JPH0257844B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for detecting the displacement and displacement angle of a surveyed object from a reference line, and a mount used in carrying out the method, and particularly to a tunnel excavator such as a shield excavator or a tunnel boring machine. The present invention relates to a method for detecting the displacement and displacement angle of a tunnel excavator, which is suitable for early correction of the direction of tunnel excavation, and a mount for carrying out the method.

In recent tunnel construction, efforts have been made to improve construction efficiency as tunnel excavators such as shield excavators and tunnel boring machines become faster and more automated.

By the way, in order to increase tunnel construction efficiency and construction accuracy by taking advantage of the high speed of tunnel excavation machines, it is necessary to understand the moment-by-moment movement of the tunnel excavation machine and make early direction corrections. We must ensure that we proceed along the planned route.

Conventionally, the displacement and displacement angle of the shield excavator from the planned route have been detected by surveying using a tape measure or transit, and the current position of the shield excavator has been determined from this. However, in the conventional method, the tunnel excavation machine must be stopped to perform the survey, and moreover, the survey must be carried out many times in order to accurately know the position of the tunnel excavation machine, which is constantly moving. As a result, the high-speed performance of the tunnel excavator is reduced, and there is a practical limit to the number of surveys that can be carried out. This could lead to an increase in the amount of meandering caused by the tunnel excavator, which has a high excavation speed.

Therefore, an object of the present invention is to provide a method for detecting the displacement or displacement angle of an object to be surveyed, which is suitable for constantly monitoring the traveling direction of an object to be surveyed, such as a tunnel excavator, and a mount optimal for carrying out the method. It is about providing.

The present invention provides a movable plate whose one end is located on a reference point on the reference line and is rotatable around two rotational axes that pass through the reference point and intersect at right angles with the reference line, and the other end of the movable plate is connected to the movable plate. an optical device including a light emitter and a light wave rangefinder is installed on the movable plate of the frame having a movable member movable in parallel with the rotation axis, facing in a direction opposite to the reference point; A light receiving device comprising a light target, an imaging means directed toward the target and connected to a receiver, and a reflecting mirror disposed in the same plane as and in parallel with the target is installed on the object to be surveyed. After that, the movable plate is rotated so that the optical device is positioned on the reference line, and then the light emitted from the light emitter is incident on the target, and the light emitted from the light wave rangefinder is reflected from the target. The movable plate is rotated so as to be reflected by a mirror and returned to the light wave distance meter, and at this time, the moving distance of the movable member from the reference line in each axis direction is displayed on the screen of the image receiver. The basic concept is to measure the distance in each axial direction of the incident position of the light from the center of the target, and the distance between the optical device and the reflecting mirror, respectively, and to calculate these measured values. Based on this, the displacement of the object to be surveyed from the reference line can be determined by calculation.

Further, a target installed on the object to be surveyed is installed at each of two locations on the axis of the object to be surveyed, and an imaging means is installed below the axis,
Alternatively, a set of the target and an imaging means movable on the axis are installed on the axis, and the distance of the incident position of the light from the center position of the target at each location on the axis is adjusted for each rotation. By measuring with respect to the axis, the displacement and displacement angle of the object to be surveyed from the reference line can be determined by calculation.

Furthermore, the pedestal for installing the optical device for detecting the displacement or displacement angle of the object to be surveyed from the reference line includes a substrate and an axis rod disposed upright at one end of the substrate. a shaft rod rotatable around its axis; a first movable member disposed at the other end of the substrate and movable linearly on the substrate; supported by the first movable member; a second movable member linearly movable in a direction perpendicular to the plate surface of the substrate; a plate-shaped main body on which the optical device is placed; and a nesting joint received in the main body from one end thereof. the other end of the main body is connected to the shaft rod via a pin extending in the radial direction thereof, and the telescoping joint is connected to the second end via a universal joint.
a movable plate connected to the movable member; a drive mechanism for driving the first and second movable members;
means for measuring the amount of movement of the first and second movable members, and the axis of the shaft rod is arranged so as to pass through the reference point.

