JP2004028632A - Position measuring method of shield machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a position measuring method of a shield machine which can measure, in real time, positions from a starting vertical shaft of a plurality of trunk part members of the shield machine, without mounting an azimuth meter on the shield machine, prevent submersion of the azimuth meter, and reduce investment cost. <P>SOLUTION: Especially, during tunnel excavation, intermediate folding angle of intermediate folding parts and the shield distance which is shielded by the shield machine after a first process are measured in real time (third process). The positions from the starting vertical shaft of the plurality of trunk part members are calculated in real time (fourth process), based on the position of an axial center line of the shield machine which is obtained in a second process, the position of a reference trunk part member out of the plurality of truck part members, the intermediate folding angles of the intermediate folding parts and the shield distance which are measured in the third process. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for measuring the position of an excavator, and more particularly to a method for calculating the positions of a plurality of trunk members of an excavator from a starting shaft without mounting a compass on the excavator. BACKGROUND OF THE INVENTION
2. Description of the Related Art Conventionally, when a relatively small-diameter sewer pipe or the like is laid underground, a tunnel is excavated from a starting shaft and a plurality of fume pipes and the like are lining the tunnel. A practical method has been put into practical use in which pipes (for example, one piece having a length of about 2400 mm) are pushed in by a main pushing device while being added one by one from a starting shaft. Generally, the excavator is propelled by the pushing force of the main pushing device.
[0003]
In this type of construction method, when measuring the position of the excavator from the starting shaft, when the operator enters the lining pipe and cannot measure it, a plurality of traveling pipes (for example, one length of about 2400 mm) are used. It is arranged in a state of being connected in series in the tunnel (inside of the lining pipe) while adding one by one from the starting shaft, and the traveling body is caused to travel in these plural running pipes, and the distance and azimuth of the excavator from the starting shaft. Is measured to calculate the position of the excavator.
[0004]
It is common to measure the azimuth angle by mounting an azimuth meter on the traveling body, store this traveling body in the excavator, place the azimuth meter on the excavator, and set the excavation distance and azimuth of the excavator. Can be measured in real time, and the position of the excavator from the starting shaft can be calculated in real time using the excavation distance and the azimuth. When a compass is separately mounted on the excavator, the excavation distance and azimuth of the excavator are measured in real time, and the excavation is performed using the excavation distance and azimuth without storing the vehicle in the excavator. The position of the aircraft from the starting shaft can be calculated in real time.
[0005]
Here, when the traveling body is a wire-traction type traveling body, a front winder and a rear winder for winding a wire connected to the traveling body are provided on the excavator side and the starting shaft side, respectively. There is a technique for winding a wire and moving the traveling body toward the excavator, measuring the amount of wire fed from a rear winder at that time, and calculating the traveling distance of the traveling body from the amount of wire feeding.
[0006]
Japanese Patent Application Laid-Open No. Hei 5-22036 discloses that a self-propelled bogie travels in a propulsion pipe (running pipe) disposed along a tunnel, and the self-propelled bogie runs toward an excavator. At this time, a technique is disclosed in which a cable extending from a winding device provided on the starting shaft is pulled, and the traveling distance of the self-propelled bogie is measured from the amount of the cable pulled out from the winding device.
[0007]
Conventionally, a traveling body is moved along a tunnel between an excavator and a starting shaft, and the distance and azimuth angle of the excavating machine from the starting shaft are measured. The position can be calculated. Then, with the compass mounted on the excavator, the excavation distance and azimuth of the excavator are measured in real time, and the position of the excavator from the starting shaft is determined in real time based on the excavation distance and azimuth. Can be calculated. However, it is difficult to accurately measure the azimuth angle in real time with the compass mounted on the excavator, especially as the excavation distance increases, and therefore it is difficult to accurately measure the position of the excavator in real time .
[0008]
Therefore, it is conceivable to mount a high-performance compass on the excavator, but the equipment cost is high, and there is a limit to accurately measure the azimuth angle of the excavator in real time, even with high performance. . In addition, since a high-performance compass is relatively large, when the compass is mounted on a traveling body, the traveling body becomes large and the traveling pipe becomes large, and therefore, a small-diameter lining pipe must be installed. There is a possibility that a plurality of traveling pipes may be arranged in the vehicle to make the traveling body unable to travel.
[0009]
In addition, when the compass is mounted on the excavator, the compass may be submerged in the event of rain or the like, and if so, the compass will be damaged and severely damaged.
An aspect of the present invention is that the position of a plurality of body members of an excavator from a starting shaft can be accurately measured in real time without mounting a compass on the excavator, thereby preventing submergence of the compass and reducing equipment costs. It is an object of the present invention to provide a method for measuring the position of an excavator.
[0010]
According to a first aspect of the present invention, there is provided a method for measuring the position of an excavator, comprising the steps of connecting a plurality of body members in series via a middle bendable section. In the method of measuring the position from the starting shaft, while the excavation is suspended, the measuring traveling body is moved along the tunnel to measure the position of the last trunk member of the excavator from the starting shaft, and the center bend portion Using the first step of measuring the middle bend angle of the excavator and the measured position of the trunk member at the end of the excavator and the middle bend angle of the middle bend portion, the positions of the plurality of trunk members of the excavator from the starting shaft. A second step of calculating the position of the axis line of the excavator by calculating the angle of the excavator, and a second step of measuring, in real time, the mid-bend angle of the middle bend portion during tunnel excavation and the excavation distance excavated by the excavator after the first step. Step 3 and the axis line of the excavator obtained in the second step. Position and the position of the reference trunk member of the plurality of trunk members, and the positions of the plurality of trunk members from the starting shaft based on the middle bend angle and the excavation distance measured in the third step in real time. And a fourth step of calculating.
