JP2003096811A - System for preventing damage to buried structure - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a system for preventing damage to a buried structure, which can prevent the damage to the underground buried structure without requiring the installation of a sign body in the underground buried structure, and can be more inexpensively constructed than a conventional system requiring the sign body. SOLUTION: A position of a specified area 6a of a working vehicle in a vehicle body coordinate system (x, y and z) is measured; coordinate data on the specified area 6a in the system (x, y and z) are converted into coordinate data in a ground coordinate system (X, Y and Z); a separation distance between the underground buried structure and the specified area 6a is determined according to the coordinate data on the specified data 6a in the system (X, Y and Z) and positional data on the underground buried structure in the system (X, Y and Z); and a specified operation for avoiding the damage to the buried structure by contact with the specified area 6a is carried out when the separation distance gets as long as/shorter than a set distance.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a buried object damage prevention system for preventing a buried object buried in the ground from being damaged by excavation work by an excavation work vehicle, for example.

[0002]

2. Description of the Related Art Hitherto, while excavating the ground by an excavation work vehicle, there has been a case where a buried object such as a gas pipe, a water pipe, an electric power cable or a communication cable is accidentally damaged. In order to solve this problem, "a method for preventing damage to an underground buried object in excavation" described in Japanese Patent No. 2927383 has been proposed. The above method, after fixing the transponder, which is the identification body when the buried object is buried in the ground, to the buried object in advance, issue a call signal from the transceiver device mounted on the excavation work vehicle, and send a response signal from the transponder. It is a method of detecting the presence of an embedded object in the ground by receiving the signal. Here, the signal input / output unit of the transmission / reception device and the transponder is composed of an LC resonance circuit, and a coil unit corresponding to the antenna is used. Signals are exchanged between the transceiving device and the transponder by a transverse magnetic field or a magnetic field generated by the coil unit. Then, the transceiver device mounted on the excavation work vehicle prevents damage to the buried object to which the transponder is fixed by pausing the excavation as soon as it receives a response signal from the transponder while digging into the ground. You can

[0003]

However, in the method described in Japanese Patent No. 2927383, it is necessary to install a transponder as a marker in the buried object. Therefore, if a buried object damage prevention system is constructed using this method, when the number of buried objects increases, the cost required for installing the transponder increases and the cost of the entire system increases.

The present invention has been made in view of the above problems, and an object thereof is to prevent damage to a buried object in the ground without the need to install a marker on the buried object in the ground. It is possible to provide a buried object damage prevention system that can be constructed at a lower cost than a system that requires a conventional marker.

[0005]

The first characteristic configuration of the buried object damage prevention system according to the present invention for achieving the above object is, as described in claim 1, the buried object buried in the ground. An embedded object data storage means for storing position data in a ground coordinate system set on the ground, an on-vehicle position measuring means for measuring a position of a specific portion of the work vehicle in the vehicle body coordinate system set on the body of the work vehicle, and Coordinate conversion means for converting the coordinate data of the vehicle body coordinate system into the coordinate data of the ground coordinate system, the storage information of the buried object data storage means, and the vehicle body of the specific portion measured by the on-vehicle position measurement means. A distance calculation for obtaining a separation distance between the buried object and the specific portion based on the coordinate data in the ground coordinate system of the specific portion obtained by converting the coordinate data in the coordinate system by the coordinate conversion means. Means and operation executing means for executing a specific operation for avoiding damage to the buried object due to contact with the specific portion when the separation distance obtained by the distance calculation means is equal to or less than a set distance. It is in the point provided.

According to the second characteristic configuration, as described in claim 2, in addition to the first characteristic configuration, radio signals transmitted from a plurality of satellites are installed at a plurality of locations on the body of the work vehicle. Based on the measurement information of the GPS measuring means for measuring the three-dimensional position in the ground coordinate system at a plurality of points on the vehicle body by the received antenna and the position information in the vehicle body coordinate system at a plurality of points on the vehicle body. In addition, there is provided a parameter calculation means for obtaining a conversion parameter for converting the coordinate data of the vehicle body coordinate system into the coordinate data of the ground coordinate system.

