JP2000283756A - Method for measuring spray thickness and measuring device therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily and accurately measure the thickness of a sprayed material on a wall surface after excavation. SOLUTION: In such a state where a excavation section can be scanned along its circumferential direction while the excavated section is collimated almost orthogonally by using a light-wave distance measuring device, the surface excavated without timbering is scanned in the sectional circumference direction at the specified sectional position after excavation of the ground by the light- wave distance measuring device, so as to obtain a data concerning the shape of the excavated surface without timbering, and then the sprayed surface is scanned again along the sectional circumference direction at the specified sectional position during a desired phase of spraying work or at the end of spraying work by the light-wave distance measuring device, so that a data concerning the shape of sprayed thickness during spraying or after the completion of spraying can be obtained and the sprayed thickness be also obtained on the basis of the data concerning the shape of excavated surface and the shape of sprayed thickness.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling a sprayed thickness of a blasting material such as mortar or concrete to a wall surface after excavation in a ground excavation work such as a tunnel construction or an underground space construction. The present invention relates to a method for measuring a sprayed thickness employed in the method.

[0002]

2. Description of the Related Art For example, in the construction of a mountain tunnel, a NATM (New Austrian) is used in which a rock bolt cast in the ground and a sprayed material sprayed on an excavation wall are used as main support members.
As typified by Tunnelling Methed), spraying works on excavated wall surfaces are being actively carried out. In many cases, this spraying work uses a spraying robot that holds a spray nozzle at the tip of an arm that can be position-controlled on a movable crawler type, a tire type or a rail type movable cart, or the like,
Alternatively, the spraying operation is performed by a worker directly holding the nozzle hose in his / her hand.

[0003] In the spraying, spray thickness control is performed in parallel with the spraying or after the spraying is completed so that the spraying on the excavation wall surface is as uniform or smooth as possible.

[0004] As a spraying management method performed in parallel with the former spraying, for example, a pin is shot in a state of projecting by a design thickness into the inside of a tunnel pit on an excavation wall, and the pin is sprayed with a spraying material. There is a method of performing management based on the judgment that the design spray thickness is generally satisfied if it is hidden. As the latter method of managing the spray thickness after the completion of spraying, for example, as shown in FIG. A method for measuring the wall thickness along the circumferential direction of the tunnel by using a light-wave distance measuring instrument 91 installed by a tripod behind the face 90 to measure the sprayed thickness, or an inspection hole that penetrates the sprayed portion by manual or mechanical drilling. And a method of confirming whether or not a predetermined sprayed thickness is secured by visual measurement.

[0005]

However, the method of placing a pin on the excavation wall surface is extremely dangerous when the ground is poor, and it is necessary to separately provide scaffolds for placing the pin. There was time and troublesome work. Further, there is a problem that it is substantially difficult to confirm the sprayed thickness of a pin placed in a place where it is difficult to visually recognize such as a ceiling arch.

On the other hand, in the case of a method of measuring a cross-sectional shape by installing a lightwave distance measuring device 91 behind the face, the measurement accuracy is not ensured because the laser beam is incident at an oblique angle to the measurement location. In addition, there is a problem that a cross-sectional measurement error becomes large when there is an overhang or the like. That is, FIG.
As shown in 8, when the actual excavation shape occurs over moat the design plan line S1 is in the state represented by the drilling line S _2, measured section T. Assuming that the measured values obtained by collimating the points T ₁ and T ₂ on D are a ₁ and a ₂ , the calculated inner cross section is (a ₁ cos θ ₁ + a ₂ cos θ ₂ ) On the other hand, the actual inner cross section is (b ₁ + b ₂ ), and there may be a case where a large error occurs in the measured value due to the remaining space.

In addition, there is a problem that the spraying operation is temporarily interrupted and the shape measurement must be performed while evacuating all obstacles to the laser beam, resulting in a decrease in work efficiency. If a certain section is collectively measured on the rear side of the tunnel after the spraying operation is completed to avoid the spraying, the spraying thickness management will be temporally post-management. Since quick feedback to the attachment cannot be performed, there is a problem that a defective section may exist over a predetermined length range.

[0008] On the other hand, in the case of the method using the inspection hole, since the operation is performed behind the face after the spraying is completed, the post-management is temporally required. If the ground color is similar,
In some cases, it is difficult to determine the boundary line, and there is also a problem in measurement accuracy such that the measurement result changes depending on where the measurement location is around the inspection hole. In addition, there is a problem in that the measurement work is a manual work in terms of labor, so that the burden on the worker is large.

Accordingly, a first object of the present invention is to make it possible to easily and accurately control the thickness of a sprayed material on a wall surface after excavation in excavation work such as tunnel construction or underground space construction. And cost reduction by reducing the amount of residual blowing.

A second problem is that, in addition to the first problem, the spray thickness can be measured without obstructing the spraying operation and without being delayed in parallel with the spraying. The purpose of the present invention is to enable quick feedback on spraying.