[0011]
In the position measuring method of the excavator, in the first step, while the excavation is suspended, the traveling body for measurement is moved along the tunnel to measure the position of the rearmost trunk member of the excavator from the starting shaft, Measure the angle at the center bend. Next, in the second step, the positions of the plurality of trunk members of the excavator from the starting shaft are calculated using the position of the trunk member at the end of the excavator measured in the first step and the middle bend angle of the center bend portion. Then, the position of the axis line of the excavator is calculated. Then, in the third step, during the tunnel excavation, the middle bend angle of the middle bend part and the excavation distance excavated by the excavator after the first step are measured in real time, and in the fourth step, the excavator of the excavator obtained in the second step is measured. Based on the position of the axis line and the position of the reference trunk member of the plurality of trunk members, and the middle bending angle and the excavation distance of the middle bent part measured in the third step, the plurality of trunk members from the starting shaft Calculate the position in real time.
[0012]
In the first step, at least a three-dimensional compass is mounted on the traveling body, and the traveling body is moved between the excavator and the starting shaft along the inside of the tunnel, so that the trunk member at the end of the excavator is moved. By measuring the distance from the starting shaft and the azimuth angle, the position of the trunk member at the end of the excavator can be measured. After measuring the position of the trunk member at the end of the excavator in the first step, it is not necessary to measure the azimuth in real time using an azimuth meter in the third step during tunnel excavation. The positions of the plurality of trunk members from the starting shaft can be calculated in real time without being based on the azimuth.
[0013]
Here, in the fourth step, the position of the axis line of the excavator obtained in the second step, the position of the reference trunk member among the plurality of trunk members, and the middle fold portion measured in the third step Based on the angle and the excavation distance, the positions of the plurality of trunk members from the starting shaft are calculated in real time. However, the positions of the reference trunk member among the plurality of trunk members calculated here can be calculated based on this. The position of the axis line can be used together with the position of the axis line obtained in the second step. Accordingly, the positions of the plurality of trunk members of the excavator can be calculated in real time without frequently performing the first and second steps.
[0014]
According to a second aspect of the present invention, in the method for measuring a position of an excavator according to the first aspect, the reference is made based on the position of the axis line obtained in the second step and the excavation distance obtained in the third step. The position of the trunk member is calculated, and the position of one or a plurality of trunk members on the front side of the reference trunk member is determined based on the position of the reference trunk member and the bending angle of the middle bend in front of the reference trunk member. It is characterized in that it is calculated.
[0015]
In the fourth step, it is assumed that the reference trunk member of the excavator that has excavated after the first step moves along the position of the axis line determined in the second step, and The position of the reference trunk member can be calculated in real time based on the position and the excavation distance obtained in the third step. Based on the angle, the position of one or a plurality of trunk members on the front side of the reference trunk member can be calculated.
[0016]
In the case where one or more trunk members exist behind the reference trunk member, the trunk member position moves along the axis line determined in the second step, similarly to the reference trunk member. As an alternative, it may be calculated based on the position of the trunk member and the position of the axis line determined in the second step and the excavation distance determined in the third step, or may be calculated based on the trunk member on the front side of the reference trunk member. In substantially the same manner, the calculation may be performed based on the position of the reference trunk member and the middle bending angle of the middle bent portion behind the reference trunk member.
[0017]
The position measuring method of the excavator according to claim 3 is the method according to claim 1 or 2, wherein the excavator excavates an integral multiple of the length of a lining pipe for lining the inner surface of the tunnel. The second step is performed. When the excavator excavates an integral multiple of the length of the lining pipe lining the inner surface of the tunnel, the lining pipe can wrap between the excavator on the inner surface of the tunnel and the starting shaft, and can be measured along the lining pipe. Since the traveling body can be moved, the first step and the second step can be reliably performed.
[0018]
The position measuring method of an excavator according to claim 4 is the invention according to claim 3, wherein the reference trunk member is a trunk member located behind the length of the lining pipe from the tip of the excavator. It is assumed that. At least until the excavator excavates the length of the lining pipe, the reference trunk member surely moves along the position of the axis line determined in the second step. Can be reliably calculated in real time from the starting shaft.
[0019]
Embodiments of the present invention will be described below with reference to the drawings. In this embodiment, while excavating a tunnel with an excavator started from a starting shaft, a plurality of lining pipes are pushed into the tunnel by a main pushing device while being added one by one from the starting shaft, and a sewer pipe is grounded. This is an example of a case where the present invention is applied to a construction method disposed inside.
[0020]
As shown in FIG. 1, near a starting shaft 2 for starting an excavator 1, a remote control room 6 provided with a control device 7 therein, a mud feeding device 8 including a mud pump 9, a muddy water treatment device 10, A material supply device 11 and the like are installed, and a starting stand 12, a main pushing device 13 having a pushing jack 14, a mud pump 15, a water level gauge 16, a rear winder 17, a sheave 18 and the like are installed in the starting shaft 2.