In the third characteristic configuration, as described in claim 3, in addition to the first or second characteristic configuration, the operation executing means operates the work vehicle as the specific operation. It is composed of an alarm reporting means for issuing a warning to a person or a manager who manages the buried object.

In the fourth characteristic structure, as described in claim 4, in addition to the third characteristic structure, the buried object data storage means stores attribute data of the buried object, and the alarm notification is given. The means is configured to change the form of the alarm or change the administrator who makes the notification according to the attribute data of the buried object.

In addition to the third or fourth characteristic configuration, as the fifth characteristic configuration, in addition to the third or fourth characteristic configuration, the alarm notification means is provided with a second configuration in which the separation distance is larger than the set distance. When the distance becomes equal to or less than the set distance, the operator who operates the work vehicle is configured to issue a second alarm having a different form from the alarm.

According to the sixth characteristic configuration, as described in claim 6, in addition to the characteristic configuration according to any one of the first to fifth aspects, the operation executing means is configured to set the separation distance as the specific operation. It is configured by a movement prohibiting means for prohibiting the movement of the specific portion in the shortening direction.

The operation and effect of the present invention will be described below. According to the first characteristic configuration of the present invention, the position of the specific portion of the working vehicle in the vehicle body coordinate system set on the vehicle body of the working vehicle is measured by the on-vehicle position measuring means, and the measured body portion of the specific portion is measured. The coordinate data in the coordinate system is converted into coordinate data in the ground coordinate system set on the ground by the coordinate conversion means, and the coordinate data in the ground coordinate system of the specific portion of the work vehicle and the ground stored in the buried object data storage means are stored. Based on the position data of the buried object buried in the ground coordinate system, the distance between the buried object and the specific part of the work vehicle is calculated by the distance calculation means, and the distance is equal to or less than the set distance. In this case, the operation executing means executes a specific operation for avoiding damage to the buried object due to contact with a specific portion of the work vehicle.

Therefore, the separation distance between the two is calculated based on the previously stored position data of the buried object and the position measurement data of the specific portion of the work vehicle, and the separation distance between the two is the allowable limit distance. In the following cases, a specific operation is performed to avoid damage to the buried object due to contact with a specific part of the work vehicle, so it is not necessary to install a marker on the buried object in the ground and Provided is a buried object damage prevention system which can prevent damage to an object and can be constructed at a lower cost than a system requiring a conventional marker.

According to the second characteristic configuration, radio signals transmitted from a plurality of satellites are received by antennas installed at a plurality of locations on the body of the work vehicle, and the ground coordinates at a plurality of locations on the body are received. The three-dimensional position in the system is measured by GPS measuring means, and G in the ground coordinate system at a plurality of points on the vehicle body is measured.
A conversion parameter for converting the coordinate data of the vehicle body coordinate system into the coordinate data of the ground coordinate system is obtained based on the PS measurement information and the position information in the vehicle body coordinate system. Therefore, for a plurality of locations on the vehicle body of the work vehicle, the position measurement information in the ground coordinate system by the GPS measuring means capable of measuring the absolute position on the earth with high accuracy is compared with the position information in the vehicle body coordinate system. Since the conversion parameter can be obtained with high accuracy by using the conversion parameter, the accuracy of the position data of the specific portion of the work vehicle converted into the coordinate data in the ground coordinate system by the coordinate conversion means is increased to increase the separation distance. Can be obtained with high accuracy, and thus, the operation of the operation executing means can be appropriately performed.

