JP2003254750A - Coordinate measurement method for excavation route in pipe jacking excavation method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To accurately measure the coordinates of an excavation route in a pipe jacking excavation method without any influence of vibration, obstacle, the condition inside a pipe line and the like. <P>SOLUTION: While excavation is stopped, intermediate measurement apparatuses 2 each having a pair of left and right laser light projectors, a target, and a monitoring camera are arranged inside a jacking pipe 5, and light is projected toward the target of the intermediate measurement apparatus 2 in front of another intermediate measurement apparatus 2 by means of its laser light projectors respectively. In a remote location, the coordinates of the respective targets are found by trigonometry on the basis of an angle between two axes of the respective laser light projectors projecting light toward the target and the distance between the laser light projectors. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the measurement of an excavation route that cannot enter a pit or cannot be measured by a person due to a small diameter or the like, and the altitude angle and the horizontal angle can be measured at the same time. The present invention relates to a method for measuring coordinates of an excavation route in a propulsion excavation method, which is a system for accurately measuring the excavation route by converting to.

[0002]

2. Description of the Related Art Conventional measuring methods include a method of confirming the excavation direction of an excavator using a gyro, a method of underground exploration by electromagnetic waves, and a reciprocating movement of a vehicle with a small diameter from the excavation start position in a pipeline. It is known that a method of calculating the record by checking the record is used. By the way, in the former method using a gyro, even if the angle is known when the position of the gyro changes, it may slip due to vibration during excavation, making it difficult to perform accurate measurement. Also, with the electromagnetic wave method of the middle person, the position of the excavator becomes unknown when there are obstacles in the ground, and it is difficult to measure when excavating deeper than 4 m below the measurable range. there were. In addition, the latter method of reciprocating the vehicle,
It was difficult to perform accurate measurement because the vehicle swayed or the posture changed due to a step due to the rolling condition in the pipeline or joints on the road surface.

[0003]

SUMMARY OF THE INVENTION The problems to be solved by the present invention are to solve these problems in the related art, and to excavate an excavation route which cannot be entered due to a small diameter or the like, or where humans cannot be measured. An object of the present invention is to provide a coordinate measuring method for an excavation route in a propulsion excavation method that can be accurately measured without being affected by vibrations, obstacles, conditions in pipelines, and the like.

[0004]

Means for Solving the Problems The constitution of the present invention which has solved the above problems is as follows: 1) A propulsion pipe buried in the ground is arranged behind the excavator, and the rear end of the propulsion pipe is pushed backward to excavate. While pushing the propulsion pipe, a new propulsion pipe is added to the end to build a long pipe. A measuring instrument provided with a target and a monitoring camera is placed, and the light projector is provided at a device end on the excavation side or the opposite side of the measuring instrument so as to be rotatable in a biaxial direction with a pair of left and right spaced apart from each other,
The target is provided on a measuring instrument located on the opposite side of the light projecting direction of each light projector at a predetermined distance from each of the front, rear, left, and right and at a predetermined distance from the light projector, and the surveillance camera monitors a light emitting state to each target. It has a measuring instrument structure that allows observation and detects the rotation angle of each projector's two axes and sends it to the outside of the excavation road. It is installed separately from the center and is rotatable in two axial directions.By remote control, the light is emitted from the projector of the starting shaft to at least two targets in front of and behind the measuring instrument in front, and the projected state is observed by the monitoring camera. While operating the projector so that the light is accurately projected to the center of each target, the triangulation method is performed from the biaxial angle of each projector and the distance between the projectors in the state where the light is projected to the center of each target. Of each target of the measuring instrument Obtain the target, project the light from the measuring instrument to at least two targets in front of and behind the measuring instrument in front of the measuring instrument, and determine the coordinates of each target.The measuring instrument in the propulsion pipe pushed into the ground in these series of steps. Excavation in the propulsion excavation method that enables the coordinates of the target to be sequentially obtained from the starting shaft along with excavation, and the entire excavation route can be measured with the coordinates of the target of each measuring instrument and the distance between the projector and the target. Line coordinate measurement method 2) A propulsion excavation method in which at least three or more targets are projected and the rolling angle is calculated from the coordinates and converted to measure the horizontal distance and the horizontal and vertical coordinates more accurately. Method for measuring coordinates of excavation route in 3) Coordinates of excavation route in the propulsion excavation method described in 1) or 2) above, wherein the projector is a laser projector for projecting a laser Measuring method 4) Coordinates of the excavation route in the propulsion excavation method described in 1) to 3) above, in which the measuring instrument is provided with wheels so that the vehicle can travel freely, and the measuring instruments are connected by a wire so that they can be collected after the work is completed. There is a measuring method.

