JPH0451765B2 - - Google Patents

Description

[Detailed Description of the Invention] <Industrial Application Field> The present invention uses an angle measurement device that measures the intersection angle formed by three measurement points in a horizontal plane and a level measurement device that measures the vertical position of the measurement points. This paper relates to a method for measuring the position of an excavator.

<Conventional technology> Conventionally, for example, in a propulsion method in which a shield machine is used to excavate the ground, a humid pipe, etc. is sequentially inserted into the excavated mine from a starting shaft, and then pushed and propelled forward to bury it. A method using a laser oscillator is known as a method of measuring the excavation position. This method uses a laser oscillator installed in the starting shaft to irradiate laser light onto the pipe centerline.
The device measures the deviation by reading the laser beam irradiation position on the target attached to the shield machine.

However, since the laser beam travels straight, the above method cannot be directly applied if the pipe is curved, so the laser oscillator is moved to the front measurement point as appropriate.
The position of the shield machine is calculated from the geometric relationship by traverse surveying, which measures the line segment length between each measurement point and each intersection angle between the line segments.

<Problems to be Solved by the Invention> Therefore, the conventional surveying method has the disadvantage that it takes time and effort to relocate the laser oscillator and perform measurements each time. In addition, the position determination of the shield machine is
This is a manual process in which the operator plots the position of each station calculated from the survey data on the coordinates on which the drilling plan line has been written in advance, and then compares the two to find the deviation. The drawback is that it takes a long time for one survey, and the efficiency of the propulsion work is reduced. Furthermore, because it takes time and effort to conduct a single survey, the survey is carried out by measuring one Huyum tube with a length of about 2.5 m.
Since it is normal to do this every time a book is promoted,
This method has the disadvantage that it is not possible to frequently correct the deviation of the shield machine based on the survey results, and the deviation increases and the excavation accuracy decreases.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a surveying system that can be installed at appropriate survey points in a curved mine excavated by a shield machine, and can constantly and quickly measure the intersection angle formed by each survey point and the vertical position of the survey point. An object of the present invention is to provide a method for measuring the position of an excavator that contributes to streamlining the process and improving the accuracy of surveying objects.

<Means for Solving the Problems> In order to achieve the above object, the method for measuring the position of an excavator according to the present invention includes sequentially inserting a pipe body of a predetermined length from a starting shaft following an excavator excavating the ground. This is a method for measuring the position of an excavator in a propulsion method in which these pipes are pushed and propelled forward by a propulsion device in the starting shaft and buried in accordance with the excavation of the excavator. A laser oscillator that emits laser light while rotating, a light receiver that receives the laser light and emits a light reception signal, and a rotation angle of the laser oscillator based on the light reception signals from the light receivers installed at measurement points on both sides. An angle measurement device consisting of a measurement point on one side, a reader that reads the intersection angle formed by the laser oscillator, and the measurement point on the other side in a horizontal plane is installed at a reference point in the starting shaft and at a predetermined point in the series of tubes to be propelled. A communicating pipe-type level measuring device for measuring the vertical position and the light receiver are fixedly installed at a plurality of measurement points provided according to the propulsion length, and the above-mentioned light receiver is installed on the above-mentioned excavator, and the above-mentioned reference point, The angle of intersection between the straight lines connecting each measurement point and the receiver of the tunneling machine in the horizontal plane is measured, and this measurement value, the length of the pipe body, the number of buried pipes,
The present invention is characterized in that the horizontal coordinates of the excavator are determined from the data on the amount of protrusion of the propulsion device, and the vertical coordinates of the excavator are determined from the measured values of the level measuring device, thereby determining the position of the excavator.