According to the third characteristic configuration, an alarm is given to a worker who operates the work vehicle as a specific operation for avoiding damage to the buried object due to contact with a specific portion of the work vehicle, or The manager who manages the buried object is notified. Therefore, by alerting the worker who operates the work vehicle, it is possible to prevent the worker from performing an operation such that the specific portion of the work vehicle is brought closer to the buried object than the allowable limit distance, and the work vehicle is suppressed. The damage to the buried object due to contact with a specific part of the item is prevented, and by notifying the manager who manages the buried object, the manager who receives the notification takes appropriate measures to prevent damage to the buried part. It becomes possible.

According to the fourth characteristic configuration, according to the attribute data of the buried object stored in the buried object data storage means,
An alarm is issued to the operator who operates the work vehicle by changing the form of the alarm, or the administrator who makes the notification is changed and the notification is made according to the attribute data of the buried object. Therefore, since the form of the alarm for the worker is changed according to, for example, the type of the embedded object stored as the attribute data of the embedded object, the form of the alarm is determined according to the degree of adverse effects on the surroundings in the case of damage. By changing the, it is possible to let the operator determine whether or not it is urgent and perform an appropriate operation, or the buried substance manager is changed according to the type of the above buried object and is notified. So
It is possible to make an appropriate notification by appropriately notifying a predetermined manager who manages the buried object.

According to the fifth characteristic configuration, the work vehicle is operated when the distance between the buried object and the specific portion of the work vehicle becomes equal to or less than the second set distance which is larger than the set distance. A second alarm of a form different from the alarm given when the separation distance becomes equal to or less than the set distance is given to the worker who operates. Therefore, when the separation distance becomes equal to or smaller than the second set distance that is larger than the set distance that is the allowable limit distance, the second alarm that calls attention that a specific portion of the work vehicle is approaching the buried object is issued. It becomes possible for the operator to perform a careful operation.

According to the sixth characteristic configuration, as a specific operation for avoiding damage to an embedded object due to contact with a specific part of the work vehicle, a separation distance between the embedded object and the specific part of the work vehicle is set. Movement of specific parts of the work vehicle in the direction of shortening is prohibited. Therefore, when the separation distance is equal to or less than the set distance, the movement of the specific portion of the work vehicle approaching the embedded object is forcibly prohibited, so that the operator may bring the specific portion of the work vehicle close to the embedded object. Even if such an operation is performed, the specific portion of the work vehicle does not approach the buried object, and it is possible to reliably prevent damage to the buried object due to contact with the specific portion of the work vehicle.

[0018]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of a buried object damage prevention system according to the present invention, in which an excavator K which is a work vehicle is a buried pipe for supplying gas which is a buried object buried in the ground. The case of performing the excavation work toward No. 1 will be described based on the drawings.

As shown in FIGS. 1 and 2, the excavator K is
A crawler-type lower traveling body 2 is provided with a swingable vehicle body 3, and a boom 4 having a base end portion swingably supported in a front portion of the vehicle body 3 and a base end portion vertically attached to a tip end portion of the boom 4 are provided. The arm 5 is swingably supported, and the tip end of the arm 5 is provided with a bucket 6 whose base end is vertically swingably supported.
A boom driving cylinder SY1 is mounted between the vehicle body 3 and the boom 4, an arm driving cylinder SY2 is mounted between the boom 4 and the arm 5, and the arm 5 and the bucket 6 are mounted.
A bucket driving cylinder SY3 is mounted between the two, and a turning motor SY4 for turning the vehicle body 3 is provided.

As shown in FIG. 3, the excavator K is provided with a controller C having a controller 10 and a calculator 11.
A drive signal is output from the control unit 10 to each of the drive cylinders SY1 to SY3 and the turning motor SY4, and the control unit 10 detects an operation state of an operation lever provided in the operating unit of the excavator K. The signal from 9 is input. Although not shown in the drawing, the control unit 10 also outputs a drive signal for a clutch or the like that transmits and receives power from the engine to and from the undercarriage 2. Then, the operator operates the predetermined lever to perform the swing operation of the boom 4, the arm 5, and the bucket 6, the turning operation of the vehicle body 3, and the traveling operation of the lower traveling body 2. There is.