The features of the present invention will become clearer from the following description of the illustrated embodiment in which the object to be surveyed is a shield excavator.

First, as shown in FIG. 1, a straight line with a reference point O in the tunnel T is defined as a reference line
An optical device 12 (described later) is installed on a pedestal 10 placed above, and a light receiving device 16 is installed on the shield excavator 14.

As shown in FIGS. 2 to 4, the frame 10
comprises a substrate 18, the substrate has a pair of plates 18a, 18b spaced apart from each other in the thickness direction, and in order to connect the pair of plates and adjust the spacing between them,
It has adjustment screws 18c screwed into a pair of plate bodies 18a and 18b at the four corners of the rectangle.

A shaft rod 2 is provided at one end in the longitudinal direction of the substrate 18.
0 is arranged upright and rotatably supported by a bearing 22 fixed to the upper plate 18a. At the other end of the substrate 18, a frame-shaped first movable member 24 is attached to the plate 1 at its upper and lower ends.
The plate body 18a is supported by a frame 26 fixed to the frame 8a so as to be slidable linearly in the width direction of the plate body 18a. Further, the first movable member 24 has flange portions 24a and 24b facing the shaft rod 20 near its upper and lower ends, and between the flange portions, the first movable member 2
4, that is, in a direction perpendicular to the plate surface of the plate body 18a.
is supported. Above the substrate 18, there is a plate-shaped main body 30a on which the optical device 12 is placed, and a nesting joint 3 received into the main body from one end.
0b, the other end of the main body 30a is connected to the shaft 20 via a pin 31 passing through it in the radial direction, and the nested joint 30b is a pair of movable plates such as ball joints. The second movable member 28 is connected to the second movable member 28 via a universal joint 32 . In the movable plate 30, the first movable member 24 moves the frame 26 in the width direction of the plate body 18a or the second movable member 28 moves the first movable member 24 in the longitudinal direction by a drive mechanism to be described later. When moving, the telescoping joint 30b slides longitudinally within the body 30a, causing the body 30a to align with the axis of the shaft 20 or the pin 3.
Rotates around the 1st axis.

The drive mechanism constituting the pedestal 10 is supported by the frame 26 in parallel with the plate 18a, penetrates through the side of the first movable member 24 by threading engagement therewith, and extends through the side of the first movable member 24 and the plate 18a. The first extending in the width direction
A threaded rod 34 is supported by the first movable member 24 at its flange portions 24a and 24b, passes through the second movable member 28 in threaded engagement therewith, and is perpendicular to the first threaded rod 34. a step motor and a torque motor 3 connected to each threaded rod and mounted on respective sides of the frame 26 and the first movable member 24;
8.40. The torque motor 40 attached to the first movable member 24 has its output shaft 40
a gear 42 fixed to the upper end of the second threaded rod 36, and a gear 44 fixed to the upper end of the second threaded rod 36; The second
is connected to a threaded rod 36. Torque motor 3
8 rotates the first threaded rod 34, and the first movable member 24 slides on the frame 26 accordingly. This linear motion is caused by the movement of the movable plate 30 relative to the axis of the shaft rod 20 via the universal joint 32.
is converted into rotational motion. In addition, the torque motor 4
By operating gears 42, 44, 46
The second threaded rod 36 rotates through the , and the second movable member 28 slides on the first movable member 24 accordingly. This linear motion is converted into a rotational motion of the movable plate 30 about the axis of the pin 31 via the universal joint 32.

