JP5022484B2 - Automatic surveying method - Google Patents

Description

  The present invention relates to an automatic surveying method in a tunnel tunnel. Specifically, the present invention relates to an efficient surveying method for enabling tunnel construction along a planned line in tunnel excavation.

  In tunnel construction, including the shield method, laying the tunnel along the planned alignment is a technically essential condition, especially in the shield method that is excavated mechanically. Accurate surveying of the position of the shield machine is an extremely important requirement. Conventionally, the surveying method for the excavator and the surveying for the construction along the planned line of the tunnel in the shield construction method are known by the manual surveying method and the automatic surveying method.

  Among these methods, an automatic surveying method includes a method using an automatic tracking type ranging finder and a gyrocompass. This automatic surveying method can be surveyed in a short time compared to human surveying, so that it is possible to increase the number of surveys, and as a result, fine digging management can be performed, and it is now widely used.

  However, although it is an automatic surveying method that has such excellent advantages, in the method using the automatic tracking rangefinder, if the tunnel alignment is a curve, the number of times the automatic tracking rangefinder is replaced In addition, if there is an obstacle between the automatic tracking range finder and the shield machine, the laser beam emitted from the automatic tracking range finder is blocked. In the case of a method using a gyrocompass, when the shield machine moves horizontally at the same angle in the horizontal direction, the gyrocompass points in the same direction before and after moving. There is a drawback that it is measured as if it is proceeding to, and appears as an error.

  Therefore, the present inventor advances the automatic tracking type ranging finder with the shield machine, and uses the automatic tracking type ranging finder and a plurality of reference points located on the resisting side. According to the tunnel alignment, the position of the automatic tracking range finder is automatically determined by the Wisebach triangle method and / or the backward crossing method, and then the position of the shield machine is automatically measured from the position of the known point. We have invented a shield surveying method characterized by this (see Patent Document 1).

  According to this shield surveying method, as a method for automatically surveying the position of the shield machine from the position of the known point, the automatic tracking type measurement from the position of the automatic tracking range finder of the known point to the shield machine is performed. The position of the shield machine is obtained by irradiating the reflecting prism located on the shield machine directly from the range horn with laser light and measuring the distance and angle of the straight line connecting the known point and the prism. By this surveying method, an efficient and accurate surveying method for constructing a shield tunnel along the planned line is realized in the shield method.

  However, although it is an automatic surveying method that has such excellent advantages, the auto-tracking range finder has a built-in motor drive, and it collimates three to four prisms sequentially by automatic control by a personal computer. Surveying is carried out, but since the automatic tracking rangefinder is mounted on the following carriage, the surveying instrument moves and rotates as it digs. In the conventional control program, the collimation angle recorded in the personal computer at the time of the previous automatic surveying is read, and the automatic tracking range finder is rotationally controlled to that angle.

  When it is carried out for each ring or outside the curved section, the surveying instrument does not move or rotate so much, so there is no problem because the collimation angle does not change greatly. The collimation angle changes greatly when the machine passes the curve start point or when the auto-tracking ranging finder is located in the curve section. The search may fail and collimation may be impossible.

  If collimation is impossible in this way, do not perform automatic surveying, or the field staff will predict the collimation angle, or enter the mine and actually check the collimation angle manually, It will be carried out again after rewriting the collimation angle at the time of the previous survey. Such a coping method is performed according to the situation. In addition, when a plurality of prisms fall within the search range, collimating their centers or collimating prisms other than the target may cause automatic surveying to fail.

  In addition, in order to quickly search each of the plurality of prisms, each reflecting prism to be searched is stored in a box that is opened and closed by the shutter, and when collimating, the shutter is opened and closed sequentially for collimation, distance measurement and measurement. Angled or one reflecting prism can move between two positions, collimate at each position, measure distance and measure angle, perform independent ranging individual ranging angle of reflecting prism, A surveying method for detecting the position and orientation is provided (see Patent Document 2). Thereby, the target reflecting prism can be collimated.

  However, although these collimation methods are automatic surveying methods with excellent advantages, it takes time to change the order, requires production of a box that opens and closes the shutter, and attachment to the excavator, and it is also a large facility. Therefore, problems such as having to secure the installation location remained.

JP-A-5-248861 JP-A-7-198380

  The present invention has been made in view of the circumstances as described above, and relates to automatic surveying of the position and orientation of the excavator in the tunnel excavation method, so that the position and orientation of the excavator can be easily and accurately determined under any circumstances. It is an object to provide an automatic surveying method capable of performing surveying.

  The present invention is characterized by the following in order to solve the above problems.