A boom angle sensor S1 for detecting the swing angle of the boom 4 with respect to the vehicle body 3, and an arm 5 for the boom 4.
Angle sensor S2 and arm 5 for detecting the swing angle of
A bucket angle sensor S3 that detects the swing angle of the bucket 6 with respect to the vehicle body rotation sensor S4 that detects the turning angle of the vehicle body 3 is provided. The detection signals of the angle sensors S1 to S3 and the vehicle body rotation sensor S4 are input to the calculator 11. Then, in the calculation unit 11,
The body coordinate system (x, y, set on the body 3 of the excavator K)
On-vehicle position measuring means 11B for measuring the position of the bucket tip portion 6a as a specific portion of the excavator K in z) is configured.

The vehicle body coordinate system (x, y, z) is, as shown in FIG. 2, specifically, with the upper center position of the vehicle body as the origin, the x axis in the vehicle longitudinal direction, the y axis in the vehicle lateral direction, It is set as an orthogonal coordinate system (x, y, z) with the z axis taken in the vehicle body vertical direction, and the origin of this vehicle body coordinate system (x, y, z) is the swing base end portion 4a of the boom 4. The second translational coordinate system (x2, y2, z2) is set by translating the translational components (h1, h2, h3) so that the position becomes.
Then, first, the second vehicle body coordinate system (x2, y2, z
In 2), the position of the bucket tip portion 6a is measured from the detected values of the angle sensors S1, S2, S3 and the swing lengths (known values) of the boom 4, the arm 5, and the bucket 6, and then, , The coordinate data of the second vehicle body coordinate system (x2, y2, z2) is translated to move the vehicle body coordinate system (x, y, z2).
The position of the bucket tip portion 6a in z) is calculated by the following equation.

[0023]

[Equation 1]

GPS is provided at a plurality of locations (three locations) on the vehicle body 3.
A receiving antenna 7 for (global positioning system) is installed, and a base station signal antenna 8 for receiving a signal from a GPS base station is installed on the vehicle body 3. Each of the GPS receiving antenna 7 and the base station signal antenna 8 is installed. The received signal is input to the calculation unit 11. Then, the radio wave signals transmitted from a plurality of satellites are stored in the calculation unit 11 in the G
GPS measuring means 11C is provided which receives the PS receiving antenna 7 and measures the three-dimensional position in the ground coordinate system (X, Y, Z) at a plurality of points on the vehicle body 3.

Specifically, with the vehicle body 3 stopped (the traveling of the lower traveling body 2 and the turning of the vehicle body 3 are stopped),
Radio signals from a plurality of satellites are received by the three GPS receiving antennas 7, respectively, and signals from the GPS reference station are received by the reference station signal antenna 8. From these signal data, the GPS measuring means 11C outputs the RTK (Real).
The position of three GPS receiving antennas 7 (a plurality of points on the vehicle body 3) is calculated in real time by GPS. Here, G of RTK method
Since PS is a method of removing an error by a signal from a GPS reference station, a high measurement accuracy of several cm can be obtained. However, since the measurement data by GPS is represented by WGS-84 which is the coordinate system used by GPS,
The coordinate data of this WGS-84 is converted into coordinate data of an orthogonal coordinate system (X, Y, Z) with the origin of the Japanese geodetic system as a ground coordinate system set on the ground as a reference.

Further, the GPS is stored in the calculation unit 11.
Based on the measurement information of the measuring means 11C and the position information of the vehicle body coordinate system (x, y, z) at a plurality of points on the vehicle body 3, the coordinate data of the vehicle body coordinate system (x, y, z) is obtained on the ground. Parameter calculation means 11D for obtaining conversion parameters for converting into coordinate data of the coordinate system (X, Y, Z), and coordinate data of the vehicle body coordinate system (x, y, z) are converted into the ground coordinate system (X, Y). , Z) coordinate conversion means 11F for converting the coordinate data. Specifically, the coordinate conversion means 11F converts the position coordinate data in the vehicle body coordinate system (x, y, z) of the bucket tip portion 6a measured by the on-vehicle position measurement means 11B into the parameter calculation means 11D. By using the conversion parameters obtained by the above, conversion is performed into position coordinate data in the ground coordinate system (X, Y, Z).

