JP2006284248A - Position measurement method and instrument for displacement meter - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a position measurement method for displacement meters and its instrument, with the instrument being small-sized and light-weight, installed in a small installation space, and easily meeting repair or component replacement for a measurement instrument, etc. <P>SOLUTION: By means of a distance measurement means 30, the three-dimensional positions of at least three positions comprising both end parts of a pair of foremost displacement meters 28 and a pivotal support part 27 are measured as reference values. Initial values of bend angles are calculated on the pair of displacement meters 28. Then, extension is made by joining pairs of displacement meters 28 in serial order to the displacement meters 28. In this event, the three-dimensional positions of at least three positions comprising both end parts of the pair of displacement meters 28 and the pivotal support part 27 are measured by means of the measurement means 30. Bend angles are calculated on the extended pair of displacement meters 28. The bend angles, the three-dimensional positions of the pivotal support part 27 of the extended displacement meters 28, and preceding bend angles changing with the extension are detected as relative amounts. The position of the foremost or desired displacement mater 28 is calculated, based on the detected angles and the length of the displacement meter 28. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention is suitable for propulsion of a propulsion tube by, for example, curved boring and position measurement of its tip device, and can be installed in a small, lightweight, narrow installation space, and also for repairing and replacing parts of measuring instruments. The present invention relates to a position measuring method and a position measuring apparatus for a displacement meter that can be easily adapted to obtain quick restoration and reproducibility of measurement, and can promptly resume propulsion work.

Conventionally, in the construction of tunnels, the establishment of new water and sewage systems, the widening of shield tunnels, and the construction of shield stations, a boring method utilizing the propulsion method has been adopted.
The boring work is provided with propulsion means such as a push jack, and the propulsion pipe is propelled to a natural ground by the propulsion means, and a tip device provided with a drilling device is provided at the tip of the propulsion pipe. The construction is carried out by propelling the propulsion pipe to the natural ground while excavating, and it is necessary to measure and manage the excavation position, the propulsion position of the propulsion pipe, and their posture during the construction.

  For example, when widening a shield tunnel, a propulsion device constituting a curved boring device is installed in the shield tunnel, and a curved outer pipe is sequentially added from the propulsion device and propelled to a natural ground. A curved tubular inner pipe is sequentially added and accommodated inside the outer pipe, a drilling device is provided at the tip of the inner pipe, and the inner pipe and the outer pipe are grounded together while excavating natural ground with the drilling device. On the other hand, an optical fiber gyroscope is installed as a hole core measuring instrument in the inner pipe on the tip side, and the propulsion position and direction of the outer pipe or the inner pipe are detected by the gyro, and the signal of the excavator is The course was corrected (for example, refer to Patent Document 1).

  However, the above-mentioned optical fiber gyro requires expensive and precise installation, takes time and labor for installation, and since the gyro itself is a rotating body, it is easily affected by vibration and moves depending on the amount of cable wire sent out. In order to measure the amount, the measurement value is likely to be erroneous due to vibration or cable wire elongation, and is also movably accommodated in a protective tube provided inside the inner tube. -There was a problem that securing the service was difficult.

In order to solve such a problem, a propelling pipe is movably accommodated with a traveling pipe containing an optical fiber gyroscope, and a male and female joint that can be engaged with each other is provided at the end of the traveling pipe. The adjacent traveling pipes are connected so as to be bendable, and the pulling transmission member is connected to the lower side of the traveling pipe so as to be bendable, so that the traveling pipe can be moved in and out of the propulsion pipe (for example, Patent Document 2).
Further, the optical fiber gyro is configured as a uniaxial optical fiber gyro for detecting a yaw angle direction displacement, the configuration is simplified and miniaturized, and distance measuring means for measuring the propulsion distance of the propulsion pipe, There is an apparatus in which the plane coordinate change of the leading conductor and the plane alignment of the propulsion pipe are calculated by the integral calculation of the relative angle change and the propulsion distance (see, for example, Patent Document 3).

However, since these devices require an optical fiber gyro, they are all expensive. In addition, the former device accommodates a surveying robot made of a small gyro in a traveling tube, and the traveling tube is supported by an elastic band through a support plate. Because it is unstable and prone to measurement errors, the traveling pipe is located in the center of the propulsion pipe, and the mud pipe, mud pipe, and extraction transmission member are located below the traveling pipe. In addition, the diameter of the propulsion pipe is increased, and the feeding / discharging mud pipe is moved when the traveling pipe is pulled out. Therefore, there is a problem that work is troublesome because much labor and labor are required.
On the other hand, since the latter requires a single-axis optical fiber gyroscope and a level sensor, the equipment cost increases, and the installation of them is cumbersome and troublesome, and because they are installed inside the leading conductor, There was a problem that it was difficult to repair or restore the propulsion work due to these failures.

Japanese Patent Publication No. 7-76507 JP 2004-76565 A JP 2003-247826 A

  The present invention solves such a problem, and is suitable for propulsion of a propulsion pipe by, for example, curved boring and position measurement of its tip device, and can be installed in a small, light and narrow installation space. Displacement meter position measurement method and position measurement device that can be easily accommodated for repairs and parts replacement, etc., and that measurement can be promptly restored and reproducible, and propulsion can be resumed promptly And

  According to the first aspect of the present invention, a plurality of displacement gauges having the same length are connected to a movement guide arranged along the displacement measuring section so as to be foldable and accommodated in a movable manner. In a displacement measuring method for calculating a position of a predetermined displacement meter based on a moving amount of the displacement meter, a distance measuring means is installed at a moving start end of the displacement meter, and the first through the distance measuring means After measuring the three-dimensional positions of at least three positions of the pair of displacement gauges and at least three of the pivot parts as reference values, and calculating the initial value of the bending angle of the pair of displacement gauges, Displacement meters were sequentially connected and extended, and at that time, the distance measuring means was used to measure the three-dimensional positions of at least three positions of both ends of the extended pair of displacement meters and the pivots, and extended. Calculate the bending angle of a pair of displacement meters, The bending angle, the three-dimensional position of the extended displacement meter at the pivotal support, and the preceding bending angle that changes with the extension are detected as relative amounts, and so-called vector addition is performed based on the detected angle and the length of the displacement meter. By doing so, the position of the first or desired displacement meter can be calculated, and for example, the position measurement of the displacement meter in the ground, which cannot be measured by the distance measuring means, can be realized, and it is small, lightweight, and narrow. It can be installed in a large installation space, and each displacement meter can be easily pulled out, and it can be easily repaired and replaced with displacement sensors built in the displacement meter. The propulsion operation can be promptly restarted, and is suitable for propulsion of the propulsion member by, for example, curved boring and position measurement of the tip device.

