JP2572930B2 - Propulsion method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a propulsion method capable of performing curve propulsion in which a survey of an excavator is performed based on a shaft reference point.

[0002]

2. Description of the Related Art In recent years, as a method of burial burial in urban areas, an excavator has been placed at the tip, and a fume pipe serving as a propulsion pipe has been installed behind the excavator. The propulsion method of sequentially burying fume pipes is becoming widespread.

[0003] In any tunnel construction, it is extremely important to carry out construction according to a plan line, and therefore, the alignment of the tunnel is measured during construction. Regarding the propulsion method, the final alignment of the tunnel is determined by measuring and managing the position and orientation of the excavator and the propulsion pipe behind it, but the survey work is performed when the planned route is straight. Can be viewed directly from the shaft from the shaft.

However, recently, there are many curvilinear tunnels, and in such a curvilinear tunnel, a method of collimating from a conventional shaft cannot be used. Therefore, in such a case,
A surveying instrument is brought into the mine, a location where the shaft and the excavator can be seen at the same time is selected, a surveying instrument is installed, and surveying of the excavating machine is performed through this relay point.

[0005]

SUMMARY OF THE INVENTION The above-mentioned method is as follows.
Since it is necessary to move in a tunnel with bad environment, it is difficult to work.In addition, it is difficult to secure the accuracy, and there is a problem that it takes time. In some cases, it's not enough to get in and work. Thus, many proposals for overcoming such problems by automation of surveying have been made so far, but there are problems that practical use, technical or economical practical use are difficult.

For example, a method has been proposed in which an azimuth detector such as a rate gyro and a moving distance detector are combined to travel in a tunnel, and the traveling distance and azimuth are integrated to measure the alignment of the tunnel. However, a method for accurately knowing the position and orientation of the gyro traveling body at the start of traveling, which is necessary to ensure the accuracy that can be actually used by such a method, has not yet been put to practical use. In this case, there is also a problem that it is difficult to secure a traveling space for the traveling body due to an obstacle such as an instrument panel around the excavator to be measured. In addition, in the method of running a rate gyro or the like, conventionally, rails for a linear fixed track are used, and as in the propulsion method, the track on which the running body travels is deformed as the construction progresses. No countermeasures have been taken.

[0007]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention provides a propulsion method in which a digging machine is used to excavate a desired direction from a shaft and a propulsion pipe is sequentially pushed backward by a hydraulic jack. , A surveying pipe for surveying the position and attitude of the excavator is provided behind the excavator, a traveling rail is provided in the surveying pipe and a propulsion pipe following the surveying pipe, and a trolley equipped with a gyro and a distance meter is provided. Is provided on the traveling rail, and after measuring the position and orientation of the traveling vehicle in the propulsion pipe by the distance measuring angle gauge installed in the shaft, the traveling vehicle is caused to travel to the face side, and the traveling distance and direction are measured. The trajectory is calculated at any time while continuously measuring the position of the excavator, and the position and orientation of the excavator are obtained from the traveling vehicle via a line laser. To.

The running rail according to the first invention is formed as a sleeper having both ends formed in an arc shape sliding on the inner surface of the pipe, and a strip-shaped rail in which a lower half portion fits into a groove provided in the sleeper. To be able to follow the bending of the pipeline.

A flat mirror for reflection and a surveying prism are installed on the traveling vehicle according to the first aspect of the invention, and the position and orientation of the traveling vehicle are departed to the face side of the traveling vehicle by a distance measuring square installed in the shaft. You may make it measure beforehand.

In order to determine the position and orientation of the excavator from the traveling bogie according to the first aspect of the present invention, light receivers are provided at two locations in the excavator and at one location behind the survey tube, respectively, at the front of the survey tube. The position of each of the light receivers may be measured by a rotating laser of the provided excavator detection device.