[0021]
As shown in FIGS. 1, 4, and 9, the excavator 1 connects the five first to fifth trunk members 20 to 24 in series via middle bendable portions 25 to 28 that can be bent. The remote operation is performed by a remote control room 6 using a control device 7. The first first trunk member 20 is a trunk member of the excavator body 30, and the second to fifth trunk members 21 to 24 following the first trunk member 20 are arranged in order from the front side, forcing pipe, pump cylinder, The subsequent pipe 1 and the subsequent pipe 2 are provided.
[0022]
The excavator body 30 has a cutter head 31 and a cutter drive hydraulic motor 32, and the cutter drive hydraulic motor 32 drives the cutter head 31 to excavate the ground in front. At this time, muddy water is injected from the excavator main body 30 to the ground in front of the excavator. The muddy water is disposed in the starting shaft 2 and the tunnel 3 (lining pipe 4) by the mud pump 9 of the mud feeding device 8. The excavator body 33 is supplied to the excavator body 30 through the mud pipe 33.
[0023]
The excavated soil excavated by the cutter head 31 is taken into the chamber, stirred by muddy water by a mud drainage relay pump 34 provided inside the third body member 22, and is stirred from the chamber into the tunnel 3 (lining pipe 4). Is discharged to the starting shaft 2 through the mud pipe 35 disposed in the pit, and is sent from the starting shaft 2 to the muddy water treatment device 10 through the mud pipe 37 by the mud pump 15. Then, the muddy water that has been subjected to the muddy water treatment is supplied to the mud feeding device 8 and used again as muddy water to be supplied to the excavator body 30.
[0024]
In order to reduce the frictional force acting between the trunk members 20 to 24 of the excavator 1 and the inner surface of the tunnel 3, and to reduce the frictional force acting between the lining pipe 4 and the inner surface of the tunnel 3, a lubricating material is supplied. The sliding material is supplied to the second body member 21 by the device 11 through the starting shaft 2 and the sliding material supply pipe 38 disposed in the tunnel 3 (lining pipe 4). Is supplied between the inner surface of the tunnel 3 and the trunk members 20 to 24 and the lining tube 4.
[0025]
As shown in FIG. 6, the excavator 1 is provided with a plurality of (for example, four) center-folding jacks 55 for connecting the first body member 20 and the second body member 21, and a center-folding portion 25. There are provided four sets of middle angle detection sensors 56 for detecting the middle angle at 28 to 28 respectively. As for each bending angle, the horizontal swing angle and the vertical swing angle of the other body member with respect to the connected one body member may be detected. In addition, a hydraulic supply device 42 that supplies hydraulic pressure to the cutter driving hydraulic motor 32 and the center bending jack 55 is also provided. The rearmost fifth body member 24 is used as a storage for a later-described measurement traveling body 41 (hereinafter, referred to as a traveling body 41), and a front winder 39 is provided inside the fifth body member 24. I have.
[0026]
As shown in FIG. 2, each lining pipe 4 is, for example, a concrete fume pipe having a diameter of 400 m to 600 mm and a length of 2455 mm. One end of the lining tube 4 is formed on the male portion 4a and the other end is formed on the female portion 4b. The female portion 4b is provided with a ring-shaped cushioning material 4c and a sealing material 4d. The male portion 4a of another lining tube 4 is fitted and connected to the cushion material 4c via the sealing material 4d.
[0027]
When the excavator 1 is started from the starting shaft 2, the divided first to fifth body members 20 to 24 are sequentially loaded into the starting shaft 2 by a crane or the like, and are sequentially connected to each other. The vehicle is started using the pushing device 5. After the excavator 1 starts moving, the plurality of lining pipes 4 are sequentially carried into the starting shaft 2 by a crane or the like, and the leading lining pipe 4 is moved between the excavator 1 and the main pushing device 5. It is set and pushed forward by the original pushing device 5.
[0028]
Further, the second and subsequent lining pipes 4 are set between the front lining pipe 4 and the main pushing device 5 while being connected to the front lining tube 4, and are pushed forward by the main pressing device 5. Move. Then, the connected plurality of lining pipes 4 are integrally pushed forward, and the leading lining pipe 4 pushes the excavator 1 so that the excavator 1 is propelled. The original pushing device 13 is provided with a pushing amount detection sensor 13a for detecting the pushing amount.
[0029]
Now, it is necessary to measure the position of the tunnel path from the starting shaft 2 and the position of the excavator 1 in order to excavate the tunnel 3 of the planned path with the excavator 1 and arrange the sewer pipe on the planned path. Therefore, as shown in FIGS. 1, 3, and 4, a plurality of traveling pipes 40 are arranged in a state of being connected in series along the inside of the tunnel 3 excavated by the excavator 1 (inside the lining pipe 4). The traveling body 41 travels in the plurality of traveling pipes 40, and the traveling distance and the azimuth of the traveling body 41 are detected.
[0030]
The traveling pipe 40 is formed, for example, in the form of a stainless steel square tube having a square cross section, and two types of first and second lining pipes 40 having different lengths are prepared. As shown in FIG. 5, for example, the length of the first lining tube 40 is 2455 mm, the length of the second lining tube 40 is 2250 mm, and the difference between the lengths of the lining tubes 40 is 2455 mm−. 2250 mm = 205 mm. Each lining tube 40 and the lining tube 40 connected to the lining tube 40 are connected by a connecting member (not shown) so as to be rotatable around a vertical axis.