According to the invention of claim 2, the moving guide is installed in a displacement measuring unit that is stationary or moving, for example, the moving guide is installed on a slope of a forest to enable measurement of ground deformation, while moving, for example, propulsion. It is installed on the member so that it can respond to the specific position of the propulsion member and the position measurement of the tip device.
According to a third aspect of the present invention, the tip of the first displacement meter is detachably attached to a predetermined position of a propulsion member that moves together with the displacement meter, and the predetermined position of the propulsion member is measured by the displacement meter. In addition, the displacement gauge and the propelling member can be attached and detached by the attachment / detachment operation so that the displacement gauge can be easily pulled out.

According to a fourth aspect of the present invention, when the predetermined displacement meter is pulled out along the movement guide in the direction of the movement start end, when the displacement meter is moved to the original position along the movement guide, Measuring the three-dimensional position of at least three positions of the both ends of the displacement meter and the pivot, calculating the bending angle of the pair of displacement meters, and returning each displacement meter to the original position. After pulling out the displacement meter, you can respond to repairs and inspections of the built-in displacement sensors, and after the repair, measure each displacement meter and move it accurately to the original position to quickly restore the measurement and reproducibility. I try to get it.
According to a fifth aspect of the present invention, at the end of returning to the original position of each displacement meter, the tip of the first displacement meter is engaged with a predetermined position of the propulsion member, and after the displacement sensor is repaired and inspected, the displacement meter Is accurately positioned in the original position so that measurement reproducibility and reliability can be obtained.

  According to the invention of claim 6, a movement guide is arranged along the displacement measuring section, a plurality of displacement gauges having the same length built in the displacement sensor are connected to the movement guide so as to be bent, and the displacement gauge can be moved. In the displacement measuring device for measuring the position of a predetermined displacement meter based on the amount of movement of the displacement meter in the moving guide, a distance measuring means is provided at the moving start end of the displacement meter. It is installed and provided through the distance measuring means so as to be able to measure the three-dimensional positions of at least three positions of the first pair of displacement gauges and at least three positions of the pivots as a reference value. An initial value of the corner is provided so that it can be calculated, while a pair of displacement meters are sequentially connected to the displacement meter so as to be extendable, and at that time, via the distance measuring means, both ends of the extended pair of displacement meters, At least of its pivot Measure the three-dimensional position of the position, calculate the bending angle of the extended pair of displacement gauges, the bending angle, the three-dimensional position of the extended displacement meter at the pivotal support, and the preceding folding that changes with the extension The angle is detected as a relative amount, and a so-called vector addition is performed based on the detected angle and the length of the displacement meter, so that the position of the first or desired displacement meter can be calculated and cannot be measured by the distance measuring means. For example, it is possible to measure the position of a displacement meter in the ground, and it can be installed in a small, lightweight, narrow installation space, and each displacement meter can be easily pulled out to repair displacement sensors built into the displacement meter. Can be easily replaced and exchanged, so that measurement can be quickly restored and reproducible, and propulsion can be resumed quickly.For example, propulsion of propulsion members by curved boring and position measurement of the tip device Suitably To have.

In the invention according to claim 7, the moving guide is installed in a stationary or movable displacement measuring unit, for example, the moving guide is installed on a slope of a forest, and the deformation of the ground can be measured while moving. It is installed on the propulsion member so that it can respond to the specific position of the propulsion member and the position measurement of the tip device.
The invention according to claim 8 detachably attaches the distal end portion of the foremost displacement meter to a predetermined position of a propulsion member that can move together with the displacement meter, and realizes measurement of the predetermined position of the propulsion member by the displacement meter. At the same time, the attachment / detachment operation realizes attachment / detachment between the displacement meter and the propelling member, so that the displacement meter can be easily pulled out.

  According to the first aspect of the present invention, a distance measuring means is installed at the moving start end of the displacement meter, and through the distance measuring means, the three ends of at least three positions of the both ends of the first pair of displacement meters and its pivotal support are provided. After measuring the position as a reference value and calculating the initial value of the bending angle of the pair of displacement meters, the pair of displacement meters are sequentially connected to the displacement meter and extended, and at that time, via the distance measuring means And measuring the three-dimensional positions of at least three positions of both ends of the extended pair of displacement meters and the pivot, calculating the bending angle of the extended pair of displacement meters, and the extended displacement meter By detecting the three-dimensional position of the pivot part of the shaft and the preceding bending angle that changes with stretching as a relative amount, and adding the so-called vector based on the detected angle and the length of the displacement meter, the first or desired Because it can calculate the position of the displacement meter, distance measuring means For example, it is possible to measure the position of a displacement meter in the ground that is impossible to measure, and it can be installed in a small, lightweight, narrow installation space, and each displacement meter can be easily pulled out and built into the displacement meter. Easily responds to repair and replacement of displacement sensors, obtains quick recovery and repeatability of measurements, and enables quick resumption of propulsion work.For example, propulsion of propulsion members by curved boring and its tip There is an advantageous effect for measuring the position of the apparatus.

In the invention of claim 2, the moving guide can be installed in a stationary or moving displacement measuring unit. For example, the moving guide can be installed on a slope of a forest to measure the deformation of the ground, while moving, for example, propulsion. There is an effect that it can be installed on the member and can respond to the specific position of the propelling member and the position measurement of the tip device.
In the invention of claim 3, since the tip of the first displacement meter is detachably attached to a predetermined position of the propulsion member that moves together with the displacement meter, measurement of the predetermined position of the propulsion member by the displacement meter can be realized. At the same time, the attachment / detachment of the displacement meter and the propelling member can be realized by the attachment / detachment operation, and the displacement meter can be easily pulled out.