[0011]

As described above, the propulsion method of the present invention performs highly accurate linear surveying using a traveling vehicle equipped with a gyro and a distance meter, and the position of the starting point of movement of the traveling vehicle by a distance measuring angle gauge. By accurately measuring the position and orientation of the excavator using a line laser, and even if there is a curved part in the middle of the entire section from the starting shaft to the excavator, Surveying in a short time, accurate, safe,
It enables economical surveying and relieves workers of the trouble. Further, since the surveying operation is impossible, a small-diameter, sharp-curved tunnel, which has been considered impossible to construct, can also be constructed by the method according to the present invention. In addition, since the position and attitude of the excavator can be known even during the excavation work, it is possible to contribute to improving the quality of the construction by providing powerful information on the operation of the excavator.

[0012]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a cross-sectional plan view of a tunnel being excavated by a propulsion method, in which 1 is a starting shaft formed by excavating the ground,
Reference numeral 2 denotes an excavator that digs in a desired direction from the shaft 1. Reference numeral 3 denotes a surveying pipe that follows behind the same. The surveying pipe includes a hangar of a measuring car described later, an excavator detecting device, a light receiver, an inclinometer, and a control. This is a pipe dedicated to this propulsion method, equipped with a unit, a communication device, and a power supply. Therefore, it is necessary that this surveying pipe be located at a position between the excavator and the normal propulsion pipe as a stop place on the face side of the measuring cart. 4, (4 ₁ , 4 ₂ , 4 ₃ , ---
-4 _n-1 , 4 _n , 4 _{n + 1} ) are propulsion pipes, and these propulsion pipes 4 are sequentially pushed by hydraulic jacks 5 provided in the shaft 1.

In the shield machine 2, as shown in detail in FIG. 2, light receivers 6 ₁ and 6 ₂ are attached to two places on the ceiling, and an inclinometer 7 is installed below. .

As shown in detail in FIG. 2, an excavator detecting device 8 is mounted in the surveying pipe 3 on a front ceiling, and a line laser light source 9 is provided on a lower surface of the excavating device 8. Is protruding. 10 is a length measuring wire, 1
1 wireless communication device installed in the lower, 12 charger provided at the back, 13 denotes a control unit, also 6 ₃ is a photodetector mounted on the ceiling of the back.

Reference numeral 14 denotes the inside of each propulsion pipe 4 and the surveying pipe 3
A traveling carriage 15 is provided on the traveling rail 14 so as to be able to travel freely. FIG. 3 shows the details, 16 is a running wheel, 17 is a drive unit, 18
Is a gyro sensor provided on the cart 15; 19 is a mileage measuring device; 20 is a mileage detecting unit;
5 is a plane mirror standing upright, 22 is a surveying prism, 23
Is a wireless communication device, 24 is a control device, and 25 is a battery.

FIG. 4 shows a state in which the traveling carriage 15 is stopped near the starting shaft 1. Numeral 26 denotes a distance measuring angle gauge provided in the shaft 1, and numeral 27 denotes an instrument point (measuring device) immediately below the measuring angle meter. (The point at which the rangefinder is installed). Reference numeral 28 denotes a reference point provided in the shaft 1, and reference numeral 29 denotes a wireless communication device.

FIG. 5 is a front view of the rangefinder 26. Reference numeral 30 denotes an objective lens, and reference numeral 31 denotes a center mark provided at the center of the objective lens 30.

FIG. 11 shows a traveling rail 14 on which a traveling carriage travels, and is composed of rail members 39 and sleepers 38.
The sleeper 38 and the rail member 39 are separately manufactured, and have a structure in which they are fitted to each other, so that they can assume a stable posture only by being placed in the propulsion pipe. That is, both ends of the sleeper 38 are formed in an arc shape so as to be able to slide on the inner surface of the pipe. Also, in the propulsion process, the rail member 39 is deformed along the line even if the tunnel draws a curve, and the traveling bogie can travel on the line in any linear tunnel without any trouble.

The traveling vehicle 15 reciprocates in a section between the starting shaft 1 and the survey pipe 3 to measure the relative positions and postures of both ends, and in the starting shaft 1, the traveling vehicle 15 is The position and attitude when the vehicle stops at the vicinity of the shaft 1 are measured.
Rotates the laser beam and measures the position and orientation of the machine 2.