[0011]

The present invention for solving the above-mentioned problems is achieved by scanning the excavation surface along the cross-sectional circumferential direction by the lightwave distance measuring instrument at a predetermined cross-sectional position after excavation of the ground. After obtaining the excavated surface shape data after excavation, at the predetermined cross-sectional position at an arbitrary stage during the spraying operation or at the completion stage of the spraying operation, the spraying surface is again measured along the cross-sectional circumferential direction by the lightwave distance measuring instrument. In addition to obtaining spray thickness data during or after spraying by scanning, the spray thickness is obtained based on the digging surface shape data and the spray thickness data. is there.

The processing of the above-mentioned unearthed surface shape data and sprayed thickness shape data can be displayed as mere difference numerical data, but preferably, it can be determined at a glance.
The above-mentioned digging surface shape data is processed by a computer and drawn as a digging shape line on a monitor,
Based on the digging shape line, a design spraying thickness shape line is drawn inside the digging shape line, and thereafter, when the spraying thickness shape data is obtained, the spraying thickness shape data is processed by a computer. Then, it is desirable to draw on the monitor as a sprayed thick shape line. The sprayed thickness can be directly obtained from the difference between the excavated surface shape data and the sprayed thickness shape data, but the actual management is indirectly performed by calculating the difference between the current sprayed thickness and the design sprayed thickness. You can also display only. However, considering that the design spray thickness is a numerical value calculated based on the excavated surface shape data, it is indirect but based on the excavated surface shape data and the sprayed thickness shape data, the sprayed thickness is calculated. There is no change in the point of asking for.

Further, in order to improve the measurement accuracy of the lightwave distance measuring instrument, the lightwave distance measuring instrument scans the excavated section along the circumferential direction while collimating the excavated surface substantially orthogonally. Is desirable.

In the present invention, instead of the conventional method,
Preferably, by a light wave distance meter capable of scanning the excavated section along the circumferential direction while collimating the excavated surface substantially orthogonally, the raw surface shape data before spraying and the spraying thickness during or during spraying are completed. The spray thickness is determined based on the shape data. Since the lightwave range finder is collimated orthogonally to the distance measurement target surface, it is possible to measure the sprayed thickness with high accuracy regardless of the presence or absence of the digging, etc. The spray thickness is measured based on reliable measurement data instead of based on standard criteria, so spraying based on this result will ensure uniform and smooth finish spray construction. Become.

On the other hand, in the case of a method on the premise that the collimation rotation center of the light wave distance measuring instrument is arranged at the center of the tunnel excavation section, or in the case where the light wave distance measuring instrument is placed at an arbitrary position and the total station (another In the case of the method of obtaining its own collimation rotation center coordinates by an optical distance measuring device, extra excavation occurs at the excavation meandering or curved construction site, etc., and the collimation rotation center position of the spray thickness measuring device is Based on the collimated rotation center coordinates of the lightwave distance measuring device and the digging surface shape data to correct the measurement error generated due to eccentricity from a predetermined position or the measurement error of the total station has occurred The excavation surface is compared with the excavation cross-section center coordinates obtained in the above, and the excavation surface is corrected to correct the measurement error due to the deviation of the excavation cross-section measurement time and the spraying surface measurement time even for the same measurement cross-section. Compares the tunnel barycentric coordinates of chromatography data and spray surface data, if the eccentricity between each other coordinates are determined to be occurring, it is preferable so as to automatically correct the eccentricity on the program.

As a spray thickness measuring device for actually performing the above-mentioned spray thickness measuring method, for example, on a circumferential rail arranged along a circumferential direction at a substantially constant distance inside an excavated cross section. A spraying thickness measuring device provided with a light wave range finder for collimating an excavation surface substantially orthogonally on a traveling bogie that is mounted on and is movable along the circumferential rail, and at least the inside of the excavation cross section A spray thickness measuring device that holds an optical distance meter at the tip of the arm that can be controlled along the circumferential direction with a substantially constant separation distance, and furthermore, the optical distance meter is attached to the excavation section in the circumferential direction A spray thickness measuring device that supports the lens so as to be rotatable about a horizontal axis so that it can be collimated, controls the rotation angle position, and can measure at an arbitrary angle position in the cross-sectional circumferential direction. In addition, as a light wave ranging device to be used, an air flow which is housed in a storage box whose light wave emission opening is freely openable and which flows out from the light wave emission opening to the outside by supplying air to the storage case at any time. The one that causes the above is preferably used. As will be described later, even when installed near the spray nozzle, by closing the lid during spraying, it is possible to prevent the lightwave distance measuring instrument from being contaminated by rebound, and at least to measure the distance. In the state where the lid is opened to perform the above, by the air flow flowing to the outside side,
It is possible to prevent the light wave distance measuring instrument from being contaminated by concrete dust or mortar dust.