According to a fourth aspect of the present invention, when the predetermined displacement meter is pulled out along the movement guide in the direction of the movement start end, when the displacement meter is moved to the original position along the movement guide, Measuring the three-dimensional position of at least three positions of the both ends of the displacement meter and its pivotal support, calculating the bending angle of the pair of displacement meters, and returning each displacement meter to its original position. After the meter is pulled out, it can be used for repair and inspection of the built-in displacement sensors, and after the repair, each displacement meter can be accurately moved to its original position, allowing quick restoration of measurement and its reproducibility. effective.
According to the fifth aspect of the present invention, since the tip of the first displacement meter is engaged with a predetermined position of the propulsion member at the end of returning to the original position of each displacement meter, the displacement meter is restored after the repair inspection of the displacement sensors. There is an effect that the position can be accurately positioned and the reproducibility and reliability of measurement can be obtained.

  According to the invention of claim 6, a distance measuring means is installed at the moving start end of the displacement meter, and through the distance measuring means, both ends of the first pair of displacement gauges and at least three positions of the pivotal support are three-dimensional. A position is provided as a reference value so as to be measurable, and an initial value of a bending angle of the pair of displacement meters is provided to be computable, while a pair of displacement meters are sequentially connected to the displacement meter and extendable, The distance measurement means measures the three-dimensional positions of at least three positions of both ends of the extended pair of displacement gauges and the pivots, and calculates the bending angle of the extended pair of displacement gauges. And the three-dimensional position of the extended displacement meter at the pivotal support and the preceding bending angle that changes with the extension are detected as relative amounts, and so-called vector addition is performed based on the detected angle and the length of the displacement meter. In the first or desired displacement meter Since the position can be calculated, it is possible to measure the position of a displacement meter in the ground that cannot be measured by distance measurement means, and it can be installed in a small, lightweight, narrow installation space. Can be easily pulled out and repaired and replaced easily with displacement sensors built in the displacement meter, so that measurement can be quickly restored and reproducible, and propulsion can be resumed quickly. -There is an effect suitable for propulsion of the propulsion member by the ring and position measurement of the tip device.

In the invention of claim 7, since the moving guide can be installed in a stationary or movable displacement measuring unit, for example, the moving guide can be installed on a slope of a forest to measure the deformation of the ground. For example, it is installed on a propulsion member that moves, and has an effect of being able to respond to a specific position of the propulsion member or position measurement of the tip device.
In the invention of claim 8, since the tip portion of the foremost displacement meter is detachably attached to a predetermined position of the propulsion member movable together with the displacement meter, measurement of the predetermined position of the propulsion member by the displacement meter is realized. In addition, the attachment / detachment operation realizes attachment / detachment of the displacement meter and the propelling member, and the displacement meter can be easily pulled out.

  Hereinafter, the illustrated embodiment in which the present invention is applied to position measurement of a tip device of a curved boring device used for widening construction of a shield tunnel will be described. In FIGS. In a tunnel such as a shield tunnel that is constructed separately, the widening portion 4 is used as the widening portion 4 between the tunnels 1 and 2.

In the widening construction, a gantry 5 is installed at an appropriate position on one of the tunnels 1 on the propulsion side or the start side, and the propulsion device 7 of the curved boring device 6 is installed on the gantry 5.
The propulsion device 7 holds a propulsion gantry 8 installed on the gantry 5, a curved guide 9 fixed to the gantry 8, and a curved tubular large-diameter outer tube 10 that is a propulsion member and a displacement measuring unit. A possible pipe holder 11, a propulsion cylinder 12 capable of propelling the outer tube 10 toward the ground 1 of the widened portion 4, a tube connecting device 13 for connecting the preceding and succeeding outer tube 10, and a reaction force receiver 14. I have.

  The outer pipe 10 is formed to a predetermined length, and a tip device 16 having a drilling device (not shown) is connected to the tip of the outer tube 10 to excavate the ground 3 through the drilling device. After propulsion to a predetermined distance, a rear outer pipe 105 is added to the rear end portion of the rear pipe, and the front and rear outer pipes 10 can be pushed to the ground 3 together.

A mud feed pipe 17 and a mud discharge pipe 18 are provided inside the outer pipe 10, and a hydraulic hose 19, an air hose 20, and various types are arranged in a duct (not shown) disposed in the outer pipe 10. A cable cord 21 and the like are accommodated.
A measuring tube 22, which is a curved movement guide having the same length and the same curvature as the outer tube 10, is piped on one side of the inner surface of the outer tube 10, and the outer diameter of the measuring tube 22 is difficult for an operator to enter in the embodiment. The outer tube 10 is configured to have an outer diameter of 800 mm, and when the outer tube 10 is added, the preceding and following measuring tubes 22 are added and fixed along the inner surface of the outer tube 10 by bolting or the like.
The moving guide is not limited to a tubular shape such as the measuring tube 22, but may be a bowl shape having a substantially U-shaped cross section, a curved shape or a linear shape, and the displacement guide described below is disposed inside. What is necessary is just to be able to accommodate the meter in a movable manner.

An outer casing 23 is accommodated inside the measuring tube 22, and the outer casing 23 is formed into a rectangular tube or a curved tube having substantially the same length as the outer tube 10, and a plurality of rollers 24 are provided on the outer periphery thereof. These rollers 24 are arranged on the inner surface of the measuring tube 22 so as to be able to run.
When the outer tube 10 and the measuring tube 22 are added, the outer casing 23 is connected to the preceding and following outer casing 23 and the connecting portion is connected via a pin 25 so as to be pivotable in the vertical direction. ing.

The connection end portion 23a of the external casing 23 is formed in a substantially V shape as shown in FIG. 4, and the connection end portion 23a of the adjacent external casing 23 can be inserted and rotated into the connection end portion 23a. A notch (not shown) is formed.
A measurement table 26 is fixed to one side of the inner surface of the external casing 23, in the embodiment, a lower surface, and a measurement rod 27 that is a pivotal support is fixed to the measurement table 26.

