JP2002174519A - Automatically measuring system for tunnel section - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatically measuring system for a tunnel section that can safely and accurately measure a tunnel section by remote control. SOLUTION: A three-dimensional section measuring instrument body 10 with an automatic section measurement function is mounted on a movement carriage 20 with a free unmanned drive by the remote control by wireless or wire induction through an automatic level adjusting mechanism 30, and a shape of the tunnel section is automatically measured by a remote control from a total station 40 placed outside the tunnel. A position detecting target 12 and a scale plate 13 for swivel angle detection are installed on the three-dimensional section measuring instrument body 10, and a position detecting target 11 and the scale plate 13 for the swivel angle detection are collimated by the total station 40 under horizontal leveling at an arbitraty stop position of the movement carriage 20. Then a direction angle α' and a swivel angle θ are calculated and a position and a direction of the three-dimensional section measuring instrument body 10 are determined by these direction angle α' and swivel angle θ.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a system for automatically measuring a cross section of a tunnel applied to, for example, construction of a tunnel or repair of a tunnel, and more particularly, to measurement of a cross section of a tunnel by remote control from outside the tunnel. The present invention relates to an automatic system for measuring a cross section of a tunnel, which can be performed by using the method.

[0002]

2. Description of the Related Art Conventionally, in an automatic measuring system for a tunnel section of this kind, as shown in FIG. 6, a three-dimensional section measuring device having an automatic section measuring function is provided on an excavation center line OO of a tunnel 1. 10 is positioned and installed with respect to the ground 2 in a horizontal leveling state, and the position and orientation of the main body 10 of the three-dimensional cross-section measuring device are determined, whereby a reference line l− previously set at an arbitrary position on the ground 2 is obtained. There is a configuration having a configuration in which a cross-sectional configuration in a direction perpendicular to n is automatically measured.

[0003] Such an automatic system for measuring the cross section of a tunnel, for example, in the excavation process during the construction of a tunnel, the cross section of the tunnel 1 is cut within a range of a measurement distance in front or rear 1.5 to 2 times the diameter of the tunnel. By measuring at a constant pitch (for example, at 5 m or 10 m intervals), image processing is performed by a personal computer based on the measured data, and the measured cross-sectional form is displayed on the display 100 as shown in FIG. In addition, a preset cross-sectional configuration of a tunnel cross-section is superimposed, analyzed, and managed.

[0004]

However, in the above-mentioned conventional automatic measuring system of the cross section of the tunnel,
When positioning the three-dimensional measuring apparatus main body 10 in the tunnel 1, the three-dimensional measuring apparatus main body 10 is installed on a tripod base and leveled with respect to the ground 2 as in normal transit surveying. It is done by that.

[0005] For this reason, it is not possible to measure safely in a dangerous place where no one can enter, such as near the face in the tunnel 1, and it is not possible to accurately measure the tunnel cross section in the curved section.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and provides an automatic tunnel cross-section measurement system capable of remotely and safely measuring a tunnel cross-section. Aim.

[0007]

In order to solve the above-mentioned problems, the invention according to the first aspect of the present invention is directed to a three-dimensional section measuring instrument having an automatic section measuring function at an arbitrary position on a tunnel excavation center line. By positioning and installing the main body in a horizontal leveling state with respect to the ground, and determining the position and orientation of the main body of the three-dimensional cross-section measuring instrument, a cross section in a direction perpendicular to a reference line previously set at an arbitrary position on the ground is obtained. A cross section can be automatically measured, and an image processing is performed on the basis of the measurement data of the ring cross section. The measuring instrument body is mounted on an unmanned mobile carriage by remote control by wireless or wired guidance via an automatic level adjustment mechanism, and the total meter installed at a predetermined position outside the tunnel is installed. By remote control from Shon, characterized by comprising enabling automatic measurements by the mobile and the three-dimensional cross-section measuring device main body of the mobile carriage.

[0008] This makes it possible to measure the cross section of the tunnel unattended by remote control by the total station, and it is possible to safely and easily perform the measurement in a dangerous place where no person can enter as in the past.