First, a method for surveying the position and orientation of an excavator in a tunnel excavation tunnel, which automatically measures the position and orientation of the excavator according to the following procedures (1) to (5) Surveying method.
(1) Predict the position and orientation of the automatic tracking rangefinder at the time of the current survey from the position data of the previous survey of the rangefinder and the movement data after that, and install it at the wellhead Predicting collimation angles of a plurality of reference points.
(2) Based on the prediction result of (1), the position of the automatic tracking rangefinder is detected from the automatic tracking rangefinder by collimating a plurality of reference points provided on the wellhead side. Process.
(3) A step of predicting positions and collimation angles of a plurality of targets installed in the excavator from surveying position data of the excavator.
(4) A step of collimating a plurality of targets installed on the excavator from the automatic tracking range finder and detecting the positions of the plurality of targets based on the prediction result of (3).
(5) A step of obtaining the position and orientation of the excavator based on the detection results of the positions of the plurality of targets of the excavator obtained in (4).

  Second, in the automatic surveying method according to the first aspect of the invention, the automatic tracking type ranging finder is mounted on the rear carriage pulled by the excavator.

  Thirdly, in the automatic surveying method according to the first aspect of the invention, the automatic tracking type ranging finder is mounted on the traveling carriage, and the traveling carriage is connected to the rear of the rear carriage pulled by the excavator, or the traveling carriage Is made to be self-propelled, and the traveling carriage follows this independently of the movement / stop of the rear carriage, and the traveling carriage is stopped when the excavator is digging.

  Fourth, in the automatic surveying method of the second or third aspect of the invention, an automatic tracking range finder mounted on a rear carriage towed with the excavation machine or a rear carriage towed with the excavation machine. The automatic tracking type ranging finder mounted on the rear traveling carriage is movable up and down and / or horizontally with respect to the rear carriage or the traveling carriage.

  Fifth, in the automatic surveying method according to the first aspect of the present invention, an automatic tracking range finder is installed in the lining portion in the tunnel tunnel.

  Sixth, in the automatic surveying method according to any one of the first to fifth inventions, when the excavator is a folding type, the automatic tracking range finder provides the collimation angles of a plurality of targets installed in the excavator. After obtaining the coordinates of the control point obtained from the azimuth angle of the excavator and the jack extension of the excavator, the coordinates of the breakage point of the excavator, the coordinates of the multiple targets installed in the excavator, It is obtained from the coordinates of multiple targets installed on the machine and the coordinates of the auto-tracking rangefinder.

  Seventh, in the automatic surveying method according to the first aspect of the invention, the automatic tracking type ranging finder is mounted on the excavator.

  Eighth, in the automatic surveying method according to the first to seventh inventions, the tunnel excavation is a shield tunnel excavation, and a plurality of targets are installed in the segment.

  Ninth, in the automatic surveying method of the first to eighth inventions described above, the Wisebach triangle method and / or the backward association according to the tunnel alignment from the automatic tracking type ranging finder and a plurality of reference points on the wellhead side The position of the auto-tracking ranging finder is detected by this method.

  According to the first aspect of the invention, since the automatic surveying method according to the procedures (1) to (5) is adopted, the direction to be searched by the automatic tracking rangefinder can be predicted from the previous survey data and movement information. In any situation, it is possible to collimate without failing a plurality of reference points on the wellhead side and a plurality of targets installed in the excavator. This can also reduce the time required for automatic surveying of the position and orientation of the excavator.

  According to the second aspect of the invention, since the automatic tracking range finder is mounted on the rear carriage towed by the excavator, the distance between the automatic tracking range finder and the excavator is kept constant, Since each moving distance is the same, more accurate surveying can be performed.

  According to the third aspect of the invention, the traveling carriage equipped with the automatic tracking type ranging finder is connected to the rear of the rear carriage towed together with the excavating machine so as to be able to run and stop, or the traveling carriage is automatically connected. A traveling cart that is arranged as a traveling type and that follows the rear cart independently of the movement / stop of the rear cart, and is equipped with an automatic tracking range finder when excavating the excavator As a result, the survey can be conducted in real time, and an efficient and accurate survey method for constructing the tunnel along the planned line is realized. In addition, the timing of automatic measurement can be set as appropriate, and continuous automatic surveying can also be enabled.

  According to the fourth aspect of the invention, in the second and third aspects of the invention, the automatic tracking type ranging finder mounted on the rear carriage that is towed together with the excavating machine, or the rear carriage towed together with the excavating machine. Auto-tracking ranging horn mounted on the traveling carriage behind the vehicle can automatically move up and down or horizontally relative to the rear carriage or traveling carriage when collimating multiple targets installed on the excavator Since it is a tracking type ranging finder, even if an obstacle occurs during the surveying and the surveying that irradiates the target of the excavator with a laser beam or light wave is interrupted, the automatic tracking type ranging finder is used. The position and orientation of the excavator can be measured by moving to a position avoiding the obstacle and collimating a plurality of targets installed in the excavator.

  According to the fifth aspect of the present invention, since the automatic tracking type ranging finder is installed in the lining part of the tunnel in the tunnel excavation shaft, the automatic tracking type measurement is once performed based on the plurality of reference points on the wellhead side. After detecting the position of the rangefinder, if it is within the range where multiple targets installed on the excavator can be collimated, the position of the excavator is always maintained without changing the automatic tracking rangefinder. The direction can be determined.