  One end of a displacement gauge 28 is connected to one side or both sides of the measurement rod 27 so as to be pivotable in the vertical direction. The displacement gauges 28 are formed in a straight tube having the same length L, and the length is measured. A pair of displacement gauges 28 and a measuring rod 27 which are formed to be approximately a half of the length of the addition of the tube 22 and constitute one position measuring device 15 in the measurement tube 22 of the unit length. Are connected and accommodated.

A sensor (not shown) such as an inclinometer capable of measuring the pitching and rolling amount of the rod 27 is built in the base of the displacement gauge 28 on the pivot side, and the detection signal of the sensor is used as a predetermined signal at the construction site. The data can be input to a data processing arithmetic unit (not shown) such as a microcomputer installed at the position.
In addition, a sensor (not shown) capable of detecting a bending angle or displacement of the displacement meter 28 in the X-axis or Y-axis direction is built in the other end of the displacement meter 28 on the pivot side, and the displacement meter after the addition is added. 28 bending angles can be detected.

The other end portion of the displacement meter 28 is slidably connected via a flexible joint 29, and allows the oscillating displacement of the portion to be allowed.
The three positions of the measuring rod 27, which is the center of the both ends of the displacement meter 28, are accommodated in the outer tube 10 via the outer casing 23 and the measuring tube 22, and this is stored in the outer tube 10. When propelled by being set in the propulsion device 7, the measurement can be performed by the transit 30 or the like that is a distance measuring means.
For this reason, a through hole is formed at each position of the external casing 23 and the measurement tube 22 corresponding to the three-point positions that are the measurement positions of the measurement rod 27 and the displacement gauge 28, thereby enabling measurement by the transit 30. ing.

  The transit 30 is installed at a position close to the curved bowling device 6, and its optical axis is set to the propulsion device 7, or toward the outer tube 10 that is propelled at a predetermined position by the propulsion device 7. The three-point positions of the displacement gauges 28 accommodated therein can be measured via holes.

That is, as schematically shown in FIG. 6, the three-dimensional positions of the three point positions P _{1 to} P ₃ of the _first displacement meter 28 set in the outermost outer tube 10, that is, P ₁ (X ₁ , Y ₁ , Z ₁ ), P ₂ (X ₂ , Y ₂ , Z ₂ ), P ₃ (X ₃ , Y ₃ , Z ₃ ) are measured by the transit 30 and based on these three point positions P _{1 to} P ₃ . Then, the bending angle θ ₁ of the displacement gauges 28 and 28 is calculated, and this is set as the initial value of the bending angle.
In this case, in measuring the three-point positions P _{1 to} P ₃ and calculating the bending angle θ ₁ , the numerical values are corrected based on pitching and rolling amounts by an inclinometer installed in the displacement meter 28.

  Then, when the outer tube 10 is propelled and a predetermined amount thereof is propelled, the succeeding outer tube 10 is added, and the measuring tube 22, the outer casing 23, and the measuring rod 27 are displaced inside the outer tube 10. A total of 28 is added.

As shown schematically in FIG. 7, the addition state of the measuring rod 27 is preceded by the second displacement gauge 28 via the flexible joint 29 at the position P _{3 at} the rear end of the first displacement gauge 28. side is swingably connected to, and the connecting portion and the P ₄ in the same position as the P _3.
The other end of the displacement gauge 28, measured rod 27 is pivotably connected in the vertical direction, the position of the rod 27 and P _5, the vertical direction base end of the displacement gauge 28 to the other side of the measuring rod 27 rotatably connected, and the other end of the displacement meter 28 and P ₆ to.

Then, the three-dimensional positions of the three point positions P _{4 to} P ₆ of the second displacement meter 28, that is, P ₄ (X ₄ , Y ₄ , Z ₄ ), P ₅ (X ₅ , Y ₅ , Z ₅ ), P ₆ (X ₆ , Y ₆ , Z ₆ ) is measured by the transit 30, and the change amount of the bending angle θ ₂ of the displacement meters 28, 28 and the bending angle of the first pair of displacement meters 28, θ ₁ + Δθ is detected, and the P ₁ position after addition is calculated by so-called vector addition based on the detected angle and the length of the displacement meter 28.
That is, the P ₁ position is calculated as P ₁ (X, Y, Z) = P ₅ (X, Y, Z) + 2L × f (θ ₂ ) + L × f (θ ₁ + Δθ ₁ ).
At that time, in the measurement of the three point positions P _{4 to} P ₆ and the calculation of the bending angles θ ₂ and θ ₁ + Δθ, the numerical values are corrected based on the pitching and rolling amounts by the inclinometer installed in the displacement meter 28. is doing.

  Thereafter, the propulsion of the outer tube 10 is resumed, and when they are propelled by a predetermined amount, the succeeding outer tube 10 is added, and the measuring tube 22, the outer casing 23, and the measuring rod are added inside the outer tube 10. 27 and the displacement meter 28 are added, and the added measuring tube 22 is connected to the inner surface of the outer tube 10 by, for example, a bolt.

As shown schematically in FIG. 8, the measurement rod 27 is added to the position of the rear end of the second displacement meter 28 at the position P ₆ via the flexible joint 29. side is swingably connected to, and the connecting portion and P ₇ in the same position as the P _6.

Then, the other end of the third displacement gauge 28, measured rod 27 is pivotably connected in the vertical direction, the position of the rod 27 and P _8, the other side to the displacement gauge 28 of the measuring rod 27 rotatably connected to the base end in the vertical direction, and the other end of the displacement meter 28 and P _9.

Then, the three-dimensional positions of the three point positions P _{7 to} P ₉ of the third displacement meter 28, that is, P ₇ (X ₇ , Y ₇ , Z ₇ ), P ₈ (X ₈ , Y ₈ , Z ₈ ), P ₉ (X ₉ , Y ₉ , Z ₉ ) is measured by the transit 30, and the bending angle θ ₃ of the third displacement gauges 28, 28 and the bending of each of the first and second pairs of displacement gauges 28 are measured. Angle change amounts θ ₁ + Δθ + Δθ ₁ and θ ₁ + Δθ ₂ are detected, and based on these, the post-addition P ₁ position can be calculated.
At that time, in the measurement of the three point positions P _{7 to} P ₉ and the calculation of the change amount of the bending angle, the numerical values are corrected based on the pitching and rolling amounts by the inclinometer installed in the displacement meter 28. Yes.