[0005]

According to the present invention, the light-emission operation is performed while observing the light-emission state from each light-emitter toward the target in the front in a remote place, and each of the light-emitters in the state in which light is emitted to the center of the target. The coordinate of the target to be projected is determined from the angle of the axis and the distance between the projectors, and these series of steps are repeated to determine the exact excavation route from the coordinates of the target of each measuring instrument and the distance between the projector and the target. To be measured. Therefore,
Even if the measuring instrument slides inside the pipe due to vibration during excavation, there is no problem because the entire starting point is always measured from the starting shaft.
Since the measurement is performed inside the pipe, it is independent of obstacles, and the measurement is performed while the measuring device is stopped, so there is no effect from rolling or joints in the pipe.

[0006]

BEST MODE FOR CARRYING OUT THE INVENTION The measuring instrument target of the present invention comprises:
Depending on the state of the curve of the excavation road, it is desirable to install them at a predetermined interval on the left and right so that they can be easily received by the projector. It is preferable that the projection light beam is always formed in a triangular shape by the measurement of the points and the coordinates are obtained so that the measurement can be performed more accurately. A surveillance camera is generally provided for each target so that each target can be observed individually. However, the surveillance camera is provided to be rotatable left and right by remote control, and the orientation can be changed according to each target. One camera may be used for observation. Also, wheels are provided on the lower surface of the measuring instrument so that it can travel freely, and each measuring instrument is connected with a wire so that each measuring instrument can be easily collected on the starting shaft by pulling the wire after completion of excavation work. It is desirable to do.

[0007]

Embodiments of the present invention will be described below in detail with reference to the drawings. The embodiments shown in FIGS. 1 to 12 are examples in which the present invention is applied to coordinate measurement of pipelines for lifeline facilities such as telephones, electric power, water and sewage. FIG. 1 is an overall view of an underground pipe according to an embodiment. FIG. 2 is a front view of the starting pit measuring instrument according to the embodiment. FIG. 3 is a plan view of the starting pit measuring instrument according to the embodiment. FIG. 4 is a side view of the starting pit measuring instrument according to the embodiment. FIG. 5 is a front view of the intermediate measuring instrument according to the embodiment. Figure 6
[Fig. 3] is a plan view of the intermediate measuring instrument of the embodiment. FIG. 7 is a side view of the intermediate measuring instrument according to the embodiment. FIG. 8 is an explanatory diagram of the main target of the embodiment. FIG. 9 is an explanatory diagram of the sub-target of the embodiment. FIG. 10: is explanatory drawing which shows the state which is constructing the pipeline in the ground of an Example. FIG. 11 shows
It is explanatory drawing which shows the measurement of an Example. FIG. 12 is an explanatory diagram showing the measurement of the example.

In the figure, 1 is a starting pit measuring instrument, which is a skeleton 1
The driving force of the output shaft 1d of the vertical angle adjusting motor 1c is measured by supporting both ends of the measuring table 1b above a.
The vertical angle can be adjusted by transmitting it to the rotary shaft 1e of the
The laser projectors 1f are attached to the left and right of the bull 1b, respectively, and the driving force of the output shaft 1i of the left-right angle adjustment motor 1h is transmitted to the rotary shafts 1g of the laser projectors 1f so that the left and right angles can be adjusted. Reference numeral 1j is a horizontal angle detection encoder for detecting the horizontal angle of the laser projector 1f, and 1k is a vertical angle detection encoder for detecting the vertical angle of the measurement table 1b. Reference numeral 2 denotes an intermediate measuring device, which is attached to the front end of the skeleton 2a in the direction in which the same measuring device as the starting pit measuring device 1 can be projected forward, and is separated by 100 mm from the rotation center position of the light receiving portion 2
The main target 2b having the left and right sides c is attached to the main target 2b and the sub-target 2d having the light receiving portions 2e which can be seen through the rear end of the skeleton 2a.
The target monitoring cameras 2f are mounted separately from each other between the main target 2b and the sub target 2d so as to face the respective targets 2b and 2d. 2g is a wheel,
2h is a wire. Reference numeral 3 is a back-up jack, 4 is an excavator, 5 is a propulsion pipe, 6 is a control unit for controlling the vertical angle adjustment motor 1c, the horizontal angle adjustment motor 1h, and 7 is a horizontal angle detection encoder 1j and a vertical angle detection encoder 1k. A calculation unit that triangulates the coordinates of the target of the projection destination from the detection angle and the distance between the laser projectors 1f, and 8 is a display unit having a monitor 8a for displaying the image of each target monitoring camera 2f,
G is the ground, h is a worker, and R is a starting shaft.

