GB2095720A - Method of and apparatus for determining angular and transverse displacements of tunnelling machine - Google Patents
Method of and apparatus for determining angular and transverse displacements of tunnelling machine Download PDFInfo
- Publication number
- GB2095720A GB2095720A GB8109597A GB8109597A GB2095720A GB 2095720 A GB2095720 A GB 2095720A GB 8109597 A GB8109597 A GB 8109597A GB 8109597 A GB8109597 A GB 8109597A GB 2095720 A GB2095720 A GB 2095720A
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- GB
- United Kingdom
- Prior art keywords
- pipe
- tunnel
- shield machine
- light
- machine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
- G01C7/06—Tracing profiles of cavities, e.g. tunnels
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
A pipe-jacking tunnelling apparatus and method employed in constructing a tunnel using a shield digging machine enable angular and transverse displacements of the machine and a pipe immediately behind the machine to be determined relative to the predetermined scheduled or central axis of the tunnel to be constructed. The apparatus includes a laser beam source 5 mounted on the machine and directed rearwardly along the central longitudinal axis of the machine, a second laser beam source 9 disposed in the tunnel and directed forwardly along the predetermined axis of the tunnel, and two targets 8a, 8b disposed in, and spaced apart by a predetermined distance along said pipe. Each target carries a cartesian scale and is disposed with the origin of the scale on the central longitudinal axis of said pipe. The displacements of the beams from the two light sources striking the two targets are measured by means of the scales and from these displacements the angular and transverse displacements of the machine and said pipe relative to the predetermined central axis of the tunnel can be calculated. <IMAGE>
Description
SPECIFICATION
Method of and apparatus for determining angular and transverse displacements of tunnelling machine
The present invention relates to a method of and an apparatus for determining angular and transverse displacements of a shield digging machine (hereinafter simply referred to as shield machine) and a pipe behind the machine relative to a predetermined scheduled central axis of a tunnel to be constructed by a pipe-jacking tunnelling technique wherein the shield machine is propelled by being pushed by means of jacks placed at the rear portion of the tunnel through pipes extending up to the shield machine.
In the recent years, in tunnelling by using a shield machine, it has become common to determine the displacement of the shield machine from the predetermined scheduled central axis of the tunnel by means of a laser beam. For instance, in one arrangement, a target is attached to the rear end portion of the shield machine and a laser beam is directed to the target from the starting shaft to visually determine any transverse displacement, i.e. horizontal and vertical displacements of the rear end portion of the shield machine relative to the predetermined scheduled central axis of the tunnel to be constructed. in another arrangement for determining the displacement, the target comprises many expensive photodiodes arranged in a matrix.
Generally, however, the former arrangement comprising one visually inspected target is used.
In either arrangement, only the transverse displacement of the rear end portion of the shield machine relative to the scheduled central axis of the tunnel to be constructed can be determined.
In order to controi the propelling direction of the shield machine, in the pipe-jacking method of tunnelling it is necessary to determine angular and transverse displacements of the shield machine and the pipe next behind it relative to the predetermined scheduled central axis of the tunnel to be constructed.
Figures 1 and 2 of the accompanying drawings are schematic illustrations of possible orientations of a shield machine and pipes behind the machine.
When a shield machine 1 and succeeding pipes 4 are in the attitudes shown in Figure 1, more particularly when the shield machine 1 is inclined relative to the scheduled central axis 12 of the tunnel to be constructed while the pipes 4 behind the machine are properly on the axis 12, correction of the propelling direction of the shield machine 1 is not effected with the prior arrangement described above since the rear end portion of the shield machine 1 where the target is attached, is not detectably displaced while the forward end portion of the shield machine 1 is considerably displaced.Thus, with the prior arrangement, the correction of the propelling direction of the shield machine 1 is effected only when the rear end portion of the shield machine 1 is detectably transversely displaced from the axis 12 so that there is a danger that the tunnel thus constructed deviates considerably from the predetermined scheduled central axis 12 of the tunnel to be constructed.