In actual tunnel construction and underground space construction,
The spraying thickness measuring device is attached to a construction machine such as a gantry scaffold, a spraying robot, a full-section excavator or ancillary equipment of the full-section excavator, and concurrently with the spraying operation.
Alternatively, a mode in which the spray thickness measurement is performed without too much delay in the spray operation is suitably adopted.

The term "spraying" in the present invention includes not only general mortar and concrete spraying but also spraying of various lining materials using these.

[0019]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a plurality of embodiments of the present invention will be described in detail with reference to the drawings.

[First Embodiment] In the first embodiment, a spraying device that is movable along the circumferential direction of the tunnel cross section and the longitudinal direction of the tunnel is arranged rearward from a full-section excavator (hereinafter referred to as TBM). 9 shows a method of measuring a sprayed thickness in an embodiment in which an optical distance measuring instrument is provided for an auxiliary facility such as an extended shear transfer device and the spraying device.

Hereinafter, the first embodiment will be described in detail with reference to FIGS. (Apparatus Configuration) FIG. 1 is an overall construction view, FIG. 2 is a side view of the spraying apparatus 1, and FIG. 3 is a front view thereof.

The spraying device 1 is, as shown in FIG.
A connection facility for connecting the TBM 2 for excavating the ground and the succeeding bogie 5 following the TBM 2, specifically, a transfer facility 11 for slips and the like to be described later is provided as a support, and for example, while following the excavation of the TBM 2, A spraying material is sequentially sprayed on a wall excavated in a circular shape.

First, the TBM 2 is divided into a front trunk 2A, a middle trunk 2B, and a rear trunk 2C in the longitudinal direction of the tunnel, and the junction is bendable. The middle body 2B is the front body 2A
And a body portion extending from the front end of the rear trunk 2C, and the TBM 2 is stretchable in the longitudinal direction. A plurality of thrust jacks 3 are provided between the rear end of the front trunk 2A and the front end of the rear trunk 2C.
Are provided, and when the front body is advanced, the thrust jacks 36, 36 are extended while the main grippers 34, 34 of the rear body 2C are extended and fixed to the tunnel well wall.
When the rear body is advanced, the support of the main grippers 34, 34... Is released, and the front grippers 35, 3 of the front body 2A are released.
By contracting the thrust jacks 36 in a state in which the thrust jacks 36 are fixed to the tunnel pit wall, the front trunk 2A and the rear trunk 2C alternately repeat the forward movement. So-called thrust propulsion.

On the other hand, a cutter head 32 having a plurality of cutters is rotatably provided on the front surface of the front trunk 2A. Inside the cutter head 32, a chamber 33 for taking in excavated earth and sand is formed. Girder 1 with built-in belt conveyor connected to this sediment intake chamber 33
1A is extended to the rear side of the tunnel so that the excavated earth and sand is carried out of the mine. On the lower surface side of the girder 11A, a dust collecting device 11B is provided integrally with the rear side of the TBM 2 as a suction port.
In the present embodiment, the girder 11A and the dust collecting device 11B integrally constitute a transfer equipment 11 such as a shear.

On the other hand, as shown in FIG. 3, the spraying device 1 has a pair of left and right grooves disposed with their openings facing inward with respect to the lower surface of the dust collecting device 11B of the shearing or other conveying equipment 11. Mold rails 13A, 13B are fixed along the longitudinal direction of the tunnel, a roller is fitted into the grooves of the groove-shaped rails 13A, 13B, and a traveling base 14 which is movable along the longitudinal direction of the tunnel is provided. The circumferential rail member 3 is fixedly supported by a hanging bracket 15 provided on the lower surface side of the running base 14, and is mounted on the circumferential rail member 3 so as to run freely.

The circumferential rail member 3 causes the spraying device 1 as a running body to travel along the tunnel circumferential direction along a circular locus line having a substantially constant separation distance inside the tunnel circumferential wall surface H. In this example, a rail member processed into a ring shape is used. In addition, in this example, since the application example to the TBM 2 whose excavation cross-sectional shape was circular was shown, the circumferential rail member 3 was also circular.
For example, in the case of a tunnel having a compound circular cross section, a circumferential rail member processed into a similar reduced shape according to the compound tunnel cross-sectional shape is used.

The circumferential rail member 3 is movable in the longitudinal direction of the tunnel so that the spraying operation can be performed continuously over a predetermined range in the longitudinal direction of the tunnel. As shown in FIG. 2, the grooved rails 13A, 13B
Sprockets 18 at the front end and the rear end of
A, sprocket bracket 16A supporting 18B,
A chain 1 in which the gears 16B are arranged and fixed, gear fixings 17A and 17B are fixed to the front side and the rear side of the running base 14, respectively, and one end is fixed to the gear fixings 17A.
9 is connected to and fixed to the other gear fixing member 17B by rotating the sprockets 18A and 18B, and the motor support 21 is fixedly supported on the lower surface side of one sprocket bracket 16B, and the longitudinal motor fixed and supported by this A transmission chain 22 is wound between the driving sprocket 20a and the sprocket 18B, and the driving shaft of the traversing motor 20 is rotated in the forward and reverse directions, thereby moving the circumferential rail member 3 together with the traveling base 14 in the tunnel longitudinal direction. It is possible to move in the direction.