  According to the sixth invention, when the excavator is a folding type, the automatic tracking type ranging finder uses the azimuth angle of the excavator and the excavator as the collimation angles of a plurality of targets installed in the excavator. Obtain the coordinates of the control point obtained from the amount of jack elongation of the machine, then obtain the coordinates of the breaking point of the excavator, then obtain the coordinates of the multiple targets installed in the excavator, and then the multiple targets installed in this excavator Therefore, the automatic surveying method of the present invention can be carried out regardless of the type of the excavator.

  According to the seventh aspect of the invention, the automatic tracking range finder that moves in the tunnel mine is an automatic tracking type range finder mounted on the excavator, and is configured to view a plurality of reference points on the wellhead side. Therefore, when surveying the position of the automatic tracking rangefinder, the position and orientation of the automatic tracking rangefinder at the time of collimating multiple reference points on the wellhead side are predicted. The automatic tracking method is used to automatically calculate the collimation angles of multiple reference points on the wellhead side from the automatic tracking range finder and collimate it to determine the position and orientation of the excavator. The collimator can be easily collimated from the range finder and the surveying can be performed more accurately.

  According to the eighth aspect of the invention, in the shield tunnel excavation shaft, when the automatic tracking type ranging finder is collimating a plurality of targets installed in a segment based on a plurality of reference points on the wellhead side, Predict the position and orientation of the auto-tracking rangefinder at the time of collimating multiple targets installed in the segment, and the position of multiple targets installed in the segment, and auto-tracking based on these data It automatically calculates the collimation angles of the multiple reference points on the wellhead side from the ranging horn and the multiple targets installed in the segment, and collimates to find the position and orientation of the segment. The situation can be surveyed more accurately. The present invention can also be applied to a case where a plurality of targets are installed on a propulsion pipe in the propulsion method.

  According to the ninth aspect of the present invention, the automatic tracking type distance measuring finder and the automatic tracking type distance measuring method by the Wisebach triangle method and / or the backward crossing method according to the tunnel alignment from the plurality of reference points on the wellhead side. Since the position of the horn is detected, the Wisebach Triangle method is used when the line is good, such as when the plan line is a straight line, and the backward intersection method is used when the line is poor, such as when the line is a curve. As described above, the position of the automatic tracking range finder can be accurately detected according to the situation.

It is a flowchart of the automatic surveying method of this invention. It is the schematic which showed the content of the flowchart of FIG. 1 along the procedure. It is the schematic at the time of not implementing survey for several rings within a straight area. It is the schematic at the time of not implementing survey for several rings within a curve area. It is the schematic which shows the case where a shield machine passes a curve start point (the automatic tracking type ranging finder is a straight section). It is the schematic which shows the case where an automatic tracking type ranging finder has passed BC (curve start point). It is the top view which showed the case where an automatic tracking type ranging finder is following a back carriage independently. It is the top view which showed the case where an automatic tracking type ranging finder is moved for obstacle avoidance at the time of surveying. It is the top view which showed the case where a self-tracking type ranging angulation measure travels along a rail for Zuritro and surveys. It is the top view which showed the case where an automatic tracking type ranging finder is installed in a lining part and surveyed. It is the schematic for calculating back the position of the target 1 and the target 2 which were installed in the excavator when the excavator is a folding type with respect to the procedure (2). It is the top view which showed the case where an automatic tracking type ranging finder is mounted on an excavator and surveyed. It is the top view which showed the case where a segment survey is carried out. It is the elevation which showed the case where a segment survey is carried out. It is AA sectional drawing in FIG. It is the top view which showed the case where the Wisebach triangle method was used in surveying with a reference point. It is the top view which showed the case where the back intersection method was used in surveying with a reference point.

  Hereinafter, the automatic surveying method of the present invention will be specifically described. Of course, the following description is for making the gist of the invention better understood, and does not limit the present invention.

The automatic surveying method of the present invention is performed according to the following procedures 1 to 5 shown in FIG. 1 and FIG.
Procedure 1: Prediction of the position and orientation of the automatic tracking range finder and the collimation angle of the reference point Procedure 2: Detection of the position of the automatic tracking range finder Step 3: Multiple targets installed in the excavator Position and collimation angle prediction procedure 4: Detection of positions of a plurality of targets installed in the excavator 5: Detection of the position and direction of the excavator The procedures 1 to 5 will be described in detail below with reference to the drawings. .
<Procedure 1: Prediction of the position and orientation of the automatic tracking rangefinder and the collimation angle of the reference point>
In step 1, the position and orientation of the automatic tracking range finder from the previous survey position data of the automatic tracking range finder and the subsequent movement data (distance, alignment (tunnel design data, etc.)) Furthermore, the collimation angle of the reference point installed on the wellhead side is predicted.

