JP2642288B2 - Automatic surveying method of shield machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic surveying method for automatically measuring the position of a shield machine during a digging operation in shield tunnel construction.

[0002]

2. Description of the Related Art In recent years, underground tunnels using shield machines have been actively constructed. When constructing such underground tunnels, it is necessary to accurately measure the position of the shield machines during excavation operation. is there. The method of measuring the position of the shield machine during the excavation operation is as follows: (1) The position measured before the excavation operation is stored, and the gyrocompass, the inclinometer, and the stroke mounted on the shield machine are stored based on this position. A method of calculating the relative movement amount based on the measurement value of the meter. (2)
An optical distance measuring angle locator is installed in the existing tunnel, the optical target installed on the shield machine is measured, and the position of the optical target is determined as an absolute position. A method of calculating the position of the shield machine from the measurement values of the mounted gyrocompass and inclinometer and the position of the optical target. (3)
A method that uses a laser beam attitude angle detector instead of a gyrocompass and inclinometer mounted on a shield machine.
(4) There is a method in which the above-described methods are used in combination. According to such a method, it is possible to measure both the straight portion and the curved portion of the tunnel.

[0003]

However, in the method (1) of calculating the relative movement amount, unless the position of the shield machine before the start of the excavation, which is the reference, is measured at appropriate intervals and corrected, the measurement errors accumulate. There is a problem of doing. In the method (2) or (3) using a light wave distance measuring goniometer, a laser, or the like, an optical path of a light wave, a laser, or the like is interrupted during excavation of a tunnel curved portion. Repositioning), and high accuracy is required for this re-arrangement operation, and the re-arrangement operation itself is not easy and takes a long time.

The present invention has been made in view of such a problem, and an object of the present invention is to eliminate the possibility of accumulating measurement errors, to accomplish a simple and short re-arrangement operation, and to re-arrange the re-arrangement operation. An object of the present invention is to provide an automatic surveying method of a shield machine that does not require accuracy and that can automatically measure the position of the shield machine at a straight portion and a curved portion of a tunnel.

[0005]

In order to achieve the above-mentioned object, the present invention provides (a) a position of a first detector comprising first two image pickup means installed on a first base; (B) imaging the target provided on the shield machine by the first two imaging units, and processing the imaged target to determine the position of the target; c) An image of a second detector consisting of second two imaging units installed on a second base is taken by the first two imaging units of the first detector, and Measuring the position of the two imaging units; and (d) imaging the target by the second two imaging units, and processing the imaged targets to determine the position of the targets. And replacing the first detector and the second detector. The steps (c) and (d) are repeated, and the steps (b) and (d) are performed at a position where an image can be captured when one of the two imaging units cannot image the target. Rotate the base until the position of the two imaging units after rotation is obtained from the rotation amount of the base,
An automatic surveying method for a shield machine in progress, which includes a step of capturing an image of a target provided on the shield machine based on the positions of the two imaging units after rotation as a reference and determining a position of the target.

[0006]

According to the present invention, the position of a detector composed of two image pickup means installed on a rotatable base is measured, and a target provided on a shield machine is imaged by the two image pickup means. The position of the target is obtained by performing image processing on the target thus set. In the case of rearrangement, another detector is installed, the position of another detector is measured by the original detector, and the position of the target is measured by another detector. The target is measured while replacing the original detector with another detector.

[0007]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 shows a detector 1a used in this embodiment.
FIG. 2 is a plan view of the detector 1a. In this detector 1a, a motor 3 and an encoder 5 are attached to a fixed shaft 2. At the lower end of the fixed shaft 2, a jig (not shown) for attaching to a tripod or a tunnel side wall is provided. A base 9 is fixed to a rotating shaft 7 of the motor 3. The motor 3 is controlled by a turning controller (not shown) to rotate the base 9. The encoder 5 measures the turning angle of the base 9. CCD cameras 11a and 11b are fixed to the base 9. As shown in FIG. 2, the CCD cameras 1a and 11b are so arranged that their central axes intersect at a predetermined distance in front of each other.
1 a and 11 b are fixed to the base 9. CCD camera 11
a and 11b are for imaging a target or the like, and CC
The images captured by the D cameras 11a and 11b are sent to an image processing device (not shown), subjected to image processing, and displayed on displays 13a and 13b as shown in FIG.

FIG. 3 shows target displays 13a and 13b captured by CCD cameras 11a and 11b.
It shows the upper position. That is, the CCD camera 11
The image captured by a is displayed on the display 13a, and the image captured by the CCD camera 11b is displayed on the display 13b.

Next, the principle of measuring the position of the target with the two CCD cameras 11a and 11b will be described. 4 to 9 are explanatory diagrams of this measurement principle. First, (xp, yp) is obtained from the position coordinates (xp, yp, zp) of the target P.