In the figure, 31 is a segment which is a lining wall of the tunnel 1, and 32 is a mouth pipe installed on the segment 31, which is arranged facing the propelling direction of the outer pipe 10.
Reference numeral 33 denotes a shaft portion protruding from the tip of the most advanced external casing 23, and a frustoconical engagement portion 34 is provided at the tip, and the engagement portion 34 is detachably attached to the stopper guide 35. ing.

The stopper guide 35 is installed at a joint portion between the rear end portion of the tip device 16 and the outer tube 15, and a taper-like engagement hole 36 that can be fitted into the engagement portion 34 is formed therein. Has been.
Then, when the outer tube 10 is propelled, the engaging portion 34 is fitted into the engaging hole 36 so that the front mounting position of the state-of-the-art external casing 23 can be regulated. At the time of repair and inspection, the external casing 23 is pulled from an appropriate position of the tunnel 1 so that the engaging portion 34 can be easily pulled out from the engaging hole 36.
In this case, the positional relationship between the state-of-the-art external casing 23 and the engaging portion 34 and the positional relationship between the tip device 16 and the stopper guide 35 are previously input to the data processing calculator.

  The measuring method and position measuring apparatus of the present invention configured as described above are an inclinometer or the like capable of measuring pitching and rolling amount as position measuring means of the tip device 16 connected to the tip of the outer tube 10 that is a propelling member. A single or a pair of displacement gauges 28 including a sensor (not shown) and a detector (not shown) capable of detecting the bending angle of the displacement gauge 28 in the X and Y axis directions via a measuring rod 27. It is connected so that it can rotate.

The displacement meter 28 is accommodated in an external casing 23 having a unit length corresponding to the length of addition, the casing 23 is accommodated in a measurement tube 22 having a unit length, and the measurement tube 22 is united. It is accommodated in the outer tube 10 having a length.
The external casing 23 is movably accommodated in the measurement tube 22 via a roller 24, and the measurement tube 22 is fixed to the inner surface of the outer tube 10 by bolting.

The outer casing 23 and the measuring tube 22 are formed to have substantially the same length as the outer tube 10 and are added back and forth at the same time as the outer tube 10 is added.
Then, the shaft portion 23 integrated with the engaging portion 34 is projected from the most advanced external casing 23, and a stopper guide 35 is attached to a predetermined position of the rear end portion of the tip device 16.

  Thus, the device of the present invention does not require a conventional expensive gyroscope or optical fiber gyroscope, or a sensor for detecting the absolute position of the gyroscope or an optical fiber gyroscope, and does not require a special measuring instrument that requires delicate and precise mounting for impact or the like. Therefore, it can be easily attached and provided at low cost.

Next, when the external casing 23, the measurement tube 22, the displacement meter 28, etc. are actually installed using the device of the present invention, the curved boring device 6 is installed at a predetermined position in the tunnel 1, and the The transit 30 is installed at a position close to the curved bowling device 6.
Then, the foremost outer tube 10 is held on the pipe holder 11 of the propulsion device 7, and a tip device 16 having a drilling device is connected to the tip of the outer tube 10.

Thereafter, a mud pipe 17 and a mud pipe 18 are piped inside the outer pipe 10, and a duct (not shown) is attached inside the outer pipe 10, and a hydraulic hose 19 and an air hose are installed in the duct. A hose 20 and various cable cords 21 are accommodated.
In addition, a measuring tube 22 having the same length as the outer tube 10 is provided on one side of the inner surface of the outer tube 10 before and after this, and a shaft portion 33 and an engaging portion 34 are provided in the inside of the measuring tube 22 so as to project. Insert the singe 23 and fit the engaging part 34 into the engaging hole 36 of the stopper guide 35.

  Thus, in the present invention, the measurement tube 22 is piped on one side of the inner surface of the outer tube 10, a large empty space is secured in the outer tube 10, and the mud is separated from the measurement tube 22 in the space. Since the pipe 17 and the sludge pipe 18 are piped, and the hydraulic hose 19, the air hose 20, various cable cords 21 and the like are arranged, The diameter can be reduced.

  Inside the external casing 23, a measuring rod 27 and a pair of displacement gauges 28 connected to the rod 27 are installed in advance, and these are connected via a roller 24 provided on the outer periphery of the external casing 23. It travels on the inner surface of the measuring tube 22 and moves.

  In this way, after mounting the above-mentioned related members on the outer tube 10, the three positions of the measurement rod 27 housed inside and both ends of the pair of displacement gauges 28 are measured by the transit 30 through the through hole. This situation is as shown in FIG.

That is, as schematically shown in FIG. 6, the three-dimensional positions of the three point positions P _{1 to} P ₃ of the _first displacement meter 28 set in the outermost outer tube 10, that is, P ₁ (X ₁ , Y ₁ , Z ₁ ), P ₂ (X ₂ , Y ₂ , Z ₂ ), P ₃ (X ₃ , Y ₃ , Z ₃ ) are measured by the transit 30 and based on these three point positions P _{1 to} P ₃ . Then, the bending angle θ ₁ of the displacement gauges 28 and 28 is calculated, and this is set as the initial value of the bending angle.
At that time, in the measurement of the three point positions P _{1 to} P ₃ and the calculation of the bending angle θ ₁ , the numerical value is corrected based on the pitching and rolling amounts by the inclinometer installed in the displacement meter 28.

Thereafter, the propulsion cylinder 12 is driven to propel the outer tube 10. When the tube 10 has propelled by a predetermined amount, the succeeding outer tube 10 is added, and the measurement tube 22 and the outer tube are placed inside the outer tube 10. -Thing 23, measuring rod 27 and displacement meter 28 are added, and measuring tube 22 is attached to the inside of outer tube 10.
At that time, due to the addition, the first displacement gauges 28 and 28 are bent around the measuring rod 27, and the bending angle changes to θ ₁ + Δθ ₁ according to the propulsion state.