In the present embodiment, first, the intermediate measuring instrument 2 is placed in the propulsion pipe 5 and is arranged at the rear end of the excavator 4, and the propulsion pipe 5 is pushed while being pushed by the backing jack 3 and being advanced by the excavator 4. Is pushed into the ground G. Next, the excavation is stopped and the starting pit measuring instrument 1 is installed at the position serving as the measurement reference point of the starting pit R toward the inside of the propulsion pipe 5, and as shown in FIG. Left and right light receiving portions 2c of the main target 2b and the sub target 2d of the intermediate measuring instrument 2,
2e is operated while projecting with the target monitoring camera 2f, and the vertical angle HTA and the horizontal angles VTL, VTR of each laser projector 1f in the projected state are detected by the vertical angle detection encoder 1k and the horizontal angle. It is detected by the detection encoder 1j. Next, the vertical angle HT of the laser projector 1f
A and right and left corner VTL, VTR and left and right laser projectors 1f
Laser projector 1f according to the following formula with the distance LKA
Distance LTA from the main target 2b to the sub target 2d, respectively, and the X coordinate X of the main target 2b and the sub target 2d at the projection destination from the LTA.
The TA, Y coordinate YTA, and Z coordinate ZTA are measured. The rolling angle is the Y coordinate YT of the left and right light receiving portions 2c and 2e of the main target 2b and the sub target 2d.
The measurement is performed by obtaining the difference between the targets of the respective measuring instruments before and after A from A. LTA = LKA / (tanVTR + tanVTL) XTA = LKA * {tanVTL / (tanVTR + t
anVTL) -0.5} YTA = LTA × sinHTA ZTA = LTA × cosHTA Then, the above-mentioned coordinates are checked against the designed excavation route to confirm the deviation, and if there is deviation, the difference is taken and a corrected value is obtained. Then, the worker h remotely corrects the excavation direction of the excavator 4 according to the corrected value. Using the above measuring method, the coordinates of the target of each intermediate measuring instrument 2 arranged in the required propulsion pipe 5 are sequentially obtained from the reference position of the starting shaft R while sequentially excavating as shown in FIG. The entire excavation route is measured with the coordinates of each target of the intermediate measuring device 2 and the distance between the laser projector 1f and the main target 2b, and each time it is reflected in the correction of the excavation direction of the excavator 4 to achieve the exact design. The pipeline will be constructed.

In the present embodiment, because of the configuration as described above,
Compared to the conventional open traverse survey with one laser projection, by performing triangulation with two laser projections in succession, extremely accurate measurement can be performed without accumulating deviations. . In addition, the deviation of the tube itself does not pose a problem, it can sufficiently cope with rolling and pitching, and the horizontal height can be measured at the same time by converting it into a horizontal distance by computer calculation, and the measurement time can be shortened at the same time. Becomes

[0011]

As described above, according to the present invention, vibrations at the time of excavation of an excavation line that cannot enter a mine due to a small diameter or the like, or cannot measure humans, influences on obstacles, conditions in pipelines, etc. It is possible to provide a coordinate measuring method for an excavation route in a propulsion excavation method that can be accurately measured without being damaged.

[Brief description of drawings]

FIG. 1 is an overall view of an underground pipe according to an embodiment.

FIG. 2 is a front view of the starting pit measuring instrument according to the embodiment.

FIG. 3 is a plan view of a launch pit measuring instrument according to an embodiment.

FIG. 4 is a side view of the starting pit measuring instrument according to the embodiment.

FIG. 5 is a front view of the intermediate measuring instrument according to the embodiment.

FIG. 6 is a plan view of the intermediate measuring device according to the embodiment.

FIG. 7 is a side view of the intermediate measuring instrument according to the embodiment.

FIG. 8 is an explanatory diagram of a main target according to the embodiment.