As shown in FIG. 3, the trolley 15 is equipped with a gyro sensor 18, a mileage measuring device 19 and a control device 24. When the trolley 15 travels on the travel rail 14, its traveling direction and travel distance Is measured continuously,
These amounts are taken into the control device 24 and integrated. At the end of traveling, the integration result indicates the relative positions of both ends of the traveling section.

FIG. 4 shows a state in which the traveling carriage 15 is stopped near the starting shaft 1, and here, the distance measuring angle finder 2 is shown.
6, the position and orientation of the stopped traveling vehicle 15 are measured. As shown in FIG. 5, a center mark 31 is engraved on the optical axis at the center of the objective lens 30 of the distance measuring goniometer 26, so that direct collimation can be performed.

In order to detect the attitude of the traveling vehicle 15, first, a reference point 28 is collimated to obtain a reference orientation α of the goniometer 26 (see FIG. 6). The reference direction α is a reference point 28 and an instrument point 27.
Is the azimuth in the survey coordinate system of the line connecting the points at which the distance measuring and angle measuring angles are installed. Next, the range finder 26 is rotated to adjust the plane mirror 21 fixed on the traveling vehicle 15 and the optical axis of the range finder 26 to be vertical.

For this purpose, the user looks into the telescope of the distance measuring and angle measuring instrument 26, focuses on the image of the distance measuring and measuring angle measuring instrument 26 reflected on the plane mirror 21, and crosses the cross line 32 of the distance measuring and angle measuring instrument 26 (FIG. 7). reference)
The fine adjustment screw is adjusted so that the center mark 31 of the objective lens 30 and the above-mentioned center mark 31 accurately overlap. As a result, the optical axes of the plane mirror 21 and the rangefinder 26 become vertical.

FIG. 7 shows an image viewed from the telescope when the crosshair 32 and the center mark 31 overlap. In this state, the direction β of the plane mirror 21 is read. The azimuth β of the plane mirror 21 is defined as the included angle between the line connecting the reference point 28 and the instrument point 27 and the direction of the optical axis of the plane mirror 21 and the distance measuring and angle measuring instrument 26 when the optical axis is vertical. Show. The posture of the traveling cart 15 is
It is assumed that the bogie mounting angle ε of the plane mirror 21 is added to the sum of angles α + β. The mounting angle ε is measured in advance.

In order to detect the position of the traveling vehicle 15, the distance measuring and measuring angle measuring device 26 measures the distance of the surveying prism 22 and obtains the coordinates (Xp, Yp) of the center point thereof. FIG. 6 shows elements related to the measurement operation in the vicinity of the starting shaft 1. By accurately measuring the traveling start position and the attitude of the traveling vehicle 15 each time in the manner described above, a temporal error factor of the traveling vehicle 15 can be excluded.

From the state where the vehicle is stopped near the starting shaft 1, the traveling vehicle 15 travels toward the face in the tunnel.
Stop inside the survey pipe 3. FIG. 2 shows the situation at this time.
Stop positioning is accurately performed using a stop position detecting device (not shown).

As described above, the traveling cart 15 measures the traveling distance, and thereby the stop position near the shaft 1 and the survey pipe 3 are measured.
The relative position between the stop positions within is known. Further, the relative attitude, that is, the azimuth difference in the direction in which the bogie 15 faces at both ends is:
It can be detected based on the measurement value of the gyro sensor 18. The traveling rail 14 is fixed in the survey pipe 3,
Further, the azimuth and position of the survey tube 3 can be calculated by an inclinometer on a traveling carriage (not shown).

The detection of the position and orientation of the excavator 2 is performed as follows by using the excavator detector 8, the light receiver 6 ₁ and 6 _2, 6 ₃ and inclinometer 7. FIG. 8 shows the measured amount and the positional relationship in this part.