Also in the situation shown in Figure 2, there is a similar danger. In Figure 2, the shield machine 1 is properly on the axis 1 2 while the pipes 4 behind the machine are displaced angularly and/or transversely relative to the axis 12 following the locus of the shield machine 1. Also in this case, correction of the propelling direction of the shield machine 1 is not effected with the prior arrangement described above since the shield machine 1 is in the proper position on the axis 12.
Since the shield machine 1 is propelled or pushed forwardly from the inclined pipe 4 next behind the machine, however, the shield machine 1 is propelled out of the axis 12 by reason of the thrust being inclined relative to the axis 12'.
In order to eliminate these drawbacks the present invention is concerned with providing a method of and apparatus for determining the angular and transverse displacements of a shield machine and a pipe behind the machine relative to the predetermined scheduled central axis of a tunnel to be constructed by a pipe-jacking technique.
According to the present invention, there is provided a method of determining angular and transverse displacements of a shield machine and a pipe behind the machine relative to a predetermined central axis of a tunnel to be constructed by a pipe-jacking technique comprising the steps of providing on the shield machine a first light emitter which emits rearwardly a light beam along the central longitudinal axis of the shield machine, projecting said light beam on to a pair of targets each having a scale and provided in said pipe and spaced from each other by a predetermined distance along the central longitudinal axis of said pipe to form light spots on the targets, projecting on to said pair of targets another light beam emitted from a second light emitter along said central axis of the tunnel to be constructed to form light spots on the targets, said second light emitter being located in a rear portion of the tunnel, and reading said light spots on each target on the respective scales to determine the angular and transverse displacements of the shield machine and said pipe relative to said predetermined central axis of the tunnel to be constructed.
Further, according to the present invention, there is provided apparatus for determining angular and transverse displacements of a shield machine and a pipe behind the machine relative to a predetermined central axis of a tunnel to be constructed by a pipe-jacking technique comprising, a first light emitter provided on the shield machine for emitting a light beam rearwardly along the central longitudinal axis of the shield machine, a pair of targets arranged in said pipe for receiving, a pair of targets arranged in said pipe for receiving the light beam emitted from said first light emitter to form light spots on the target and each having a scale and spaced apart from each other by a predetermined distance along the central longitudinal axis of said pipe, a second light emitter located in a rear portion of the tunnel for emitting a light beam along said predetermined central axis of the tunnel to be constructed to form light spots on the targets, whereby the positions of said light spots on each target can be read on the respective scales for determining the angular and transverse displacements of the shield machine and said pipe relative to said predetermined central axis of the tunnel to be constructed.
According to the present invention in one embodiment thereof, each targef is pivotally mounted in said pipe so that the targets are pivotable away from and into the path of said light beam.
Furthermore, according to the present invention in another embodiment, each target comprises a semi-transparent plate on which the scale is marked.
According to the present invention in still further embodiment, each target comprises a transparent plate and a semi-transparent plate held in parallel relation with a gap left therebetween, a light-reflective scale marked on the surface of the transparent plate facing the semi-transparent plate, and light sources arranged around the periphery of the transparent plate to pass the light beam emitted from the light sources into the transparent plate through its periphery at an angle which causes the total reflection at the opposite surfaces of the transparent plate.
The present invention will be better understood upon consideration of the following detailed description and the accompanying further drawings in which:
Figure 3 is a schematic illustration of one embodiment of the present invention;
Figure 4 is a schematic plan view of a possible orientation of the shield machine and pipes behind the machine and employing apparatus according to the present invention;
Figure 5 is a schematic side view corresponding to Figure 4;
Figures 6A and 6B are front views of targets used in a method according to the present invention;
Figure 7 is a front view of one form of target used in the present invention; and
Figure 8 is a sectional view along the line VIll-VIll of Figure 7.