<Function> Now, it is assumed that a survey is to be carried out using the buried pipe curve propulsion construction method illustrated in FIGS. 2 and 3. The angle measuring device 19 of the present invention is fixedly installed in order at a reference point P ₁ of planar coordinates in the starting shaft 31 and at a plurality of measuring points P ₂ and P ₃ provided at predetermined locations in the buried pipe 34 of the horizontal shaft 32. ,
The light receiver 25 is fixedly installed at the standing reference point P ₀ in the starting shaft 31 and the measurement point P ₄ of the shield machine 38 at the tip to form an open traverse. First, the reference point P ₁
The laser beam is emitted while rotating the laser launcher 3 of the angle measuring device 19 located at the angle measuring device 19, and the laser beam rotates and scans within a horizontal plane. The rotating laser beam is first received by the light receiver 25 at the azimuth reference point P ₀ and then by the light receiver 13 of the angle measurement device 19 at the measurement point P ₂ , and the respective light reception signals output at the time of light reception are signals. It is sent via the line to a pulse counter device 17 as a reader. During that time, the rotation angle detector 7 of the angle measuring device that emitted the laser beam emits a pulse signal indicating the rotation angle. This pulse counter device 17 counts the rotation angle of the laser oscillator 3 from the time when the first received light signal is input to the time when the next received light signal is input, that is, the intersection angle θ ₁ formed by the three points projected on the horizontal plane at the reference point P ₁ . , print its value. Similarly, the angle measurement devices at other measurement points P ₂ and P ₃ read the intersection angles θ ₂ and θ ₃ at those measurement points, and output the values. On the other hand, the actual length between the measurement points corresponding to the projected lengths l ₂ and l ₃ in the buried pipe 34 is as follows: The measurement points P ₂ , P ₃ , and P ₄ move at a constant speed in the excavation direction.
Since the pipe length is constant, it can be determined from the number of buried pipes, etc., and only the actual length between measurement points corresponding to the projected length _l1 is determined by actually measuring the protrusion amount ls of the propulsion device 35.
Further, the vertical coordinate of each measurement point can be measured by the level measuring device 20 of the present invention fixed to the shield device 33 when the shield device 33 reaches the measurement point. An intersection angle of greater than or equal to
From the projected length between the measuring points and the vertical coordinates of the measuring points, calculate the actual length between the measuring points, the excavation distance, and the coordinates of measuring point _P4 of the shield machine using a geometric method.

<Examples> Hereinafter, the present invention will be explained in detail with reference to illustrated examples.

FIG. 1 is a longitudinal cross-sectional view showing an embodiment of the angle measuring device 19 used in the position measuring method of the present invention, in which 1 is a box body, and 2 is a device rotatably perpendicular to the upper plate 1a of the box body. 3 is a semiconductor laser fixed to the rotary table 4 at the upper end of the rotary shaft 2 so as to emit a laser beam in the horizontal direction; 5 is a semiconductor laser mounted on the rotary table 4 in front of the semiconductor laser 3; A semi-cylindrical lens is installed horizontally so as to be orthogonal to each other. 6 is a filter that is installed upright on the rotating table 4 in front of the semi-cylindrical lens 5. 7 is attached to the lower end of the rotating shaft 2 to detect the rotation angle of this rotating shaft. This is a rotary encoder as a rotation angle detector.

Further, 8 is a gear fixed approximately at the center of the rotating shaft 2, 9 is a slip ring that is in sliding contact with the rotating shaft 2 above the gear and supplies power to the semiconductor laser 3, and 10 is a receiving surface of the upper plate 1a. and the gear 11 fixed to the upper end and the gear 8 meshing with the gear 11 fixed to the upper end.
a pulse motor that drives the rotating shaft 2 via a 12
The box body 1 has an annular window 12a for emitting laser light.
A top lid 13 covering the top of the top lid 12 is erected on the top of the top lid 12 with its central axis aligned with the rotation axis 2, and a photo sensor 14 serves as a light receiver that outputs a light reception signal when receiving horizontal laser light. is an amplifier for amplifying the light reception signal from this photo sensor, 15
1 is a level fixed to the bottom plate 1b of the box body 1, 16 is a tilt adjustment screw screwed to the outer corner of the bottom plate 1b, 17
is while the photo sensors installed at measurement points (not shown) on both sides of this angle measurement device receive the light reception signals output when receiving the laser beam emitted from this angle measurement device via signal lines (not shown). This is a pulse counter device that counts pulse signals emitted by a rotary encoder, that is, detects the intersection angle projected onto a horizontal plane.