According to a second aspect of the present invention, in the first aspect of the present invention, the main body of the three-dimensional section measuring instrument is mounted on the movable carriage such that their central axes coincide with each other so as to be capable of turning in the horizontal direction. A position detection target and a turning angle detection scale plate are provided on the three-dimensional section measuring device main body, and the position detection target is moved to the total station under horizontal leveling at an arbitrary stop position of the movable carriage. By collimating with the irradiation of laser light from, by measuring the position coordinates of the three-dimensional section measuring instrument body with respect to the position coordinates of the total station, to calculate the direction angle based on the measurement data of the position coordinates At the same time, the turning angle detection scale plate is collimated at the total station,
Measure the approximate value of the turning angle of the three-dimensional section measuring instrument body,
By turning the main body of the three-dimensional cross-section measuring device in accordance with the approximate value of the turning angle, and adjusting to the light receiving target installed in the total station, a detailed turning angle is determined, and the detailed value of the turning angle and the direction are determined. While the azimuth of the main body of the three-dimensional cross-section measuring instrument is calculated by an angle, the three-dimensional cross-sectional measuring instrument is turned at a turning angle according to a difference between an angle of the reference line with respect to the excavation center line in the baseline direction and the direction angle. By rotating the main body and collimating the base line direction, the distance of the reference line from the center of the three-dimensional cross-section measuring device main body is calculated, and the position and orientation of the three-dimensional cross-sectional measuring device main body are calculated. It is characterized by being decided.

[0010] This makes it possible to easily determine the position and orientation of the three-dimensional section measuring instrument main body, and to accurately measure the tunnel section in the curved section.

[0011]

FIG. 1 is a block diagram showing an embodiment of the present invention.
5 will be described in detail with reference to the drawings shown in FIG. In the illustrated embodiment according to the present invention, portions having the same configuration as the conventional automatic system for measuring the cross section of a tunnel shown in FIGS. 6 and 7 will be described using the same reference numerals.

As shown in FIG. 1, reference numeral 20 denotes a mobile trolley, which is a crawler 2 as a propulsion means.
A mounting platform 22 that can run on the ground 2 in the tunnel 1 at 1
A crawler drive control device 26 that drives the mobile trolley 20 in the front-rear and left-right directions (X-Y directions) by driving the wireless antenna 23, the power supply device 24, the wireless reception / transmission device 25, and the crawler 21, Right and left direction (X-Y direction)
Inclinometer 2 for detecting the tilt state in the vertical direction (Z direction)
7 is mounted.

An outrigger (supporting leg) 29 which can be moved up and down by an outrigger driving device 28 is provided at each of the front, rear, left and right even portions of the mounting platform 22 of the movable carriage 20, and each of these outriggers (supporting leg) 29 The mobile trolley 20 can be fixed on the ground 2 by moving down to the ground 2 at a predetermined stop position of the mobile trolley 20 and touching the ground.

Further, the mounting platform 22 of the movable vehicle 20 includes
An automatic level adjustment mechanism 30 is provided. The automatic level adjustment mechanism 30 includes a horizontal mount 31 and a horizontal mount 3.
1 includes a telescopic rod 33 provided on each of the front, rear, left and right even portions via a vibration absorber 32, and a rod drive control device 34 for adjusting the length of each of the telescopic rods 33. The device 34 enables the horizontal mount 31 to be leveled horizontally.

In FIG. 1, reference numeral 35 denotes a touch sensor installed before and after the mounting platform 22 of the movable vehicle 20.
These touch sensors 35 detect collision of the mobile trolley 20 with the inner wall surface of the tunnel, and control the traveling of the mobile trolley 20 so as to avoid the mobile trolley 20 from the inner wall surface of the tunnel.

Then, on a horizontal gantry 31 of an automatic level adjustment mechanism 30 installed on the mounting gantry 22 of the movable trolley 20,
A three-dimensional section measuring instrument main body 10 having an automatic cross-section measuring function is mounted, and the three-dimensional section measuring instrument main body 10 is aligned with the center axis M of the movable carriage 20 and is horizontally oriented around the center axis M. Turn control is possible.