With reference now to the drawings and more particularly to Figure 3 thereof, there is schematically illustrated an embodiment of the present invention. In Figure 3, the reference numeral 1 designates a shield machine with a plurality of jacks 2 for correcting or changing the propelling direction of the shield machine 1. The cylinder 21 of each jack 2 is rigidly fixed to the interior of the shield machine 1 and the piston rod 22 is in abutment with one end of a short tube 3 which is slidably fitted in the rear end portion of the shield machine 1. The other end of the short tube 3 abuts one end of the pipe 4 immediately behind the machine. The jacks 2 of which only two are shown in Figure 3 are circumferentially spaced apart from each other. The short tube 3 may be omitted if desired.
The reference numeral 5 designates a first light emitter such as a laser means which is arranged in the central portion of the shield machine 1 and emits a well concentrated light beam rearwardly along the central longitudinal axis of the shield machine 1. 6 is a reference point on the central longitudinal axis of the shield machine 1. 7a and 7b are support and drive means for targets 8a and 8b, respectively, and have arms 71 a, 71 b connected to the targets 8a, 8b respectively.
Means 7a and 7b are removably mounted on the pipe 4 and support the targets 8a and 8b in spaced relation to each other by a predetermined distance L2 along the central longitudinal axis of the pipe 4. The targets 8a and 8b each have a scale marked thereon. A second light emitter 9 such as a laser means is fixedly located in the rear portion of the tunnel, for instance on the bottom of the starting shaft, and emits a well concentrated light beam along the predetermined central axis of the tunnel to be constructed.
Each of the targets 8a and 8b preferably comprises a semi-transparent plate so that the light spots formed on the plate by the impinging light beams from the first and second light emitters 5 and 9 respectively can be seen simultaneously from one side of the target. Each target further comprises a scale marked on said semi-transparent plate.
The targets 8a and 8b are suspended from the respective support and drive means 7a and 7b in such way that the intersection point of the abscissa and the ordinate of the scale on each target is located on the central longitudinal axis of the pipe 4. The targets 8a and 8b are pivotally supported by the support and drive means 7a and 7b respectively, so that the targets are pivotally moved as shown by the arrows by said means 7a and 7b away from or into the paths of said light beams for the purpose described hereinafter. 10 is a television camera for reading or monitoring the light spots formed on the targets 8a and 8b relative to the respective scales. Camera 10 may be mounted in any suitable pipe 4 behind the machine.
The scale may be marked on one surface of the semi-transparent plate by painting or by attaching thin strips of an opaque material.
The operation of the present machine will now be described referring to Figures 4, 5, 6A and 6B.
When the shield machine 1, the short tube 3 and the succeeding pipe 4 are oriented as shown in Figure 4 in plan view and in Figure 5 in side view, the central longitudinal axis 11 of the shield machine 1 (i.e. the light beam emitted from the first light emitter 5), the predetermined central axis 12 of the tunnel to be constructed (i.e. the light beam emitted from the second light emitter
9), and the central longitudinal axis 13 of the last pipe 4, in which the targets 8a and 8b are
provided, are oriented as shown in Figures 4 and
5.
In this state, the targer 8a is pivoted
downwardly by the support and drive means
7a into operative position while the other target 8b is held in the upwardly pivoted
inoperative position by the support and drive
means 7b so as not to intercept the light beam
from the second light emitter 9. Thus, a light spot
14 is formed on the target 8a by the light beam
11 emitted from the first light emitter 5 and
another light spot 1 5 is formed by the light beam
12 emitted from the second light emitter 9. Figure
6A shows such light spots 14 and 15 on the target 8a as viewed from the television camera
10. The coordinates (X11, Y1:) and (X2t, Y2t) of the light spots 14 and 15 respectively, are read by the television camera 10 or directly by an operator without the use of the camera 10.Thereafter, the target 8a is pivoted upwardly into inoperative position and the target 8b is pivoted downwardly into operative position. The coordinates (X12, Y,2) and (X22, Y22) of light spots 16 and 17 corresponding to the light spots 14 and 15 respectively are similarly read.