[0031]
The leading traveling pipe 40 is connected to the rearmost fifth trunk member 24 of the excavator, and a plurality of traveling pipes 40 are connected in series so as to extend from the leading traveling pipe 40 to the rear side (start shaft 2 side). The rearmost running pipe 40 is arranged so as to protrude slightly rearward from the rearmost lining pipe 4. Since the leading traveling pipe 40 is connected to the fifth trunk member 24, when the lining pipe 4 is pushed forward by the main pushing device 5, the excavator 1 is also pushed forward, so that the excavator 1 is pulled by the excavator 1. Then, the traveling pipe 40 moves forward integrally with the excavator 1 and the lining pipe 4.
[0032]
As shown in FIG. 3, an electric cable pipe 42, a mud feeding pipe 33 a, a mud discharging pipe 36 a, a lubricating material supply pipe 38 a, and the like having the same length as the running pipe 40 are arranged in parallel with each running pipe 40. The tubes 40, 42, 33a, 36a, 38a are integrated to form an inner unit 43. Each inner unit 43 has a plurality of wheels (not shown), and is supported by the wheels in the lining pipe 4 in a stable posture so as to be able to run in the tunnel axis direction. It will be located.
[0033]
In the lining tube 4, the tubes 40, 42, 33a, 36a, 38a of each inner unit 43 and the tubes 40, 42, 33a, 36a, 38a of the inner unit 43 adjacent to the inner unit 43 are respectively connected. You. A power cable for supplying necessary power to the excavator 1 and a signal cable for transmitting a necessary detection signal from the excavator 1 to the control device 7 pass through the plurality of electric pipes 42.
[0034]
In this manner, the traveling body 41 is movably disposed in the plurality of traveling pipes 40 arranged in a state of being connected in series along the tunnel 3, and the leading traveling pipe 40 is the fifth trunk member at the end of the excavator. 24, the rearmost running pipe 40 projects rearward from the rearmost lining pipe 4, but a front winder 39 is provided in front of the front running pipe 40, and the rearmost running pipe is provided. The sheave 18 is provided on the rear side of the tube 40, and the rear winder 17 is provided above the main pushing device 13.
[0035]
When a wire 45 (string) extending forward from the traveling body 41 is wound by the front winder 39, the traveling body 41 travels toward the excavator 1, and a wire 46 (cable) extending rearward from the traveling body 41 is formed by the rear winder 17. When it is wound, the traveling body 41 travels toward the starting shaft 2. Here, a traveling body front position detection switch 57 (see FIG. 6) is mounted on the first traveling pipe 41, and a traveling body rear position detection switch 58 (see FIG. 6) is mounted on the last traveling pipe 41. I have. Further, the rear winder 17 is provided with an encoder 17a (see FIG. 6) as a wire amount detecting means for detecting the wire feeding or winding amount from the rotation amount of the rotating body which rotates together with the wire feeding or winding.
[0036]
When arranging a plurality of running pipes 40 connected in series along the tunnel 3, one inner unit 43 having the running pipes 40 is added every time the lining pipes 4 are added one by one. Add them one by one and put them in tunnel 3. When the lining pipe 4 and the inner unit 43 are added, the traveling body 41 is separated from the wire 45 and retracted to the outside of the traveling pipe 40, and the sheave 18 is retracted so as not to interfere.
[0037]
As shown in FIGS. 4 and 6, the traveling body 41 is equipped with a plurality of wheels 41a, and is provided with an azimuth meter 50 and a three-dimensional accelerometer 51 formed of a three-dimensional gyro. An optical sensor 52 corresponding to the detecting means of the tube number detecting means having a portion is provided downward. A hole 53 (for example, a circular hole having a diameter of 17 mm) is provided on the bottom wall of each traveling pipe 40 at a predetermined position at a fixed distance from the right short side as a part to be detected. The hole 53 can be detected when the sensor 52 passes. Signal lines extending from the compass 50, the accelerometer 51, and the optical sensor 52 provided on the traveling body 41 are connected to the control device 7 through wires 46 formed of cables.
[0038]
Now, a method for measuring the path of the tunnel 3 from the starting shaft 2 and the position of the excavator 1 will be described. First, a block diagram including the control system of FIG. 6 will be described.
As shown in FIG. 6, the control device 7 has a computer 60, a display 61, and an operation panel 62, and the excavator 1, the main pushing device 13, the front winder 39, and the rear winder 17 are controlled by the control device 7. .
[0039]
In addition, the control device 7 includes four sets of bending angle detection sensors 56 of the excavator 1, a pushing amount detection sensor 13 a of the main pushing device 13, an azimuth meter 50, an accelerometer 51, and a traveling body 52 of the traveling body 41, The encoder 17a of the rear winder 17, the traveling body front position detection switch 57, and the traveling body rear position detection switch are electrically connected via signal lines, respectively, and based on these signals, the path of the tunnel 3 from the starting shaft 2 based on these signals. And the position of the excavator 1 are measured, and the various controls including the excavator 1 are performed.
[0040]
Next, a method of measuring the path of the tunnel 3 from the starting shaft 2 and the position of the excavator 1 performed by the control device 7 will be described with reference to the flowcharts of FIGS. In the flowchart, Si (i = 1, 2, 3,...) Indicates each step.