The main body 10 of the three-dimensional section measuring device has a CCD camera 11 capable of capturing an image of the surroundings inside the tunnel 1.
Is mounted on the upper side of the central axis M,
For example, a position detection target 12 formed of a prism is provided, and a turning angle detection scale plate 13 is provided below the target 12 with the center axis M as the turning center axis.

As shown in FIGS. 2 and 3, the position detecting target 12 and the turning angle detecting scale plate 13 are positioned and installed at predetermined positions outside the tunnel 1 to read the three-dimensional position coordinates and the turning angle. The collimator is collimated by irradiation of a laser beam from a device (hereinafter, referred to as a total station) 40. The total station 40 is provided with a light receiving target 41 and a three-dimensional section measuring device. It has an image identification function by a CCD camera 11 mounted on the main body 10.

Next, an automatic system for measuring the cross section of a tunnel according to the present invention will be described with reference to FIGS.

FIG. 4 is a flowchart showing a procedure for determining the position and orientation of the three-dimensional section measuring instrument main body 10, and FIG. 5 is a flowchart showing measurement at an arbitrary position along the excavation direction OO in the tunnel 1 set in advance. The position coordinates (x0, x0) of the origin T in the three-dimensional direction (X, Y, Z) of the total station 40 at a point.
The positional relationship on the plane between the movable trolley 20 and the position coordinates (x1, y1, z1) of the central axis M of the three-dimensional section measuring instrument main body 10 with respect to (y0, z0) is shown.

As shown in FIG. 4, the mobile trolley 20 is moved by radio guidance along the excavation direction OO in the tunnel 1 (Step 1: hereinafter abbreviated as S1), and a predetermined arbitrary The mobile trolley 20 is stopped at the measurement point at the position, and at this stop position, the outrigger 28 is lowered toward the ground 2 at a predetermined stop position of the mobile trolley 20 to be in contact with the ground, thereby moving the mobile trolley 20 to the ground 2. It is fixed on the top (S2).

In this state, the level of the horizontal gantry 31 of the movable carriage 20 is adjusted by the automatic level adjustment mechanism 30, and the leveling of the three-dimensional section measuring instrument body 10 is performed (S3). Determination of the position of the main body 10 (S4), determination of the azimuth (S
5) The base line direction of the reference line l-n is determined and the direction is collimated (S6).

In this case, in order to determine the position of the three-dimensional section measuring instrument main body 10 as described above in S4, it is necessary to use FIG.
As shown in the figure, the position detection target 12 is collimated by the irradiation of the laser light from the total station 40, and the position coordinates (x0, y) of the origin T of the total station 40 are obtained.
Measuring the position coordinates (x1, y1) of the central axis M of the three-dimensional section measuring instrument body 10 with respect to 0) and calculating the direction angle α by the following formula based on the measurement data of these position coordinates. It is performed by

[0024]

[Formula] α = tan ^-1 (y1-y0) / (x1-x0)

In step S5, the three-dimensional section measuring instrument body 10
In order to determine the azimuth, the turning angle detection scale plate 13 whose initial scale is fixed to 0 degrees is collimated by the total station 40 to determine the turning angle θ of the three-dimensional section measuring instrument body 10. After measuring and reading the approximate value of the turning angle θ, the main body 10 of the three-dimensional cross-section measuring instrument is set to θ according to the approximate value of the turning angle θ.
By turning it and matching it with the light receiving target 41 installed in the total station 40, a detailed turning angle θ
Based on the detailed value of the turning angle θ and the direction angle α, the detailed value α ′ of the direction angle α is determined by the following formula, and the azimuth of the three-dimensional section measuring instrument body 10 is calculated. This is done by: α ′ + θ + (90 ° −α) = 270 ° α ′ = 180 ° + (α−θ)