As shown in detail in FIGS. 4 and 5, the spraying device 1 mounted on the circumferential rail member 3 is mounted on the running portion of the device main body 23 and on the inner surface of the circumferential rail member 3. The driving pinion gear 24 includes a driving pinion gear 24 that comes into contact with the driving pinion gear 2, and pressing rollers 25 </ b> A and 25 </ b> B that contact the outer surface of the circumferential rail member 3.
4 and the pressing rollers 25A, 25B, so that the circumferential rail member 3 is supported by being sandwiched between the driving pinion gear 24 and the rack gear 3a formed on the inner surface of the circumferential rail member 3. At the same time, the drive pinion gear 24 is rotated by the turning motor 26 so as to be movable along the circumferential rail member 3.

The rear end of the nozzle holder 28 holding the spray nozzle 40 is supported by a spray angle control cylinder 27 so that the spray angle of the spray nozzle 40 can be adjusted to an arbitrary angle. Nozzle holder 28
A swinging rod 29 is provided on the rear upper surface of the nozzle holder 28 so as to protrude upward, and converts the rotational movement of the gear 31 rotated by the motor 29 into the rectilinear reciprocating operation of the swinging rod 29 to thereby move the nozzle holder 28. The oscillating operation is continuously performed, and the blasting material can be sprayed at a predetermined width S by running the blasting device 1 on one line. A hose support frame 37 that supports a blowing material supply hose 39 connected to the spray nozzle 40 is disposed at an upper rear position of the traveling base 14. A substantially cylindrical protective cover 38 is provided inside the rail member 3 in order to prevent the rebound of the blasting material from attaching to the carry-out equipment 11 such as shears.

In this embodiment, an optical distance measuring device 6 is provided for the spraying device 1 so that the spraying thickness can be measured in parallel with the spraying operation. The lightwave distance measuring device 6
As shown in detail in FIG. 6 and FIG. 7, the lightwave distance measuring instrument 43 is housed in a housing box 42 having the laser emission port 42a as an opening, and the lightwave emission port 42a is made openable and closable by a lid 45. An air inlet 42b is provided on the rear side of the storage box 42, and an air supply hose 46a is connected thereto.
2 is supplied with air. The supplied air becomes a flow of air flowing out of the lightwave emission port 42a to the outside, and the concrete / air scattered by the rebound is scattered.
The mortar dust and dust are prevented from entering the inside of the storage box 42. Thereby, the measurement by the lightwave distance measuring instrument 43 is always performed in a good state.

The air cylinder 44 and the air inlet 4
2b, the air supply source hose 46 is branched into two in the middle, one air supply hose 46a is connected to the air inlet 42b, and the other air supply hose 46
b is connected to the air cylinder 44, and the supply and stop of air are controlled by solenoid valves 47a and 47b provided in the middle of the respective air supply passages. The air cylinder 44 is provided with an internal spring 44.
This is a cylinder having a structure in which the piston 44b is urged outward by a, and the lid 45 is closed by supplying air and contracting the spring 44a. The opening / closing control of the lid 45 is performed, for example, by supplying air during spraying or washing.
Is closed, it is possible to completely prevent the rebound mortar or concrete from flowing into the storage box 42.

(Spraying operation and spraying thickness measurement) TBM
The lift tank (blowing material carrier) connected to the scrap steel truck entrained to the rear side of 2 is cut off near the rear end of the TBM succeeding bogie, and moved to the leading succeeding bogie position by the battery locomotive arranged in the pit.

When the thrust jacks 36 of the TBM 2 are fully extended (one cycle of excavation is completed), the spraying device 1 is kept at the rearmost position of the grooved rails 13A, 13B. In this state, the TBM 2 contracts the thrust jacks 36, 36, that is, advances the rear trunk 2C to prepare for the next cycle excavation. When the rear trunk 2C moves forward, the excavated surface is exposed over a length range corresponding to one cycle excavation length, and the spraying is performed with this range as one shot target section.

The spraying device 1 stores the previous spraying completion position as coordinates, automatically advances to this position, and receives the tail position information from the TBM 2 so that it can be sprayed from now on. The distance is automatically determined. Also, by correcting the self-coordinates of the spraying device 1 based on the acquisition of the position information of the TBM 2, even if the position of the spraying device 1 changes due to the excavation of the TBM 2, the spraying is always performed from the previous spraying end coordinate position. Can be started. The relative information of the position information of the TBM 2 and the position information of the spraying device 1 is made in an absolute coordinate system since the mutual relationship becomes unclear.

