JP2000186491A - Propulsion device and method for tubular body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a propulsion device for a tubular body capable of determining the position of a front-end tubular body without error and rapidly and laying a tubular body along the planned track in a curve easily, accurately, and automatically. SOLUTION: The position measuring instrument 40 of a propulsion device P is provided with a pit side total station 41, a front-end reflector 51 disposed on a front-end tubular body 11A, prescribed number of middle total stations 46 and middle reflectors 52 disposed on a tubular body 11 between the pit side total station and the front-end reflector, and a pit reflector 53 disposed closely to the pit side total station. The controller 60 of the propulsion device uses the position measuring instrument 40 for measuring the distance to the front-end tubular body 11A by reflecting light waves from the respective total stations 41, 46 on the nearby reflectors 52, 51, 53, and controls a cluster of opening regulating jacks 12 so that the propulsion position of the front-end tubular body 11A may match the planned track data inputted in advance for laying a plurality of tubular bodies 11 in a curve.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for measuring the position of a leading pipe body which is propelled in a curved shape by a position measuring device utilizing light waves, and automatically arranging a plurality of pipe bodies along a planned orbit. The present invention relates to a propulsion device and a propulsion method for a pipe laid in a curved shape.

[0002]

2. Description of the Related Art Conventionally, as a propulsion device and a propulsion method for laying a pipe in a curved shape, those described in Japanese Patent No. 2,630,557 and Japanese Patent No. 2,808,421 have been known.

In the propulsion device / propulsion method described in the former Japanese Patent No. 2,630,557, the leading pipe body has an azimuth sensor for detecting the azimuth in the horizontal direction, and a ordinate angle for detecting the ordinate angle in the vertical direction. Sensor, the azimuth angle and the vertical axis angle of the leading tube are detected, and the control device calculates the propulsion distance of the leading tube by using signals of the middle-push detection sensor and the main-push sensor. And automatically propelling a plurality of tubes along a three-dimensional trajectory.

In the propulsion device described in Japanese Patent No. 2808421, a total station is installed in a vertical shaft at one end of a tunnel, and a reflecting mirror is installed between a leading pipe and an intermediate portion of the tunnel. The light wave emitted from the total station is reflected by the reflector in the top tube through the middle reflector, turned back, and returned to the total station again through the middle mirror, so that the 3D of the top tube from the shaft is returned. And the control unit measures
By controlling a predetermined group of opening adjustment jacks, a plurality of pipes are automatically propelled along a three-dimensional trajectory.

[0005]

However, the former patent No. 2
In the propulsion device and the propulsion method disclosed in Japanese Patent No. 630557, gyros based on various principles are used for the azimuth sensor and the vertical axis angle sensor. These gyros tend to have an error that increases with time. There was room for improvement, as it took a lot of time to fix.

In the latter propulsion device disclosed in Japanese Patent No. 2808421, a reflecting mirror arranged in the middle is adjusted so that a light wave from the rear can be sent to a reflector on the front side. Since it is necessary to adjust the reflector so that it faces the rear reflector and send the light wave back to the total station, the adjustment of those reflectors is a delicate adjustment, so it takes time and effort. There was room for improvement.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and can quickly measure the position of the leading tube while suppressing errors.
It is an object of the present invention to provide a pipe propulsion device and a propulsion method capable of easily and automatically laying a pipe in a curved shape along planned trajectory data with high accuracy.

[0008]

In the propulsion device according to the present invention, a plurality of pipes are sequentially propelled by a main pushing jack arranged in a rear shaft, and a plurality of pipes are provided at a front end of a first pipe. The plurality of pipes are laid in a curved shape while excavating a tunnel in a predetermined direction by a group of opening adjusting jacks interposed between the leading pipe and a pipe subsequent to the leading pipe. In doing so, the control device measures the position of the head tube using a position measuring device capable of measuring a two-dimensional or three-dimensional position of the head tube with respect to the shaft, and propulses the head tube. A pipe propulsion device for controlling the opening adjustment jack group to lay the plurality of pipes in a curved shape so that the position matches the previously input planned trajectory data. Are disposed in the shaft, An optical unit having an optical unit and a light-receiving unit; a rotating unit capable of swinging the optical unit up, down, left, and right; and controlling the operation of the rotating unit and electrically processing a signal from the optical unit to obtain a distance and A shaft-side total station including a control unit for measuring an angle, a shaft-side total station, a head-side reflector disposed in the head pipe body, for receiving and reflecting a light wave emitted from the rear, the shaft-side total station, and the head-side reflector A predetermined number of pipes are arranged between the pits, and, like the shaft-side total station, an intermediate total station including the optical unit, the rotating means, and the control unit, and disposed in close proximity to the intermediate total station. And an intermediate reflector that receives and reflects light waves emitted by a nearby total station, and is disposed in close proximity to the shaft-side total station, and A shaft reflector that makes the light wave emitted by the intermediate total station incident and reflects the light, and wherein the control device is configured to be electrically connected to a control unit of each of the total stations in the position measuring device. Features.

In the propulsion method according to the present invention, the propulsion device is used, and the position measuring device swings each optical unit of the intermediate total station up, down, left, and right toward the reflector immediately behind the intermediate total station. The light wave emitted from the light emitting section of the total station is reflected by the reflector immediately behind and sent back to the light receiving section of the intermediate total station, and the distance and angle of the intermediate total station from the rear total station are measured. The total station is directed toward the front side, and further, the optical unit of each total station is swung up and down and left and right toward the reflector immediately before in front, and the light wave emitted from the light emitting unit of each total station is forwarded in front of the total station. Each of the toe is reflected by a reflector. Back to the light receiving section of the local station, and measures the distance and angle from each of the total stations to the immediately preceding reflector in front of the total station, and the control device calculates the distance and angle from the position measuring device based on the signal of the distance and angle from the position measuring device. The two-dimensional or three-dimensional position of the leading tube in which the leading reflector is arranged with respect to the shaft-side total station is calculated, the position of the leading tube is measured, and the propulsion position of the leading tube is input in advance. The opening adjustment jack group is controlled so as to match the planned trajectory data.

It is desirable that the intermediate total station and the intermediate reflector are mounted on a self-propelled carriage, and after the pipe is laid, moved to the outside of the tunnel to be collected.

The control device measures the position of the leading tube in a fixed earth coordinate system, and calculates an error between the measured value and the planned orbit data in an airframe coordinate system based on the leading tube. It is desirable to control the group of the opening adjustment jacks.

[0012]

In the pipe propulsion apparatus and the propulsion method according to the present invention, the position measuring device for measuring the position of the leading pipe is provided in the shaft-side total station disposed in the shaft or the leading pipe disposed in the leading pipe. In addition to the reflector, a predetermined number of pipes between the pit-side total station and the top reflector were placed in close proximity to each other, and had the same optical unit, rotating means, and control unit as the pit-side total station. Along with an intermediate total station and an intermediate reflector that receives and returns the light waves emitted by the nearby total station,
The pit reflector is arranged near the pit-side total station, and is provided with a pit reflector for making the light wave emitted from the front intermediate total station enter and reflect.

For this purpose, the position measuring device firstly shakes each optical part of the intermediate total station up, down, left and right and directs the light wave emitted from the light emitting part of the intermediate total station to the immediately following reflector. Then, the light is sent back to the light receiving section of the intermediate total station, and the distance and angle of the intermediate total station from the pit-side total station and the intermediate total station are measured.