The semi-cylindrical lens 5 spreads the laser light emitted from the semiconductor laser 3 as shown by the arrow into a fan shape as shown in the vertical plane containing the laser light, and emits it to the outside through the filter 6 and the annular window 12a. The emitted laser beam rotates and scans the fan-shaped center line within a horizontal plane in accordance with the rotational movement of the rotating shaft 2.
On the other hand, the pulse motor 10 can rotate the rotating shaft 2 to any angle according to an input signal, and can irradiate laser light in one desired direction. Further, the photo sensor 13 is
Separate and independent sensors are provided on the right side 13a and the left side 13b shown in Fig. 1, and the sensor on the right side receives the laser beam from the angle measuring device on the right side, and the sensor on the left side receives the laser beam from the angle measuring device on the left side. , and outputs a light reception signal.

FIGS. 2 and 3 are a horizontal sectional view and a longitudinal sectional view along the propulsion direction, respectively, showing an outline of an implementation example of the curve propulsion method using the angle measuring device 19.

In the figure, 31 is a starting shaft excavated vertically into the ground, 32 is a horizontal shaft excavated by a shield machine 33 carried into the shaft bottom 31a and curved in a horizontal plane, and 34, 34... are the shaft bottoms. A fume tube 36 is inserted between the hume tube 31a at the tip and the shield machine 33 and is propelled forward in the shaft 32 by a propulsion jack 35 according to the excavation speed of the shield machine 33. This is a jack for controlling the direction of excavation. A water tank 21 whose water surface is maintained at a reference water level L ₀ is installed in the shaft 31,
The proximal end of the hose 22 extending inside the fume pipes 34, 34... is connected to the water tank 21, and the pressure detector 23 fixed to the shield device 33 is connected to the tip of the hose 22 to form a level measuring device. 20 is configured to measure the level of the shield device 33. In addition, the orientation reference point P ₀ (second
A photo sensor 25 is installed at the reference point P 1 (see figure), an angle measurement device 19 is installed at the reference point P _{1 , and the same angle measurement devices 19 are installed at predetermined measurement points P 2 and} P ₃ in the Huum tube 34. The same photo sensor 25 is installed at contact point _P4 of the shield machine to form an open traverse. The photo sensor 25, the angle measuring device 19, and the pressure detector 23 of the level measuring device 20 are connected via signal lines to a computer 26 installed in the Huum tube, and the pulse counter device of each angle measuring device is connected to the computer 26 installed in the Huum tube. crossing angle signal, the level signal from the level measuring device, the actual length between the measurement points that can be calculated from the hume pipe dimensions entered in advance (in this case, equal to the projected lengths l ₃ and l ₂ ), the propulsion jack 35
Based on the actual length between the measuring points (equal to the projected length l ₁ in this case), which is input as data by actually measuring the protrusion amount ls, the deviation of the shield machine from the reference planned line is calculated by the computer 26 as described later. It is.

The method for measuring the position of an excavator according to the present invention in the curve propulsion construction method shown in FIGS. 2 and 3 will be described next.