  The specific procedure will be described separately for the case where the movement status of the excavator and the auto-tracking range finder is moved within a straight section and the case where it is moved within a curved section.

The term “collimation angle” used in the present invention is an arbitrarily defined reference direction, for example, east, west, north, and south on the tunnel design, the center direction of a single curve, the direction orthogonal to the tunnel design center line, etc. It means an angle when viewing a target, for example, a reference point or a target (an angle clockwise from the reference direction).
(Prediction of position and orientation when moving in a straight section)
FIG. 3 shows a case where the excavator and the automatic tracking type ranging finder move within the straight section without carrying out surveying in the straight section.
(Prediction of position)
As shown in FIG. 3, the position coordinates of the automatic tracking range finder 20 (at the time of the previous survey) before movement are set to (Xt ₀ , Yt ₀ ), and the automatic tracking range finder 20 after movement (this time) The position coordinates at the time of surveying are (Xt ₁ , Yt ₁ ), the position coordinates of the reference point 31 are (Xs ₁ , Ys ₁ ), and the position coordinates of the reference point 32 are (Xs ₂ , Ys ₂ ). Then, the distance from the position of the automatic tracking type ranging finder 20 before the movement to the position of the automatic tracking type ranging metric 20 after the movement (the movement distance of the automatic tracking type ranging finder) is L. To do.

  Also, θ assumes that the automatic tracking range finder 20 moves parallel to the tunnel design center line 30 and applies the tunnel design azimuth angle in the straight section.

Here, the position of the automatic tracking type distance measuring measuring SumiTadashi 20 in the previous survey _(Xt 0, Yt _0), the position of the automatic tracking type distance measuring measuring SumiTadashi 20 of this survey during (after movement) _(Xt 1, Yt ₁ ) can be obtained by the following formula 1.

(Prediction of collimation angle)
In the case of movement within this straight section, the relative positions of the auto-tracking ranging finder 20 and the targets 11 and 12 do not change so much, so that the collimation angles of the targets 11 and 12 hardly change. Since the relative positions of the point 31 and the reference point 32 change greatly, the collimation angles of the reference point 31 and the reference point 32 change from α0 to α1.

The azimuth angle θ1 from the position coordinates (Xt ₁ , Yt ₁ ) of the automatic tracking range finder 20 after movement to the reference point 31 (Xs ₁ , Ys ₁ ) can be obtained from the following equation 2.

Similarly, the azimuth angle θ2 from the position coordinates (Xt ₁ , Yt ₁ ) of the automatic tracking range finder 20 after movement to the reference point 32 (Xs ₂ , Ys ₂ ) can be obtained.

  Assuming that the azimuth angle from the coordinates of the automatic tracking type ranging finder before movement to the reference point 31 is θ0 and the collimation angle is α0, the collimation angle α1 to the reference point 31 at the time of the current survey (after movement) is It can obtain | require by following formula 2 '.

Similarly, the collimation angle α2 to the reference point 32 can be obtained from the coordinates of the automatic tracking type ranging finder 20.
(Prediction of position and orientation when moving in a curved section)
FIG. 4 shows a case where the excavator and the automatic tracking range finder move within the curved section without carrying out surveying within the curved section.
(Prediction of position and orientation)
In FIG. 4, the coordinates (Xt ₁ , Yt ₁ ) of the automatic tracking range finder 20 after movement are the coordinates (Xt ₀ , Yt ₀ ) of the automatic tracking range finder 20 before movement. In addition, when the center point coordinates of the single curve which is the design center line 30 of the tunnel is (X0, Y0), it can be obtained by the following equation (3).

Note that θ is a rotation angle around the center point of the single curve at the movement distance L, and can be obtained by the following equation 4.

(Prediction of collimation angle)
Also in this case, as in the case shown in FIG. 3, the collimation angles of the target 11 and the target 12 hardly change, but the collimation angles of the reference point 31 and the reference point 32 vary from α0 to α1 in FIG. .

In the case of the azimuth angle θ1 from the coordinates (Xt ₁ , Yt ₁ ) of the automatic tracking range finder 20 after movement to the reference point 31 (Xs ₁ , Ys ₁ ) (prediction when moving in a straight section) It can obtain | require by Formula 2 similarly to. In addition, the azimuth angle θ2 from the coordinates (Xt ₁ , Yt ₁ ) of the automatic tracking range finder 20 after movement to the reference point 32 (Xs ₂ , Ys ₂ ) can be obtained in the same manner.

  In the automatic tracking type ranging finder, not only the position coordinates change but also the orientation changes by θ by moving the curve section.

  The azimuth angle from the automatic tracking range finder at the previous survey (before movement) to the reference point 31 is θ0, the collimation angle is α0, from the automatic tracking range finder at the current survey (after movement) If the azimuth angle to the reference point 31 is θ1, the collimation angle α1 to the reference point 1 after movement can be obtained by the following equation 4 ′.

  Similarly, the collimation angle α2 with respect to the reference point 2 can be obtained.