Further, in S6, the determination of the base line direction of the reference line 1-n and the collimation of the azimuth are performed by measuring the three-dimensional cross section on the tunnel excavation center line OO as shown in FIG. By collimating the position coordinates (x2, y2) of the base point P of the reference line l-n passing through the center M of the container body 10, the angle β in the base line direction is calculated by the following coordinate equation; x1 = (1 / tanβ) · y1 + Cn Here, the base line direction is calculated by tanβ = (y2-y1) / (x2-x1) Cn = x2- (1 / tanβ) · y2, and the angle β in the base line direction and the detailed value α of the direction angle α By rotating the three-dimensional measuring apparatus main body 10 at a turning angle corresponding to the difference (β-α '), the distance of the reference line 1-n from the center M of the three-dimensional measuring apparatus main body 10 is increased. d; d = x2-x1, that is, the center M of the three-dimensional section measuring instrument main body 10 and the base It is performed by calculating the separation of the line l-n.

Thus, the three-dimensional section measuring instrument main body 1
After determining the position and the azimuth of 0, the automatic measurement of the cross-sectional shape in the direction perpendicular to the reference line l-n previously set at an arbitrary position on the ground 2 in the tunnel 1 is started (S).
7) When the measurement of the tunnel cross section is completed (S)
8) Release the fixation of the mobile trolley 20, and move the mobile trolley 20 to the next measurement point (S9).

As a result, similarly to the conventional automatic measuring system shown in FIGS. 6 and 7, in the excavation process during the construction of the tunnel, within the measurement distance range of 1.5 to 2 times the diameter of the tunnel in front or behind. By measuring the cross section of the tunnel 1 at a constant pitch (for example, at 5 m or 10 m intervals), image processing is performed by a personal computer based on the measurement data, and the measured cross section is displayed on the display 100. In addition, a preset cross section of the tunnel is designed to be superimposed on a design cross section and analyzed and managed.

In the above-described embodiment of the present invention, the mobile trolley 20 runs unmanned by wireless guidance by remote control. However, it is also possible to remotely control the mobile trolley 20 by wired guidance.

Also, the automatic tunnel section measurement system has been described by taking as an example a case of constructing a new tunnel. However, the present invention is not limited to this, and a tunnel having no design section data, such as an existing old tunnel, is used. In the renovation work, when obtaining the data of the tunnel cross-section necessary for the renovation,
The present invention is also applicable to the measurement of the cross section of a tunnel tube.

Further, the automatic measurement system according to the present invention can be employed as a device for detecting the azimuth position of a moving object, and it goes without saying that various changes can be made without departing from the gist of the present invention. .

[0032]

As is clear from the above description, according to the automatic tunnel section measuring system according to the present invention, the main body of the three-dimensional section measuring instrument having the automatic section measuring function can be remotely operated by wireless or wired guidance. It is mounted on an unmanned mobile carriage via an automatic level adjustment mechanism, and can be moved remotely and automatically measured by the 3D cross-section measuring instrument by remote control from a total station installed at a predetermined position outside the tunnel. Since it becomes possible, tunnel section measurement can be performed unmanned by remote control by the total station, and measurement in dangerous places where people can not enter such as before can be performed safely and easily .

The three-dimensional section measuring instrument main body is mounted on the movable carriage so as to be pivotable in the horizontal direction, and the three-dimensional section measuring instrument main body is provided with a position detecting target and a turning angle detecting scale plate. Under horizontal leveling at an arbitrary stop position of the bogie, the position detection target and the turning angle detection scale plate are collimated by irradiation of laser light from the total station, and the direction angle and the turning angle are calculated. Since the position and orientation of the main body of the three-dimensional cross-section measuring instrument are determined based on the azimuth and the turning angle, the position and orientation of the main body of the three-dimensional cross-sectional measuring instrument can be easily determined. Measurement can be performed accurately.

[Brief description of the drawings]

FIG. 1 is an explanatory view schematically showing an embodiment of a movable trolley equipped with a three-dimensional section measuring instrument main body used in an automatic tunnel section measuring system according to the present invention.

FIG. 2 is an explanatory view schematically showing a collimating state of a position detecting target and a turning angle detecting scale plate of a three-dimensional section measuring instrument main body by a total station.

FIG. 3 is an explanatory view schematically showing a collimating state of a position detection target and a turning angle detection scale plate of a three-dimensional section measuring instrument main body by a total station.