The excavator detector 8 has a turntable that rotates around a rotation shaft 33 (see FIG. 2), and has a drive mechanism (not shown) for driving the turntable, and detects the amount of rotation. It also has a rotation amount detection device (not shown). The line laser light source 9 is installed on the turntable, and there is a control device 13 for controlling the operation of the detection device. The line laser emits a fan-shaped light beam on a vertical line when the rotation axis 33 is vertical.

The light receivers 6 ₁ , 6 ₂ , 6 ₃ have a structure in which when a line laser beam irradiates a detection window (not shown) of the light receiver, an electric signal is transmitted to the control device 13. Shield machine detection device 8 rotates the turntable, directing the laser beam to the light receiver 6 _3. When the light receiver 6 ₃ senses the control device 13 that has received the laser beam, the control device 13 recognizes the rotation angle of 0 degrees, sets. Detection device 8 is further swiveled turntable in the direction of the photodetector 6 _2, the light receiver 6 ₂ measures the rotation angle γ up to the light receiver 6 ₂ from sensed 0-degree direction that has received the laser. Then, further continues to rotate, to measure the rotation angle δ to the light receiving unit _61.

Here, the rotation angle γ between the light receivers 6 ₁ and 6 ₂
And δ is the basis of the direction of the light receiver 6 _3, the light receiver 6 ₃ and the excavator detector 8 is secured to the surveying tube 3, the orientation from the measurement result of the foregoing of the traveling carriage 15 since can be calculated, the rotation angle to the light receiving device 6 _and 62 in the shield machine 2 can be converted to the azimuth angle of the in surveying coordinate system based on the orientation of the surveying pipe 3.

Further, the distance D to the light receiver 6 ₂ from installation point 34 (see FIG. 8) of the excavator detector 8 detects the measuring wires 10 of the length measuring device, not shown (see FIG. 2), also the distance to the light receiver ₆₁ than the shield machine detector installation point 34, the distance L and the included angle between the photodetector ₆₁ and the light receiver 6 ₂ ([delta]
-Γ). The position and orientation of the excavator 2 can be measured based on these azimuths and distances, and the inclination angle of the excavator 2 detected by the inclinometer 7 installed in the excavator 2.

In the above-described surveying method, the central control unit 35 shown in FIG. 9 collects and calculates the survey result at the starting shaft 1, the measurement result of the traveling bogie 15, and the measurement result of the excavator detection device 8 as data. Then, the result is displayed on a screen and stored in the storage device 36. Information from each measuring device is transmitted by the communication line 37. Information from the traveling cart 15 is transmitted to the communication line 37 by using the wireless communication device 23 and the wireless communication devices 29 and 11 installed on the cart 15.
Is connected and transmitted. The central control unit 35 further controls the various measuring devices as a whole, and controls a measuring procedure, a countermeasure for malfunction, and the like.

Further, the operation of the distance measuring and angle measuring instrument 26 in the starting shaft 1 of the embodiment is performed by installing a television camera at the eyepiece of the distance measuring and angle measuring instrument 26 and remotely rotating and measuring the angle. A distance monitor may be used to install a television monitor around the central control unit 35 to display the image of the television camera so that all surveying operations can be performed from outside the shaft 1 by completely remote control.

FIG. 10 is a flow chart showing the overall operation procedure of the present invention. While the excavator 2 is excavating, the traveling vehicle 15 is stopped in the surveying pipe 3 and the mounted gyro 1
8, the direction of the main axis of the survey tube 3 is always measured. Also,
The excavator 2 reads the jack stroke meter for measuring the pushing amount of the hydraulic jack 5 for the main shaft of the starting shaft 1 to estimate the forward movement amount of the excavator 2, and simultaneously operates the excavator detector 8 to excavate the excavator during excavation. 2 and the approximate position and orientation of the survey tube 3 are detected.