After the excavation is completed, since the excavation scum and sludge adhered to the excavation are attached to the excavation surface, the excavation surface is washed with water before the spraying material is sprayed by the spray pump. The spraying device 1 having finished washing the excavated surface is rotated at a substantially central position or a plurality of cross-sectional positions of the spraying target section along the circumferential rail 3, and as shown in FIG. The shape of the digging surface is measured along the circumference of the tunnel while stopping at a predetermined angle pitch position or turning. The number of measurement cross-section positions may be one in the case of a uniform cross-section, but it is desirable to measure a plurality of cross-sections in the case of a discontinuous cross-section. In the case of performing shape measurement while turning, by setting the measurement point interval small, it is possible to obtain cross-sectional shape data that approximates the actual cross-sectional shape, and to be able to measure many measurement points in a short time become.

The unearthed measurement data is stored in a computer 5
0, data processing is performed, and as shown in FIG.
In addition to the drawing 1, a design spraying shape line 52 is drawn based on the unearthed shape line 51. Further, the position of the spraying device 1 is also displayed on the computer monitor 50A at the same time.

After the completion of the underground shape measurement, the spraying device 1 is operated to start the operation of spraying concrete, mortar or the like.

In the spraying, the spraying is basically performed under a condition of a constant forward speed and a constant turning speed with a constant spraying discharge amount. The moving speed may be adjusted on the discontinuous wall surface of the attachment surface so that the ejection surface is evenly sprayed. In addition, considering simultaneously the difference in the rebound rate at various points in the tunnel section, specifically, for example, the top end is set to 1.4, the lower half is set to 1.1, and the arch portion is proportionally distributed by the vertical component in the spraying direction. The moving speed can be adjusted in consideration of the rebound rate.

Thereafter, at an arbitrary stage during the spraying or at the stage where the spraying is completed, the current spray thickness measurement is performed on the sprayed surface at the same angle position as the measurement position of the unearthed surface. This shape measurement data is subjected to data processing by the computer 50 in the same manner as the above-described underground shape measurement, and is drawn as the current sprayed thick shape line 53 on the computer monitor 50A.

The operator operates three shape lines displayed on the computer monitor 50A, that is, the digging shape lines 51,
The current spraying state can be grasped at a glance by the design spraying thickness line 52 and the current spraying thickness line 53.

As shown in FIG. 9, when the spraying operation is almost completed, there are discontinuous portions such as excavation and spalling with respect to the design spraying thickness, so that the spraying thickness is partially insufficient. If such a situation occurs, the area of the area that is less than the design spray thickness is increased while comparing the design spray thickness line 52 drawn on the computer monitor 50A with the current spray thickness line 53. The spraying device 1 is moved so as to perform the spraying, and the concrete or mortar or the like is sprayed according to the design spraying thickness over the entire circumference in the tunnel circumferential direction. Note that the spraying device 1 stores the previous measurement position as coordinates, and receives the position information from the TBM 2 even if the TBM 2 moves forward by excavation, thereby measuring the uncut surface shape measured before the spraying. It can move to the position and measure the shape after spraying.

By the way, in the above description, the cross-section measurement data is drawn on the monitor 50A so that the current spraying thickness status can be understood at a glance. The point is that the spraying was performed while satisfying the design spraying thickness. Since it is only necessary to be able to determine whether or not the difference is present, for example, as shown in FIG. 10, the difference between the current spray thickness and the design spray thickness may be numerically displayed. Since the spraying management can be performed only by the difference from the latter design spraying thickness, only the difference may be displayed.

In the measurement of the excavated surface to the sprayed thickness, a method based on the premise that the collimating rotation center of the light wave distance measuring instrument is disposed at the center of the cross section of the tunnel excavation, or the light wave distance measuring instrument is optional. In the case of the method of calculating its own collimation rotation center coordinate by using a total station (another light wave range finder) in the rear position, extra excavation occurs at the excavation meandering and curved construction points, etc. visual or quasi rotational center position decentered from the tunnel excavation sectional center and place or to measurement error of the total station or has occurred, the rotation center position coordinates of the spray apparatus 1 of the tunnel cross section in the O _F as well as identified by geometric calculation to (see FIG. 11) from the position coordinates of TBM2, virtual Starring the center O _T of the tunnel excavation cross section on the basis of the data obtained by Motoho shape measurement By seeking to compare the two. If the eccentricity between them is occurring, for example in assuming that there is no bottom half of surplus drilling than the tunnel height direction center line, horizontal line on passing through the rotation center position coordinates O _F spraying device 1 From the measured values aR and aL on the left and right sides and the measured values bR and bL on the left and right sides at the end position (diagonally collimated position in the rotation range) within the rotation range, the vertical displacement and the horizontal displacement are calculated. The amount of eccentricity is corrected on a program. In the case where hard rock has no surplus, correction may be made directly using the vertical distance to the top.

Further, in order to eliminate a measurement error due to a difference between the measurement time of the excavated cross section and the measured time of the sprayed surface in the same measured cross section, the coordinates of the position of the center of gravity of the tunnel between the excavated surface data and the sprayed surface data are compared. If it is determined that eccentricity has occurred between the mutual coordinates, it is desirable to automatically correct the eccentricity on a program. In this case, the presence / absence of eccentricity may be checked by comparing the data obtained by the spraying shape measurement with the data of the uncut surface such as the lower half part where the spraying is not performed.