The angle measuring devices 19 installed at the reference point P ₁ and measurement points P ₂ and P ₃ of the planar coordinates are activated sequentially, for example, from the P ₁ side so as not to receive laser beams from adjacent angle measuring devices. Then, the angle measuring device 1 at the reference point P ₁
Laser light emitted from the semiconductor laser 3 of 9 in a fan shape in a vertical plane rotates and scans, for example, counterclockwise in the horizontal plane shown in FIG. P ₀ photo sensor 25
A light reception signal output from each font sensor 25 at the time of light reception is output to the pulse counter device 17 via a signal line. Then, in response to the input signal, counting of pulse signals emitted by the rotary encoder is started, the laser beam is received by the photo sensor 13 of the angle measuring device at measurement point P ₂ , and the light reception signal output from the photo sensor 13 is input. and stop counting, and set the count number, that is, the reference point.
Computer 2 calculates the intersection angle θ ₁ projected onto the horizontal plane of P ₁ .
Output to 6. The angle measuring devices 19 at measurement points P ₂ and P ₃ are also
Similarly, detect the intersection angles θ ₂ and θ ₃ at that measurement point,
The intersection angle signal is output to the computer 26.
In this case, each intersection angle is measured several times by alternating the direction of rotation of the rotating shaft 2 counterclockwise and clockwise, and the average value of the measured data is determined by the computer 26. Measurement errors due to mechanical errors are now eliminated. On the other hand, for the distances l ₃ and l ₂ between the measuring points, actual measured values at the initial stage of excavation shown in FIG. Since P ₂ , P ₃ , and P ₄ move at a constant speed in the excavation direction together with the Huyum tube and the shield machine,
The computer 26 performs calculations one by one based on the dimensions of the standard length humid pipe and the data of the reference planning line, which are input in advance. Also, the distance between stations l ₁
is the measured value of the protrusion amount ls of the jack 35 plus a predetermined hume pipe length, and is inputted to the computer 26 via the signal line each time the angle is measured.

Therefore, as the burial progresses, the shield machine 33 can be adjusted without making any adjustments to the azimuth or depression angle of the photo sensor 13 at each measurement point P ₂ and P ₃ , or without actually measuring the distance between each measurement point. The current position of the shield machine 33 can be quickly measured at any time, and the deviation of the shield machine 33 from the reference planned line can be corrected as appropriate, making it possible to improve the efficiency of surveying and the accuracy of construction of buried pipes. Further, since there is no need to measure distance using a light wave distance meter, it is possible to speed up surveying and reduce the cost of surveying equipment.

Figure 4 shows the measurement points of the shield machine based on the measured intersection angles θ _{1 ,} θ ₂ , θ ₃ and distances between the measurement points l ₁ , l ₂ , l ₃ .
It is a figure which shows the method of calculating|requiring the coordinate (X, Y) of _P4 . If we take the reference point P ₁ as the origin and take the y-axis toward the azimuth reference point P ₀ , the angles θ ₁₁ , θ ₂₁ , θ ₃₁ made by the line segments l ₁ , l ₂ , l ₃ with the x-axis are the above-mentioned intersection angles. It is expressed by the following formula using .

θ ₁₁ = θ ₁ −π/2, θ ₂₁ = θ ₂ −π/2−(π/2−
θ ₁₁ )=θ ₁ +θ ₂ −3π/2, θ ₃₁ =θ ₃ −π/2−(π
/
2-θ ₂₁ )=θ ₁ +θ ₂ +θ ₃ −5π/2 Also, the orthogonal projections of line segments l ₁ , l ₂ , l ₃ onto the x-axis and y-axis x ₁ , x ₂ , x ₃ and y ₁ , y ₂ and y ₃ are expressed by the following equations.

_{Therefore , find _ _ _ _ _ _ _ _ _ _ _ _ _ _ _} Coordinates of power station P ₄ (X, Y)
is expressed by the following equation.

X = x ₁ + x ₂ + x ₃ , Y = y ₁ + y ₂ + y ₃ The computer 26 calculates the input measurement data according to the above formulas, and calculates the coordinates ( _X , Y) is calculated and displayed.
In addition, as the excavation by the shield machine 33 progresses, new Huyum pipes are successively added to the rear end of the Huyum pipe 34, and a new angle measuring device 1 is installed between the reference point _P1 and the measuring point _P2.
9, it goes without saying that the measurement of the crossing angle and the calculation of the coordinates of the shield machine are performed in the same way as described above.