[0014] Then, the position measuring device directs the intermediate total station facing backward to the front side, and further,
By shaking the optical units of the shaft-side total station and the intermediate total station up, down, left and right, and directing them to the reflector immediately in front, the light wave emitted from the light emitting unit of each total station is reflected by the immediately preceding reflector in front, and each total station And the distance and angle from each total station to the immediately preceding reflector in front are measured.

As a result, the control device calculates the two-dimensional or three-dimensional position of the head tube in which the head reflector is arranged with respect to the shaft-side total station from the signals of the distance and the angle from the position measuring device. The position of the leading tube can be measured.

That is, the tunnel is linearly divided by a predetermined number of intermediate total stations and intermediate reflectors, and the control device divides the divided sections by using each total station of the position measurement device and the reflector. By measuring, the position of the leading pipe relative to the shaft can be measured accurately, so that the error can be suppressed and the position of the leading pipe can be measured with extremely high accuracy compared to the case where a conventional gyro is used.

The head / intermediate / pit shaft reflector simply sends back the light wave emitted from the light emitting part of the nearby total station to the light receiving part of the total station without fine adjustment of the angle. By using such a method, light waves can be sent back without adjusting the angle, so that each total station can quickly measure the distance and angle to a reflector in the vicinity.

Therefore, in the pipe propulsion device and the propulsion method according to the present invention, the position of the leading pipe can be measured quickly with a small amount of error, and the pipe can be easily and accurately aligned with the planned trajectory data. Can be laid in a curved shape.

If the intermediate total station and the intermediate reflector are mounted on a self-propelled bogie, the bogie is run and moved to the outside of the tunnel after the pipe is laid. And the intermediate reflector can be recovered, so that the equipment can be used effectively, and even when laying a small-diameter pipe that cannot be inserted by humans, the pipe can be automatically and easily made into a curved shape with high accuracy. Can be laid.

Further, the control device measures the position of the leading tube in the earth fixed coordinate system, and converts an error between the measured value and the planned orbit data into an airframe coordinate system based on the leading tube. By controlling the group of opening adjustment jacks, it is possible to accurately correct the lateral displacement of the leading pipe and lay the pipe in a curved shape with high accuracy.

In the control of the group of opening adjustment jacks according to the conventional method described in Japanese Patent No. 2808421 or the like, the control device determines the position of the leading pipe on the XYZ coordinate axes of the earth fixed coordinate system with respect to the shaft. The direction of the leading pipe on the planned trajectory data was calculated based on the measured values, and the opening adjustment jack group was controlled so as to face the direction. Therefore, when the tube is propelled,
If the tube slips in the direction perpendicular to the axial direction, the propulsion may occur without correcting the slip, and if the slip overlaps, an error in the planned trajectory and the shift occurs. Then, the pipe is laid.

On the other hand, as in the present invention, the control device measures the position of the leading tube in the earth fixed coordinate system, and determines the error between the measured value and the planned orbit data with reference to the leading tube. If you convert to the aircraft coordinate system, you can grasp the lateral displacement of the top tube in the aircraft coordinate system, while correcting the lateral displacement,
This is because the group of opening adjustment jacks can be adjusted.

[0023]

Preferred embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 1, a propulsion device P used in the embodiment includes a plurality of pipes 11, such as steel pipes and fume pipes, an opening adjusting jack 13, a cushioning material 20, and a front end side of a first pipe 11A. A leading conduit 32 composed of a blade, a shield machine, and the like, a main jack 33, a position measuring device 40, and
The control device 60 is provided.

The opening adjustment jack 13 is a hydraulic jack 1
As shown in FIGS. 2 and 3, a predetermined bracket (not shown) is fixed in the vicinity of the end faces of the pipes 11 and 11 and is shifted by 45 ° from up, down, left and right.
Each opening adjustment jack group 12 is constituted by four of them.

In the case of a large-diameter tube 11, FIG.
As shown in FIG. 5, the opening adjusting jacks 13 are made larger, and between the two ends thereof and the end face of the tube 11, a contact plate 21 made of a steel plate and a cushioning material 22 made of a hard rubber plate are arranged. Further, as the opening adjustment jack group 12, a plurality of the opening adjustment jacks 1 may be provided at the positions provided in the embodiment.
3 may be provided.

When the pipe 11 is made of steel pipe,
The mounting bracket of the opening adjustment jack 13 may be directly fixed to the end of the tube 11.

The mechanism of the opening adjusting jack 13 will be briefly described. The opening adjusting jack 13 can detect the stroke of the hydraulic jack 14 having the piston rod 14b reciprocally movable within the cylinder 14a and the stroke of the piston rod 14b. An opening adjustment detection sensor 15 including an operation transformer and the like, a solenoid valve 16 for applying a predetermined oil pressure to the hydraulic jack 14, and a computing unit 18 for inputting a signal from the opening adjustment detection sensor 15 and controlling the solenoid valve 16, (See FIG. 6).

The computing unit 18 is provided with the piston rod 14
An amplifier for amplifying a difference between a horizontal / vertical command signal from a calculation unit 61b of the control device main body 61 and a signal from the sensor 15 so that b becomes a predetermined stroke,
Then, the amplified difference is further power-amplified by the power amplifier 17 and the solenoid valve 16 is controlled.

Since this control is a method of propelling the pipe body 11 in the soil, it does not need to be a quick response. For example, if the opening adjustment jack 13 is expressed in the form of a transmission function,
As shown in FIG. Here, K represents gain, and S represents integration.

In this control, the hydraulic jack 14
Operates the piston rod 14b in the form of integrating the amount of oil flowing through the solenoid valve 6, and outputs the horizontal / vertical command signal from the calculation unit 61b of the control device main body 61 and the sensor 1
As long as there is a difference from the signal from the control signal 5, the hydraulic jack 14 is to be operated in an integrated form so that the command signal and the signal from the sensor 5 are operated to be zero. Become. Also, a solenoid valve 16, a power amplifier 17,
The arithmetic unit 18 may have a linear characteristic of outputting an output proportional to the input. However, in terms of cost, the arithmetic unit 18 is a PWM (pulse width modulation) system, and the electromagnetic valve 1
6 and the power amplifier 17 may be subjected to two-position on / off control so as to have an equivalent proportional characteristic as a whole.

In the group of opening adjusting jacks 12 provided with such opening adjusting jacks 13, commands from the control device main body 61 are respectively assigned to each of the left and right or upper and lower two of the four tubes 11. If a signal is input, the pipe 11
A predetermined opening difference can be provided between 11.

The opening adjusting jack group 12 does not necessarily need to be provided between all the pipes 11 because the subsequent pipe 11 easily advances along the tunnel 1 excavated by the preceding pipe 11. . Therefore, in the case of the embodiment, in order to lay the leading pipe 11A along the planned trajectory, the opening adjustment jack group 12 needs to move between the leading pipe 11A and the second pipe 11B, A buffer member 20 is disposed between the second pipe 11B and the third pipe 11C, and between the rear pipes 11.

The cushioning material 20 is formed of a foamed plastic material as a continuous or intermittent annular shape capable of contacting the end face of the tube 11 and is adhered to one end of the tube 11. The cushioning material 20 follows the trajectory of the leading tube 11A and compresses the inner part of the curve of the trail when the opening difference is to be generated between the subsequent tubes 11 so that the tube 11 is moved to the leading tube. In addition to following the trajectory of the curve of the body 11A, the function of averaging the propulsion force acting on the end face of the tube body 11 is achieved. And since the cushioning material 20 is less expensive than the opening adjusting jack 13, it is not necessary to collect it after the pipe 11 is laid, and it is possible to prevent an increase in construction cost. In the case of the embodiment,
The cushioning member 20 is disposed between the third and subsequent tubes 11.

