured by an ordinary measuring method to correct coordinates of the position of the target.

43. 发明专利

JPH06137828A DETECTING METHOD FOR POSITION OF OBSTACLE 失效
公开(公告)号：JPH06137828A
公开(公告)日：1994-05-20
申请号：JP29115092
申请日：1992-10-29
申请人： KAJIMA CORP
发明人： SATO TATSURO , NAKAJIMA HITOSHI
IPC分类号： B25J13/08 , G01B11/24 , G01C3/06 , G05D1/02 , G06T1/00 , H04N7/18 , G06F15/62
摘要： PURPOSE:To stably detect the position of an obstacle in three-dimensional space by photographing a light spot projected to the obstacle with two cameras arranged at a fixed interval, and processing the image of the light spot to determine its position, and continuously carrying out this process. CONSTITUTION:The first and the second camera A, B are arranged at a fixed interval, and their visual axes are made to intersect mutually at a spot being a reference distance ahead for measuring the width of a camera photograph domain on the crossing face of camera transverse axes. A laser beam is projected to a measured body 1 by a laser projector 2, and converged into a spot-shape. Next luminescence at the laser spot is caught by the cameras A, B, and inputted into an image processing device 3 and binary-processed. In this case, the visual axis of the camera and the central axis of an image plane are made to coincide mutually. Next the spot position on a binary image is measured, and the two-dimensional coordinates of the spot position on the measured body 1 are measured from the above spot position and the previously set up arrangement of the cameras A, B. Three dimensonal coordinates are computed by a personal computer 4 on a basis of two dimensional coordinates.

44. 发明专利

JPH03221617A METHOD FOR MANAGING EXECUTION IN PNEUMATIC CAISSON METHOD 失效
公开(公告)号：JPH03221617A
公开(公告)日：1991-09-30
申请号：JP1679990
申请日：1990-01-25
申请人： KAJIMA CORP , SHIRAISHI CORP
发明人： NAKAGAWA MIKIO , IMAGAWA TSUTOMU , KAWAMOTO KATSUMASA , SATO TATSURO , IKEDA YOSHIRO , SAKUMA TOSHIO
IPC分类号： E02D23/10 , E02F9/20
摘要： PURPOSE:To precisely carry out the remote control of a drilling unit in a pressurized air operation room by analyzing the measured data of an ultrasonic sensor mounted on the drilling unit by a computer in a management control room and jointly using along with a monitor TV. CONSTITUTION:TV cameras 16, 17 are installed in a drilling unit and a pressurized air operation room and a plurality of distance measuring sensors such as ultrasonic sensors 18A-18D, 19, etc., are mounted on the drilling unit. Distance measurement is performed as the drilling unit is traveled, the measured data thereby are analyzed by a computer 27 in a management control room on a land to graphically indicate high and low difference of the faces of drilling in the pressurized air operation room. Monitor TV's 30, 31 installed in the management control room are used together with it to grasp the drilling conditions so that the drilling unit is remote controlled safely and precisely.

45. 发明专利

JPH08278132A POSITION SENSING METHOD OF MOVING TRUCK IN TUNNEL 失效
公开(公告)号：JPH08278132A
公开(公告)日：1996-10-22
申请号：JP8415395
申请日：1995-04-10
申请人： KAJIMA CORP , KANEIDE TAKEO , CHIYAARUZU II SOOPU , ERITSUKU HOFUMAN
发明人： MIZUTANI AKIRA , HIGUCHI YASUO , MATSUNAGA YOSHINORI , SATO TATSURO , KANEIDE TAKEO , CHIYAARUZU II SOOPU , ERITSUKU HOFUMAN
IPC分类号： E21F13/00 , G01C15/00 , G01C21/00 , G05D1/02
摘要： PURPOSE: To automate the transfer by determining the track of the center of truck and the moving amount thereof based on the center line and radius of rotation determined from the rotational amount and the cutting angle of front and rear wheels thereby calculating the distance in the traveling direction, lateral displacement and orientation of truck automatically. CONSTITUTION: A radio modem having a camera 27 and an antenna 28a is disposed in front of a truck 20 and each tire shaft is mounted with a rotational amount sensor 29 for wheel comprising an incremental encoder and a steering angle sensor 30 comprising an absolute encoder. Furthermore, clinometers 31 are disposed at the front, rear and central parts of car body 21 while a gyro compass 32, a bar code reader 33, a sonar 34 and a bump sensor 35 are disposed at the front part. Center line and radius of rotation are then determined from the rotational amount and cutting angle of front and rear wheels obtained through the sensors 29, 30. Subsequently, the track of the center of truck and the moving amount thereof are determined along with the absolute position and orientation of truck, thus determining the distance in the traveling direction, lateral displacement and orientation of truck on the coordinates of tunnel axis.