[0041]
As shown in FIG. 7, when there is an instruction to start measurement on the traveling body 41 by an operator's operation (S1; Yes), when the traveling body rear switch 58 is ON (S2; Yes), the traveling body 41 travels at the rear end. Since the vehicle 2 is stopped at the position of the pipe 2 (hereinafter, referred to as an initial position), the initial position of the traveling body 41 is set as the traveling distance 0 based on the measurement values of the compass 50 and the accelerometer 51. It is set (S3).
[0042]
Next, when the excavation by the excavator 1 is in the interrupted state (S4; Yes), the front winder 39 is driven, the wire 45 is wound by the front winder 39, and the traveling of the traveling body 41 is started (S5). ), The traveling body 41 travels toward the excavator 1 at, for example, 5 km / h. At this time, the wire 46 is fed out from the rear winder 17 while an appropriate feeding load is applied to the rear winder 17. Note that, even if there is a measurement start instruction (S1; Yes), when the traveling body rear switch 58 is OFF (S2; No; at this time, the traveling body 41 may automatically travel to the initial position). When the excavation is not suspended (S4; No), the process returns to S1.
[0043]
When the traveling body 41 starts traveling in S5, the traveling distance of the traveling body 41 is measured (S6), and the azimuth (azimuth angle change) of the traveling body 41 by the compass 50 is measured (S7). These measurements are performed until the traveling body 41 arrives at the rearmost fifth trunk member 24 of the excavator 1 and the traveling body front switch front switch 57 is turned on. When the traveling body 41 reaches the fifth trunk member 24, the winding of the wire 45 by the front winder 39 is stopped, and the traveling of the traveling body 41 is stopped. The operation is stopped (S9).
[0044]
Here, the method of measuring the traveling distance of the traveling body 41 in S6 will be described based on the flowchart of FIG. The measurement of the traveling distance is performed by automatically calculating by the control device 7. First, the first and second traveling pipe numbers X and Y are respectively set to 0 and stored in a storage unit (RAM or the like) of the computer 60. It is stored (S20), and the wire feeding amount Z is set to 0 and stored in the storage unit of the computer 60 (S21).
[0045]
Next, an encoder signal from the encoder 17a of the rear winder 17 is read (S22), a wire feeding amount Z is calculated based on the encoder signal (S23), updated and stored in the storage unit of the computer 60, and traveled by the traveling body 41. L is calculated by the formula of X × 2445 + Y × 2250 + Z (mm). Since X and Y are both initially 0 when the traveling body 41 starts traveling, the traveling distance L is the wire feeding amount Z.
[0046]
Next, it is determined whether or not the hole 53 as the detected portion is detected by the optical sensor 52 of the traveling body 41 (S25). When the optical sensor 52 is OFF, it is determined that the detected portion has not been detected (S25). (S25; No) The process returns to S22, and S22 to S24 are repeatedly performed. When the optical sensor 52 passes right above the hole 53, the optical sensor 52 is turned ON, and it is determined that the detected portion is detected (S25; Yes), and the process proceeds to S26.
[0047]
In S26, it is determined whether or not the wire feeding amount Z when it is determined that the detected portion is detected is equal to or more than 2455 (mm) (S26). When Z ≧ 2455 (mm) (S26; Yes), It is determined that the traveling pipe 40 corresponding to the wire feed-out amount Z from the time of detection of the detection unit (the distance from the initial position when initially detected from the initial position) is the first traveling pipe 40 having a length of 2455 (mm). Then, the first traveling pipe number X is incremented to X + 1 (S27).
[0048]
When Z ≧ 2455 (mm) is not satisfied (S26; No), it is determined that the traveling pipe 40 corresponding to the wire feed-out amount Z since the previous detection of the detected part is the second traveling pipe 40 having a length of 2255 (mm). After the determination, the second traveling pipe number Y is incremented to Y + 1 (S28). After S27 or S28, the process returns to S21, where the wire feeding amount Z is reset to 0 (S21), and subsequently S22 and subsequent steps are executed.
[0049]
The determination principle of S26 will be described in detail. The inventors of the present invention have measured the amount of elongation of the wire 46 by the test under the same conditions as the actual conditions. As a result, about 1 m (about 2%) for the extension of the wire of about 50 m Elongation or error occurred. That is, the error of the wire feeding amount (length) per one wire of the second traveling pipe 40 is about 49.1 (mm) = 2455 (mm) × 0.02, so that the first traveling pipe 40 and the second traveling pipe 40 are different. Since the difference between the lengths of 40 is 2455 (mm) −2250 (mm) = 205 (mm), the wire feeding amount Z when it is determined that the detected portion is present is not less than 2455 (mm). For example, the first traveling pipe 40 can be reliably determined, and if it is smaller than 2455 (mm), the second traveling pipe 40 can be reliably determined.
[0050]
As described above, according to the traveling body distance measuring method, the lengths 2455 (mm) and 2250 (mm) of the first and second traveling pipes 40 are recorded in advance, and the traveling body 41 is moved in one direction toward the excavator 1. , The number X, Y of the first and second traveling pipes 40 passed when traveling toward the vehicle is detected, and the detected numbers X, Y of the first and second traveling pipes 40 are compared with the first and second traveling pipes. Based on the recorded lengths 2455 (mm) and 2250 (mm) of the tube 40, the travel distance L of the traveling body 41 is calculated and measured.