With the data collected, the angular and transverse displacements of the shield machine 1 and the succeeding pipe 4 can be determined or calculated in the following way.
(1) The angular displacement SpX of the succeeding pipe 4 in the X-direction (horizontal direction): x22-x21
Spx=tan~t ( L2
(2) The transverse displacement ipX of the last pipe 4 in the X-direction at the target 8b: I,,=--X,,.cosB,, Since cos DpX is substantially equal to 1,
Ipx=-X22.
(3) The angular displacement Osx of the shield machine 1 in the X-direction:
(X11-X21)-(X12-X22) #sx=tan-1[ ] L2
(4) The transverse displacement ISX of the shield machine 1 in the X-direction at the reference point 6:
L1
Isx=[((X11-X21)-(X12-X22)}+(X12-X22)].
L2
L1 cos#px = {(X11-X21)-(X12-X22)}+(X12-X22) L2
(5) The angular displacement #py of the
succeeding pipe 4 in the Y-direction (vertical
direction): Y22-Y21
Spv=tan~ ( 12
(6) The transverse displacement Ipy of the
succeeding pipe 4 in the Y-direction at the target 8b:
I,,=-Y,,.cosB,,
Since cos #py is substantially equal to 1,
py6.Y22 (7) The angular displacement #SY of the shield machine 1 in the Y-direction: (Y11-Y21)-(Y12-Y22)
#SY=tan-1 f L2
(8) The transverse displacement ISY of the shield machine 1 in the Y-direction at the reference point 6::
L1
ISX=[(Y11-Y21)-(Y12-Y22)}+(Y12-Y22)]
L2 L1
cos#PV# (Y11-Y21)-(Y12-Y22}+(Y12-Y22)
L2 In the above, L, is a distance between the target 8b and the reference point 6, and L2 is a distance between the targets 8a and 8b. The distance L, can be deemed constant since the relative angular displacement between the shield machine 1 and the succeeding pipe 4 does not noticeably change the distance L. The reference point 6 may be taken at a point on the opposite side of the target 8b at the distance L1 from the target 8b.
With the angular and transverse displacements of the shield machine 1 and the succeeding pipe 4 relative to the predetermined axis 12 determined, the current orientation of the shield machine 1 and the succeeding pipe 4 can thus be found easily. Then, by suitably actuating the jacks 2 the propelling direction of the shield machine 1 can be controlled or corrected so that the shield machine 1 is propelled properly along the predetermined central axis 12 of the tunnel.
The calculation of the angular and transverse displacements of the shield machine 1 and the next adjacent pipe 4 can be carried out by a computer. Though the piping for the jacks 2 is not shown in the drawings, it can be easily designed by those skilled in the art. The control of various valve means (not shown in the drawings) for the piping can be effected also on the spot.
In order to read the light spots on the scale of the targer, the scale per se has to be seen. For this purpose the entire target is illuminated to the extent that the scale can be seen and intense light spots are formed on the target With this arrangement, it is required to make the first and second light emitters 5 and 9 emit substantially intense light beams, and in some instances it happens that the light sports cannot be read with enought contrast.
In order to avoid such drawbacks, the target may be designed as shown in Figures 7 and 8. In
Figures 7 and 8, the reference numeral 1 8 designates a frame by which a transparent plate 19 such as a plastic or glass plate and a semitransparent plate 20 such as a frosted or ground glass plate are supported in parallel and in opposed relation with a gap 21 left therebetween.