46. 发明专利

JPH07139167A AUTOMATIC TRAVELLING TYPE CONCRETE BUCKET FLOOR-REACHING POSITION ADJUSTING DEVICE 失效
公开(公告)号：JPH07139167A
公开(公告)日：1995-05-30
申请号：JP29078993
申请日：1993-11-19
申请人： KAJIMA CORP
发明人： KISHI MITSUTERU , SATO TATSURO , NAKAMURA YOICHIRO , MANABE MASAHIRO , NAKAYA YOSHIAKI
IPC分类号： E02B7/00 , E04G21/02
摘要： PURPOSE:To load concrete easily, and to shorten the term of work by constituting the floor of a truck laterally movably while installing a jack with a return mechanism and changing the position of a bucket according to load. CONSTITUTION:The joint surfaces 11a, 12a of the lower base 11 and upper base 12 of a truck 10 travelling on rails R4 along the rails R3 of a transfer car 8 supplying concrete are formed in inclined planes, and the upper base 12 can be moved in the rectangular direction to the rails R4. A hydraulic jack with a return mechanism is interposed, the upper base 12 is positioned at a place separated from the transfer car 8 at the time of non-load, the energizing force of the jack is cancelled at the time of load, and the upper base 12 is moved automatically to the transfer car side. A fulled concrete bucket 6 is carried to a placing site by a cable crane, and an empty bucket 6 is placed on the base 12. Accordingly, the position of the bucket 6 is adjusted automatically at a normal position, thus improving the efficiency of placing.

47. 发明专利

JPH07127397A METHOD OF AUTOMATICALLY MEASURING POSITION OF SUBSEQUENT TRUCK 失效
公开(公告)号：JPH07127397A
公开(公告)日：1995-05-16
申请号：JP29903393
申请日：1993-11-04
申请人： KAJIMA CORP
发明人： TANAKA HIDEAKI , SHIBATA MANABU , OKAMOTO KIYOHISA , SATO TATSURO , MIZUTANI AKIRA
IPC分类号： E21F13/02 , E21D9/06 , G01C15/00
摘要： PURPOSE:To prevent the generation of errors in an area near an inflection point to a slope section by measuring an azimuth angle of a contact point between rails and wheels, a pitching angle and transfer distance at a specified time interval and computing accumulated arithmetic operations based on the measured values and computing coordinates of the contact points. CONSTITUTION:The position of a subsequent truck under excavation during shielding work at one arbitrary point is measured automatically and continuously. In this case, the coordinates of a contact point between wheels 5 of the subsequent truck and a rail 1 is determined one by one and computed accumulatively, thereby determing the coordinates at the contact point 3 at a specified time. It is, therefore, possible to prevent the generation of errors even in an area near an inflection point to a slope section from a curved area or a horizontal section. The coordinates at an arbitrary single point of the subsequent truck is determined while posture data of the subsequent truck is being considered. At the same time, this measuring method is used with a device which automatically measures an arbitrary one point of a shield machine from an arbitrary one point of the subsequent truck and automatic and continuous measurement must be made even under excavation.