[0051]
In this case, the traveling body 41 is provided with an optical sensor 52 as a detecting means in advance, and a hole 53 as a detected portion provided at a predetermined position of each traveling pipe 40 is detected by the optical sensor 52. The type of the traveling pipe is determined based on the wire feeding amount Z per traveling pipe from the time when the hole 52 detects each hole 53 to the time when the next hole 53 is detected. The number X and Y of the two traveling tubes 40 can be reliably detected.
[0052]
The traveling body 41 is a traveling body of a wire pulling type, and an encoder 17a as a wire amount detecting means for detecting the wire feeding amount Z is provided in advance. The distance Z from the detection of the hole 53 of each traveling pipe 40 to the detection of the next hole 53 is determined from the wire feeding amount detected using the encoder 17a.
[0053]
Thus, the traveling distance L of the traveling body 40 can be calculated from the above equation of X × 2445 + Y × 2250 + Z (mm). Conventionally, when the traveling distance of the traveling body is determined only by the amount of wire extension, for example, when a 300 m tunnel is excavated by the excavator 1, an error is as large as about 6 m. In addition to the maximum error of about 49.1 (mm) = 2455 (mm) x 0.2 due to wire feeding, it can be suppressed to 80 mm or less even when errors due to the connection of running pipes are added. Thus, the accuracy of measuring the traveling distance of the traveling body 41 can be greatly improved.
[0054]
As shown in FIG. 7, when the traveling body 41 stops at the fifth trunk member 24 at the end of the excavator in S9, the traveling distance L of the traveling body 41 measured in S6 and the traveling measured in S7 are next. The position P5 of the fifth trunk member 24 at the end of the excavator is measured based on the azimuth angle of the body 41 (S10). The bending angles a1-2 to a4-5 are measured (S11).
[0055]
Next, using the position P5 of the fifth trunk member 24 at the end of the excavator measured in S10, and the middle bending angles a1-2 to a4-5 of the middle bending portions 25 to 28 measured in S11. The positions P1 to P5 of the five first to fifth trunk members 20 to 24 of the excavator 1 are calculated (the position P5 of the fifth trunk member 24 is the position P5 measured in S10). The position PCL (see FIG. 9) of the axis line CL of the excavator 1 is calculated (S12).
[0056]
Thereafter, while the tunnel is being excavated by the excavator 1 (S13; Yes), the middle bending angles a1-2 to a4-5 of the respective middle bending portions 25 to 28 by the four middle bending angle detection sensors 56 and The excavation distance EL of the excavator 1, which is the amount of intrusion, is measured in real time by the indentation amount detection sensor 13a (S14).
[0057]
Then, the position PCL of the axis line CL of the excavator 1 obtained in S12, and the position P2 of the second trunk member 21 serving as a reference trunk member among the five first to fifth trunk members 20 to 24, The positions P1 to P5 of the five first to fifth trunk members 20 to 24 are calculated in real time based on the intermediate bending angles a1-2 to a4-5 and the excavation distances EL measured at S14. (S15), and then return to S13. The second body member 21 serving as the reference body member is a body member located rearward of the length of the lining tube 4 from the tip of the excavator 1, that is, the first body member 20 is separated from the lining tube 4. Also becomes a long torso member.
[0058]
When the tunnel is not being excavated by the excavator 1 (S13; No), when the measurement is performed by the traveling body 41 (S16; Yes), the process returns to S1, and when the measurement is not performed by the traveling body 41, (S16; No), the process returns to S13.
[0059]
Here, in S15, the position P2 of the second trunk member 21 as the reference trunk member is calculated based on the position PCL of the axis line CL determined in S12 and the excavation distance EL determined in S14. Based on the position P <b> 2 of the second trunk member 21 and the bending angle a <b> 1-2 of the middle bent portion 25 in front of the second trunk member 21, the leading trunk member 20 on the front side of the second trunk member 21 is located. The position P1 can be calculated.
[0060]
Here, when calculating the position P2 of the second body member 21, which is the reference body member, in S15, as shown in FIG. Always passes through the axis line CL, whereby the position P2 of the second trunk member 21 is calculated based on the position PCL of the axis line CL obtained in S12 and the excavation distance EL obtained in S14. can do.
[0061]
Each time the excavator 1 excavates an integral multiple of the length of the lining pipe 4 for lining the inner surface of the tunnel, it is desirable to perform measurement with the traveling body 41 in S16 and perform S1 to S12. .
[0062]
As described above, according to the position measuring method of the excavator 1, in the excavation suspended state (S4; Yes), the traveling body 41 is moved along the tunnel 3 and the starting shaft of the fifth trunk member 24 at the end of the excavator. In addition to measuring the position from No. 2 (S10), the middle bending angles a1-2 to a4-5 are measured (S12). In S12, using the position of the fifth trunk member 24 at the tail end of the excavator measured in S10 and S11 and the mid-bend angles a1-2 to a4-5 of the middle bend portions 25 to 28, the plurality of excavators 1 The positions P1 to P5 of the trunk members 20 to 24 from the starting shaft 2 are calculated, and the position PCL of the axis line CL of the excavator 1 is calculated.