FIG. 4 is a flowchart showing a procedure for determining the position and orientation of the main body of the three-dimensional measuring device.

FIG. 5 shows the position of the center axis of the mobile trolley and the main body of the three-dimensional section measuring instrument with respect to the position coordinates of the origin in the three-dimensional direction of the total station at a measurement point at an arbitrary position along the excavation direction in the tunnel also set in advance. FIG. 5A shows a positional relationship on a plane with coordinates, and FIG. 5A is an explanatory diagram for determining a position and an azimuth of a three-dimensional cross-section measuring instrument main body;
FIG. 5B is an explanatory diagram for determining the baseline direction of the reference line and collimating the azimuth.

FIG. 6 is an explanatory diagram showing a conventional measurement state of a cross section of a tunnel.

FIG. 7 is an explanatory diagram showing a management state by image processing of a conventional tunnel measurement section.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Tunnel 2 Ground 10 Main body of 3D cross-section measuring instrument 11 CCD camera 12 Target for position detection 13 Scale plate for turning angle detection 20 Moving trolley 21 Propulsion means (crawler) 22 Mounting stand 23 Wireless antenna 24 Power supply device 25 Wireless reception and transmission device 26 Crawler drive control device 27 Inclinometer 28 Outrigger drive device 29 Outrigger 30 Automatic level adjustment mechanism 31 Horizontal mount 32 Vibration absorber 40 Total station 41 Light receiving target M Central axis of three-dimensional cross-section measuring device main body and movable cart l-n Reference line d Tertiary Separation distance of the reference line from the center of the original cross-section measuring instrument O-O Tunnel excavation direction P Base point in the base line direction of the reference line T Total station position α direction angle (approximate value) α 'direction angle (detail value) β Base line direction Angle θ Turning angle (Detailed value)

Claims (2)

[Claims] 1. A three-dimensional section measuring instrument body having an automatic section measuring function is positioned at an arbitrary position on a tunnel excavation center line in a horizontal leveling state with respect to the ground, and the position of the three-dimensional section measuring instrument body is determined. By determining the azimuth, it becomes possible to automatically measure a cross-section in a direction perpendicular to a reference line previously set at an arbitrary position on the ground, and perform image processing based on the measurement data of the cross-section. An automatic level adjusting mechanism for automatically measuring the cross section of the tunnel by analyzing and managing the cross section of the tunnel, and controlling the three-dimensional cross section measuring instrument body on a movable vehicle that can travel unmanned by remote control by wireless or wired guidance. Mounted via a remote control from a total station installed at a predetermined position outside the tunnel,
An automatic measurement system for a tunnel cross section, wherein the movement of the movable carriage and the automatic measurement by the three-dimensional cross-section measuring device main body are enabled. 2. The three-dimensional cross-section measuring device main body is mounted on the movable carriage such that their central axes coincide with each other so as to be capable of turning in the horizontal direction, and the three-dimensional cross-sectional measuring device main body is turned with a position detection target. An angle detection scale plate is provided, and the position detection target is collimated by irradiating laser light from the total station under horizontal leveling at an arbitrary stop position of the moving carriage, and By measuring the position coordinates of the three-dimensional section measuring device main body with respect to the position coordinates, the direction angle is calculated based on the measurement data of the position coordinates, and the turning angle detection scale plate is provided at the total station. The collimated collimator is used to measure the approximate value of the turning angle of the three-dimensional section measuring instrument main body, and according to the approximate value of the turning angle, pivots the three-dimensional section measuring instrument main body to obtain By determining the detailed turning angle by adjusting to the light receiving target installed in the tar station, calculating the azimuth of the three-dimensional cross-section measuring instrument main body with the detailed value of the turning angle and the direction angle, By turning the three-dimensional cross-section measuring instrument body at a turning angle according to the difference between the angle of the baseline direction with respect to the excavation center line of the line and the direction angle, and collimating the baseline direction,
The tunnel according to claim 1, wherein a distance between the reference line and a center of the three-dimensional measuring device is calculated to determine a position and an orientation of the three-dimensional measuring device. Automatic section measurement system.