48. 发明专利

JPH06288768A METHOD AND DEVICE FOR SURVEYING 失效
公开(公告)号：JPH06288768A
公开(公告)日：1994-10-18
申请号：JP9879893
申请日：1993-03-31
申请人： KAJIMA CORP
发明人： SHIRAI SHUNSUKE , SATO TATSURO
IPC分类号： G01C15/00
摘要： PURPOSE:To easily execute the survey with infrequent switching of a surveying device even at a place with an obstructed view. CONSTITUTION:The mounting positions of mirrors 5a, 5b are adjusted so that the image 3a on the mirror 5a of the point 3 to be surveyed may be viewed by a surveying device 4. The position of the mirror 5a is determined by measuring marks 9a-1, 9a-2, 9a-3, 9a-4 on the mirror 5a by the surveying device 4. Then, the distances to the marks 9a-1, 9a-2, 9a-3, 9a-4 on the mirror 5b and the angles of the mark images (9b-1)', (9b-2)', (9b-3)', (9b-4)' on the mirror 5a are measured by the surveying device 4. When these angles and distances are measured, the position of the mirror 5b is determined because the position of the mirror 5a is determined. Then, the distance to the point 3 to be surveyed and the angle of the image 3a' on the mirror 5a are measured by the surveying device 4. When the distance and the angle are measured, the position of the point 3 to be surveyed is determined because the positions of the mirrors 5a, 5b are determined.

49. 发明专利

JPH06158984A DEVICE FOR AUTOMATICALLY MEASURING RELATIVE POSITION 失效
公开(公告)号：JPH06158984A
公开(公告)日：1994-06-07
申请号：JP33105792
申请日：1992-11-17
申请人： KAJIMA CORP
发明人： SHIBATA MANABU , SATO TATSURO , MIZUTANI AKIRA
IPC分类号： E21D9/06 , G01C15/00
摘要： PURPOSE:To make it possible to measure relative positions of a moving object without the need for a leveling-up operation even if a reference point has moved. CONSTITUTION:In front of a base body 5 a rotating element 13 rotatable about a vertical axis and a rotating element 15 rotatable about a horizontal axis are provided. Grooves 17, 19 are provided on the rotating elements 13, 15 respectively and a sleeve 21 is provided at the intersection of the grooves so as to be slidably movable along the grooves. A hole 23 is provided in the sleeve and a wire 25 of a wire displacement gauge 11 is connected to a moving point 3 through the hole. An angle sensor 27 measures an apparent horizontal angle thetah and an angle sensor 29 measures an apparent angle of elevation thetav. A combined value of the angles thetah and thetag is corrected by means of a rolling angle thetar to compute a true horizontal angle thetaH. A combined value of the angle thetav and a pitching angle thetap is corrected by means of the angle thetar to compute a true angle of elevation thetaV. A distance L is measured by the gauge 11. By using the distance L, the horizontal angle thetaH, and the angle thetaV, a relative position of the moving point 3 with respect to a reference point 1 can be obtained.

50. 发明专利

JPH06137074A DIRECTION-CONTROLLING METHOD OF SHIELDING MACHINE CORRESPONDING TO CURVED LINE 失效
公开(公告)号：JPH06137074A
公开(公告)日：1994-05-17
申请号：JP28445992
申请日：1992-10-22
申请人： KAJIMA CORP
发明人： MIZUTANI AKIRA , SATO TATSURO , SHIBATA MANABU
IPC分类号： E21D9/06 , E21D9/093
摘要： PURPOSE:To force a shielding machine to accurately coincide with a project line at the center thereof, by determining an aimed angle through a control point from an angle obtained by comparison of the position and posture of the shielding machine with the project line and further, by obtaining a jack pattern and a copy cutter stroke from the aimed angle. CONSTITUTION:The position and posture of a shielding machine M is detected and compared with a project line PL and then an angle theta with which an intersection point of the front end T of the shielding machine M and the line PL on the front end face of the machine M under an ideal condition, coincides with each other. Next, a copy cutter stroke CS is required so as to be able to overcut so that the point Q passing through the innermost side among the machine M can be measured from the angle theta and the position and posture of the machine M. Next, a control point is obtained as the deviation (f) from the point T and the aimthetaC is obtained as an angle to coincide with the aimed position P1 of the subsequent ring after excavation by one ring length LS of the segment. Moreover, the jack pattern is obtained to bend by the angle thetaC and to force the direction H to coincide with H1 in order to superpose the center S of machine M on the line PL.

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