As shown schematically in FIG. 7, the leading state of the second displacement gauge 28 can be swung through the flexible joint 29 at the position P _{3 at} the rear end of the first displacement gauge 28. connected to, the connection section and P ₄ in the same position and the P _3, it is pivotally connected to the other end of the displacement gauge 28 to measure the rod 27 in the vertical direction.
Wherein the position of the measurement rod 27 and P _5, the proximal end of the displacement gauge 28 on the other side pivotably connected to the vertical direction of the measuring rod 27, the other end of the displacement meter 28 and P _6.

Then, the three-dimensional positions P _{4 to} P ₆ at both ends of the measuring rod 27 and the pair of displacement meters 28, that is, P ₄ (X ₄ , Y ₄ , Z ₄ ), P ₅ (X ₅ , Y ₅ , Z ₅ ), P ₆ (X ₆ , Y ₆ , Z ₆ ) are measured by the transit 30, and the bending angle θ ₂ of the displacement meters 28, 28 and the first pair of displacement meters The amount of change 28 in bending angle, θ ₁ + Δθ ₁ , is detected, and based on the detected angle and the length of the displacement meter 28, so-called vector addition is performed to calculate the most recent P ₁ position after addition.
That is, the P ₁ position is calculated as P ₁ (X, Y, Z) = P ₅ (X, Y, Z) + 2L × f (θ ₂ ) + L × f (θ ₁ + Δθ ₁ ).
At that time, in the measurement of the three point positions P _{4 to} P ₆ and the detection of the bending angles θ ₂ and θ ₁ + Δθ ₁ , the numerical values are calculated based on the pitching and rolling amounts by the inclinometer installed in the displacement meter 28. to correct.

Thereafter, the propulsion cylinder 12 is driven to restart the outer tube 10, and when the tube 10 is propelled by a predetermined amount, the succeeding outer tube 10 is added, and the outer tube 10 is connected to the measuring tube 22 and the outer tube. The casing 23, the measuring rod 27, and the displacement meter 28 are simultaneously added to fix the measuring tube 22 to the inner surface of the outer tube 10.
At that time, the roller 24 travels on the inner surface of the measuring tube 22 and the outer casing 23 moves, and the first and second displacement meters 28 and 28 are centered on the measuring rod 27 by the addition. It bends and its angle changes to θ ₁ + Δθ ₁ + Δθ, θ ₂ + Δθ ₂ depending on the propulsion situation

The addition state of the measuring rod 27 is schematically shown in FIG. 8, and the leading side of the third displacement meter 28 is connected to the position P _{6 at} the rear end of the second displacement meter 28 via the flexible joint 29. Are connected so as to be swingable, and the connecting portion is defined as P _{7 at the} same position as P ₆ .
Then, the other end of the third displacement gauge 28, measured rod 27 is pivotally connected in the vertical direction, the position of the rod 27 and P _8, the other side to the displacement gauge 28 of the measuring rod 27 rotatably connected to the base end in the vertical direction, the other end of the displacement meter 28 and P _9.

Then, the three-dimensional positions of the three point positions P _{7 to} P ₉ of the third displacement meter 28, that is, P ₇ (X ₇ , Y ₇ , Z ₇ ), P ₈ (X ₈ , Y ₈ , Z ₈ ), P ₉ (X ₉ , Y ₉ , Z ₉ ) is measured by the transit 30, and the bending angle θ ₃ of the third displacement gauges 28, 28 and the first and second pairs of displacement gauges 28 are measured. The bending angle variation amounts θ ₁ + Δθ ₁ + Δθ and θ ₁ + Δθ ₂ are detected, and the most advanced P ₁ position after the addition is calculated based on these.
At that time, when measuring the three point positions P _{7 to} P ₉ and calculating the amount of change in the bending angle, the numerical values are corrected based on the pitching and rolling amounts by the inclinometer installed in the displacement meter 28.

Thereafter, the outer tube 10, the measuring tube 22 and the outer casing 23 are added, the measuring tube 22 is fixed inside the outer tube 10, and the added three point positions are measured by the transit 30 and their measured values are measured. pitching and b a by each inclinometer - corrected based on the ring amount to calculate the P ₁ position of the cutting edge.
As described above, the present invention detects the bending angle that changes with the extension of the displacement meter 28 as a relative amount, and adds a vector based on the detected angle and the connection of the displacement meter 28 of a certain length, thereby the tip position. Calculate the coordinates.
Therefore, it is possible to prevent the occurrence of measurement errors compared to the conventional method of measuring distances indirectly by running an instrument with a built-in gyroscope along the measuring tube or by using a cable sending amount or a running meter. Measurement reliability can be obtained.

Then, the to P ₁ position, and the position of the shaft portion 33 and the stopper guide 35, and additive the positional relationship of the excavation device with tip device 16 calculates the position of the substantial rig, the position of the rigs Based on this, the posture of the curved boring device 6 is controlled and excavation of the ground 3 is controlled.

  Thus, at the time of the propulsion construction, the measuring rod 27 and the displacement meter 28 are accommodated in the external casing 23, so that sensors and detectors such as an inclinometer built in the displacement meter 28 are directly protected. , Avoiding scattering, dripping and contact of the mud, oil and water leaking from the mud pipe 17, the mud pipe 18 and the hydraulic hose 19 contained in the same outer pipe 10; By protecting the hydraulic hose 19 and the like from the behavior due to pressure fluctuations, failure of the sensors and detectors is prevented.

On the other hand, during the propulsion work, for example, an inclinometer or the like is broken due to vibration or humidity at the time of excavation, the output information thereof is cut off, or the output value indicates an abnormal value, and the corresponding inclinometer or the like In the case where it is necessary to repair and replace the curved boring device 6, the driving of the curve boring device 6 is stopped, and the external casing 23 located in the measuring tube 22 at the rearmost end is held, and this is moved toward the tube axis outside the measuring tube 22. Pull.
In this way, the tensile force is transmitted to the most advanced external casing 23, and the engaging portion 34 projecting from the casing 23 is pulled out from the engaging hole 36, so The la 24 travels on the inner surface of the measuring tube 22 and is drawn out of the measuring tube 22 in the last row.