In addition, the periphery of the edges of the tubes 11 and 11 and the periphery of the opening adjustment jack group 12 or the cushioning material 20 are:
A cylindrical covering tube 30 made of a steel plate covering them is provided. As shown in FIGS. 2 to 5, the covering pipe 30 is fixed to the rear outer peripheral surface of the tubular body 11 and pressed against a rubber ring 31 disposed on the outer peripheral face of the tubular body 11, so that the opening adjusting jack group 12 is opened. The watertightness of the surrounding area will be ensured.

The main push jack 33 is constituted by a hydraulic jack and is for propelling the pipe 11.
A plurality of pipes 11 are arranged in the shaft 2 excavated at the starting point of the planned trajectory. One surface of the inner peripheral surface of the shaft 2 is used as the support wall 36, and the piston rods 33 a of the main push jacks 33 are simultaneously extended to extend the pipe 11. Will be promoted.

Since the stroke of the piston rod 33a is shorter than the entire length of the tube 11, the tube 11 is propelled by using a plurality of spacers 34 made of a steel plate or the like. By the way, if the stroke of each piston rod 33a is large, the spacer 34 becomes unnecessary.

A hydraulic power source 38 for supplying hydraulic pressure to each of the opening adjustment jacks 13 and the main push jacks 33 is disposed near the shaft 2 and has a total station 4.
6 and a power supply 67 for driving the collection trolley 54 are provided in a control device 60 near the shaft 2 (FIG. 1).
・ See 13).

Further, in this propulsion device P, the front pipe 32, the opening adjustment jack group 12, the cushioning material 2
Propulsion is made in units of three A, B, and C units pre-assembled with 0 or the like. The unit A is configured by attaching the leading conduit 32 to the distal end of the tube 11 and attaching the opening adjustment jack group 12 and the covering tube 30 to the rear end of the tube 11. The unit B is configured by attaching an opening adjusting jack group 12 and a covering tube 30 to the rear end of the tube 11. The unit C is configured by attaching the cushioning material 20 and the covering pipe 30 to the rear end of the pipe 11.

A head reflector 51 of the position measuring device 40, which will be described later, is provided on the head tube 11A of the unit A. It is desirable that the installation position of the head reflector 51 be located at the center position of the head tube 11A on the center line of the tunnel 1 so that the distance can be easily calculated. Further, an intermediate total station 46 and an intermediate reflector 52, which will be described later, are installed in the tube 11 of the predetermined unit C. Further, in the shaft 2, a shaft-side total station 41 of the position measuring device 40, which will be described later, is provided on the center line of the planned track.

The head tube 11A of the unit A has
It is composed of a gyro using gravity, and the top tube 11A
Is provided with a roll angle sensor 69 for detecting the roll angle.

As shown in FIGS. 1 and 8, the position measuring device M of the embodiment includes a shaft-side total station 41 arranged in the shaft 2 and a head reflector 51 arranged in the head tube 11A of the unit A. An intermediate total station 46 disposed in the tube 11 of the unit C at a position where the total station 41 and the front reflector 51 in the tunnel 1 can be seen, an intermediate reflector 52 disposed close to the intermediate total station 46, and a shaft A shaft reflector 53 arranged in the shaft 2 near the side total station 41;
It is provided with.

The intermediate total station 46 and the intermediate reflector 52 may be appropriately connected depending on the curved state of the tunnel 1.
increase.

The pit-side total station 41 is a publicly-known one in which an electronic digital theodolite and a light wave distance meter are integrated, and the distance and angle of a measuring point can be measured electronically and their values can be digitally displayed. An optical unit 42 having a light emitting unit 42a that emits an infrared beam and a light receiving unit 42b that receives a light wave emitted from the light emitting unit 42a, a rotating unit 43 that can swing the optical unit 42 up, down, left, and right; And a control unit 44 for controlling the operation of the rotation unit 43 and electrically processing a signal from the optical unit 42 to measure a distance and an angle (FIG. 8).
11 ・ 12). The pit-side total station 41 is installed on an automatic leveling platform 58 described later so as to be installed horizontally.

The intermediate total station 46 has the same configuration as the shaft-side total station 41, and
・ As shown in 12, the shaft side total station 41
And an optical unit 47 having a light emitting unit 47a and a light receiving unit 47b, a rotating unit 48, and a control unit 49.

The control units 44 and 49 of the total stations 41 and 46 can output distance and angle measurement data as electric signals.
The control device body 6 through an interface such as P
1 and a predetermined wiring.

Further, the rotation means 43 and 48 are
A gimbal that supports 2.47, a vertical servomotor connected to the gimbal to rotate the optics 42 and 47 vertically, and a gimbal to rotate the optics 42 and 47 left and right (See FIGS. 11 and 12). Each of these servo motors has a built-in encoder.

The head reflector 51, the intermediate reflector 52, and
The shaft reflector 53 reflects the light waves emitted from the light emitting portions 42a and 47a of the total stations 41 and 46 in parallel with the incident direction. In the case of the embodiment, a corner cube reflector is used. The corner cube reflector has a structure in which three plane mirrors orthogonal to each other with high precision are combined, and reflects the incident light accurately in the incident direction.

The top reflector 51 is connected to the top tube 11.
A is installed to the rear side so that light waves incident from the rear can be reflected to the rear. Intermediate reflector 5
2 is fixed to a bracket 50 extending from the gimbal of the rotating means 48 in the intermediate total station 46,
It is installed facing the rear side opposite to the direction of the optical unit 47 so that light waves incident from behind can be reflected backward. The pit reflector 53 is a pit-side total station 4
The optical unit 42 is fixed to a bracket 45 extending from the gimbal of the rotation unit 43 in FIG. 1 and is directed to the front side on the same side as the direction of the optical unit 42 so that light waves incident from the front can be reflected forward.

The total stations 41 and 46
Are rotating means 43 and 48 and control sections 44 and 49, respectively.
Thus, the reflectors 51, 52 and 53 in the vicinity can be automatically tracked.

The intermediate total station 46 and the intermediate reflector 52 of the embodiment are mounted on a self-propelled collection truck 54 as shown in FIGS.

When the recovery cart 54 is propelled by the pipe 11,
Propelled in a state of being stopped in the pipe body 11, after completion of construction,
In order to collect the intermediate total station 46 and the intermediate reflector 52, the vehicle runs. This collection cart 5
4 is constituted by disposing endless tracks 57 on both sides of a lower portion. The endless tracks 57 are wound around a drive wheel 55 driven by a drive motor with a speed reducer and a driven wheel 56. I have. The drive motor for driving the drive wheels 55 is connected to the power supply 67 and the control device main body 61 by a predetermined wiring together with the control unit 49 of the intermediate total station 46. When the driving wheels 56 are stopped, they are stopped by being braked by the resistance of the motor with a speed reducer. However, a brake device may be attached to actively stop the driving wheels 56.

In the vicinity of the center of the lower part of the recovery truck 54, wiring for supplying power to the leading conduit 32 for excavating the tunnel 1, pipes for discharging muddy water generated during excavation to the shaft 2, and hydraulic jacks 14 are operated. A space 54a is provided so that a pipe for supplying oil or a wiring to the preceding intermediate total station 46 or the collection trolley 54 is inserted therethrough.