Then, the parameter calculating means 11D
Is position coordinate data in the ground coordinate system (X, Y, Z) of each GPS receiving antenna 7 (a plurality of locations on the vehicle body 3),
From the position coordinate data in the vehicle body coordinate system (x, y, z) of each GPS receiving antenna 7 (a plurality of locations on the vehicle body 3) which is known information, the coordinate data of the vehicle body coordinate system (x, y, z) is transferred to the ground. A conversion parameter for converting into coordinate data of the coordinate system (X, Y, Z) is obtained, and this conversion parameter is stored in the calculation unit 11.

The parameter calculating means 11D and the coordinate converting means 11F will be specifically described below. The conversion parameters from the vehicle body coordinate system (x, y, z) to the ground coordinate system (X, Y, Z) are as follows, with the origin of the vehicle body coordinate system (x, y, z) as the ground coordinate system. It consists of two parameters (α, β, γ) of the parallel movement component for matching the origins of (X, Y, Z) and a rotation matrix parameter R for matching the coordinate axes of both coordinate systems. For the sake of simplicity, the scales of both coordinate systems are the same.

[0029]

[Equation 2]

Regarding the installation positions of the three GPS receiving antennas 7 (hereinafter referred to as point 1, point 2 and point 3), the G
The position coordinate data of the ground coordinate system (X, Y, Z) measured by the PS measuring means 11C is used as the point 1 (X1, Y
1, Z1), point 2 (X2, Y2, Z2), point 3 (X3,
Y3, Z3), and the vehicle body coordinate system (x, y,
The position coordinate data at z) is converted to point 1 (x1, y1, z
1), point 2 (z2, y2, z2), point 3 (x3, y3,
z3). The position coordinate data of the points 1, 2, and 3 in the vehicle body coordinate system (x, y, z) is a constant value (known information). Then, the above three GPS receiving antennas 7
Are not aligned. Further, in order to minimize the error when obtaining the rotation matrix parameter R described later,
Each GPS receiving antenna 7 has a vehicle body coordinate system (x, y, z)
It is desirable to be located equidistant from the origin on each coordinate axis (x-axis, y-axis, z-axis).

Next, the vector from the point 1 to the point 2, the vector from the point 2 to the point 3 and the vector from the point 3 to the point 1 are calculated in the ground coordinate system (X, Y, Z). (M
x1, My1, Mz1), (Mx2, My2, Mz
2), (Mx3, My3, Mz3) and calculated in the vehicle body coordinate system (x, y, z) is (mx1, my1,
mx1), (mx2, my2, mx2), (mx3, m
When expressed by y3, mz3), a moment matrix N and a four-dimensional symmetric matrix Nt of the moment matrix N are obtained from these, as shown in the following equation. In the equation of the moment matrix N,
Although the above three vectors are summed, it is not always necessary to sum three vectors, and it is necessary to sum two or more vectors.

[0032]

[Equation 3]

Then, a unit eigenvector corresponding to the maximum eigenvalue of the four-dimensional symmetric matrix Nt is calculated, and each eigenvalue is set to q0, q1, q2, q3, then the rotation matrix parameter R is obtained by the following equation.

[0034]

[Equation 4]

Further, in the equation (2) using the obtained rotation matrix parameter R, the ground coordinate system (X, Y, Z) and the vehicle body coordinate for any one of the points 1, 2 and 3 are added. The parameters (α, β, γ) of the translation component can be obtained by solving three equations obtained by substituting each coordinate data in the system (x, y, z) coordinate system.