  Then, when the external casing 23 is pulled out by an amount corresponding to the position of the fault inclinometer specified in advance, the inclinometer etc. inside the casing 23 is taken out and repaired or replaced with a new inclinometer. The casing 23 is sequentially pushed back into the measuring tube 22.

At that time, for each push-back length of the external casing 23, the three-point positions of both ends of the measuring rod 27 and the pair of displacement gauges 28 are measured by the transit 30 in the same manner as described above, and these positions are inserted. Are pushed back while being confirmed, and the pulled out measuring rods 27 and the pair of displacement gauges 28 are returned to their original positions before being pulled out.
At that time, at the end of the pushing-back, the engaging portion 34 protruding from the foremost external casing 23 is fitted into the engaging hole 36 of the stopper guide 35 to restore the original position before the drawing. By the way, the promotion is resumed.

That is, it is confirmed that the distal casing 16 has reached a predetermined position and the engaging portion 34 is fitted into the engaging hole 35, so that the external casing 23 has returned to the original position, and a series of repair work is performed. finish.
Thereafter, the measurement of the three-point position by the outer tube 10, the measurement tube 22 and the external casing 23, the addition of the displacement meter 28 and the measurement rod 27, and the transit 30 is resumed.
In this way, the engaging portion 34 is fitted into the engaging hole 35 and the external casing 23 is accurately returned to the position before being pulled out, so that the measurement accuracy by the sensors and detectors thereafter is maintained. Reproducibility and reliability of measurement.

Thus, the engaging portion 34 by fitting the engaging hole 35, external to case - a single 23 can reliably and easily set in the failure position at the same position, the coordinate position of P ₁ of the tip Can be reliably reproduced, the subsequent measurement accuracy and continuity can be ensured, and the trouble can be easily dealt with.

  9 to 11 show test conditions for confirming the measurement accuracy and reproducibility of the measurement apparatus of the present invention described above, and a test tube 36 for testing a curved tube having a radius of 16 m is installed on the ground 3. A hole displacement meter 37 corresponding to the displacement meter 28 is inserted from one end, the succeeding hole displacement meter 37 is rotatably connected to the preceding hole displacement meter 37, and both ends of the hole displacement meter 37 at that time Then, the three-point position of the pivot connection portion 27 is measured by a transit 38 installed at a predetermined height.

Next, the next hole displacement meter 37 is connected to the upper hole displacement meter 37 which is the succeeding side, and the three positions at that time are measured by the transit 38.
Each time, the position of the tip hole displacement meter 37 is calculated, the position of the tip hole displacement meter 37 is measured directly, and the results are compared to test accuracy and reproduction of the measurement method of the present invention. Sex was evaluated.
As a result of the test, it is confirmed that the direct-viewing measurement position of the tip hole displacement meter 37 and the calculation position of the tip hole displacement meter 37 are within an allowable error range. The measurement accuracy and reproducibility were confirmed.

12 to 14 show other embodiments of the present invention, and the same reference numerals are used for portions corresponding to the above-described configuration.
Of these, FIG. 12 shows a second embodiment of the present invention. In this embodiment, the engaging portion 39 and the stopper guide 40 are made of a ferromagnetic material such as iron, and these are energized and controlled to have the same polarity. Alternatively, the engaging portions 39 and the stopper guide 40 can be easily and reliably attracted or rejected by magnetizing them with different polarities.

For example, when the engaging portion 39 and the stopper guide 40 are set or reset, they are magnetized and attracted to different polarities to restrain their positions.
Further, when the external casing 23 is pulled out due to a failure of the inclinometer or the like, the energization is stopped, or both are magnetized to the same polarity, and the engaging portion 39 and the stopper guide 40 are rejected. The drawing is made easy.

FIG. 13 and FIG. 14 show a third embodiment of the present invention. Among these, FIG. 13 provides two position measuring instruments 41 in which a pair of hole displacement meters 37 are rotatably connected in the test. Are accommodated in the measuring tube 36 per unit length.
Then, the three-dimensional positions of the four ends of the two connected position measuring devices 38 and the two pivot connection portions 27 between them are measured by the transit 38, and the bending angle at each pivot connection portion 27 is measured. θ is calculated and set as an initial value.

Next, two position measuring devices 38 are connected to the rear end portion of the preceding position measuring device 38 and extended, and both ends of the extended two position measuring devices 38 and two pivot connections between them are connected. The three-dimensional positions of the four points of the section 27 are measured by the transit 38, the bending angle that changes with stretching is detected as a relative amount, and a vector is added based on the detected angle and the length of the hole displacement meter 37. , and calculates the coordinate tip position _{P 1.}

  13 accommodates two position measuring instruments 38 in the measuring tube 36 per unit length, shortens the length of the hole displacement meter 37, and promotes its swing angle or bending angle or its behavior. Thus, it is possible to cope with measurement by the measurement tube 36 having a small curvature radius.

FIG. 14 applies the measurement principle of FIG. 13 described above to the propulsion of the outer tube 10 having a small radius of curvature, and the position of the tip portion is measured.
That is, two position measuring instruments each consisting of a pair of displacement gauges 28 and a measuring rod 27 are inserted into a measuring tube 36 per unit length having the same radius of curvature as the outer tube 10 having a small radius of curvature, and the four-dimensional three-dimensional. The position is measured by the transit 30 to calculate the bending angle θ at each pivot connection portion 27 and set it as an initial value.

Next, the two position measuring devices are connected to the rear end portion of the preceding position measuring device and extended, and both end portions of the two extended position measuring devices and the two pivot connection portions 27 between them are connected. The three-dimensional positions of the four points are measured by the transit 30, the bending angle that changes with stretching is detected as a relative amount, and a vector is added based on the detected angle and the length of the hole displacement meter 37, and the tip position The coordinates of P ₁ are calculated, and thereafter, the outer tube 10 and the measuring tube 22 are extended.

In the above-described embodiment, the tubular body is used as the propulsion member. However, a solid member may be used, and the propulsion member is not limited to a curved shape but may be a linear shape.
Further, not only the curved boring device 6, but also the horizontal boring or the position measurement of the tip device 16 in the small-diameter propulsion method, the measuring tube 22 is embedded or installed on the slope, etc. It can also be used to measure changes.