The driving means of the recovery cart 54 is the pipe 1
If you can move forward and backward without slipping within 1, track 57
Need not be used. For example, the drive wheel 55 and the driven wheel 5
6 may be used.

Further, a battery may be mounted so that forward / backward movement is performed by a wireless command. In this case, wiring to the drive motor can be eliminated.

An automatic leveling table 58 having an intermediate total station 46 and an intermediate reflector 52 mounted on the upper surface side of the recovery cart 54 is fixed. The automatic leveling platform 58 has a two-axis sensor capable of detecting a pitch angle and a roll angle, and a two-axis sensor for a pitch angle and a roll angle in order to electronically detect horizontality based on the bubble level principle. And a servomotor, and is operated at predetermined time intervals, for example, every 3 seconds, so that the fixed mounting surface of the intermediate total station 46 can be held horizontally.

The automatic leveling platform 58 is disposed above the recovery vehicle 54 and offset from the center of the recovery vehicle 54. The offset amount e is set so that the line-of-sight distances of the optical units 42 and 47 of the total stations 41 and 46 and the reflectors 51, 52 and 53 can be increased on the planned trajectory. And calculate in advance. If the line-of-sight distance can be lengthened, a collection truck 54 equipped with the intermediate total station 46 and the intermediate reflector 52
Can be saved.

The operation principle of the position measuring device 40 according to the embodiment will be described. The position of the head tube 11A in which the head reflector 51 is provided is determined by the total station 4 on the shaft side.
FIG. 9 shows an XY plane in the earth-fixed coordinate system based on the position of the shaft 2 where 1 is disposed. FIG. 9 corresponds to a cross section of the tunnel 1.

Then, the shaft-side total station 41
The distance between the intermediate reflector 52 and the intermediate reflector 52 on the XY plane is L ₁ , the distance between the intermediate total station 46 and the head reflector 51 on the XY plane is L ₂ , and the shaft-side total station 41
The angle of the intermediate reflector 52 on the XY plane from is ψ ₁ , and the XY of the head reflector 51 from the intermediate total station 46 is
Assuming that the angle on the plane is 位置₂ , the position (x, y) of the leading tube 11A is: x = L ₁ × cosψ ₁ + L ₂ × cos (ψ ₁ + ψ ₂ ) (1) y = L ₁ × _{sinψ 1 + L 2 × sin (} ψ 1 + ψ 2) ... (2) (1) (2) at (x, y) is determined.

Similarly, the position of the leading tube 11A on which the leading reflector 51 is located can be viewed on the XZ plane in the earth-fixed coordinate system based on the position of the shaft 2 where the shaft total station 41 is located. FIG. 10 shows an example. FIG. 10 corresponds to a vertical section of the tunnel 1.

The shaft-side total station 41
The distance between the intermediate reflector 52 and the intermediate reflector 52 in the XZ plane is L ₃ , the distance between the intermediate total station 46 and the top reflector 51 in the XZ plane is L ₄ , and the shaft-side total station 41
Is the angle of the intermediate reflector 52 in the XZ plane from θ ₁ , and XZ of the top reflector 51 from the intermediate total station 46.
If the angle at is θ ₂ , the position (z) of the leading tube 11A
Is given by: z = L ₃ × sin θ ₁ + L ₄ × sin (θ ₁ + θ ₂ ) (3) Equation (3) is obtained.

The above L ₁ , L ₂ , L ₃ , L ₄ ,.
₁ , ψ ₂ , θ ₁ , and θ ₂ are obtained as follows.

First, the position measuring device 40
To operate the optical section of the intermediate total station 46.
Shaft 42 up, down, left and right
Lighting section of the intermediate total station 46 toward the container 53
The light wave emitted from 47a is immediately reflected by the reflector 5 at the rear.
3 and is received by the intermediate total station 46
Return to the part 47b, the intermediate total station 4
6 from the shaft-side total station 41 at the rear
Release L₁₃And angle ψ₁ ・ Θ₁ And measure. Distance L ₁₃Is 3
Since the distance is a dimensional distance, the control unit 49 sets
L to convert to a plane₁ = L₁₃ cosθ₁ … (4) L_Three = L₁₃ cosψ₁ Calculate as (5).

Further, the control unit 49 sets the distance L ₁₃ and the angle ψ ₁
Calculate from the value of θ ₁ to calculate reference lines C _xy and C _xz from the rear shaft-side total station 41 on the respective XY and XZ planes.

Next, the position measuring device 40 is
8 to direct the intermediate total station 46 facing rearward to the front side, and furthermore, to swing the optical units 42 and 47 of the pit-side total station 41 and the intermediate total station 46 up, down, left, and right, and the immediately preceding reflector in the front The light waves emitted from the light emitting units 42a and 47a of the total stations 41 and 46 toward 52 and 51 are
The light is reflected by the immediately preceding reflectors 52 and 51 in front, and the light receiving portions 42b and 47 of each total station 41 and 46 are reflected.
b, and measures the distance and angle from each total station 41 to the immediately preceding reflector 41 in front.

At this time, the shaft-side total station 41
In, the distance L ₁₃ and the angle ψ ₁ · θ ₁ from the shaft side total station 41 to the intermediate total station 46 and the intermediate reflector 52 are measured, and the control unit 44 executes the above (4)
- (5) as well as expression, it calculates the _{L 1 = L 13 cosθ 1 ...} (6) L 3 = L 13 cosψ 1 ... (7).

In the intermediate total station 46, the distance L ₂₄ to the head reflector 51 and the reference line C _xy.
The angle ψ ₂ · θ ₂ with respect to C _xz is measured. Distance L
_{Since 24} is a three-dimensional distance, the control unit 49
As converted to a Y · XZ _{plane, L 2 = L 24 cos (} θ 1 + θ 2) ... (8) L 4 = L 24 cos (ψ 1 + ψ 2) is calculated as (9).

Then, the main body 61 of the control device 60 inputs signals of the distances L ₁ , L ₂ , L ₃ , L ₄ and the angles ψ ₁ ψ ₂ θ ₁ θ ₁ θ ₂ by the control units 44, 49. And the above (1)
・ (2) ・ (3) is calculated and the position (x,
y, z) will be calculated. In addition, each total station 41, 46, each reflector 51, 52, 53,
Automatic tracking every predetermined time, for example, every 5 seconds,
The control device main body 61 continuously and automatically operates the leading tube 1.
The position (x, y, z) of 1A will be grasped.

In the above description, the case where one intermediate total station 46 and one intermediate reflector 52 are arranged is shown.
6 and the intermediate reflector 52, the above (1)
(9), the increased total number of intermediate stations 46
In correspondence with the increment of the divided section by the intermediate reflector 52, simply by multiplying the distance L _x and the angle ψ _x · θ _x of the new time section can be calculated similarly.

At the time of measurement, the control unit main body 61 receives the measured value signal from the control units 44 and 49,
The signals of the distances L ₁ and L ₃ according to the equations (4), (6), (5), and (7) between the pit-side total station 41 and the intermediate total station 46 can be input. The error of the measurement value signal can be corrected, and the measurement accuracy can be further improved. By the way, this means that even when a plurality of intermediate total stations 46 and intermediate reflectors 52 are arranged, the measured value signals between the adjacent intermediate total stations 46 are input to the control device main body 61 twice. Therefore, the measurement accuracy can be improved.

In the embodiment, the three-dimensional position measurement has been described. However, in the two-dimensional tunnel measurement, the optical units 42 and 47 of the total stations 41 and 46 are set upright without tilting in the vertical direction, and the position measurement is performed. Using only the lateral angle signal of the device 40, the position (x,
y) may be measured.