Then, the coordinate transformation means 11F uses the equation (2) in which the rotation matrix parameter R obtained as described above and the parameters (α, β, γ) of the translation component are substituted. Body coordinate system (x,
The coordinate data of (y, z) will be converted into the coordinate data of the ground coordinate system (X, Y, Z).

On the other hand, as shown in FIG. 4, the buried pipe 1 is formed in a longitudinal shape by connecting a plurality of pipe members by joint portions 1A and 1B. The joint portions 1A and 1B include a straight pipe type 1A for straight piping and a bent type 1B for bending and piping. In the figure, an example is shown in which the buried pipe 1 is piped along a road, and the pipe is bent at a right angle at the bent portion. The position of the buried pipe 1 is previously measured with high accuracy using the RTK GPS. Specifically, the joint portion 1
Measure the piping positions at A and 1B. Regarding the measurement position, in the case of the straight pipe type joint portion 1A, on the central axis of the embedded pipe 1, the split point p1 in the pipe length direction, and in the case of the bent type joint portion 1B, on the central axis of the embedded pipe 1 And buried pipes 1 on both sides
Let p2 be the intersection of the central axes of.

Then, the above-mentioned measurement data is used as the buried pipe database 12 provided in the business establishment (gas company in this example).
Register with. The registration data is described in a standard format for CAD (SIMA format), and the data of each measurement point is composed of a point number and coordinate values (X, Y, Z). In addition, this coordinate value (X, Y, Z) is the coordinate system WG of GPS.
The coordinate data of S-84 is converted into an orthogonal coordinate system (X, Y, Z) based on the origin of the Japanese geodetic system. Further, in the buried piping database 12, the connection data showing the connection relationship between the respective measurement points, and the connection pipe number of each connection and the pipe diameter and type of the pipe (for example, resin pipe or metal pipe) The piping data indicating is registered.
Therefore, the buried pipe database 12 constitutes the buried object data storage means 101 for storing the position data of the buried pipe 1 buried in the ground in the ground coordinate system, and further, the buried object data storage means 101. 1 attribute data (specifically, the above pipe diameter, pipe type, etc.)
I remember.

Of the registered data of the buried pipe database 12, data of each measurement point of the buried pipe 1 near the place where the bucket tip 6a is actually excavated is used by wireless communication means such as PHS. The data is read by the calculation unit 11 of the excavator K, and the calculation unit 11 calculates a linear equation connecting the measurement points from the data of the plurality of measurement points, and the data of the linear equation is used to determine the position of the buried pipe 1 in the ground coordinate system. The data is stored in the piping data memory 11A as data.

In the calculation unit 11, the storage information of the buried pipe database 12 (embedded object data storage means 101) and the vehicle body coordinate system of the bucket tip 6a measured by the on-vehicle position measurement means 11B. (X, y, z)
Of the bucket tip 6a obtained by converting the coordinate data in the coordinate conversion means 11F into the ground coordinate system (X,
The buried pipe 1 based on the coordinate data in Y, Z)
Distance calculating means 11G is provided for calculating the distance between the bucket tip 6a and the bucket tip 6a.

Specifically, as shown in FIG. 5, the coordinate values of the bucket tip portion 6a in the ground coordinate system (X, Y, Z) and the position data of the buried pipe 1 expressed by the above linear equation. First, the bucket tip 6a with respect to the central axis of the buried pipe 1
Of the shortest distance L0, and then from this distance L0 as the attribute data of the buried pipe 1, the buried pipe database 12
The shortest distance L1 of the bucket tip 6a to the surface of the buried pipe 1 is obtained by subtracting the pipe diameter (radius) r stored in Table 1. The distance L1 is the distance L1 between the buried pipe 1 and the bucket tip 6a. And

FIG. 6 shows coordinate conversion from the position measurement of the bucket tip portion 6a in the vehicle body coordinate system (x, y, z) to the ground coordinate system (X, Y, Z), the buried pipe 1 and the bucket tip. An overview of the flow of processing up to the calculation of the separation distance from the portion 6a is shown.