In the above, the example of the lightwave distance measuring device 6 mounted on the spraying device 1 has been described. However, separately from the spraying device 1, the lightwave distance measuring device 6 alone travels on the circumferential rail 3 alone. It may be installed on a traveling trolley.

[Second Embodiment] Next, in the second embodiment, a spraying robot that holds a spray nozzle at the tip of an arm is provided for a movable spraying work table (movable gantry), and this spraying robot is provided. Fig. 3 shows an example in which a light wave distance measuring device is provided together with the spray nozzle at the tip of the arm of the attaching robot.

[Basic Structure of Mobile Spraying Work Stand] FIG. 1
2 is a side view of the movable spraying work stand, and FIG. 13 is a plan view thereof. The movable spraying work base 60 includes legs 61 and 6.
It is mainly composed of a portal frame 63 having traveling devices 62, 62 at the lower end thereof and capable of self-propelling, and a blowing robot 66 holding a blowing nozzle 63 and an optical distance measuring device 65 at the end of an arm. It is a base for spraying work.

On the upper portions of the traveling devices 62, 62, there are provided steering devices 67, 67 for controlling the traveling direction by controlling the rotation of the traveling device 62 about a vertical axis, and a localization is provided at an adjacent position. Outriggers 68, 68 are provided to secure the stability at the time. On the upper surface of the portal frame 63, two rails 69 for the spraying robot are laid, and the rails 69 for the spraying robot that support the spraying robot 66 along the rails 69 for the blowing robot. The traveling base 70 can move forward and backward along the longitudinal direction of the tunnel.

The blasting robot 66 is connected to a first arm 71 supported rotatably about a vertical axis and free to lie about a horizontal axis with respect to the running base 70 for the blasting robot. A second arm 72 supported on the distal end side of the first arm 71;
A spray nozzle 64 and a lightwave distance measuring device 65 are held at the tip of the second. The rotation control of the first arm 71 about the vertical axis is performed by a hydraulic cylinder 738, and the swing control in the elevation direction is performed by a hydraulic cylinder 74. The second arm 72 can be moved forward and backward while the first arm 71 is held, and the forward / backward control is performed by a hydraulic cylinder 75. In the direct attitude control of the spray nozzle 64 and the lightwave distance measuring device 65, the horizontal swing is controlled by the rotary head device 76 interposed between the second arm 72 and the front and rear swing. It is controlled by a hydraulic cylinder 77.

In the movable spraying work table 60, the spraying thickness can be measured in exactly the same manner as in the first embodiment. That is, each hydraulic cylinder of the spray robot 66 is movable along the circumferential direction while collimating the digging surface substantially orthogonally according to the control program, and the digging surface before spraying is scanned and Once you have the digging surface data, import it into your computer,
Thereafter, at an arbitrary stage during the spraying or at the stage of the completion of the spraying, the thickness measurement data during or after the spraying is obtained by moving the lightwave distance measuring device along the same scanning line in the same manner. The current spray thickness can be known based on the unearthed surface shape data and the spray thickness data.

It is to be noted that the position data of the work stand may be measured by a total station (a light wave distance measuring instrument installed for position identification) at the rear, and the position coordinates of the light wave distance measuring light 65 may be obtained from the hydraulic cylinder data. Alternatively, the position of the lightwave range finder 65 attached to the tip of the arm may be directly measured in real time by a total station behind.

The method of measuring the spray thickness in the first embodiment and the second embodiment allows the spray thickness to be measured in parallel with or without delaying the spraying of the spray material.
Spray repair is possible as soon as a defect is found.

[Third Embodiment] Next, FIG. 14 and FIG.
In the third embodiment shown in FIG. 5, the present applicant shows an example in which a spraying thickness measuring device is mounted on a movable spraying work platform proposed in Japanese Patent Application No. 11-30193. is there.

Since the basic structure of the main body of the movable spraying work base and the structure of the spraying robot are the same as those in the second embodiment, the same reference numerals are given and explanations are omitted. An overhanging deck portion 63B in which a gate-shaped pedestal 63 protrudes in the traveling direction from a flat pedestal main body 63A.
And the spraying robot 66 is provided at the tip of the overhanging deck 63B. By providing the overhanging deck portion 63B, a distance between the gantry main body 63A and the tunnel face can be ensured, and a slip loading machine or a mobile drilling machine that works in the lower space of the spraying robot 66 is provided. This is to make the work space of jumbo wide.

The overhanging deck 63B is provided with a gantry body 63.
Two running rails 78, 78 are provided from section A to the bracket 63C section. The running rails 78, 78 can move back and forth along the running rails 78, 78 in the longitudinal direction of the tunnel. Rails 69, 69 for the spray robot are laid, and the rails 6 for the spray robot are provided.
A running base 70 for the spraying robot that supports the spraying robot 66 along 9 and 69 can freely move forward and backward along the longitudinal direction of the tunnel.