The control device 60 of the propulsion device P in the embodiment is disposed near the shaft 2, and as shown in FIG. 13, the control device main body 61, the display 62, the indicator 63,
It is provided with a keyboard 64, an operation panel 65, a power supply 67 and the like. Further, the control device 60 includes an operation switch (not shown) for simultaneously operating each of the main push jacks 33.

As shown in FIG. 14, the control device main body 61 includes two calculation units 61a and 61b and a predetermined control unit and storage unit (not shown). The calculation unit 61a includes a planned trajectory expressed in a fixed earth coordinate system. The data is entered. Then, the calculation unit 61a calculates and calculates the position of the unit A from the signal of the distance and the angle from the position measurement device 40, calculates an error with the planned trajectory data, and converts the error into the body coordinate system described later. Then, the operation amounts LY and LZ of the later-described opening adjustment jack group 12 are input to the calculation unit 61b so as to eliminate the error, and the calculation unit 61b operates the opening adjustment jack group 12 according to the operation amounts LY and LZ. And outputs a horizontal command signal and a vertical command signal.

The planned trajectory data input to the calculation unit 61a of the control device main body 61 is input using the keyboard 64. Note that this data may be input directly to the calculation unit 61a of the control device main body 61 using a graphic reading device such as a drum scanner or a curve tracer, using the planned trajectory. The data is configured to be displayed on the display 62 and confirmed after input. Next, the propulsion of the units A, B, and C of the propulsion device P under the control of the control device main body 61 will be described.

The propulsion is performed by operating the operation switch (not shown) of the control device 60 to sequentially operate the main push jack 33, burying the unit A, and thereafter,
C is sequentially buried and propelled, and the unit C fixing the collection trolley 54 on which the intermediate total station 46 and the intermediate reflector 52 are mounted to the pipe 11 is appropriately
Will be promoted.

The wiring extending from the control unit 49, the sensors 15 and 69 of the intermediate total station 46, the wiring extending from the drive motor of the collection truck 54, the piping extending from the hydraulic jack 14 and the like are omitted. When the pipes are sequentially added, the pipes 11 may be newly added or added in the shaft 2 each time a new pipe 11 is added, or may be prepared and connected in advance for the length of the tunnel 1 to be excavated. Therefore, wiring and the like can be installed without a person entering the tunnel 1.

Then, as shown in FIG. 15, it is assumed that the unit A reaches the point G from the shaft 2 along the planned trajectory. XYZ in FIG. 15 is an axis fixed to the earth, that is, an earth fixed coordinate axis, and 0 is the position of the shaft 2 at the starting point. Reference numeral 71 in FIG. 15 indicates a three-dimensional trajectory during excavation.

The three-dimensional trajectory 71 is represented by a horizontal trajectory 72 projected on the XY plane and a vertical trajectory 74. As shown in FIG. 16, the vertical plane trajectory 74 is a trajectory obtained by projecting the three-dimensional trajectory 71 on the XZ plane.

The automatic propulsion of the three-dimensional trajectory according to the embodiment is performed by dividing the vertical trajectory 74 and the horizontal trajectory 72 into a control system and performing time division in the vertical and horizontal directions. That is, switching is performed every predetermined time, for example, every 10 seconds, and vertical and horizontal are alternately controlled. During the uncontrolled pause period, the value is held at the value immediately before the pause.

The values obtained by reading the planned trajectory data at the point G are defined as x _c , y _c , and z _c , and the position measuring device 4
Assuming that the position of the unit A calculated and measured by the calculation unit 61a of the control device main body 61 by using 0 is x, y, and z, the difference between the two, x _e = x _c −x (10) y _{e = y c -y ... (11)} z e = z c -z ... (12) a to zero, if the control unit a, it is possible to match the construction trajectory planned trajectory. In the case of the embodiment, the unit A is provided with a plurality of opening adjustment jacks 13 arranged at four radial positions in the opening adjustment jack group 12, and the unit A is connected to the subsequent unit B by the opening adjustment jack group 12. The opening adjustment allows the unit A to advance in the vertical or horizontal opening adjusted direction, and furthermore, the difference between the planned orbit data in the earth fixed coordinate system and the construction position also measured in the earth coordinate system, that is, , above the x _e, y _e, a z _e, by controlling the opening adjusting jack group 12 in body coordinate system relative to the unit a, accurately, and smoothly, to match the construction trajectory planned trajectory Can be done.

The planned trajectory data of the three-dimensional trajectory 71 previously input to the calculation unit 61a of the control device main body 61 will be described. The planned trajectory of the horizontal trajectory 72 is generally represented by a straight line and an arc. as shown in FIG. 17, 0, as the origin corresponding to the position of the intake shaft 2, for example, the linear distance 0 to L _5, the distance L ₅ ~L ₆ an arc (radius R _1), the planned trajectory azimuth Assuming that 距離_c , the planned trajectory X direction distance is x _c , the planned trajectory Y direction distance is y _c , and the propulsion speed on the XY plane is V ₁ , the calculation unit 61a of the control device main body 61
The advance until the distance _{0~L 5, (dψ c / dt} ) =
0, the distance L ₅ ~L to _{6, (dψ c / dt) =} V 1 /
R ₁ and an initial value ψ _{0 of} ψ _c are input, respectively.

For this reason, the operation unit 61a determines that the reading is dt.
To perform each, based on the initial value _{ψ 0, ψ c = ∫ (} dψ c / dt) dt ... (13) calculating unit 61a is calculated, _{further, x c = ∫V 1 cos ψ} c dt ... (14 ) if calculating the _{y c = ∫V 1 sin ψ c} dt ... (15), can be read (x _c, y _c).

[0083] Further, similarly planned trajectory in the vertical plane track 73, as shown in FIG. 18, for example, the distance 0 to L ₇ linearly, the distance L ₇ ~L ₈ an arc (radius R _2), Planning Assuming that the trajectory azimuth is θ _c , the planned trajectory Z direction distance is z _c , and the propulsion speed on the XZ plane is V ₂ , the arithmetic unit 6 of the control device main body 61
The 1a, advance, until the distance 0~L _7, (dθ _c / d
t) = 0 and the distances L _{7 to} L ₈ are (dθ _c / dt) =
V ₂ / R ₂ and an initial value θ _{0 of} θ _c are input, respectively.

For this reason, the operation unit 61a determines that the reading is dt.
To perform each, based on the initial value _{θ 0, θ c = ∫ (} dθ c / dt) dt ... (16) calculating unit 61a is calculated, _{further, z c = ∫V 2 cos ψ} c dt ... (17 ), (Z _c ) can be read out.

The propulsion speeds V ₁ and V ₂ are calculated by using the position (x,
V ₁ = ((dx) ² + (dy) ² ) ^1/2 / dt (18) V ₂ = ((dx) ² + (y, z) by minute changes dx, dy, dz per unit time of y, z) dz) ² ) ^1/2 / dt (19)

The control on the horizontal horizontal trajectory 72 will be specifically described. Assume that the unit A has reached the point g on the horizontal horizontal trajectory 72 as shown in FIG. At this time, the calculation unit 61a of the control device main body 61
_Reads (x _c , y _c ) from the planned trajectory data, and measures the position (x, y) of unit A and (10)
- (11) and a formula to determine the x _e and y _e.