On the surface of the transparent plate 1 9 facing the semi-transparent plate 20 light-reflective opaque scale lines 22 are marked. As described above the scale lines 22 may be marked by painting or by attaching thin strips. In the frame 18, there is left a space 23 surrounding the periphery 24 of the transparent plate 1 9 and in the space 23 there are arranged suitable number of light sources 25 at suitable positions for directing light beams toward the periphery 24 of the transparent plate 1 9. The light beams from the light source 24 are passed through small bores 26 formed in a light shield plate 27 into the transparent plate 1 9 through the periphery 24 thereof at an angle which causes the total reflection at the opposite surfaces of the transparent plate 1 9. Thus, when the target 8 is viewed from the right side of the target 8 in Figure 8, the scale lines 22 can be seen relieved against dark background.
The targets 8a and 8b can if desired be placed in the next to the last pipe laid instead of the last pipe (i.e. the pipe immediately behind the shield machine 1).
Claims (7)
1. A method of determining angular and transverse displacements of a shield machine and a pipe behind the machine relative to a predetermined central axis of a tunnel to be constructed by a pipe-jacking technique, comprising the steps of
(a) providing on the shield machine a first light emitter which emits rearwardly a lightbeam along the central longitudinal axis of the shield machine,
(b) projecting said light beam on to a pair of targets each having a scale and provided in said pipe and spaced from each other by a predetermined distance along the central longitudinal axis of said pipe to form light spots on the targets,
(C) Projecting on to said pair of targets a light beam emitted from a second light emitter along said predetermined central axis of the tunnel to be constructed to form light spots on the targets, said second light emitter being located in a rear portion of the tunnel and
(d) reading said light spots on each target on the respective scales to determine the angular and transverse displacements of the shield machine and said pipe relative to said predetermined central axis of the tunnel to be constructed.
2. Apparatus for determining angular and transverse displacements of a shield machine and a pipe behind the machine relative to a predetermined central axis of a tunnel to be constructed by a pipe-jacking technique, comprising a first light emitter on the shield machine for emitting a light beam rearwardly along the central longitudinal axis of the shield machine, a pair of targets arranged in said pipe for receiving the light beam emitted from said first light emitter to form light spots thereon and each having a scale and spaced from each other by a predetermined distance along the central longitudinal axis of said pipe, a second light emitter located in a rear portion of the tunnel for emitting a light beam along said predetermined central axis of the tunnel to be constructed to form light spots on the targets, whereby the positions of said light spots on each target on the respective scales can be read for determining the angular and transverse displacements of the shield machine and said pipe relative to said predetermined central axis of the tunnel to be constructed.
3. Apparatus as claimed in claim 2, wherein each of said targets is pivotally mounted in said pipe so that the targets are pivotable away from and into the paths of said light beams.
4. Apparatus as claimed in claim 2 or claim 3, wherein each target comprises a semitransparent plate on which the scale is marked.
5. Apparatus as claimed in any one of claims 2 to 4, wherein each target comprises a transparent plate and a semi-transparent plate held in parallel relation with a gap left therebetween, a lightreflective scale marked on the surface of the transparent plate facing the semi-transparent plate, and light sources arranged around the periphery of the transparent plate to pass the light beams emitted from the light source into the transparent plate through its periphery at an angle which causes the total reflection at the opposite surfaces of the transparent plate.
-
6. A method of determining angular and transverse displacements of a shield machine and a pipe behind the machine relative to a predetermined central axis of a tunnel to be constructed by a pipe-jacking technique which method is substantially as hereinbefore described with reference to and as illustrated in Figures 3 to 6B of the accompanying drawings.