The distance calculating means 1 is provided in the control unit 10.
There is provided an operation executing means 100 for executing a specific operation for avoiding damage to the buried pipe 1 due to the contact of the bucket tip portion 6a when the separation distance L1 obtained in 1G becomes equal to or less than the set distance. . Specifically, the operation execution means 100, as the specific operation, an alarm for an operator who operates the excavator K, or an alarm notification means 10A for issuing a notification to an administrator who manages the buried pipe 1,
As the specific operation, the movement prohibiting means 10B for prohibiting the movement of the bucket tip portion 6a in the direction in which the separation distance is shortened is configured. Then, the alarm reporting means 10A is configured to change the form of the alarm and to change the manager who issues the notification in accordance with the attribute data of the buried pipe 1.

That is, the separation distance L1 is, for example, 50 cm.
When the (set distance) is reached, the buzzer 13 and the voice output device 14 connected to the control unit 10 are activated to warn the worker, and the manager of the buried pipe from the communication unit 15 via the communication line 16 ( Specifically, while notifying the gas company 17), the operations of the boom 4, the arm 5, the bucket 6 and the like such that the bucket tip portion 6a approaches the buried pipe 1 are forcibly stopped. By the way, when the type of the buried pipe 1 is a gas pipe in the attribute data of the buried pipe 1 stored in the buried pipe database 12, the voice output device 14 is used as a form of an alarm for the operator to indicate “gas”. A voice saying "I will approach the pipe." Will be sent to the inside of the driving section and the gas company 17 will be notified. The manager who receives the report dispatches a person in charge immediately to the site to take measures such as preventing the buried pipe 1 from being damaged. If the type of the buried pipe 1 is, for example, a water pipe or an electric power cable, the electric power company or the water supply station is notified.

Further, when the distance L1 becomes equal to or smaller than the second set distance which is larger than the set distance, the alarm reporting means 10A gives the alarm to the operator who operates the excavator K. Are configured to provide a different form of the second alarm. That is, the separation distance L1 is, for example, 1
From the time when it became shorter than 00 cm (second set distance),
By the voice output device 14, a voice saying "Because the gas pipe is approaching, please drill carefully."

[Another Embodiment] Another embodiment will be described below. In the above embodiment, the buried object data storage means 101.
Although the (buried pipe database 12) is configured to store the position data of the buried object 1 (buried pipe) obtained by using GPS, the buried object 1 of the buried object 1 obtained based on the measurement information of the measuring means other than GPS is stored. The position data may be stored.

In the above embodiment, the parameter calculating means 11D measures the position measurement information in the ground coordinate system (X, Y, Z) at a plurality of points on the vehicle body measured by the GPS measuring means 11C and the vehicle body at a plurality of points on the vehicle body. Coordinate system (x, y,
z) based on the position information in the vehicle body coordinate system (x, y,
The conversion parameter for converting the coordinate data of z) into the coordinate data of the ground coordinate system (X, Y, Z) was calculated.
The conversion parameters may be obtained using position measurement information in the ground coordinate system (X, Y, Z) at a plurality of points on the vehicle body measured by a measuring means other than the PS measuring means.

Further, in the above-mentioned embodiment, the parameter calculating means 11D is adapted to obtain the rotation matrix parameter R by a method using a four-dimensional symmetric matrix of a moment matrix between two points. R may be obtained.

The embodiment of the operation executing means 100 for executing the specific operation for avoiding the damage to the buried object 1 due to the contact with the specific portion of the work vehicle can be implemented in various modes other than the above modes. is there.

In the above embodiment, the case where the buried object 1 is the buried pipe 1 for gas supply has been described, but a water pipe, a power cable, a communication cable, etc. other than the buried pipe for gas supply may be used. Not a tubular buried object,
It may be scattered buried objects.