Then, small changes dx and dy between x and y
If the propulsion angle of the unit A in the horizontal trajectory 72 is represented by て using the (unit time change), then Ａ = tan ⁻¹ dy / dx (20)

[0088] At this time, if the position error for the planned trajectory of the perpendicular Y _B direction with respect to the propulsion direction X _B of the unit A and y _Be, determined by _{y Be = y e cosψ-x} e sinψ ... (21) _So that this y _Be is always zero,
The calculation unit 61b controls the lateral opening adjustment jack 13 in the opening adjustment jack group 12. And this (2
The control for setting the value of y _Be to zero according to the expression (1) is performed by calculating the error between the measured value of the earth fixed coordinate system and the planned orbit data by the coordinates fixed to the unit A, that is, the body coordinate system based on the unit A. To be controlled.

[0089] This control may, for example, relatively along the route to the X-axis, i.e., when [psi ≒ 0 is a y _e is zero, conversely, when [psi ≒ 90 is controlled so as to zero the x _e Becomes

The control for setting y _Be to zero is performed according to the PID control theory. That, LY = a and calculates _{(K D · S + K P} + K I / S) · y Be ... (22), and controls.

[0091] Here, LY: side opening adjusting jack stroke, K _D: differential gain, K _P: a proportional gain, K _I: integral gain, S: represents the derivative (Laplace transform complex parameter), 1 / S: the integration Representation (Laplace transform complex parameter)
It is.

Note that K _D is effective for the high frequency component of y _Be , K _P is effective for the entire frequency range of y _Be , and K _I
Is effective for the low frequency component of y _Be . These values are set to appropriate values in advance according to the movement of the unit A.

Next, the control on the vertical vertical trajectory 73 will be described. The control on the vertical horizontal trajectory 73 is the same as that on the horizontal horizontal trajectory 72. For example, as shown in FIG.
It is assumed that the unit A has reached the point g ′. At this time, the calculation unit 61a of the control device main body 61 reads (x _c , z _c ) from the planned trajectory data, and also measures the measured position (x, z) of the unit A, and formulas (10) and (12). Then, x _e and z _e are obtained.

Then, small changes dx and dz between x and z
If the propulsion angle of the unit A in the vertical plane trajectory 73 is represented by θ using (the unit time change), θ = tan ⁻¹ dz / dx (23)

[0095] At this time, if the position error for the planned trajectory of the perpendicular Z _B direction with respect to the propulsion direction X _B of the unit A and z _Be, obtained by _{z Be = z e cosθ-z} e sinθ ... (24) _So that this z _Be is always zero,
The calculation unit 61b controls the vertical opening adjustment jack 13 of the opening adjustment jack group 12.

The control for making z _Be zero is also performed according to the PID control theory. That is, LZ = (K _D・ S + K _P + K _I / S) ・ z _Be (25) is calculated and controlled.

LZ is a vertical aperture adjustment stroke, and K
_D , K _P , and K _I are a differential gain, a proportional gain, and an integral gain, respectively, as in equation (22).
Represents differentiation (Laplace transform complex parameter), 1 / S
Represents the integral similarly (Laplace transform complex parameter).

Note that the gains K _D , K _P , and K _{I in the} equation (25)
Is basically the same as the control in the lateral direction, but may be changed as appropriate in consideration of the influence of gravity and the like.

The horizontal operation amount LY is controlled by assembling the left two opening adjustment jacks 13A and 13B and the right two opening adjustment jacks 13C and 13D in FIGS. The opening adjustment jacks 13A and 13B and the right opening adjustment jacks 13C and 13D are operated differentially. The vertical operation amount LZ is obtained by assembling the upper left and right opening adjustment jacks 13A and 13C and the lower left and right opening adjustment jacks 13B and 13D in FIGS. 13C and the lower opening adjustment jacks 13B and 13D are operated differentially.

Next, the case where the unit A is propelled while rotating in the circumferential direction in the earth fixed coordinate system, that is, generating a roll angle will be described.

When the unit A is propelled along a three-dimensional trajectory that changes the yaw angle ψ with a certain pitch angle θ, a roll angle φ occurs spontaneously. For example, if the pitch angle θ is 1
At 0 °, if the yaw angle ° changes from 0 ° to 90 °, when the yaw angle ψ is 0 °, the roll angle φ is also 0 °, but when the yaw angle ψ is 90 °, the roll angle φ is It becomes 10 °.

The operation amount LY controls the opening adjustment jack group 12 in the horizontal plane, and the operation amount LZ controls the opening adjustment jack group 12 in the vertical plane. Therefore, when the unit A generates the roll angle φ, it is necessary to correct these operation amounts LY and LZ.

As shown in FIG. 21, when the unit A rolls at the roll angle φ as shown in FIG. 21, the operation amounts LY and LZ in the earth fixed coordinate system are changed in the horizontal direction of the body coordinate system with respect to the unit A. Is converted into an operation amount (LY) and an operation amount (LZ) in the vertical direction.

Therefore, the operation amount LY is set to (LY) and (L)
Z), the conversion operation is performed as follows: (LY) = LY / cosφ (26) (LZ) = LY · sinφ (27) and the aperture adjustment jacks 13A and 13 shown in FIGS.
B and the opening adjustment jacks 13C and 13D are differentially controlled.

When the operation amount LZ is converted by (LZ) and (LY), (LZ) = LZ / cosφ (28) (LY) = − LZ · sinφ (29) , Opening adjustment jacks 13A and 13 in FIGS.
C and the opening adjustment jacks 13B and 13D are differentially controlled.

The equations (26), (27), (28), and (29) show that the arithmetic unit 61b, which receives the signal from the roll angle sensor 69 installed in the unit A, calculates the roll angle φ and the arithmetic unit 6
The values of the manipulated variables LY and LZ from 1a are calculated, and a horizontal / vertical command signal is output to the group of opening adjustment jacks 12 for control.

The roll angle φ is positive in the clockwise direction, the pitch angle θ is positive in the upward direction in the propulsion direction, and the yaw angle ψ is positive in the clockwise direction.

As described above, since the roll angle sensor 69 is a gyro utilizing gravity, it does not cause an error even if time elapses, and is accurately and accurately adjusted in the body coordinate system in the body coordinate system. Group 12 can be controlled.

Further, based on the signal of the opening adjustment detection sensor 15 which detects the stroke of each opening adjustment jack 13 at the time when the values of y _Be and z _Be become zero, the first unit A The controller main body 61 stores an opening difference H provided between the subsequent unit B.

When the unit A is sequentially propelled and the subsequent unit B moves to the position where the unit A is controlled, the data is stored between the unit B which has reached the position and the unit C immediately after. The subsequent opening adjustment jack group 12 is used to generate a predetermined corrected opening difference by correcting the opening difference H.
Are controlled.

Incidentally, the movement distance of the subsequent unit B is calculated by calculating the distance from the installation position of the head reflector 51 to the unit B by the distance of the head reflector 51 of the unit A measured using the position measuring device 40. from the moving distance L _0, it may be subtracted.

The movement distance L ₀ is calculated by the position measuring device 40.
The position (x, y,
per unit time small change dx of z), dy, by dz, L ₀ = ∫ can be calculated as ^{((dx) 2 + (dy} ) 2 + (dz) 2) 1/2 dt ... (30).

The distance from the installation position of the head reflector 51 to the unit B depends on the head reflector 5 measured in advance.
The distance from 1 to the rear end of the leading opening adjusting jack 13 in a state where the piston rod 14b is not extended, and the average stroke of the leading opening adjusting jack group 12 based on a signal from the opening adjustment detecting sensor 15 are added. The moving distance of the subsequent unit B can be easily calculated.