The pedestal 10 also includes first and second movable members 2
4 and 28, which is a measuring means for measuring the linear movement amount. An example of this linear scale is a photoelectric linear encoder, which consists of a set of glass scales, that is, a main scale (not shown) and an index scale 4, each having a grid scale of equal pitch.
8 and 50 are arranged with respect to the first and second movable members 24 and 28, respectively. The main scales are attached to the first and second movable members 24, 28, respectively, and the index scales 48, 50 are attached to the plate body 18a and the first is attached to the side of the movable member 24. A light source (not shown) is provided on the main scale side with the pair of glass scales in between.
A light receiving element (not shown) is arranged on the index scale side.

The frame 10 is placed in the tunnel so that the axis of its shaft 20 passes through the reference point O. The optical device 12 also includes a light emitter 12a such as a He-Ne laser oscillator, a transmitting section that emits a laser beam, and a receiving section that receives the laser beam that is emitted from the transmitting section and returns after being reflected by an object. It is equipped with a light wave distance meter 12b and is placed on a movable plate 30 facing in the opposite direction to the shaft rod 20 of the pedestal 10. When installing the pedestal 10 or the optical device 12, it is preferable that the movable plate 30 be horizontal. For this,
Levels 52 and 54 are arranged on the plate body 18a and the main body 30a of the movable plate 30 along the longitudinal direction and the width direction, and the inclinations of the plate body 18a and the movable plate 30 in the longitudinal direction and the width direction are determined by these levels. Adjustment is made by changing the screwing position of the adjusting screw 18c while visually checking the level.

By arranging the pedestal 10 as described above,
The movable plate 30 passes through the reference point O and can rotate around two rotational axes that intersect the reference line S at right angles, that is, the axes of the shaft rod 20 and the pin 31.
The rotational axis and the reference line S are defined by the three mutually orthogonal coordinate axes that define the space, that is, the X-axis extending horizontally, the Y-axis extending vertically, and the Z-axis extending horizontally (Fig. 1). Each can be used.

On the other hand, as shown in FIGS. 5 and 6, the light receiving device 16 installed in the shield excavator 14 is disposed at both ends of a rectangular cylindrical casing 56 in one half thereof, perpendicular to the axis of the casing. A pair of targets 58 and 60 such as frosted glass, a pair of imaging means such as a pair of television cameras 62 and 64 placed between the other halves of both ends of the casing 56 facing each target, and a reflective surface of the target 58.
and a reflector 6 fixed to the casing 56, located in parallel with the same and directed toward the reference point O.
6. Television cameras 62 and 64 are each connected to a television receiver (not shown), and each target is displayed on the screen of the television receiver. As the reflecting mirror 66, a corner reflector (corner cube) having a prism that can reflect the light incident thereon in parallel to the direction of incidence can be used. The light receiving device 16 is arranged so that the axis of the casing 56 is parallel to the axis of the shield excavator 14, preferably coincides with the axis of the shield excavator 14, and the center of the reflector 66 is aligned with the axis of the shaft rod 20, that is, the Y axis. Install it so that it is on a line parallel to. Note that the reflecting plate 66 can be placed on the target 60 side if necessary. Further, as will be described in detail later, when there is no need to detect the displacement angle of the shield excavator from the reference line S, the installation of the target 60 and the television camera 64 can be omitted.

Furthermore, instead of installing a pair of targets and a pair of television cameras,
As shown in the figure, one target 58 and one television camera 62 directed at it may be combined into a unit movable between two points P and Q on the axis of the casing 56. Furthermore, instead of the ground glass target, this may be used as a photoelectric position detector capable of photoelectric conversion, and the incident position of the laser beam from the center of the light receiving surface of the detector may be electrically detected. Therefore, in this case, the imaging means becomes unnecessary.

After installing the pedestal 10, the optical device 12, and the light receiving device 16, the torque motors 38, 40 are operated to adjust the intersection of the center lines of the first and second movable members 24, 28, and therefore the center line of the optical device 12. , is located on the reference line S.