FIG. 9 is an explanatory diagram of a sub-target according to the embodiment.

FIG. 10 is an explanatory view showing a state in which a pipeline is constructed in the ground according to the embodiment.

FIG. 11 is an explanatory diagram showing the measurement of the example.

FIG. 12 is an explanatory diagram showing the measurement of the example.

[Explanation of symbols]

1 Start pit measuring instrument 1a body 1b measurement table 1c Vertical angle adjustment motor 1d output shaft 1e rotating shaft 1f laser floodlight 1g rotating shaft 1h Left-right angle adjustment motor 1i output shaft 1j Left / right angle detection encoder 1k Vertical angle detection encoder 2 Intermediate measuring instrument 2a body 2b Main target 2c Light receiving part 2d sub target 2e Light receiving part 2f target surveillance camera 2g wheels 2h wire 3 boost jack 4 excavator 5 propulsion pipe 6 control unit 7 calculator 8 display means 8a monitor G ground h worker R start shaft

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Eiji Sakai             1-1-18 Sanno, Hakata-ku, Fukuoka City, Fukuoka Prefecture             Alpha Civil Engineering Co., Ltd.             Within (72) Inventor Naoto Tokieda             1-1-18 Sanno, Hakata-ku, Fukuoka City, Fukuoka Prefecture             Alpha Civil Engineering Co., Ltd.             Within (72) Inventor Tadao Fujita             1465 Yuizaki, Kawanishi Town, Isojo District, Nara Prefecture             Inside Fujita Oil Machine Service (72) Inventor Hiroya Nagai             1465 Yuizaki, Kawanishi Town, Isojo District, Nara Prefecture             Inside Fujita Oil Machine Service F-term (reference) 2D054 AA02 AC18 GA02 GA04 GA19                       GA62 GA65 GA82

Claims (4)

[Claims] 1. A propulsion pipe to be buried in the ground is arranged behind the excavator, the rear end of the propulsion pipe is pushed to push the propulsion pipe while excavating, and a new propulsion pipe is added to the rear end. A method for measuring coordinates of an excavation route in a propulsion excavation method for constructing a long pipe, wherein a measuring instrument equipped with a projector, a target and a surveillance camera is placed in a required propulsion pipe added to the last end, Is provided at the end of the measuring instrument on the digging side or the opposite side thereof so as to be rotatable in a biaxial direction with a pair of left and right spaced apart from each other, and the target is a measuring instrument on the rear side opposite to the light projecting direction of each projector. Are provided at a predetermined distance to the front, rear, left, and right, and at a predetermined distance from the projector, and the monitoring cameras are provided with respective targets.
It has a measuring instrument structure with an angle detector that detects the angle of bi-axial rotation of each floodlight and transmits it outside the excavation route so that the light projection state to the get can be observed. A pair of right and left projectors are provided at a predetermined interval so as to be rotatable in two axial directions.The projectors are remotely operated to project light from at least two front and rear targets of the measuring instrument in front of the starting shaft, and the projectors are operated. While observing the light condition with a surveillance camera, rotate the projector so that the light is accurately projected to the center of each target, and the biaxial angle of each projector projected to the center of each target. And the coordinate of each target of the measuring instrument of the projection destination is calculated from the distance between the projectors by the trigonometric method, and the projector of the measuring instrument projects light to at least two targets in front of and behind the measuring instrument of the measuring instrument. Obtain the coordinates, and in the series of these steps The target coordinate of the measuring instrument in the advanced propulsion pipe is sequentially obtained from the starting shaft along with the excavation, and the entire excavation route is measured by the coordinate of the target of each measuring instrument and the distance between the projector and the target. A method for measuring the coordinates of excavation routes in the propulsion excavation method. 2. An excavation method using a propulsion excavation method, which is capable of projecting at least three or more targets and obtaining a rolling angle from the coordinates and converting the rolling angle to measure the horizontal distance, the horizontal coordinate, and the vertical coordinate with higher accuracy. Coordinate measurement method for routes. 3. The method for measuring coordinates of an excavation route in the propulsion excavation method according to claim 1, wherein the projector is a laser projector that projects a laser. 4. Coordinates of the excavation route in the propulsion excavation method according to claim 1, wherein the measuring instrument is provided with wheels so as to be freely movable, and the measuring instruments are connected by a wire so that they can be collected after the work is completed. Measuring method.