FIGS. 4, 5, 6 and 7 show a CCD camera 11.
It is a top view of the space containing a and 11b and the target P.
In FIG. 4, A and B indicate the positions of the CCD cameras 11a and 11b, P is the target, C is the screen center point on the imaging plane (reference plane) at a certain distance ahead, and END is the imaging plane (reference) at a certain distance ahead. L) is the distance from point A on the reference plane, N (dot) is the number of pixels from the screen center point C of the display 13a on the reference plane to the screen end END, and D is the distance between C and END. Shows the measured distance.

Here, when the target P is on the line of the AP, the position of the target P obtained in the image is a position K1 (dot) from the screen center point C regardless of the distance from the point A.

Accordingly, the angle θ1 between the straight line AC and the straight line AP is θ1 = tan ⁻¹ (D · K1 / (L · N)) Similarly, the angle θ2 between the straight line BC and the straight line BP is θ2 = tan ^{− 1} (D · K2 / (L · N)).

In FIG. 5, when the unit vector n1 of the vector AB is obtained, | AB | = R = {(xb-xa) ² + (yb-ya) ² } ^1/2 vector n1 = (1 / R) · (Xb-xa, yb-ya).

The vector AE is obtained by converting the unit vector n1 into α + θ.
It is rotated clockwise by 1 and multiplied by L. The unit vector of the vector AE is defined as a vector n2 (x1, y1).
X1 = n1 (x) · cos (α + θ1) + n1 (y) · sin (α + θ1) y1 = −n1 (x) · sin (α + θ1) + n1 (y) · cos (α + θ1), E (xe, ye) is obtained by: xe = xa + L × 1 = xa + (L / R) · ｛(xb−xa) · cos (α + θ1) + (yb−ya) · sin (α + θ1)｝ ye = ya + L · y1 = ya + (L / R) ｛{− (xb−xa) · sin (α + θ1) + (yb−ya) · cos (α + θ1)}.

The equation of the straight line AE is given by y = {(x−xa) · (ye−ya) / (x−xa)} + ya.

Similarly, in FIG. 6, the unit vector m1 of the vector BA is given by: | BA | = R = {(xb-xa) ² + (yb-ya) ² } ^1/2 Vector m1 = (1 / R) · (Xb-xa, yb-ya) The vector BF is obtained by rotating the unit vector m1 counterclockwise by β + θ2 and multiplying it by L.

The unit vector of the vector BF is represented by the vector m
Assuming that 2 (x2, y2), x2 = m1 (x) · cos (β + θ2) −m1 (y) · sin (β + θ2) y2 = m1 (x) · sin (β + θ2) + m1 (y) · cos (β + θ2) Therefore, F (xf, yf) is given by: xf = xb + L · x2 = xb + (L / R) · {(xa−xb) · cos (β + θ2) − (ya−yb) · sin (β + θ2)} yf = yb + L · y2 = yb + (L / R) · {(xa−xb) · sin (β + θ2) + (ya−yb) · cos (β + θ2)}

The equation of the straight line BF is given by y = {(x−xb) (yf−yb) / (xf−xb)} + yb.

Therefore, the position coordinates P of the target P
Since (xp, yp) is the intersection of the straight line AE and the straight line BF, it can be obtained by solving the following equation.

{(X−xa) · (ye−ya) / (x−xa)} + ya = {(x−xb) (yf−yb) / (xf−xb)} + yb where xe = xa + L · x1 = Xa + (L / R) · {(xb−xa) · cos (α + θ1) + (yb−ya) · sin (α + θ1)} ye = ya + L · y1 = ya + (L / R) · ｛− (xb−xa ) · Sin (α + θ1) + (yb−ya) · cos (α + θ1)｝ xf = xb + L · x2 = xb + (L / R) · ｛(xa−xb) · cos (β + θ2) − (ya−yb) · sin (Β + θ2)｝ yf = yb + L · y2 = yb + (L / R) · {(xa−xb) · sin (β + θ2) + (ya−yb) · cos (β + θ2)} Next, the vertical coordinate zp of the target P is obtained. . 8 and 9 are side views of a space including the CCD camera 11a and the target. 8 and 9, L is the distance from the point A on the reference plane, N1 (dot) is the screen center point C to the screen edge END1.
The number of pixels up to and D1 is the actually measured distance between C and END1. At this time, if the target P is on the line of the AP, the position of the point P obtained on the screen is a position K3 (dot) from C regardless of the distance from the point A.

Therefore, the angle φ between the straight line AC and the straight line AP is as follows: φ = tan ⁻¹ (D1 · K3 / (L · N1))

In FIG. 9, the horizontal distance L1 from the point A to the point P is given by L1 = {(xp-xa) ² + (yp-ya) ² } ^1/2 , so that the position coordinate P of the target P (Zp)
Zp = za + L1tan (φ) (where za = z
c).

As described above, the coordinates (xp, yp, zp) of the target P are obtained based on the position of the target P on the displays 13a and 13b.