The collimation angle of the automatic tracking type ranging finder after movement can be predicted by the above procedure.
<Procedure 2: Detection of the position of the auto-tracking ranging finder>
In step 2, from the prediction result of the collimation angle of the automatic tracking range finder obtained in step 1, the automatic tracking range finder is rotationally controlled and the reference point is collimated. The accurate position of the auto-tracking ranging finder is detected by using the Wisebach triangle method and / or the backward crossing method. Let the detected position coordinates be (Xt, Yt).

  If the line of sight is good, such as when the plan line is a straight line from the auto tracking range finder and multiple reference points on the wellhead side, the Wisebach Triangle method is used, and the line of sight is If it is bad, the position of the ranging finder is measured using the backward intersection method. Thus, it is possible to obtain higher surveying accuracy by properly using the surveying method according to the tunnel alignment. Of course, in the method of the present invention, the Wisebach triangle method and the backward crossing method may be used at the same time depending on the purpose of ensuring accuracy, the situation at the construction site, and the like. By automating the entire system such as surveying means and calculation methods, two surveying methods can be used efficiently and appropriately. The reference point installed on the wellhead side and the target installed on the excavator are reflective prisms, and the automatic tracking type ranging finder will automatically collimate these reflective prisms with laser light, light waves, etc. Performs distance measurement and angle measurement.

The Wisebach triangle method and the backward association method are described below.
(Wisebach Triangle Method)
FIG. 16 is a plan view showing a case where the Wisebach triangle method is used in the survey with the reference point.

  In FIG. 16, the coordinates (X, Y) of the obtained point when the Wisebach triangle method is used can be obtained by the following formula 1.1 and formula 1.2.

(Backward meeting method)
FIG. 17 is a plan view showing a case where the backward intersection method is used in the survey with the reference point.

  In FIG. 17, the coordinates (X, Y) of the sought point when the backward intersection method is used can be obtained by the following formula 2.1 and formula 2.2.

<Procedure 3: Prediction of positions and collimation angles of multiple targets installed in the excavator>
In procedure 3, the position and collimation angle of the targets 1 and 2 installed in the excavator are predicted from the management point coordinate data obtained from the excavator during excavation and the distance from the management point to the targets 1 and 2.

Note that the prediction of the position and collimation angle of the target provided in the excavator will be described by distinguishing the type of excavator from a single-body type and a middle-fold type.
(Prediction of position of single-cylinder type excavator)
Hereinafter, prediction of the position of the target of the excavator will be described with reference to FIG.

  In the single cylinder type excavator, the position of the target 11 and the target 12 installed in the excavator is obtained by using the measuring method during excavation, the position data of the control point (jack stroke + gyro direction) in the excavator, and the excavator The target 11 and the target 12 installed in the above are estimated by using back position information (distance from the rear end of the excavator, distance from the center of the excavator).

  As shown in FIG. 5, when the automatic tracking range finder 20 is in a straight section and only the shield machine 10 is in a curved section, the collimation angles of the targets 11 and 12 are α0 to α1. It changes a lot.

The coordinates (Xm ₁ , Ym ₁ ) of the target 11 and the coordinates (Xm ₂ , Ym ₂ ) of the target 12 are the management point coordinates (Xk, Yk) obtained at the time of excavation, the distance L1 from the management point to the target 11 and the management point To the target L2, and the azimuth angle β1 of the target 11 and the azimuth angle β2 of the target 11 can be obtained by the following formulas 5 and 6.

With the above procedure, the position coordinates of the targets 11 and 12 provided in the excavator at the end of the previous time can be predicted.
(Prediction of the position of the folding machine)
Hereinafter, prediction of the position of the target of the excavator will be described with reference to FIG.

  In the case where the excavator 10 is a folded type consisting of a front cylinder and a rear cylinder, the position of the target 11 and the target 12 installed in the excavator 10 is determined by the control point K ( (Jack stroke) position data, front trunk azimuth angle Az (gyro azimuth), target 11 installed on the excavator, and target 12 installation position information (distance from the rear end of the excavator, distance from the center of the excavator) To calculate backward.

  The coordinate value of the control point K is calculated by the digging distance of the digging machine 10 obtained from the azimuth angle of the digging machine 10 obtained from the gyrocompass mounted on the shield digging machine and the amount of jack elongation of the digging machine 10 during digging. It is obtained as (Xk, Yk) at the end of every excavation. From these coordinate values, the coordinate values of the target 11 and the target 12 are obtained by Expressions 8 to 10.

(Prediction of collimation angle to target)
The azimuth angle θ1 of the target 11 from the position of the automatic tracking range finder 20 at the time of surveying (after movement) is determined by the automatic tracking range finder 20 obtained by the Wisebach triangle method and / or the backward intersection method. Can be obtained from the following equation (7).