The corrected aperture difference is calculated by adding the unit length ratio (Tb) to the aforementioned aperture difference H stored in the control device main body 61.
(Standard length of unit B to be controlled) / Ta (unit A
Is multiplied by the standard length)). The standard length of the unit is the piston rod 1 of the opening adjustment jack 13.
4b shows the length of the unit excluding the covering tube 30 in a state in which it is not extended.

As for the opening difference of the subsequent unit B, the value of the theoretical opening difference calculated from the curve of the planned trajectory is used instead of the above, and the opening adjusting jack group 12 is controlled by the value. You may do it.

The theoretical opening difference (opening difference (m) at jack position (m)) H ₁ is as follows: H ₁ = (B _C −t) δ / 2 ^1/2 (31) where B _C : outer diameter of tube ( m), t: tube thickness (m), δ:
The declination (rad) that allows the length of the tube to be centered on the curve.

In the embodiment, if the unit A, the unit B, and the unit C are sequentially inserted into the shaft 2 and each unit is propelled by the propulsion force of the main pushing jack 33, the shaft-side total station 41 and the intermediate total station 46 measure the distance and the angle to the intermediate reflector 52, the head reflector 51, and the shaft reflector 53, respectively, and further, the control device main body 61 calculates the distance and the angle. Since the position of the unit A with respect to the shaft 2 is measured, errors can be suppressed and the position of the unit A can be measured with extremely high accuracy as compared with the case where a conventional gyro is used.

Then, the middle / head / pit shaft reflector 52.5
1/53 can simply be adjusted without delicate angle adjustment.
Light emitting part 42a of total stations 41 and 46 in the vicinity
・ The light wave emitted from 47a is simply sent back to the light receiving sections 42b and 47b of the total station. If a corner cube reflector or the like is used, the angle can be adjusted without adjusting the angle.
Since the light waves can be sent back, the total stations 41 and 46 are quickly connected to the adjacent reflectors 52 and 51.
・ The distance and angle up to 53 can be measured.

Therefore, in the propulsion device P and the propulsion method of the pipe 11 of the embodiment, the position measurement of the head unit A can be performed quickly with a small error, and the pipe 11 can be easily and accurately detected.
Can be automatically laid in a curved shape along the planned trajectory data. In addition, the position of the unit A and the construction track can be displayed on the display 62, which is convenient.

In the embodiment, since the intermediate total station 46 and the intermediate reflector 52 are mounted on the self-propelled collection cart 54, the collection cart 54 is run after the pipe 11 is laid and the tunnel If it is moved to the shaft 2 outside the pit 1, the intermediate total station 46 and the intermediate reflector 52 can be collected together with the collection trolley 54, so that the device 40 can be used effectively and a small-diameter Even when the tube 11 is laid, the tube 11 can be automatically and easily laid in a curved line with high accuracy.

Further, in the embodiment, the control device 60 measures the position of the head unit A in the earth fixed coordinate system, and determines the error between the measured value and the planned orbit data with reference to the head unit A. The conversion to the body coordinate system controls the opening adjustment jack group 12, so that the pipe 11 can be laid in a curved shape with high accuracy while accurately correcting the lateral displacement of the head unit A.

The position of the head unit A is measured in the earth fixed coordinate system, and the error between the measured value and the planned orbit data is converted to the body coordinate system with the head unit A as a reference. The propulsion method for controlling the adjustment jack group 12 is as follows.
This is not limited to the case where the position measuring device 40 in which the total station 46 and the intermediate reflector 52 are arranged at the intermediate portion between the shaft 2 and the head tube 11 as in the embodiment, but the unit A or the head tube 11 If you can measure the position of
It can be carried out by using a position measuring device or the like described in Japanese Patent No. 2808421, and even in those cases, it is possible to accurately correct the lateral displacement of the head unit A and the tube body 11 while improving the height. The pipe 11 can be laid in a curved shape with high accuracy.

In the embodiment, the case where the planned trajectory is three-dimensional has been described. However, if the planned trajectory is two-dimensional, for example, a curved curve in the horizontal direction, only the signal of the lateral angle of the position measuring device 40 is used. Thereby, each unit can be laid in a curved shape in the horizontal direction. Control device main body 61 in this case
The data of the planned trajectory input to the control unit 61 is only the data of the horizontal trajectory 72, and may be input to the control device main body 61 using the keyboard 72.

Further, when the tunnel 1 at the time of excavation becomes longer, a middle push jack using the same hydraulic pressure as the main push jack 33 is provided between the pipes 11 and 11, and the rear pipe 1 is provided.
1 is provided with an opening adjustment jack group 12, between the front and rear pipes 11 around the middle push jack, and the opening adjustment jack group 1.
2 and a unit D provided with a covering pipe 30 covering the periphery of
May be appropriately disposed between the units C, and the pipe 11 may be propelled. The operation of the middle push jack is performed by operating an operation switch (not shown) of the control device 60.
What is necessary is just to operate like the original push jack 33.

Further, in the case where the curvature of the tunnel 1 is large and the curve of the tunnel 1 is steep, for example, when the following unit is difficult to follow the unit A, the unit A is used without the unit C. Propulsion may be performed using the number of units B and the above-described units D.

In the propulsion in this case, the control of the control device main body 61 is the same as that described above. When the subsequent unit moves to the position where the unit A is controlled during the opening adjustment, the unit that has reached the position is controlled. Between the next unit and
The respective opening adjustment jacks 13 of the group of opening adjustment jacks 12 of the subsequent unit may be controlled so as to generate a predetermined corrected opening difference by correcting the stored opening difference H.

In this case, the movement distance of the subsequent unit is calculated in advance by using the standard length of the unit to be buried (the cover tube 30 in a state where the piston rod such as the opening adjustment jack 13 and the middle pushing jack is not extended) is omitted. the length) of each unit, sequentially, allowed to input to the controller body 61, the calculating unit 61a, from the moving distance L ₀ of the units a,
What is necessary is just to subtract the length from the head reflector 51 to the unit. That is, the length obtained by integrating the standard length of each unit, which is between the unit A and the unit, the average stroke of each opening adjustment jack group 12 based on the signal from the opening adjustment detection sensor 15, and the middle pressing jack And the stroke of the middle push jack based on the signal from the middle push detection sensor that detects the stroke of
Further, a value obtained by adding the distance to the top of the unit B from the installation position of the first reflector 51, the moving distance L _0, may be subtracted.

The corrected aperture difference is calculated by calculating the unit length ratio (T (standard length of the unit to be controlled) / Ta (standard length of the unit A)) in the stored aperture difference H in the calculating unit 61a. Multiplied value.

[Brief description of the drawings]

FIG. 1 is a diagram showing a propulsion device according to an embodiment of the present invention.

FIG. 2 is a diagram showing a group of opening adjustment jacks of the embodiment.

FIG. 3 is a schematic cross-sectional view taken along a line III-III in FIG. 2;

FIG. 4 is a view showing a modified example of the group of opening adjustment jacks.

FIG. 5 is a schematic cross-sectional view taken along a line VV in FIG. 4;

FIG. 6 is a control system block diagram of the opening adjustment jack of the embodiment.

FIG. 7 is a block diagram showing FIG. 6 in the form of a transfer function.

FIG. 8 is a schematic layout diagram showing the position measuring device of the embodiment.

FIG. 9 is a diagram illustrating a measurement operation on a horizontal plane by the position measurement device of the embodiment.

FIG. 10 is a diagram illustrating a measurement operation on a vertical plane by the position measurement device of the embodiment.