The excavator 2 stops excavating, and the central control unit 35
When the traveling measurement command is transmitted, the traveling vehicle 15 travels toward the starting shaft 1 while performing measurement, and
Stop nearby. In the starting shaft 1, as described above, the traveling start position and orientation by the distance measuring angle grate 26 are measured, and when this is completed, the traveling carriage 15 travels and measures toward the face, and the determined position in the survey tube 3 is determined. Stop at When a series of traveling measurements are completed, all the measurement results are collected by the central control unit 35, the position and orientation of the excavator 2 are calculated, and the results are displayed and recorded. When the above operation is completed, the operation of repeatedly reading the jack stroke meter and the excavator detecting device 8 is restarted.

[0037]

As described above, according to the propulsion method of the present invention, high-precision linear surveying is performed using the traveling vehicle 15 on which the gyro 18 and the distance meter 19 are mounted, and the traveling vehicle is operated by the distance measuring angle gauge 26. By accurately measuring the position and posture of the 15 movement start points and measuring the position and posture of the excavator 2 using a line laser, the entire section from the start shaft 1 to the excavator 2 is curved in the middle. Even if there is, surveying can be done with extremely high accuracy and in a short time, and accurate, safe and economical surveying can be done even in the propulsion construction of a small diameter tunnel where manual measurement is difficult, and the worker can be released from the trouble. . In addition, since the position and attitude of the excavator 2 can be known even during the excavation work, an excellent effect that it is possible to contribute to improving the quality of construction by providing powerful information on the operation of the excavator can be obtained. . Further, tunnels having a small diameter and a sharp curve that cannot be measured can be surveyed by using the present invention, and an unprecedented linear tunnel can be constructed.

[Brief description of the drawings]

FIG. 1 is a plan sectional view for explaining a method of the present invention.

FIG. 2 is a vertical sectional view of a distal end portion.

FIG. 3 is a side view of the traveling vehicle.

FIG. 4 is an elevation view showing a state in the shaft when the traveling vehicle is located on the starting shaft side.

FIG. 5 is a front view of a distance measuring angle finder.

FIG. 6 is an explanatory diagram of a measurement procedure of a traveling vehicle.

FIG. 7 is a collimation diagram of a distance measuring angle finder.

FIG. 8 is an explanatory diagram of a measurement procedure of the excavator.

FIG. 9 is a connection diagram between various devices and a communication line.

FIG. 10 is a flowchart of the method of the present invention.

FIG. 11 is a perspective view showing an example of a traveling rail.

[Explanation of symbols]

1 Start shaft (shaft) 2 Drilling machine 3 Survey pipe 4, (4 ₁ , 4 ₂ , 4 ₃ , ----- 4 _n-1 , 4 _n ,
4 _{n + 1} ) Propulsion pipe 5 Hydraulic jack 6 ₁ , 6 ₂ , 6 ₃ Light receiver 7 Inclinometer 8 Excavator detection device 9 Line laser light source 10 Measurement wire 11 Wireless communication device 12 Charger 13 Control device 14 Running rail ( Rail) 15 traveling trolley (trolley) 16 traveling wheels 17 driving device 18 gyro sensor (gyro) 19 traveling distance measuring device (distance meter) 20 traveling distance detecting unit 21 plane mirror 22 surveying prism 23 wireless communication device 24 control device 25 battery 26 measurement Distance measuring instrument 27 Instrument point (installation point of distance measuring instrument) 28 Reference point 29 Wireless communication device 30 Objective lens 31 Center mark 32 Crosshair 33 Rotation axis 34 Installation point of excavator detection device 35 Central control unit 36 Storage Equipment 37 Communication line 38 Travel rail sleeper 39 Travel rail material