Next, a procedure for measuring the position of the shield machine 23 will be described. FIG. 10 is a schematic horizontal sectional view of the tunnel 21. In the figure, reference numeral 23 denotes a shield machine, and the shield machine 23 has a light emitting target 2 composed of an LED or a light bulb.
5 are provided. In the case of being affected by disturbance light, C
A filter is attached to the CD cameras 11a and 11b.

First, the detector 1a is installed at the location of T1, and C
The positions of the CD cameras 11a and 11b are obtained by a general surveying method. Then, the targets 25 of the shield machine 23 being excavated are imaged by the CCD cameras 11a and 11b, and the position of the target 25 (ie, the position of the shield machine 23 in progress) is measured according to the above-described procedure.

When one of the two CCD cameras 11a and 11b cannot capture an image of the target 25, the motor 3 is turned by the turning controller (not shown).
Is driven, and the base 9 is rotated until the CCD cameras 11a and 11b can take an image. Since the rotation amount of the base 9 is measured by the encoder 5, the positions of the CCD cameras 11a and 11b after the rotation are obtained. CC after rotation
Using the positions of the D cameras 11a and 11b as reference points, a CCD
The target 25 of the shield machine 23 being excavated is imaged by the cameras 11a and 11b, and the position of the target 25 is measured.

When the shield machine 23 further advances and the CCD cameras 11a and 11b can no longer image the target 25, the detectors are replaced. That is, another detector 1b is installed at the location of T2. This detector 1b has the same configuration as the detector 1a shown in FIG.
It has CCD cameras 31a and 31b. CCD camera 1
The image of the CCD camera 31a is picked up by 1a and 11b, and the position of the CCD camera 31a is obtained according to the procedure described above.
In addition, the CCD cameras 11a and 11b
And CCD camera 31 according to the above-described procedure.
Find the position of b. In this way, the re-arranged CCD
The positions of the cameras 31a and 31b are obtained as reference points. Then, the target 25 is imaged by the CCD cameras 31a and 31b, and the position of the shield machine 23 is measured.

As described above, the detectors 1a and 1b are alternately replaced according to the excavation of the shield machine 23, and the position of the shield machine 23 is measured while changing the arrangement.

Therefore, in the present embodiment, the accumulation of measurement errors does not occur, the refilling operation is simple and can be completed in a short time, and the refilling accuracy is not required. The position can be measured automatically.

[0030]

As described in detail above, according to the present invention, the accumulation of measurement errors does not occur, the work of re-arrangement is simple and can be completed in a short time, and the re-arrangement accuracy is not required. The position of the shield machine can be measured automatically at the straight and curved sections.

[Brief description of the drawings]

FIG. 1 is a perspective view of a detector.

FIG. 2 is a plan view of a detector.

FIG. 3 is a diagram showing images on displays 13a and 13b.

FIG. 4 is an explanatory diagram when measuring the position of a target using a CCD camera.

FIG. 5 is an explanatory diagram when measuring the position of a target using a CCD camera.

FIG. 6 is an explanatory diagram when measuring the position of a target using a CCD camera.

FIG. 7 is an explanatory diagram of a case where the position of a target is measured by a CCD camera.

FIG. 8 is an explanatory diagram of a case where the position of a target is measured by a CCD camera.

FIG. 9 is an explanatory diagram of a case where the position of a target is measured by a CCD camera.

FIG. 10 is a schematic cross-sectional view of a tunnel 21.

[Description of Signs] 1a, 1b Detector 2 Fixed axis 3 Motor 5 Encoder 7 Rotary axis 9 Base 11a, 11b, 31a, 31b … CCD camera 21 ……… Tunnel 23 ……… Shield machine 25 ……… Target

Continuation of the front page (56) References JP-A-61-108910 (JP, A) JP-A-63-182517 (JP, A) JP-A-58-18110 (JP, A) JP-A-4-279813 (JP) JP-A-60-125515 (JP, A) JP-B-3-79646 (JP, B2)

Claims (1)

(57) [Claims] 1. (a) A first 2 provided on a first base
Measuring the position of a first detector composed of two imaging means; and (b) capturing an image of a target provided on the shield machine by the first two imaging means and forming an image of the captured target. Processing to determine the position of the target; and (c) setting a second detector including two second imaging units installed on a second base to a first detector of the first detector.
And (d) imaging the target by the second two imaging units and imaging the target with the second two imaging units. Image processing of a target to determine the position of the target, wherein the steps (c) and (d) are repeated while replacing the first detector and the second detector. The steps (b) and (d) are performed by two imaging units.
If one of the targets cannot be imaged,
Rotate the base until it reaches a possible position, and
The positions of the two imaging units after rotation are obtained, and the two
Provided on the shield machine based on the position of the imaging means
To capture the target and determine the position of the target.
On-going automatic surveying method of shield machine including the process.