7. Apparatus for determining angular and transverse displacements of a shield machine and a pipe behind the machine relative to a predetermined central axis of a tunnel to be constructed by a pipe-jacking technique.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB8109597A GB2095720B (en) | 1981-03-26 | 1981-03-26 | Method of and apparatus for determining angular and transverse displacements of tunnelling machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB8109597A GB2095720B (en) | 1981-03-26 | 1981-03-26 | Method of and apparatus for determining angular and transverse displacements of tunnelling machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| GB2095720A true GB2095720A (en) | 1982-10-06 |
| GB2095720B GB2095720B (en) | 1985-03-13 |
Family
ID=10520690
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB8109597A Expired GB2095720B (en) | 1981-03-26 | 1981-03-26 | Method of and apparatus for determining angular and transverse displacements of tunnelling machine |
Country Status (1)
| Country | Link |
|---|---|
| GB (1) | GB2095720B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0130174A2 (en) * | 1983-06-24 | 1985-01-02 | VOEST-ALPINE Aktiengesellschaft | System to control the position of a galleries driving machines |
| EP0449581A1 (en) * | 1990-03-29 | 1991-10-02 | Kabushiki Kaisha Iseki Kaihatsu Koki | Shield tunnelling apparatus |
| EP0501947A1 (en) * | 1991-02-27 | 1992-09-02 | Andreas Dipl.-Ing. Hornyik | Method of measuring the cross sections of a cavity |
| EP0523907A2 (en) * | 1991-07-19 | 1993-01-20 | Kabushiki Kaisha Iseki Kaihatsu Koki | Method and apparatus for controlling direction of excavating machine |
| US5186579A (en) * | 1990-04-19 | 1993-02-16 | Kabushiki Kaisha Komatsu Seisakusho | Apparatus for controlling direction of underground excavator |
| CN116804370A (en) * | 2023-08-28 | 2023-09-26 | 中铁第六勘察设计院集团有限公司 | Anti-deviation device for pipe jacking tunneling and using method |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107489430B (en) * | 2017-09-22 | 2019-11-22 | 中国铁建重工集团股份有限公司 | A kind of section of jurisdiction automatic identification positioning device and method |
-
1981
- 1981-03-26 GB GB8109597A patent/GB2095720B/en not_active Expired
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0130174A2 (en) * | 1983-06-24 | 1985-01-02 | VOEST-ALPINE Aktiengesellschaft | System to control the position of a galleries driving machines |
| EP0130174A3 (en) * | 1983-06-24 | 1986-10-29 | VOEST-ALPINE Aktiengesellschaft | System to control the position of a galleries driving machines |
| EP0449581A1 (en) * | 1990-03-29 | 1991-10-02 | Kabushiki Kaisha Iseki Kaihatsu Koki | Shield tunnelling apparatus |
| AU640459B2 (en) * | 1990-03-29 | 1993-08-26 | Kabushiki Kaisha Iseki Kaihatsu Koki | Shield tunnelling apparatus |
| US5186579A (en) * | 1990-04-19 | 1993-02-16 | Kabushiki Kaisha Komatsu Seisakusho | Apparatus for controlling direction of underground excavator |
| EP0501947A1 (en) * | 1991-02-27 | 1992-09-02 | Andreas Dipl.-Ing. Hornyik | Method of measuring the cross sections of a cavity |
| EP0523907A2 (en) * | 1991-07-19 | 1993-01-20 | Kabushiki Kaisha Iseki Kaihatsu Koki | Method and apparatus for controlling direction of excavating machine |
| EP0523907A3 (en) * | 1991-07-19 | 1993-05-26 | Kabushiki Kaisha Iseki Kaihatsu Koki | Method and apparatus for controlling direction of excavating machine |
| US5296915A (en) * | 1991-07-19 | 1994-03-22 | Kabushiki Kaisha Iseki Kaihatsu Koki | Method and apparatus for controlling direction of excavating machine |
| CN116804370A (en) * | 2023-08-28 | 2023-09-26 | 中铁第六勘察设计院集团有限公司 | Anti-deviation device for pipe jacking tunneling and using method |
| CN116804370B (en) * | 2023-08-28 | 2023-11-10 | 中铁第六勘察设计院集团有限公司 | Anti-deviation device for pipe jacking tunneling and using method |
Also Published As
| Publication number | Publication date |
|---|---|
| GB2095720B (en) | 1985-03-13 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PCNP | Patent ceased through non-payment of renewal fee |