FIG. 11 is a front view of a collection cart used in the embodiment.

FIG. 12 is a side view of the recovery cart used in the embodiment.

FIG. 13 is a front view of a control device used in the embodiment.

FIG. 14 is a block diagram of a control system of the embodiment.

FIG. 15 is a diagram showing a state in which a planned trajectory is represented by an earth fixed coordinate system.

FIG. 16 is a diagram showing a state in which a planned trajectory is represented by a vertical trajectory.

FIG. 17 is a diagram illustrating reading of planned trajectory data on a horizontal plane.

FIG. 18 is a diagram illustrating reading of planned trajectory data on a vertical plane.

FIG. 19 is a diagram illustrating error correction in a horizontal plane trajectory using a body coordinate system.

FIG. 20 is a diagram for explaining an error correction using a body coordinate system in a vertical orbit.

FIG. 21 is a diagram illustrating correction of a roll angle using a body coordinate system.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Tunnel, 2 ... Pit, 11 ... Pipe, 12 ... Opening adjustment jack group, 40 ... Position measuring device, 41 ... Pit side total station, 42/47 ... Optical part, 42a / 47a ... Light emitting part, 42b / 47b ... Light receiving unit, 43, 48 rotating means, 44, 49 control unit, 46, intermediate total station, 51, head reflector, 52, intermediate reflector, 53, shaft reflector, 54, collection trolley, 60, control device , P ... propulsion device.

Claims (7)

[Claims] 1. A plurality of pipes are sequentially propelled by a main pushing jack disposed in a rear shaft, and a leading pipe disposed on a front end side of a leading pipe is provided with a front pipe of the leading pipe. When laying the plurality of pipes in a curved shape while excavating a tunnel in a predetermined direction by a group of opening adjustment jacks interposed between the subsequent pipes, Using a position measuring device capable of measuring a two-dimensional or three-dimensional position with respect to the shaft, the position of the leading pipe is measured, and the propulsion position of the leading pipe matches the planned trajectory data previously input. Controlling the opening adjustment jack group so as to cause the plurality of pipes to be laid in a curved shape in a pipe propulsion device, wherein the position measuring device is disposed in the shaft, and a light emitting unit and An optical unit having a light receiving unit; A shaft having a turning means capable of swinging up, down, left and right, and a control unit for controlling the operation of the turning means and electrically processing a signal from the optical unit to measure a distance and an angle. A total station, a head reflector disposed on the head tube, for reflecting a light wave emitted from the rear by being incident thereon, and a tube between the shaft-side total station and the head reflector, a predetermined number of lamps are arranged, Similarly to the shaft-side total station, an intermediate total station including the optical unit, the rotating means, and the control unit; and an optical wave emitted from a nearby total station that is arranged close to the intermediate total station and reflected by the intermediate total station. An intermediate reflector, which is disposed in close proximity to the shaft-side total station, and is emitted by the intermediate total station in front. A shaft reflector for making the incident light wave incident and reflecting the light wave, wherein the control device is configured to be electrically connected to a control unit of each of the total stations in the position measuring device. Body propulsion device. 2. A plurality of pipes are sequentially propelled by a main jack disposed in a rear shaft, and a front pipe disposed on a front end side of a front pipe is provided with a front pipe of the front pipe. When laying the plurality of pipes in a curved shape while excavating a tunnel in a predetermined direction by a group of opening adjustment jacks interposed between the subsequent pipes, Using a position measuring device capable of measuring a two-dimensional or three-dimensional position with respect to the shaft, the position of the leading pipe is measured, and the propulsion position of the leading pipe matches the planned trajectory data previously input. Controlling the opening adjustment jack group so as to cause the plurality of pipes to be laid in a curved manner in a pipe propulsion method, wherein the position measuring device is disposed in the shaft, and a light emitting unit and An optical unit having a light receiving unit; A shaft having a turning means capable of swinging up, down, left and right, and a control unit for controlling the operation of the turning means and electrically processing a signal from the optical unit to measure a distance and an angle. A total station, a head reflector disposed on the head tube, for reflecting a light wave emitted from the rear by being incident thereon, and a tube between the shaft-side total station and the head reflector, a predetermined number of lamps are arranged, Similarly to the shaft-side total station, an intermediate total station including the optical unit, the rotating means, and the control unit; and an optical wave emitted from a nearby total station that is arranged close to the intermediate total station and reflected by the intermediate total station. An intermediate reflector, which is disposed in close proximity to the shaft-side total station, and is emitted by the intermediate total station in front. A shaft shaft reflector for injecting and reflecting a light wave, wherein the control device is electrically connected to a control unit of each of the total stations in the position measuring device, and the position measuring device is connected to the intermediate total station. A light wave emitted from the light emitting unit of the intermediate total station is reflected on the reflector immediately after the rear by swinging each optical unit up, down, left and right toward the reflector immediately after the rear, and the light is transmitted to the light receiving unit of the intermediate total station. Sending back, measuring the distance and angle from the rear total station in the intermediate total station, turning the intermediate total station forward, and further shaking each optical unit of each total station up, down, left and right, and immediately Toward the reflector, Light waves emanating from the light emitting unit of the station,
The light reflected by the reflector immediately before in front is sent back to the light receiving unit of each of the total stations, and the distance and angle from each of the total stations to each of the reflectors immediately before in front are measured. From the signals of the distance and the angle from the measuring device, the two-dimensional or three-dimensional position of the head tube in which the head reflector is arranged with respect to the shaft-side total station is calculated, and the position of the head tube is measured. And controlling the group of opening adjustment jacks so that the propulsion position of the leading pipe coincides with the previously input planned trajectory data. 3. The intermediate total station and the intermediate reflector are mounted on a self-propelled trolley, and are configured to be able to be moved outside the tunnel and collected after the pipe is laid. The tubular body propulsion device according to claim 1. 4. The vehicle according to claim 1, wherein the intermediate total station and the intermediate reflector are mounted on a self-propelled carriage, and after the pipe is laid, the intermediate total station and the intermediate reflector are moved outside the tunnel and collected. The method for propelling a tubular body according to claim 2. 5. The control device measures the position of the leading pipe in a fixed earth coordinate system, and calculates an error between the measured value and the planned orbit data in a body coordinate system based on the leading pipe. The propulsion device for a tubular body according to claim 1 or 3, wherein the group is controlled to control the group of opening adjustment jacks. 6. The control device measures the position of the head tube in a fixed earth coordinate system, and calculates an error between the measured value and the planned orbit data in a body coordinate system based on the head tube. The method for propelling a pipe according to claim 2 or 4, wherein the group of openings is controlled by converting to a group of jacks. 7. A plurality of pipes are sequentially propelled by a main push jack disposed in a rear shaft, and a leading pipe disposed on a front end side of a leading pipe is provided with a front pipe of the leading pipe. When laying the plurality of pipes in a curved shape while excavating a tunnel in a predetermined direction by a group of opening adjustment jacks interposed between the subsequent pipes, Using a position measuring device capable of measuring a two-dimensional or three-dimensional position with respect to the shaft, the position of the leading pipe is measured, and the propulsion position of the leading pipe matches the planned trajectory data previously input. Controlling the group of opening adjustment jacks to protrude the plurality of pipes in a curved shape, wherein the control device determines a position of the leading pipe by earth fixed coordinates. System and the measured values and the An error between the data, and converts the body coordinate system relative to the said first tube body,
A method of propelling a pipe, wherein the group of opening adjustment jacks is controlled.