[0063]
Thereafter, in S14, during the tunnel excavation, the middle bend angles a1-2 to a4-5 of the middle bent portions 25 to 28 and the excavation distance L excavated by the excavator 1 after S11 (S12) are measured in real time. The position PCL of the axis line CL of the excavator 1 obtained in S12 and the position P2 of the reference trunk member 21 of the plurality of trunk members 20 to 24, and the mid-bend angle a1 of the mid-bend portions 25 to 28 measured in S14. Based on -2 to a4-5 and the excavation distance L, the positions P1 to P5 of the plurality of trunk members 20 to 24 from the starting shaft 2 are calculated in real time.
[0064]
By moving the traveling body 41 between the excavator 1 and the starting shaft 2 along the tunnel 3, the distance and the azimuth of the fifth trunk member 24 at the rear end of the excavator from the starting shaft 2 are measured. After measuring the position P5 of the fifth trunk member 24, it is necessary to measure the azimuth angle in real time using a compass in S14 during tunnel excavation after the measurement of the position P5 of the fifth trunk member 24. Of course, even in the step S15, the positions P1 to P5 of the plurality of trunk members 20 to 24 from the starting shaft 2 can be accurately calculated in real time without being based on the azimuth.
[0065]
That is, even if the compass 1 is not equipped with a compass, the positions of the plurality of trunk members 20 to 24 from the starting shaft 2 can be calculated in real time, and as a result, the compass is prevented from being submerged. be able to. In addition, although it is necessary to mount the compass 50 on the traveling body 41, it is not necessary to use the compass 50 to measure an accurate azimuth angle in real time during excavation. Therefore, it is possible to greatly reduce equipment costs.
[0066]
Here, in S15, the position PCL of the axis line CL of the excavator 1 obtained in S12, the position P1 of the reference trunk member 21 of the plurality of trunk members 20 to 24, and the center fold 25 measured in S14. The positions P1 to P5 of the plurality of trunk members 20 to 24 from the starting shaft 2 are calculated in real time on the basis of the middle bend angles a1-2 to a4-5 and the excavation distance L. The position P2 of the reference body member 21 of the plurality of body members 20 to 24 and the position PCL of the axis line CL that can be calculated based on the position P2 can be used together with the position PCL of the axis line CL obtained in S12. Thus, the positions P1 to P5 of the plurality of trunk members 20 to 24 of the excavator 1 can be calculated in real time without frequently performing the first to S12.
[0067]
In S15, assuming that the reference trunk member 21 of the excavator 1 that has excavated after S11 (S12) moves along the position PCL of the axis line CL obtained in S12, the position of the axis line CL obtained in S12. The position P2 of the reference body member 21 can be calculated in real time based on the PCL and the excavation distance L obtained in S14, and the center P21 of the reference body member 21 and the position P2 of the reference body member 21 are bent. The position P1 of the torso member 20 on the front side of the reference torso member 21 can be calculated based on the middle bending angle a1-2 of the portion 25.
[0068]
The positions P3 to P5 of the trunk members 22 to 24 on the rear side of the reference trunk member 21 are assumed to move along the position PCL of the axis line CL obtained in S12, similarly to the reference trunk member 21. , May be calculated based on the positions P3 to P5 of the trunk members 22 to 24 determined in S12 and the position PCL of the axis line CL and the excavation distance L determined in S14, or may be calculated on the front side of the reference trunk member 21. Approximately in the same manner as the torso member 20, the calculation is performed based on the position P2 of the reference torso member 21 and the middle bend angles 2-3 to a4-5 behind the reference torso members P2. You may.
[0069]
Each time the excavator 1 excavates the inner surface of the tunnel 2 by an integral multiple of the length of the lining pipe 3, S1 to S12 are performed, so the lining between the excavator 1 and the starting shaft 2 on the inner surface of the tunnel 3 is performed. The lining can be wrapped with the pipe 4 and the traveling body 41 can be moved along the lining pipe 4, so that S1 to S12 can be performed reliably.
[0070]
Since the reference trunk member 21 is the second trunk member 21 located behind the length of the lining pipe 4 from the tip of the excavator 1, at least until the excavator 1 excavates the length of the lining pipe 4. In the meantime, since the reference trunk member 21 moves reliably along the position PCL of the axis line CL obtained in S12, in S15, the positions of the plurality of trunk members 20 to 24 from the starting shaft 2 are reliably determined in real time. It becomes possible to calculate.
[0071]
Note that S4 to S11 correspond to a first step, S12 corresponds to a second step, S14 corresponds to a third step, and S15 corresponds to a fourth step.
[0072]
It should be noted that various modifications can be made without departing from the spirit of the present invention. For example, the traveling body may be a self-propelled traveling body. In this case, for example, the cable extending from the traveling body to the starting shaft side can be wound by a winder device, and the amount of unreeling that is performed when the traveling body travels to the excavator side is measured by an encoder or the like, and the above traveling is performed. The present invention may be applied to a method of measuring a traveling distance of a body.
[0073]
According to the first aspect of the present invention, in the first step, at least the compass is mounted on the measuring traveling body, and the measuring traveling body is moved along the tunnel in the excavating machine. By moving between the starting shaft and the starting shaft, the distance and the azimuth angle of the trunk member at the end of the excavator from the starting shaft can be measured and the position can be measured. It is not necessary to measure the azimuth angle in real time using an azimuth meter in the third step during tunnel excavation after measurement of the tunneling. Needless to say, even in the fourth step, a plurality of trunk members are started without being based on the azimuth angle. The position from the shaft can be calculated in real time.