FIG. 5 is a diagram showing a reference plan that is input in advance to the computer 26, and the operator calculates the inclination β ₁ ,
Enter β ₂ , β ₃ , their line segment lengths L ₁ , L ₃ , L ₅ and the radii of curvature r ₁ , r ₂ of each curved part and their central angles α ₁ , α ₂ or arc lengths L ₂ , L ₅ on a computer. input. The computer 26 converts this input data into a mathematical formula and stores it in the memory, and the shield machine 3
Based on the signal representing the actual excavation distance L ^* (see Figure 5) input from the third source, the coordinates P ₄ ^* (Xm, Ym) of the position P ₄ ^* where the shield machine should be on the standard planned line are determined.
is calculated according to the above formula and displayed.

FIG. 6 is a flowchart showing an outline of the calculation processing of the computer 26. computer 26
In step (S1), the reference planning line data input by the operator is converted into a mathematical formula and stored in the memory, and in step (S2), the actual measurement data of the excavation distance L ^* from the shield machine 33 etc. is received. , in step (S3), calculate the planned position (Xm, Ym) of the shield machine from this actual measurement data and reference planning line data,
indicate. Next, in step (S4), the intersecting angle data θ ₁ , _{θ 2} , . After calculating the remaining inter-station distances l ₂ , l ₃ . . . from the reference planning line data, the measured position values (X, Y) of the shield machine are calculated and displayed, and finally, in step (S6), the above planned position is calculated. The difference between the measured position and the measured position is calculated and displayed. The computer 26 also controls the pressure detector 2 of the level measuring device 20.
Based on the input signal from 3, the level difference of the shield machine 33 with respect to the reference water level _L0 is calculated and displayed. In addition, in the above embodiment, the measurement points P ₁ ,
The drive motor of the angle measuring device installed at _P2 does not need to be a pulse motor.

As described above, the planned position (Xm, Ym) and measured position (X, Y) of the shield machine and the difference between the two positions are calculated, and the corrected angle value calculated corresponding to the difference between the two positions is calculated by the computer. 26, the operator sets this corrected angle value to the pulse motor 10 of the angle measurement device 19 at measurement point _P3 , and then activates it. Then, the rotation shaft 2 to which the semiconductor laser 3 is fixed is rotated by the correction angle from the direction of the measurement point _P4 , and the laser beam from the semiconductor laser 3 irradiates the planned position. The operator adjusts the jack 36 so that the photo sensor 25 of the shield machine 33 is located at this irradiation point, corrects the digging direction, and also compares the level difference of the shield machine 33 displayed on the computer 26 with the reference plan line. The level is corrected by comparing it with the level of and adjusting the jack 36.

In the present invention, for example, a semi-cylindrical lens 5 is provided in front of the semiconductor laser 3 and the laser beam is spread in a fan shape in the vertical plane and emitted, so even if there is a difference in height between measurement points, the intersection angle can be measured without any problem. can. Further, in the above embodiment, the photo sensor 13 installed vertically on the top lid 12
Since it has sensors on both sides 13a and 13b, it is possible to receive laser light emitted from both sides without replacing the installed angle measuring device 19. In addition, a pulse motor 1 rotates the motor that drives the rotation axis 2 of the semiconductor laser 3 by an arbitrary angle according to an input signal.
Since it is set to 0, it is possible to accurately irradiate the planned position with laser light based on the survey results, and it is possible to easily correct the digging direction of the shield machine. Furthermore, in the above embodiment, the shield machine 33
Since it is equipped with a computer 26 that calculates the measured position, the planned position, and the deviation between the two positions, surveying in the curved thrust construction method can be greatly speeded up and streamlined, and construction efficiency can also be improved.