Next, a line of laser light emitted from the light emitter 12a of the optical device 12 illuminates the targets 58 and 60, and a line of laser light emitted from the transmitter of the optical distance meter 12b is directed to the reflector 66. The first movable member 24 or the second movable member 2 is configured so that it is reflected and enters the receiving section of the optical distance meter 12b.
The optical device 12 is rotated about the rotation axis via the movable plate 30 by linearly moving the optical device 8 manually or automatically, or by sequentially linearly moving both of them.

Next, the moving distances X1 and Y1 of the first movable member 24, the second movable member 28, or both from the reference line S at this time are measured using the linear scale. Further, the distances X2 and Y2 with respect to the X-axis and the Y-axis from the center of each target of the position of incidence of the laser beam to the target 58, and the distance of the position of incidence of the laser beam to the target 60 from the center of each target. Distances X3 and Y3 regarding the X-axis and the Y-axis are measured on the screen of each receiver. This measurement can be carried out, for example, by attaching scales that intersect vertically and horizontally to the screen and reading these scales directly or through electrical and mechanical means. Furthermore, the phase of the emitted light from the light wave distance meter 12b and the light wave distance meter 12
Optical distance meter 1 from the phase difference with the phase of the incident light to b
The distance between 2b and the reflecting mirror 66 is measured. By the way, since the distance between the light emitting port of the light wave distance meter 12b and the reference point O can be measured in advance, the distance between the light emission port of the light wave distance meter 12b and the reference point O can be determined by adding this distance and the distance value measured by the light wave distance meter 12b. It is possible to know the distance between the reflector 66 and the angle between the optical path of the laser beam incident on the reflector 66 and the optical path of the laser beam incident on the target 58, and the distance between the reflector 66 and the target 58.
Since the distance from the center of the target 58 to the center of the target 58 can be known in advance, the distance between the reference point O and the reflector 66 is corrected from these and the distances X1 and Y1 described below, and the distance between the reference point O and the reflector 66 is corrected. and target 58
The distance L1 between the point of incidence of the laser beam and the point of incidence of the laser beam is calculated.

Also, the second movable member 28 on the reference line S
distance A between and reference point O and target 5
The distance B between 8 and 60 can also be known in advance.

One target 58 and one television camera 6
In the case of the example shown in FIGS. 7 and 8 in which 2 are combined into a movable unit,
is located at either the point P or the point Q, and the optical device 12 emits light.
At this time, the laser beam emitted from the light emitter 12a is made to be incident on the target 58 regardless of its position at point P or point Q, and the laser beam emitted from the transmitter of the optical distance meter 12b is The optical device 12 is rotated as in the above example via the movable plate 30 so that the light is reflected by the reflecting mirror 66 and enters the receiving section of the optical distance meter 12b.
Move from one point to the other. Before and after the movement of the target 58, distances X2, Y2, X3, and Y3 are measured in the same manner as described above.

The measured value, the known value (Fig. 5, Fig. 6,
9 and 10), the displacement L2 of the shield excavator 14 in the X-axis direction and the Y-axis direction from the reference line S, that is, the Z-axis,
L3 is obtained from the following calculation formula, and the distance L4 between the reference point O and the shield excavator 14 in the Z-axis direction is obtained from the calculation formula.

L2={(L1・X1)/√ ² +1 ² +1 ² }−X2・cosα
… L3={(L1・Y1)/√ ² +1 ² +1 ² }−Y2・cosβ
… L4={(L1・A)/√ ² +1 ² +1 ² }+X2・sinα
+Y2・sinβ... However, α and β are the angle between the Z-axis and the axis of the shield excavator 14 in the horizontal plane, and the angle between the Z-axis and the axis of the shield excavator 14 in the vertical plane, that is, the reference line, respectively. It is the displacement angle of the shield excavator 14 from S, and is obtained from the following calculation formula.

