JP2000356515A - Method for measuring position and posture of shield excavation machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method by which the position and posture of a shield excavation machine itself can be measured efficiently and accurately in a short time in a pipe jacking method using the shield excavation machine. SOLUTION: In a method for measuring position and posture of a shield excavation machine 1, an operating device the reflecting prism 6 of which can move by a prescribed length in the direction of the propelling axis is set up in the machine 1 and surveying instrument constituted by integrating an electronic transit with an electronic distance meter is set up in a succeeding pipe or propelling pipe. Then the horizontal and vertical angles of the prism 6 and the distance to the prism 6 before and after the prism 6 moves in the propelling direction are measured by means of the surveying instrument. In addition, a plurality of reflecting prisms 6 is fixed in the direction perpendicular to the propelling axis and the surveying instrument constituted by integrating the electronic transit with the electronic distance meter is set up in the succeeding pipe or a propelling pipe. Then the horizontal and vertical angles of the prisms 6 and the distances to the prisms 6 are measured.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for efficiently and accurately measuring the position and attitude of a shield machine in a propulsion method.

[0002]

2. Description of the Related Art In a propulsion method, a propulsion burial is carried out by pressurizing a shield excavator or a rear end face of a propulsion pipe with a main push jack provided in a starting shaft provided at one end of a buried pipeline. For this reason, in the propulsion method, the shield machine and the propulsion pipe always move forward and change, and it is not possible to set a reference measuring point in the propulsion pipe on the way,
A reference point is provided in the starting shaft, which is one end of the buried pipeline. Various surveying methods have been developed and implemented to ensure an accurate alignment along the feature line. A commonly used surveying method is to install an optical instrument, such as a transit, at a reference point in the starting shaft, set it in the direction of the planning reference line, and then connect the planning reference line to the shield machine or propulsion pipe. A method of measuring the displacement has been adopted. However, in the above surveying method, when the propulsion extension is long, it is difficult to collimate with a transit in a dark pipe, and the transit is moved to the position where the collimation can be performed for surveying, but as the distance becomes longer, the transit becomes longer. There are many changes and the surveying work becomes complicated. Further, the transit is installed in a narrow pipe, and errors and mistakes due to the installation are likely to occur. For this reason, the laser beam from the laser irradiator installed in the starting shaft is aligned with the direction of the planning line, and is irradiated on the target installed behind the shield excavator. Surveying methods for checking the displacement of the excavator are often used.

[0003]

The surveying method using a target and a laser irradiator has made it possible to efficiently measure even a relatively long-distance propulsion work, but the size of the laser spot is proportional to the distance. Because it gradually increases,
In long-distance propulsion work, the diameter of the laser spot irradiated on the target is large, making it difficult to confirm the exact position. Further, in the propulsion construction including a curve, it becomes impossible to irradiate a laser beam forward through the curve. For this reason, in recent years, a reflective prism that reflects incident light in the direction of incidence has been installed in each total station, which is a surveying instrument in which an electronic transit and a lightwave distance meter are incorporated in a coaxial structure,
A surveying method that can simultaneously measure a distance to a reflecting prism at a target point, a horizontal angle, and a vertical angle is used. In addition, an automatic surveying method has been developed in which a plurality of automatic tracking type total stations equipped with an automatic tracking device for automatically tracking a reflecting prism are fixedly installed at reference points in a starting shaft and at predetermined positions in a propulsion pipe. Each automatic tracking type total station measures the distance and angle with the previous and next total stations, calculates the data with a personal computer, and can accurately calculate the position of the shield machine in a short time. With the development of the above surveying method, the position of the shield machine can be automatically and efficiently performed even in long-distance propulsion work including curves, the surveying time can be reduced, and the time taken for propulsion work can be increased. . However, the position of the shield excavator calculated by the above survey method only indicates a deviation from the planning reference line at the total station position installed in the shield excavator, and the orientation of the shield excavator body Can not know. For accuracy control of the propulsion method, it is necessary to know the deviation between the shield machine and the planning reference line, but whether the deviation is parallel to the planning reference line or toward the planning line, It is important to know the attitude of the shield excavator to judge whether the vehicle is moving away from the planning reference line. Therefore, the modification of the shield machine is to estimate the attitude of the shield machine by comparing the difference between the previous measurement and the current measurement in order to know the direction of the shield machine. At present, corrections are made in the direction along the planning reference line based on the figures. In addition, a gyrocompass is mounted to estimate the attitude of the shield machine.

However, the estimation of the attitude of the shield excavator indicates the trajectory of the total station installed in the shield excavator, that is, the attitude of the shield excavator which is slightly delayed in time. It cannot be said to represent a direction. For this reason, although the shield machine has already maintained a different direction, it makes a different attitude judgment depending on the trajectory of the total station, so it greatly deviates from the plan line, making it difficult to correct the direction, In many cases, the burial accuracy of the entire pipeline is deteriorated.