<Effects of the Invention> As is clear from the above explanation, the method for measuring the position of an excavator in the buried pipe propulsion method of the present invention uses a laser oscillator that irradiates a laser beam while rotating around a vertical axis, and a laser oscillator that emits a laser beam while rotating around a vertical axis. An angle measurement device comprising a laser receiver that receives a received light signal and emits a received light signal, and a reader that reads an intersection angle projected onto a horizontal plane from the rotation angle of the laser oscillator based on the received light signals from the receivers at measurement points on both sides. , a communicating pipe type level measuring device that is fixedly installed at a reference point in the starting shaft and at predetermined locations in a series of pipes to be propelled, at multiple measurement points provided according to the length of propulsion, and measures the vertical position. and the above-mentioned receiver are installed in the excavator, and the intersection angle formed by the straight lines connecting the above-mentioned reference point, each measurement point, and the receiver of the excavator in sequence in the horizontal plane is measured, and this measured value is calculated as the length of the pipe body. , the horizontal coordinates of the excavator are determined from the data on the amount of protrusion of the propulsion device, and the vertical coordinates of the excavator are determined from the measured values of the level measuring device, and the position of the excavator is determined. The intersection angle of the traverse formed by the traverse and the level of the measurement point can be quickly measured at any time, and in conjunction with a computer that calculates the deviation from the standard planned line, this will greatly improve the efficiency of surveying and the construction accuracy of the surveyed object. To contribute.

[Brief explanation of the drawing]

FIG. 1 is a vertical cross-sectional view showing an embodiment of the surveying device used in the position measuring method of the present invention, and FIGS. 2 and 3 are horizontal cross-sectional views schematically showing an example of the curved propulsion method using the above-mentioned surveying device. Fig. 4 is a diagram showing a geometric method for determining the coordinates of a measuring point, Fig. 5 is a diagram showing a reference planning line that is input in advance to a computer, and Fig. 6 is a diagram showing a longitudinal cross-sectional view along the direction of propulsion. 2 is a flowchart showing an outline of the calculation process. DESCRIPTION OF SYMBOLS 1...Box, 2...Rotating shaft, 3...Semiconductor laser, 7...Rotary encoder, 8, 11...Gear, 10...Pulse motor, 12...Top lid, 13
... Photo sensor, 17 ... Pulse counter device, 19 ... Angle measuring device, 20 ... Level measuring device, 21 ... Water tank, 22 ... Hose, 23 ... Pressure detector, 25 ... Photo sensor, 26 ... computer.

Claims (1)

[Scope of Claims] 1. Pipe bodies of a predetermined length are sequentially inserted from a starting shaft following an excavating machine that excavates the ground, and these pipe bodies are driven by a propulsion device in the starting shaft to cause the excavating machine to excavate. This is a method for measuring the position of an excavator in a propulsion method in which the machine is buried by pushing and propelling it forward, and it uses a laser oscillator that emits laser light while rotating around a vertical axis, and a laser oscillator that emits a light reception signal when it receives the laser light. Based on the light receiving signals from the receiver and the receivers installed at the measuring points on both sides, the intersection angle formed by the measuring point on one side, the laser oscillator, and the measuring point on the other side in the horizontal plane is calculated from the rotation angle of the laser oscillator. An angle measurement device consisting of a reader is fixedly installed at a reference point in the starting shaft and at a plurality of measurement points provided at predetermined locations in a series of tubes to be propelled depending on the length of propulsion, while A communicating pipe type level measuring device for measuring the position and the above-mentioned light receiver are installed in the above-mentioned excavation machine, and the intersection angle formed by the straight lines sequentially connecting the above-mentioned reference point, each measuring point, and the light receiver of the excavation machine in a horizontal plane is determined. The horizontal coordinates of the excavator are determined from this measured value, the length of the pipe, the number of buried tubes, and the amount of protrusion of the propulsion device, and the vertical coordinates of the excavator are determined from the measured values of the level measuring device. A method for measuring the position of an excavator, characterized by determining the position of the excavator.