 ──────────────────────────────────────────────────続 き Continued on the front page (73) Patent holder 000156204 Asanumagumi Co., Ltd. 12-6 Higashitakatsu-cho, Tennoji-ku, Osaka-shi, Osaka (73) Patent holder 000236610 Fudo Construction Co., Ltd. Hirano-cho, Chuo-ku, Osaka-shi, Osaka Chome 2-16 (73) Patent holder 591079030 Nissan Construction Co., Ltd. 1-2-6 Minami-Aoyama, Minato-ku, Tokyo (73) Patent holder 390034430 Odakyu Construction Co., Ltd. 4-32-22 Nishishinjuku, Shinjuku-ku, Tokyo (73) Patent holder 591214804 Matsumura Gumi Co., Ltd. 1-10-20 Higashitenma, Kita-ku, Osaka-shi, Osaka (73) Patent holder 592009133 Minano Construction Co., Ltd. 2-2-1 Shibata, Kita-ku, Osaka-shi, Osaka New Umeda Building (73) Patent holder 591160671 Okumura Gumi Civil Engineering & Industrial Co., Ltd. 1-111-18, Sanshin, Minato-ku, Osaka, Osaka (73) Patent holder 591165919 Arai-gumi Co., Ltd.Nishi, Hyogo 12-20, Ikeda-cho, City (73) Patent holder 000176785 Mitsubishi Construction Co., Ltd. 3-3-6, Nihonbashi-Honcho, Chuo-ku, Tokyo (73) Patent holder 594186555 Mabuchi Construction Co., Ltd. 2 Hananogi-cho, Minami-ku, Yokohama-shi, Kanagawa 26-chome (73) Patent holder 594186566 Rex Co., Ltd. 6-10, Ohata-cho, Nishinomiya-shi, Hyogo (72) Inventor Makoto Niwa 2-35, Yata-cho, Shinjuku-ku, Tokyo Within Dainippon Civil Engineering Corporation Inventor Jiro Yamanoi 1-2-6 Minami-Aoyama, Minato-ku, Tokyo Nissan Construction Co., Ltd. (72) Inventor Hiroyasu Kasaya 1-1-11-18 San-san, Minato-ku Osaka-shi, Osaka Civil Engineering Co., Ltd. (72) Inventor Terumasa Yokozaki 1-2-1 Taito, Taito-ku, Tokyo Fudo Construction Co., Ltd. (72) Inventor Joji Murakami 3-24-1 Otsukacho, Takatsuki-shi, Osaka Asanagumi Co., Ltd. (72) Inventor Yamana Mamoru 2-2-1 Shibata, Kita-ku, Osaka-shi Subdivision Hananoki-cho 2-26 horse edge in the Construction Co., Ltd.

Claims (4)

(57) [Claims] In a propulsion method in which an excavator digs in a desired direction from a shaft and sequentially pushes a propulsion pipe behind the excavator with a hydraulic jack, a survey pipe for measuring the position and attitude of the excavator is excavated. Installed behind the aircraft,
This survey pipe and a traveling rail are provided in a propulsion pipe following the survey pipe, and a traveling vehicle equipped with a gyro and a distance meter is provided on the traveling rail, and a distance measuring angle gauge installed in the shaft is used in the propulsion pipe. After measuring the position and attitude of a certain traveling vehicle, the traveling vehicle is moved to the face side, and the trajectory is calculated as needed while continuously measuring the traveling distance and direction to find the stopping position of the traveling vehicle in the survey pipe. A propulsion method wherein the position and orientation of the excavator are obtained from the traveling bogie via a line laser. 2. The sleeper according to claim 1, wherein the runner is formed in an arc shape in which both ends are in sliding contact with the inner surface of the pipe, and a strip-shaped rail in which a lower half portion fits into a groove provided in the sleeper. A propulsion method characterized by being configured to be able to follow the bending of a pipeline. 3. The traveling vehicle according to claim 1, wherein a reflecting mirror and a surveying prism are installed on the traveling vehicle, and the position and orientation of the traveling vehicle are departed to the face side of the traveling vehicle by a distance measuring square installed in a shaft. A propulsion method characterized by surveying before. 4. In order to determine the position and attitude of the excavator from the traveling bogie according to claim 1, two light receivers are provided in the excavator and one at the rear of the survey tube, respectively. A propulsion method, wherein the position of each of the light receivers is measured by a rotating laser of an excavator detection device provided.