Also, assuming that the azimuth angle from the automatic tracking range finder at the previous survey (before movement) to the target 11 is θ0 and the collimation angle is α0, the collimation to the target 11 at the current survey (after movement) The angle α1 can be obtained by Expression 2 ′. Similarly, the collimation angle to the target 12 can be obtained.
<Procedure 4: Detection of the position of the target installed in the excavator>
In step 4, based on the predicted position and collimation angle of the excavator target obtained in step 3, the target of the excavator is collimated from the automatic tracking rangefinder. To detect.
<Procedure 5: Detection of the position and direction of the excavator>
The position and orientation of the excavator are obtained from the position detection result of the automatic tracking type ranging finder obtained in step 4.

  By the above procedure, the automatic tracking type ranging finder can quickly collimate the target 1 and the target 2 without getting lost, and the position and direction of the excavator can be obtained.

  At this time, rolling of the excavator (front cylinder), pitching (front cylinder), vertical folding angle, twist of the front cylinder and rear cylinder (difference of rolling), the displacement of the plane position caused by these is measured automatically. It is not necessary to take into account that the range finder is very small compared to the range of laser light, light waves, etc. irradiated when searching the target 1 and the target 2.

  In the description of each procedure described above, the case of the positional relationship between various automatic tracking rangefinders and excavators has been described as an example. By combining the cases separately, the position and orientation of the excavator can be accurately obtained.

For example, as shown in FIG. 6, when the automatic tracking type ranging finder 20 passes the curve start point 33 between the previous survey and the current survey, the reference point 31, the reference point 32, the target 11, the target All 12 collimation angles vary greatly. Even in such a case, the coordinates of the automatic tracking range finder 20 at the time of the previous survey are (Xt ₀ , Yt ₀ ), and the coordinates of the automatic tracking range finder 20 on the curve start point during the movement are used. If (Xt ₁ , Yt ₁ ) and (Xt ₂ , Yt ₂ ) are the coordinates of the auto-tracking range finder 20 at the time of the current survey (after movement), (Xt ₁ , Yt ₁ ) is the same as in the case of A. Is obtained by the equations 1-2.

(Xt ₂ , Yt ₂ ) can be obtained by applying Equations 3 to 4 in the same manner as in the case of curve movement in Procedure 1. The coordinates of the target 11 and the target 12 can be obtained from Equations 5 and 6, and the collimation angle of the target 11 and the target 12 can be obtained from Equation 4 ′. Based on these data, the position and orientation of the excavator can be obtained by procedure 5.

  In addition, in the explanation using each of the above cases, the reference point and the target are set at two locations for the sake of brevity, but the reference point installed on the wellhead side and the target installed on the excavator are as follows: In order to measure a more accurate position, two or more places can be installed.

  The automatic surveying method according to the present invention can be applied to a tunnel construction method such as a shield construction method, a mountain tunnel construction method, a propulsion construction method, etc., when an excavator is used.

  Hereinafter, a configuration to which the automatic surveying method of the present invention described above can be applied will be described as an example.

<Example 1>
(When the auto-tracking range finder can follow the rear carriage independently)
FIG. 7 shows a plan view in the case where the automatic tracking range finder is following the rear carriage independently. In this configuration, the traveling carriage 6 equipped with the automatic tracking type ranging finder 20 behind or behind the rear carriage 4 towed together with the excavating machine 10 can be run and stopped by the wire 5 or the like. Can be linked. In this case, the traveling carriage 6 is arranged as a self-propelled type, and the traveling carriage 6 follows this independently of the progress / stop of the rear carriage 4.

Even when the excavator 10 is excavated, the automatic tracking range finder 20 is collimated with the targets 11 and 12 while the traveling carriage 6 carrying the automatic tracking range finder 20 is stationary. The position and orientation of the automatic tracking range finder 20 are predicted, and a plurality of reference points 31 and 32 on the wellhead side from the automatic tracking range finder 20 and the excavator 10 are based on these data. The collimation angle of each of the plurality of targets 11 and 12 installed in the automatic calculation is automatically calculated and collimated to obtain the position and orientation of the excavator 10. The automatic surveying method according to the present invention can be applied to a shield method, a mountain tunnel method, a propulsion method, and the like when an excavator and a rear carriage are used.
<Example 2>
(When the auto-tracking rangefinder is moved to avoid obstacles during surveying)
FIG. 8 is a plan view when the automatic tracking type ranging finder is moved for obstacle avoidance during surveying. In this configuration, when the automatic tracking range finder 20 mounted on the rear carriage 4 towed together with the excavating machine 10 collimates the targets 11 and 12 installed in the excavating machine 10, the automatic tracking type distance measuring instrument 20 is used. The angle measuring instrument 20 is installed on the turntable 21, and at the time of automatic surveying, the turntable 21 is rotated in the horizontal direction to perform automatic surveying.