  As described above, the propulsion member position measuring device according to the present invention can be installed in a small, lightweight and narrow installation space, and can be easily repaired and replaced with a measuring instrument, and can be quickly restored. Since good reproducibility can be obtained and the propulsion method can be promptly restarted, it is suitable for propulsion of the propulsion pipe by, for example, curved boring and measurement of the position of the tip device.

It is sectional drawing which applies the present invention to the widening of a shield tunnel and shows the propulsion status of the propulsion pipe by the curved boring device. It is sectional drawing which expands and shows the internal condition of the propulsion pipe applied to this invention. It is sectional drawing which expands and shows the internal condition of the measurement pipe | tube applied to this invention. It is a front view which expands and shows the connection condition of the external casing applied to this invention. It is a front view which expands and shows the operating condition of the engaging part and stopper guide which were applied to this invention. It is a front view which shows the connection state of the 1st rocking | fluctuation link and measurement rod which were applied to this invention, and the coordinate of the three-point position.

It is a front view which shows the connection state of the 1st and 2nd rocking link applied to this invention, a measuring rod, and the coordinate of the three-point position of each link. It is a front view which shows the connection state of the 1st thru | or 3rd rocking link applied to this invention, a measurement rod, and the coordinate of the three-point position of each link. The test situation for confirming the measurement accuracy and reproducibility according to the present invention is shown, and two in-hole displacement meters are inserted into the measurement tube. The test situation for confirming the measurement accuracy and reproducibility according to the present invention is shown, and an in-hole displacement meter is further connected to two in-hole displacement meters, and these are inserted into a measuring tube.

The test situation for confirming the measurement accuracy and reproducibility according to the present invention is shown. In-hole displacement meters are further connected to three in-hole displacement meters, and these are inserted into the measuring tube. It is a front view which shows the 2nd Embodiment of this invention, and has expanded and showed the operation condition of an engaging part and a stopper guide. A third embodiment of the present invention is shown, and measurement is performed by inserting two position measuring instruments into a measuring tube per unit length in the test situation. A third embodiment of the present invention is shown, and the propulsion pipe position is measured based on the measurement principle of FIG.

Explanation of symbols

7 Propulsion device bending angle 10 Propulsion member (outer tube)
22 Movement guide (measurement tube)
23 External casing 27 Pivot (measuring rod)
28 Displacement meter 30,38 Distance measuring means (Transit)
34 Engagement part 35 Stopper guide θ ₁ , θ ₂ , θ ₃ Folding angle θ ₁ + Δθ ₁ Folding angle θ ₂ + Δθ ₂ Folding angle θ ₁ + Δθ ₁ + Δθ Folding angle

Claims (8)

  A plurality of displacement gauges having the same length are connected to a movement guide arranged along the displacement measurement unit so as to be foldable and accommodated movably. Based on the movement amount of the displacement gauge in the movement guide. Further, in the displacement measuring method for calculating the position of a predetermined displacement meter, a distance measuring means is installed at the moving start end of the displacement meter, and both ends of the first pair of displacement meters are connected via the distance measuring means. And measuring a three-dimensional position of at least three positions of the pivot part and the pivot part as a reference value, and calculating an initial value of a bending angle of the pair of displacement meters, and sequentially connecting the pair of displacement meters to the displacement meter. At the same time, the distance measurement means is used to measure the three-dimensional positions of both ends of the extended pair of displacement meters and at least three of the pivots, and the bending angle of the extended pair of displacement meters. And calculate the bending angle and stretching The three-dimensional position at the pivot of the displacement meter and the preceding bending angle that changes with stretching are detected as relative amounts, and the position of the earliest or desired displacement meter is determined based on the detected angle and the length of the displacement meter. A displacement measuring method for measuring a position of a displacement meter.   The displacement measuring method according to claim 1, wherein the moving guide is installed in a stationary or moving displacement measuring unit.   3. The displacement measuring method according to claim 2, wherein the tip of the first displacement meter is detachably attached to a predetermined position of a propelling member that moves together with the displacement meter.   After moving the predetermined displacement meter along the movement guide toward the movement start end, when moving the displacement meter to the original position along the movement guide, both ends of the pair of displacement meters are connected via the distance measuring means. 2. A displacement meter position measuring method according to claim 1, wherein at least three three-dimensional positions of the pivot are measured, a bending angle of the pair of displacement meters is calculated, and each displacement meter is returned to the original position.   5. The displacement gauge position measuring method according to claim 3 or 4, wherein the tip of the first displacement gauge is engaged with a predetermined position of the propulsion member at the end of returning to the original position of each displacement gauge.   A movement guide is disposed along the displacement measuring unit, and a plurality of displacement gauges having the same length are incorporated in the movement guide so as to be foldable, and the displacement gauge is movably accommodated while the movement is performed. In the displacement measuring device capable of calculating the position of a predetermined displacement meter based on the amount of movement of the displacement meter in the guide, a distance measuring device is installed at the moving start end of the displacement meter, and the distance measuring device Through the two ends of the first pair of displacement gauges and the three-dimensional positions of at least three of the pivots are provided as reference values, and the initial bending angle of the pair of displacement gauges can be calculated. On the other hand, a pair of displacement gauges are sequentially connected and extendable to the displacement gauge, and at that time, at least three positions of the both ends of the extended pair of displacement gauges and the pivots thereof via the distance measuring means 3D position While measuring, calculate the bending angle of the extended pair of displacement gauges, and detect the bending angle, the three-dimensional position of the extended displacement gauge at the pivotal support, and the preceding bending angle that changes with the extension as relative amounts. A position measuring device for a displacement meter, wherein the position of the first or desired displacement meter can be calculated based on the detected angle and the length of the displacement meter.   The displacement measuring device according to claim 6, wherein the moving guide can be installed in a stationary or movable displacement measuring unit. The displacement measuring device according to claim 6, wherein the tip of the first displacement meter is detachably attached to a predetermined position of a propulsion member that can move together with the displacement meter.

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