In the above-described embodiment, the work vehicle K is an excavator (shovel car), and the specific portion is set to the tip portion 6a of the bucket 6 of the excavator. The embedded object damage prevention system according to the present invention can be applied in order to prevent the specific object of various work vehicles from damaging the embedded object 1 when the operation is performed at a position close to.

[Brief description of drawings]

FIG. 1 is a side view showing excavation work by a work vehicle.

FIG. 2 is a side view showing the overall structure of the work vehicle.

FIG. 3 is a block diagram of a control configuration of a buried object damage prevention system.

FIG. 4 is a plan view illustrating position data of a buried object.

FIG. 5 is a diagram illustrating a separation distance between an embedded object and a specific portion of a work vehicle.

FIG. 6 is a diagram showing a flow of processing up to calculation of a separation distance.

[Explanation of symbols]

1 buried objects 3 car body 6a Specific site 7 antenna 10A Alert reporting means 10B Movement prohibition means 11B On-board position measuring means 11C GPS measuring means 11D parameter calculation means 11F coordinate conversion means 11G distance calculation means 100 action execution means 101 buried object data storage means K work vehicle

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Hiroomi Furusho             4-1-2 Hirano-cho, Chuo-ku, Osaka-shi, Osaka Prefecture               Within Osaka Gas Co., Ltd. F-term (reference) 2D003 AA01 AB02 AB03 AB04 AC09                       BA08 BB09 BB11 CA02 DA02                       DA04 DB04 DB05 FA02                 2D015 GA03 GB07                 5J062 BB01 BB08 CC07 EE04

Claims (6)

[Claims] 1. A buried object data storage means for storing position data of a buried object buried in the ground in a ground coordinate system set on the ground, and identification of a working vehicle in a vehicle body coordinate system set on the body of a working vehicle. On-vehicle position measuring means for measuring the position of a part, coordinate converting means for converting coordinate data of the vehicle body coordinate system into coordinate data of the ground coordinate system, storage information of the buried object data storage means, and the on-vehicle Based on the coordinate data in the ground coordinate system of the specific portion obtained by converting the coordinate data in the vehicle body coordinate system of the specific portion measured by the position measuring means, the embedded object and the specific portion Distance calculating means for calculating a separation distance between the embedded object and the embedded object due to contact of the specific portion when the separation distance calculated by the distance calculating means is equal to or less than a set distance. Buried object damage prevention system and operation execution means is provided to perform certain operations in order to avoid scratches. 2. A radio signal transmitted from a plurality of satellites is received by antennas installed at a plurality of locations on the body of the work vehicle, and three-dimensional positions in the ground coordinate system at a plurality of locations on the body are measured. A conversion parameter for converting the coordinate data of the vehicle body coordinate system into the coordinate data of the ground coordinate system based on the measurement information of the GPS measuring means and the position information of the vehicle body coordinate system at a plurality of locations on the vehicle body. The buried object damage prevention system according to claim 1, further comprising parameter calculation means for determining 3. The operation executing means is constituted by an alarm notifying means for issuing an alarm to an operator who operates the work vehicle or an administrator who manages the buried object as the specific operation. The buried object damage prevention system according to claim 1. 4. The buried object data storage means stores attribute data of the buried object, and the alarm reporting means changes the form of the alarm according to the attribute data of the buried object, or The buried object damage prevention system according to claim 3, which is configured to change an administrator who performs the notification. 5. A form different from the alarm for the worker operating the work vehicle, when the alarm notification unit is equal to or less than a second set distance that is larger than the set distance, The buried object damage prevention system according to claim 3 or 4, which is configured to perform the second alarm of. 6. The movement executing means is constituted by movement prohibiting means for prohibiting movement of the specific portion in a direction in which the separation distance is shortened, as the specific operation.
6. The buried object damage prevention system according to any one of to 5.