  Thus, even when an obstacle occurs during the surveying and the line of sight of the targets 11 and 12 of the excavator 10 cannot be secured, the automatic tracking type ranging finder 20 is moved to a position avoiding the obstacle and the excavation is performed. The position and orientation of the automatic tracking rangefinder 20 at the time when the targets 11 and 12 are collimated in a state where the targets 11 and 12 installed in the machine 10 can be collimated, and based on these data Then, the collimation angle of each of the reference points 31 and 32 on the wellhead side and the targets 11 and 12 installed on the excavator 10 is automatically calculated and collimated from the automatic tracking range finder 20 to the excavator 10. Find the position and orientation of. Of course, the moving direction of obstacle avoidance may be linear movement in the vertical and horizontal directions.

When moving, the target 11 and 12 installed in the excavator 10 are collimated when the position and orientation of the excavator 10 are measured in consideration of the moving position and orientation of the automatic tracking range finder 20. The position and orientation of the automatic tracking range finder 20 at the time are predicted. In this case, the automatic tracking type ranging finder 20 mounted on the traveling carriage 6 behind the rear carriage 4 towed together with the excavating machine described in the first embodiment is used. The automatic surveying method according to the present invention can be applied to a shield method, a mountain tunnel method, a propulsion method, and the like when an excavator and a rear carriage are used.
<Example 3>
(When the auto-tracking type ranging finder travels along the rail for Zuritro)
FIG. 9 is a plan view in the case where the automatic tracking type ranging finder is traveling and surveying on the rail for Zuritro. In this configuration, an automatic tracking range finder 20 is installed on an automatic traveling carriage 22 that travels and moves on a rail 34 parallel to the rear carriage 4, and the reference points 31 and 32 on the wellhead side are provided. Then, the targets 11 and 12 installed in the excavator 10 are detected.

  Thereby, the position of the automatic tracking type ranging finder 20 is detected based on the reference points 31 and 32 on the wellhead side at a position where the line of sight is better, and then the targets 11 and 12 installed in the excavator 10 are detected. Is used to measure the position and orientation of the excavator 10, and the position and orientation of the automatic tracking range finder 20 at the time of collimating the targets 11 and 12 installed on the excavator 10 are predicted. Based on these data, the collimation angle of each of the reference points 31 and 32 on the wellhead side and the targets 11 and 12 installed on the excavator 10 is automatically calculated from the auto-tracking range finder 20. The position and orientation of the excavator 10 can be obtained by collimating. In this case, it is also possible to install a new track for running the auto-tracking ranging finder 20 in parallel with the rear carriage 4 or next to the rear carriage track.

Here, the automatic traveling carriage 22 on which the automatic tracking type ranging finder 20 is installed is set on the rail 34 for manual operation at the time of surveying, or the rear carriage 4 towed together with the excavator 10 excavating. It is possible to set and collect with a mechanical arm placed on the rear carriage 4 during surveying. The automatic surveying method according to the present invention can be applied to a shield method, a mountain tunnel method, a propulsion method, etc., when an excavator and a rail for rearward or a rear carriage are used.
<Example 4>
(When an automatic tracking range finder is installed in the lining part and surveyed)
FIG. 10 is a plan view when the automatic tracking type ranging finder is installed in the lining part and surveyed. In this configuration, the automatic tracking type ranging finder 20 is installed in the lining portion 22 in the tunnel excavation pit, and the targets 11 and 12 installed in the excavator 10 based on the reference points 31 and 32 on the wellhead side are installed. To detect. As a result, when the targets 11 and 12 of the excavator 10 are collimated and the position and orientation of the excavator 10 are surveyed, the positions of the targets 11 and 12 are predicted, and automatic tracking distance measurement is performed based on these data. The collimation angles of the targets 11 and 12 from the angle measuring instrument 20 are automatically calculated and collimated to determine the position and orientation of the excavator 10.
<Example 5>
(When the automatic tracking type ranging finder is mounted on the excavator and surveying)
FIG. 12 is a plan view in the case where surveying is performed by mounting the automatic tracking type ranging finder on the excavator. In this configuration, the automatic tracking type ranging finder 20 is mounted on the excavator 10 in the tunnel excavation shaft, and the automatic tracking type ranging finder 20 collimates the reference points 31 and 32 on the wellhead side. The position of the automatic tracking type ranging finder 20 is detected. As a result, when the reference points 31 and 32 are collimated and the position of the automatic tracking range finder 20 is detected, the automatic tracking range finder 20 when the reference points 31 and 32 are collimated. The position and orientation of the reference point 31 and 32 are automatically calculated from the automatic tracking rangefinder 20 based on these data, collimated and collimated, and the position of the excavator 1 And ask for direction.
The automatic surveying method according to the present invention can be applied to a shield method, a mountain tunnel method, a propulsion method, etc., when an excavator is used.
<Example 6>
(When the auto-tracking range finder collimates a target in a segment near the shield machine from the tunnel entrance to the face)
FIG. 13 is a plan view in the case where the automatic tracking type ranging finder collimates two targets at the left and right positions of the segment in the vicinity of the shield machine from the tunnel entrance to the face. In this configuration, the two targets 13 and 14 are a right target 13 of the segment 35 and a left target 14 of the segment 35 from the tunnel entrance to the face, and the position coordinates of the two targets 13 and 14 are obtained, Find the lead difference between the left and right segments. At this time, the two targets 13 and 14 may be installed manually or may be automatically installed using an automatic device.