[0074]
That is, the positions of the plurality of trunk members from the starting shaft can be calculated in real time without mounting the compass on the excavator, and as a result, the compass can be prevented from being submerged. In addition, although it is necessary to mount a compass on the vehicle, it is not necessary to measure the exact azimuth angle in real time while excavating with the compass, so there is no need to apply a compass that is so expensive, Equipment costs can be significantly reduced.
[0075]
In the fourth step, the position of the axis line of the excavator obtained in the second step, the position of the reference trunk member of the plurality of trunk members, the middle bend angle and the excavation measured in the third step Based on the distance, the positions of the plurality of trunk members from the starting shaft are calculated in real time. The position of the reference trunk member among the plurality of trunk members calculated here, and the axis center line that can be calculated based on this position Can be used together with the position of the axis line obtained in the second step. Accordingly, the positions of the plurality of trunk members of the excavator can be calculated in real time without frequently performing the first and second steps.
[0076]
According to the method for measuring the position of an excavator according to claim 2, in the fourth step, the reference trunk member of the excavator that has excavated after the first step moves along the position of the axis line determined in the second step. The position of the reference trunk member can be calculated in real time based on the position of the axis line determined in the second step and the excavation distance determined in the third step, and the position of the reference trunk member and the reference The position of one or a plurality of torso members on the front side of the reference torso member can be calculated on the basis of the middle bend angle in front of the torso member.
[0077]
According to the position measuring method of the excavator of the third aspect, the first step and the second step are performed every time the excavator excavates an integral multiple of the length of the lining pipe for lining the inner surface of the tunnel. When the machine excavates an integral multiple of the length of the lining pipe lining the inside of the tunnel, the lining pipe can wrap between the excavator on the inside of the tunnel and the starting shaft, and travel for measurement along the inside of the lining pipe. Since the body can be moved, the first step and the second step can be reliably performed.
[0078]
According to the position measuring method of the excavator according to claim 4, since the reference trunk member is a trunk member located rearward from the tip of the excavator with respect to the length of the lining pipe, at least the excavator has the lining pipe. In the fourth step, the positions of the plurality of trunk members from the starting shaft are determined in the fourth step to ensure that the reference trunk member moves along the position of the axis line determined in the second step. It is possible to reliably calculate in real time.
[Brief description of the drawings]
FIG. 1 is a schematic view showing a method of arranging a sewer pipe underground according to an embodiment of the present invention.
FIG. 2 is a perspective view of a lining tube.
FIG. 3 is a perspective view of an inner unit including a traveling pipe.
FIG. 4 is a longitudinal sectional view of a lining pipe, a traveling pipe, a traveling body and the like in a tunnel.
FIG. 5 is a chart showing lengths of first and second traveling pipes.
FIG. 6 is a block diagram of a control system and the like used for an underground sewage pipe construction method.
FIG. 7 is a flowchart for position measurement.
FIG. 8 is a flowchart for measuring a traveling distance.
FIG. 9 is a schematic view of an excavator during excavation.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Excavator 3 Tunnel 7 Control device 13 Main pushing device 13a Pushing amount detection sensor 17a Encoders 20 to 24 First to fifth trunk members 25 to 28 Center bent portion 39 Front winder 40 Traveling pipe (first and second traveling pipes)
41 running body 52 optical sensor (detection means)
53 holes (detected part)
50 Compass 56 Mid-Bend Angle Detection Sensor

Claims (4)

In a method of measuring a position from a starting shaft of a remote-controlled automatic excavator having a plurality of trunk members connected in series through a middle bendable part, in an excavation suspended state, along a tunnel A first step of moving the measurement traveling body to measure the position of the trunk member at the end of the excavator from the starting shaft, and measuring the middle angle of the middle bend,
Using the measured position of the trunk member at the end of the excavator and the angle of the middle bend, the positions of the plurality of trunk members of the excavator from the starting shaft and the position of the axis line of the excavator A second step of calculating
During the tunnel excavation, a third step of measuring in real time the middle angle of the middle bend and the excavation distance excavated by the excavator after the first step;
Based on the position of the axis line of the excavator obtained in the second step and the position of the reference trunk member of the plurality of trunk members, and the middle bend angle and the excavation distance measured in the third step measured in the third step. A fourth step of calculating the positions of the plurality of trunk members from the starting shaft in real time;
A method for measuring the position of an excavator, comprising: In the fourth step, the position of the reference trunk member is calculated based on the position of the axis line determined in the second step and the excavation distance determined in the third step, and the position of the reference trunk member and the reference trunk member are calculated. The position measuring method for an excavator according to claim 1, wherein the position of one or a plurality of trunk members on the front side of the reference trunk member is also calculated based on the middle bending angle of the front bending part. . 3. The excavator according to claim 1, wherein the excavator performs the first step and the second step each time the excavator excavates an integral multiple of the length of a lining pipe for lining the inner surface of the tunnel. 4. Position measurement method. The position measuring method for an excavator according to claim 3, wherein the reference trunk member is a trunk member located rearward of a length of the lining pipe from a tip of the excavator.

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