Accordingly, the present invention provides a method for efficiently and accurately measuring the position and orientation of a shield machine.

[0006]

That is, the present invention relates to a propulsion method in which a propulsion pipe is buried in the ground while excavating the ground with a shield excavator at the tip, and the position and posture of the shield excavator being excavated. In the method of measuring, an operating device in which the reflecting prism can move in the direction of the propulsion axis by a predetermined length is installed in the shield excavator, and the electronic transit and the lightwave distance meter are integrated in the rear succeeding pipe or the propulsion pipe The position of the shield machine that measures the horizontal angle before and after the movement of the reflecting prism in the propulsion direction, the vertical angle of the front and rear reflecting prisms, and the distance between the front and rear reflecting prisms by the surveying device.・ This is the attitude measurement method. In addition, the propulsion method of burying a propulsion pipe in the ground while excavating the ground with a shield excavator at the tip, and measuring the position and attitude of the shield excavator during excavation, A plurality of reflecting prisms are fixed in the direction orthogonal to the axial direction, and a surveying instrument integrating an electronic transit and a light wave distance finder is installed in a rear succeeding pipe or a propulsion pipe. This is a method for measuring the position / posture of a shield machine that measures the angle, the vertical angle of each reflecting prism, and the distance between each reflecting prism.

[0007] Surveying equipment, which is a total station,
An electronic transit and a lightwave distance meter are incorporated in a coaxial structure, enabling simultaneous measurement of distance, horizontal angle, and vertical angle to a reflecting prism installed at a target point. It is also possible to mount an automatic tracking type total station equipped with an automatic tracking device for automatically tracking the reflection prism on this total station. Each surveying instrument is firmly installed by a dedicated installation stand that does not shake even with vibration or the like.

[0008] The operating device of the reflecting prism installed in the shield machine is installed at a position where it can be seen from the total station installed in the rear propulsion pipe. The reflecting prism attached to the operating device has a mechanism capable of moving in the direction of the propulsion axis by a predetermined distance. As the moving mechanism, a conventional technique such as a gear mechanism or a cylinder mechanism may be used.

The reflecting prism attached to the operating device is a commonly used reflecting prism as long as it can reflect incident light in the incident direction.

In order to fix the reflecting prism inside the shield machine, the reflecting prism may be fixed directly to the inner wall of the shield machine. However, the reflecting prism may be installed in a place where the rear prism can be seen from the rear total station installed in the propulsion pipe. Condition.

Depending on the diameter of the pipe to be buried and the type of shield excavator, the location where the reflecting prism is to be installed is installed in the body following the shield excavator if there is no space at the tip of the shield excavator if there is no space. .

The light emitted from the telescope of the total station installed in the propulsion tube is incident on the rear reflecting prism installed in the shield machine, and the vertical angle and distance when the reflected light is received are measured. Light is incident on the reflecting prism that has been moved to and the vertical angle, distance, and horizontal angle of the preceding and following reflecting prisms are measured when the reflected light is received. Based on these data, the attitude of the shield machine is calculated. Distance with respect to the measurement, if determined the moving distance or installation fixed distance of the reflecting prism, error is also reduced by simply measuring the advance either distance, it enables efficient measurement.

[0013]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a plan view illustrating an embodiment of a method for measuring the position / posture of a shield machine according to the present invention.
The shield machine 1 includes a leading conductor 2 and a trailing body 3, and is provided with a correction jack 8 between the leading conductor 2 and the trailing body 3 so as to be bendable. A propulsion pipe 4 having a predetermined length is sequentially connected to a rear end of the shield machine 1. An operating device 5 having a reflecting prism 6 is installed in the leading conductor 2 of the shield machine 1. The operating device 5 is equipped with a moving mechanism that can move the reflecting prism 6 by a certain distance in the direction of the propulsion axis. As the moving mechanism, a method of moving the reflecting prism 6 back and forth by a predetermined distance using a conventional cylinder mechanism or the like is used. A total station 7, which is a surveying instrument in which an electronic transit and a lightwave distance meter are integrated, is installed in the propulsion pipe 4 at a predetermined distance behind.

The light emitted from the telescope of the total station 7 is made incident on the reflection prism 6 before movement installed in the shield machine 1, and the distance and vertical angle when the reflected light is received are measured. Next, the reflecting prism 6 is moved forward by a predetermined distance by the operating device 5, and the above-described operation is performed to measure the distance, the vertical angle, and the horizontal angle of the reflecting prism before and after the movement. With those data,
The position from the total station 7 and the horizontal attitude of the leading conductor 2 of the shield machine 1 are calculated.

In the above-described embodiment, the method of moving the reflecting prism 6 from the rear to the front has been exemplified. However, a method of moving the reflecting prism 6 from the front to the rear can be adopted.