  FIG. 14 shows an elevational view when the automatic tracking range finder is collimating two targets located above and below the segment near the shield machine from the tunnel entrance to the face. The two targets 13 and 14 are the upper target 13 and the lower target 14 of the segment 35 from the tunnel entrance to the face. The position coordinates of the two targets are obtained, and the lead difference between the upper and lower segments 35 is obtained. At this time, similarly to the installation of the left and right targets in FIG. 13, the installation of the target may be either human installation or installation by an automatic device.

  FIG. 15 shows an AA cross section in FIG. The prisms that become the two targets 13 and 14 are fixed in advance to the left and right fixed positions from the center 37 of the bar 36 such as a staff member whose length is known, and the bar 36 such as the staff member is converted into a prism from the automatic tracking type ranging finder. Is set to a segment 35 that can be seen through, and the prisms are collimated sequentially.

  As described above, the segment position is obtained, the direction is obtained from the lead difference, and the segment survey is performed. This segment survey is usually performed from the segment immediately after the shield machine to the segment 5 to 6 rings behind, but the number to be surveyed is not particularly specified. The automatic surveying method according to the present invention can be applied to a case where an automatic tracking distance measuring instrument is used in a shield method, a propulsion method, or the like.

DESCRIPTION OF SYMBOLS 10 Excavator 11-14 Target 20 Automatic tracking type ranging finder 21 Turntable 22 Covering part 30 Centerline 31 Reference point 32 Reference point 33 Curve start point 34 Zuritro rail 35 Segment 36 Bar 37 Center 4 Rear carriage 5 Wire 6 Traveling carriage K Control point C Folding machine break point Az Digging machine front trunk azimuth At bending angle

Claims (9)

An automatic surveying method for surveying the position and orientation of an excavator in a tunnel excavation tunnel, wherein the position and orientation of the excavator is automatically surveyed according to the following procedures (1) to (5).
(1) Predict the position and orientation of the automatic tracking rangefinder at the time of the current survey from the position data of the previous survey of the rangefinder and the movement data after that, and install it at the wellhead Predicting collimation angles of a plurality of reference points.
(2) Based on the prediction result of (1), the position of the automatic tracking rangefinder is detected from the automatic tracking rangefinder by collimating a plurality of reference points provided on the wellhead side. Process.
(3) A step of predicting positions and collimation angles of a plurality of targets installed in the excavator from surveying position data of the excavator.
(4) A step of collimating a plurality of targets installed on the excavator from the automatic tracking range finder and detecting the positions of the plurality of targets based on the prediction result of (3).
(5) A step of obtaining the position and orientation of the excavator based on the detection results of the positions of the plurality of targets of the excavator obtained in (4).   2. The automatic surveying method according to claim 1, wherein the automatic tracking type ranging finder is mounted on a rear carriage pulled by an excavator.   Auto-tracking ranging finder is mounted on the traveling cart, and the traveling cart is connected to the rear of the rear cart pulled by the excavator, or the traveling cart is self-propelled, and the traveling cart advances / stops the rear cart The automatic surveying method according to claim 1, wherein the vehicle is made to follow this independently and the traveling carriage is stopped when the excavator is excavating.   The automatic tracking rangefinder that is mounted on the rear carriage that is towed together with the excavating machine, or the automatic tracking rangefinder that is mounted on the traveling carriage behind the rear carriage that is pulled together with the excavator. The automatic surveying method according to claim 2, wherein the method is movable up and down and / or horizontally with respect to the carriage or the traveling carriage.   2. The automatic surveying method according to claim 1, wherein an automatic tracking type ranging finder is installed in a lining portion in the tunnel excavation tunnel.   When the excavator is a folding type, the control point that the automatic tracking type ranging finder can obtain the collimation angle of multiple targets installed on the excavator from the azimuth angle of the excavator and the jack extension of the excavator After obtaining the coordinates of the breakage point of the excavator, obtaining the coordinates of the multiple targets installed on the excavator, the coordinates of the multiple targets installed on the excavator and the automatic tracking rangefinder The automatic surveying method according to claim 1, wherein the automatic surveying method is obtained from the coordinates.   2. The automatic surveying method according to claim 1, wherein the automatic tracking type ranging finder is mounted on the excavator.   8. The automatic surveying method according to claim 1, wherein the tunnel construction method is a shield construction method, and a plurality of targets are installed in the segment.   It is possible to detect the position of the automatic tracking range finder using the Wisebach Triangle method and / or the backward crossing method according to the tunnel alignment from multiple reference points on the wellhead side and the automatic tracking range finder The automatic surveying method according to any one of claims 1 to 8, characterized in that:

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