In the present embodiment, the spraying thickness is such that it is movable along the circumferential direction of the tunnel and movable in the longitudinal direction of the tunnel while collimating the overhanging deck portion 63B substantially orthogonally to the excavation surface. The measuring device 82 is mounted.

The spray thickness measuring device 82 includes a circumferential rail member 79 disposed around the overhanging deck 63B, and a traveling mounted on the circumferential rail member 79 so as to be capable of traveling around the tunnel circumferential direction. The cart 80 and the traveling cart 80
This is a device comprising an optical wave distance measuring device 81 installed on the upper side.
3b is attached, and a drive gear (not shown) provided in the circumferential rail member 79 is meshed with the rack gear 63b so as to be movable in the longitudinal direction of the tunnel. In addition,
Since the moving mechanism of the traveling carriage 80 has already been described in the first embodiment, a description thereof will be omitted.

In such a movable spraying work stand,
Before the spraying, the traveling vehicle 80 is moved around the circumferential direction of the tunnel at a predetermined cross-sectional position to obtain the data of the digging surface before the spraying, and the same scanning is performed on the cross-section after the spraying. It is possible to obtain the applied thickness data and to know the current spray thickness based on the uncovered surface shape data and the spray thickness data.

In this embodiment, a spraying thickness measuring device 82 is provided separately from the spraying robot 66, so that the spraying operation and the spraying thickness measurement can be performed completely independently and concurrently. Since the overhang deck 63B is freely movable in the longitudinal direction of the tunnel, as a result of the spray thickness measurement, if a spraying failure is found, the overhang deck 63B is retracted to immediately detect the failure. Spray repair is possible.

[Fourth Embodiment] In the fourth embodiment, instead of using a large-scale spray thickness measuring device as in the first to third embodiments, a slight improvement is made to an optical distance measuring instrument. The tunnel section can be scanned in the circumferential direction by adding, and this can be installed at the spraying thickness measurement section position with a tripod or the like, and the digging surface shape before spraying and the spraying thickness shape after spraying can be measured. It is like that.

As shown in FIG. 16, the spray thickness measuring device 88 supports a light wave distance measuring device main body 83 so as to be rotatable around a horizontal axis L by means of a support base 84, and a rotary drive motor 85 to control the horizontal position. The drive around the axis L is controlled. In order to control the collimating position in the circumferential direction of the tunnel, a rotary encoder device 86 that extends the output shaft of the rotation drive motor 85 to the rear side and counts the rotation amount of the drive shaft as a pulse signal is provided. Provided by the controller 87 to rotate the motor 8
5 can be measured at any measurement angle pitch position in the tunnel circumferential direction.

As described above, the spraying thickness measuring device 88 is installed at the spraying thickness measuring cross-sectional position with a tripod or the like to measure the spraying thickness, or the movable spraying work platform as described above is measured. By setting it up, the sprayed thickness can be measured according to the method of the present invention.

[0063]

As described in detail above, according to the present invention, in excavation work such as tunnel construction and underground space construction, the thickness of the sprayed material on the wall surface after excavation can be easily and accurately controlled. By performing the spraying based on the measurement result, it is possible to improve the quality and reduce the cost by reducing the surplus blowing amount.

Further, by using the spray thickness measuring apparatus of the present invention, the spray thickness can be measured at the same time as the spraying or without much delay of the spraying. By doing so, it is possible to perform efficient spraying without spraying defective portions.

[Brief description of the drawings]

FIG. 1 is an overall side view showing an example of spraying construction in a first embodiment.

FIG. 2 is an overall side view of the spraying device 1. FIG.

FIG. 3 is a front view thereof.

FIG. 4 is an enlarged side view of the spraying device 1.

FIG. 5 is an enlarged rear view of the spraying device 1.

FIG. 6 is an enlarged side view of the lightwave distance measuring device 6;

FIG. 7 is an air supply system diagram of the lightwave distance measuring device 6.

FIG. 8 is a flowchart of a spray thickness management.

FIG. 9 is a drawing chart showing the results of spraying thickness measurement results on a computer monitor.

FIG. 10 is another display example of the sprayed thickness measurement result on a computer monitor.

FIG. 11 is an eccentricity correction procedure diagram of the spraying device 1.

FIG. 12 is a side view of a movable spraying work table in which a lightwave distance measuring device 65 according to the second embodiment is mounted on the tip of an arm of a spraying robot 66;

FIG. 13 is a plan view thereof.

FIG. 14 is a side view of a movable spraying work stand equipped with a sprayed thickness measuring device 82 according to a third embodiment.

FIG. 15 is a plan view thereof.

FIG. 16 is a schematic view of an apparatus for a spray thickness measuring device according to a fourth embodiment.

FIG. 17 is a spraying thickness measurement procedure diagram using a conventional lightwave range finder.