FIG. 2 shows a longitudinal sectional view of FIG. From the difference between the vertical angle of the reflecting prism 6 before the movement measured by the total station 7 and the vertical angle of the reflecting prism 6 after the movement, the vertical posture of the leading conductor 2 of the shield machine 1 can be known.

FIG. 3 shows the position of the shield machine according to the present invention.
It is a top view explaining Embodiment-2 of a posture measuring method.
The operating device 5 of the reflecting prism 6 has no space to be installed in the leading conductor 2 due to the diameter and the model of the shield machine 1, and is installed in the succeeding body 3 behind the shield machine 1. By the same measurement method as described above, the position from the total station 7 to the shield machine 1 and the attitude of the follower 3 of the shield machine 1 can be known. Further, the posture of the tip conductor 2 at the tip can be calculated and known by the stroke difference of the correction jack 8, the joint difference of the bent portion, the yawing meter, and the like.

FIG. 4 is a longitudinal sectional view of FIG. The vertical posture of the trailing body 3 of the shield machine 1 can be known from the difference between the vertical angle of the reflecting prism 6 before the movement measured by the total station 7 and the vertical angle of the reflecting prism 6 after the movement. The attitude of the tip conductor 2 at the tip can be calculated and known by a pitching meter or the like.

In the present embodiment, only the measuring method from the total station 7 at the forefront of the propulsion pipe 4 has been exemplified.
By using the automatic tracking type total station, which is a conventional technology, it is also possible to automate the measurement of the horizontal angle, the vertical angle, and the distance from the starting shaft to perform an efficient measuring operation.

FIG. 5 shows the position of the shield machine according to the present invention.
It is a top view explaining Embodiment-3 of a posture measuring method.
In the tip conductor 2 at the tip of the shield machine 1, two reflecting prisms 6 having a predetermined distance and an angle in the propulsion direction are fixed and installed. The reason why each reflecting prism 6 has an angle is to allow the total reflecting station 7 installed in the propulsion pipe 4 to see the front and rear reflecting prisms. The horizontal angle and the distance are measured in the same manner as described above, and the horizontal attitude of the shield machine is calculated based on the data.

FIG. 6 is a longitudinal sectional view of FIG. The vertical angle of the front and rear reflecting prisms 6 is measured by the total station 7, and the shield excavator 1 is determined based on the difference between the vertical angles.
Is calculated in the vertical direction.

In the present embodiment, the method of arranging the reflecting prism 6 only at two places in the leading conductor 2 of the shield machine 1 has been exemplified. Accordingly, the attitude of the entire shield excavator 1 can be efficiently measured.

By installing a rolling gauge in the shield machine 1, even if the shield machine 1 is rolling, correction can be performed based on the rolling information.

[0024]

As described above, the method of measuring the position and attitude of the shield machine according to the present invention, which has conventionally been used to estimate the attitude of the shield machine at only one measurement point, has always been the present. The position and attitude of the excavator can be measured accurately and in a short time, the direction of the shield machine can be corrected quickly and accurately, and the pipeline can be buried along the planning reference line.

[0025]

[Brief description of the drawings]

FIG. 1 is a plan view illustrating a position embodiment of a position / posture measuring method of a shield machine according to the present invention.

FIG. 2 is a longitudinal sectional view of FIG.

FIG. 3 is a plan view illustrating Embodiment 2 of a method for measuring the position and orientation of a shield machine according to the present invention.

FIG. 4 is a longitudinal sectional view of FIG.

FIG. 5 is a plan view illustrating Embodiment 3 of the method for measuring the position and orientation of the shield machine according to the present invention.

FIG. 6 is a longitudinal sectional view of FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Shield excavator 2 Lead conductor 3 Subsequent body 4 Propulsion pipe 5 Operating means 6 Reflection prism 7 Total station 8 Modified jack

Claims (2)

[Claims] 1. A method for measuring the position and attitude of a shield excavator being excavated by a propulsion method in which a propulsion pipe is buried underground while excavating the ground with a shield excavator at the tip. In addition, an operating device in which the reflecting prism can move in the direction of the propulsion axis by a predetermined length is installed, and a surveying instrument integrating an electronic transit and a lightwave distance meter is installed in a rear subsequent pipe or in the propulsion pipe, and Measuring the horizontal angle before and after the movement of the reflecting prism in the propulsion direction, the vertical angle of the front and rear reflecting prisms, and the distance to the front and rear reflecting prisms by using a device. . 2. A method of measuring the position and attitude of a shield excavator being excavated by a propulsion method in which a propulsion pipe is buried underground while excavating the ground with a shield excavator at the tip. A plurality of reflecting prisms are fixed in the direction orthogonal to the direction of the propulsion axis, and a surveying instrument integrating an electronic transit and a lightwave distance meter is installed in a rear succeeding pipe or a propulsion pipe, and each reflection is measured by the surveying instrument. A method for measuring the position / posture of a shield excavator, comprising measuring a horizontal angle of a prism, a vertical angle of each reflection prism, and a distance from each reflection prism.