α=arctan(X1/A) +arctan{(X2-X3)/B}...β=arctan(Y1/A)+arctan{(Y2-Y3)/B}...In addition, detection of the displacement angle of the shield excavator 14 is not required, the displacements L2 and L3 are calculated using the following formula,
It can be easily obtained from

L2= (L1・X1/√ ² +1 ² +1 ² )−X2 … L3= (L1・Y1/√ ² +1 ² +1 ² )−Y2 … Therefore, in this case, as mentioned above, the distance X3, The installation of the target 60 and television camera 64 for detecting Y3 can be omitted. Furthermore, in the examples shown in FIGS. 7 and 8, it is sufficient to position the target 58 at point P without moving it.

These calculations are performed by a control device 13 that is electrically connected to the mount 10, optical device 12, and light receiving device 16 via a transmission line 11, and provides communication between these devices and automatic control of these devices. be able to. Therefore, the control device 13 can also operate the gantry 10 to follow the movement of the shield excavator 14.

Between the optical device 12 and the shield excavator 14,
When the shield excavator 14 is separated by a large distance as it excavates, or when the shield excavator 14 cannot be seen from the reference point O due to the curvature of the tunnel, the mount 10 and the optical device 1
2 closer to the shield excavator 14 or to a position where the shield excavator 14 can be seen.

According to the present invention, when the object to be surveyed is a tunnel boring machine, its directional displacement, displacement angle, or both can be detected without almost stopping the machine. Therefore, the tunnel excavator can be constantly monitored, and even if it deviates from the planned route, its direction can be immediately corrected. It can also contribute to automatic operation of tunnel excavators.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram showing an outline of the detection method according to the present invention, and FIGS. 2, 3, and 4 are a front view, a top view, a right side view, and a fifth 6 and 6 are respectively a plan view and a front view schematically showing a light receiving device, and FIGS. 7 and 8 are a plan view and a front view schematically showing another example of a light receiving device, respectively. FIG. 9 and FIG. 10 are explanatory diagrams for determining the displacement and displacement angle of the object to be surveyed, respectively. 10... Frame, 12... Optical device, 12a...
Light emitter, 12b...Light wave distance meter, 14...Object to be measured, 16...Optical device, 18...Substrate, 20...
...Axis rod, 24, 28...First and second movable members, 26...Frame, 30...Movable plate, 30a
... Main body, 30b ... Nested joint, 32 ... Universal joint, 34, 36 ... First and second threaded rods,
38, 40... Torque motor, 48, 50... Index scale, 58, 60... Target, 62, 64... Television camera, 66... Reflector, O... Reference point, S... Reference line.

Claims (1)