FIG. 18 is an explanatory diagram of a measurement error factor at that time.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Spray device, 2 ... TBM, 2A ... Front trunk, 2B ... Middle trunk, 2C ... Rear trunk, 3 ... Circumferential rail member, 5 ... Subsequent bogie, 6 ... Lightwave distance measuring device, 11 ... Conveying device such as shearing (Connection equipment), 32: cutter head, 33: chamber for taking in earth and sand, 34: main gripper, 35: front gripper, 36: thrust jack, 42: storage box, 42
a ... light emission port, 42b ... air inlet, 45 ... lid,
43: Lightwave distance measuring device, 60: Mobile spraying work stand,
Reference numeral 63: portal frame, 64: spray nozzle, 66: spray robot, 65: optical distance measuring device, 71: first arm, 7
Reference numeral 2: second arm, 82: spray thickness device, 79: circumferential rail member, 80: traveling trolley, 81: lightwave distance measuring device, 8
2: Spray thickness measuring device, 88: Spray thickness measuring device, 85:
Rotary drive motor, 86 ... Rotary encoder device,
87 ... Controller

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Toshimitsu Takamichi 4-12-20 Nihonbashi Honcho, Chuo-ku, Tokyo Inside Sato Industry Co., Ltd. (72) Inventor Hitoshi Namura 4-12 Nihonbashi Honcho, Chuo-ku, Tokyo No. 20 Inside Sato Industry Co., Ltd. (72) Shoichi Ando 4-12-20 Nihonbashi Honcho, Chuo-ku, Tokyo Inside Sato Industry Co., Ltd. (72) Toshiaki Sasaki 4-12-20 Nihonbashi Honcho, Chuo-ku, Tokyo No. Sato Kogyo Co., Ltd. (72) Inventor Nobuhisa Tajima 4-12-20, Nihonbashi Honcho, Chuo-ku, Tokyo F-term in Sato Kogyo Co., Ltd. 2D055 BA06 DB00 KC06 LA12 LA13 2F065 AA06 AA17 AA30 AA52 CC40 DD06 EE00 FF11 FF23 FF66 GG04 MM06 MM08 NN20 PP01 PP02 PP05 PP22 PP25 QQ21 QQ23 QQ25 SS01 SS13

Claims (9)

[Claims] At a predetermined cross-sectional position after excavation of the ground, the excavation surface is scanned along the cross-section circumferential direction by the lightwave distance measuring device to obtain the excavation surface shape data after excavation, and then spraying is performed. At an arbitrary stage during the operation or at the stage of the completion of the spraying operation, the spraying surface is again scanned along the circumferential direction of the cross-section by the lightwave distance measuring instrument at the predetermined cross-sectional position, thereby performing the spraying during or after the spraying A method for measuring a sprayed thickness, wherein thickness data is obtained and a sprayed thickness is obtained based on the data of the excavated surface shape and the sprayed thickness data. 2. A process for processing the shape data of the digging surface by a computer, drawing the data as a digging shape line on a monitor, and designing a sprayed thick shape inside the digging shape line based on the digging shape line. A line is drawn, and thereafter, when the sprayed thickness data is obtained, the sprayed thickness data is subjected to data processing by a computer so as to be superimposed and drawn as a sprayed thickness line on a monitor. Spray thickness measurement method described. 3. The spray thickness measuring device according to claim 1, wherein the light wave distance measuring device scans the excavated section along the circumferential direction while collimating the excavated surface substantially orthogonally. Method. 4. A comparison between the coordinates of the center of rotation of the collimated light rangefinder and the coordinates of the center of the digging section obtained based on the digging surface shape data, and / or the comparison of the digging surface data and the spraying surface data. 4. The spray thickness measuring method according to claim 1, wherein a comparison is made between the coordinates of the position of the center of gravity of the tunnel, and if it is determined that eccentricity has occurred, the eccentricity is automatically corrected on a program. . 5. A traveling carriage mounted on a circumferential rail disposed along the circumferential direction at a substantially constant separation distance inside the excavated cross section and movable along the circumferential rail. A sprayed thickness measuring device, comprising a light wave range finder for collimating an excavated surface substantially orthogonally. 6. A spraying thickness measuring apparatus characterized in that a light wave distance measuring instrument is held at an end of an arm which can be controlled in a circumferential direction at least at a substantially constant distance inside an excavation section. . 7. An electro-optical distance meter is rotatably supported around a horizontal axis so that it can be collimated in a circumferential direction with respect to an excavation section, and a rotation angle position is controllable at an arbitrary angular position in a section circumferential direction. A spray thickness measuring device characterized in that measurement is possible. 8. The lightwave ranging device is housed in a storage box whose lightwave emission opening is freely opened and closed, and flows out from the lightwave emission opening by supplying air to the storage box at any time. The spray thickness measuring device according to any one of claims 5 to 7, wherein an air flow is generated. 9. The spray thickness measuring device is attached to a construction machine such as a gantry scaffold, a spray robot, a full-section excavator, or ancillary equipment of the full-section excavator. 2. The spray thickness measuring device according to 1.