[Claims] 1. A method for detecting the displacement of an object to be surveyed from a reference line, the method comprising: detecting the displacement of a surveyed object from a reference line, wherein one end is located at a reference point on the reference line; The movable plate of the mount has a movable plate rotatable around a rotation axis and a movable member connected to the other end of the movable plate and movable in parallel to the rotation axis;
An optical device including a light emitter and a light wave rangefinder is installed facing in a direction opposite to the reference point, and includes a semi-transparent target, an imaging means directed toward the target and connected to a receiver, and a semi-transparent target. installing a light-receiving device on the object to be surveyed, the light-receiving device having a reflecting mirror disposed on the same plane as and in parallel with the object;
Thereafter, the movable plate is rotated so that the optical device is positioned on the reference line, and then the light emitted from the light emitter is incident on the target, and the light emitted from the light wave rangefinder is transmitted to the reflector. rotating the movable plate so that the light wave is reflected by the light wave rangefinder and returns to the light wave rangefinder; and at this time, the moving distance of the movable member from the reference line in each axis direction is displayed on the screen of the image receiver. A method for detecting displacement of a surveyed object, the method comprising: respectively measuring a distance in each axis direction of an incident position of the light from the center of the target, and a distance between the optical device and the reflecting mirror. . 2. A method for detecting the displacement angle of an object to be surveyed from a reference line, in which one end is located at a reference point on the reference line, and the method is performed around two rotational axes that pass through the reference point and intersect the reference line at right angles. An optical device including a light emitter and a light wave distance meter is attached to the movable plate of a mount having a rotatable movable plate and a movable member connected to the other end of the movable plate and movable in parallel to the axis of rotation. a pair of semi-transparent targets placed facing in opposite directions to the point and spaced apart on the axis of the object to be surveyed, and a pair of semi-transparent targets facing each target and each connected to an image receiver; installing on the object to be surveyed a light receiving device comprising a pair of imaging means and a reflecting mirror disposed on the same plane as one of the pair of targets, in line with the same, and facing the reference point; Thereafter, the movable plate is rotated so that the optical device is positioned on the reference line, and then the light emitted from the light emitter passes through one target, enters the other target, and is emitted from the light wave rangefinder. rotating the movable plate so that the light reflected by the reflecting mirror returns to the light wave distance meter; the moving distance of the movable member from the reference line in each axis direction; measuring the distance in each axis direction of the incident position of the light from the center of the target displayed on the screen of the machine, and the distance between the optical device and the reflecting mirror, respectively. A method for detecting the displacement angle of a surveyed object. 3. A method for detecting the displacement angle of an object to be surveyed from a reference line, in which one end is located at a reference point on the reference line, and the method is performed around two rotational axes that pass through the reference point and intersect the reference line at right angles. An optical device including a light emitter and a light wave distance meter is attached to the movable plate of a mount having a rotatable movable plate and a movable member connected to the other end of the movable plate and movable in parallel to the axis of rotation. a semi-transparent target installed facing in the opposite direction to the point, placed on the axis of the object to be surveyed and movable between two points on the axis; and an image receiver facing the target. and a reflecting mirror located on either side of the two points, on the same plane as the target, in line with it, and facing the reference point. is placed on the object to be surveyed, and then the movable plate is rotated so that the optical device is positioned on the reference line, and then the light emitted from the light emitter is directed to the target at the position of each point. rotating the movable plate so that the light emitted from the lightwave rangefinder is incident and reflected by the reflector and returns to the lightwave rangefinder again; and then the reference in each of the axial directions of the movable member. the distance traveled from the line, the distance in each axial direction of the incident position of the light from the center of the target at one of the two points drawn on the screen of the image receiver, and the distance between the optical device and the reflecting mirror. measuring the distances between the two points, and moving the target and the imaging means from one of the two points to the other before or after these measurements, and measuring the distance between the two points displayed on the screen of the receiver. measuring the distance in each axis direction of the incident position of the light from the center of the target at the other point;
A method for detecting the displacement angle of a surveyed object. 4. A stand for installing an optical device having a light emitter and a light wave distance meter in order to detect the displacement or displacement angle of an object to be surveyed from a reference line, which includes a substrate and a frame that stands upright on one end of the substrate. a first movable member arranged at the other end of the substrate and capable of moving linearly on the substrate; a second movable member supported by the movable member and movable linearly in a direction perpendicular to the plate surface of the substrate; a plate-shaped body on which the optical device is placed; having a nested joint received from one end;
a movable plate having the other end of the main body connected to the shaft rod via a pin extending in the radial direction thereof, and the telescoping joint being connected to the second movable member via a universal joint; A gantry comprising: a drive mechanism for driving two movable members; and means for measuring the amount of movement of the first and second movable members. 5. The drive mechanism includes a frame fixed to the movable plate and into which the first movable member is slidably fitted, and a first threaded rod supported by the frame in parallel with the substrate, a first threaded rod that threadably engages and penetrates the first movable member;
a second threaded rod supported by the movable member and extending in a direction perpendicular to the first threaded rod, the second threaded rod passing through the second movable member in threaded engagement; 5. The frame of claim 4, further comprising a motor connected to each threaded rod. 6. The measuring means includes a main scale attached to each of the first and second movable members, and an index scale attached to the substrate and the first movable member opposite to each main scale. The frame according to claim 4, which comprises a linear scale.