JP2764679B2 - Hume pipe burial method by propulsion excavation and self-propelled device for automatic surveying used in this 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 method for burying fume pipes by propulsion excavation for constructing lifeline facilities such as telephones, electric power, water supply and sewage, and a self-propelled device for automatic surveying used in the method. .

[0002]

2. Description of the Related Art A push-out jack provided in a vertical shaft is provided with a drilling bit having a diameter larger than the outer diameter of a fume pipe to be buried and connected to a tunnel drilling device having a bent portion. In the fume pipe burial method, in which the fume pipes are successively added by the retraction operation and the excavation hole and the outer peripheral surface of the fume pipe are filled with mud and propelled and excavated along a curve, a total station (a distance measuring instrument) is installed inside the shaft. And a goniometer), and several workers enter the tunnel,
A reflecting prism fixed to a tripod (gonitometer) tripod is provided, and the position of the reflecting prism is measured using the total station.

[0003] Next, a transit is mounted on the tripod, the angle between the total station provided in the shaft and the total station installed in the back of the transit is measured, and a transit tripod near the entrance is installed in the total station in the fume tube. The operation of surveying the position of the reflective prism fixed to the fume tube and the reflective prism fixed to the transit tripod at the back, and the survey inside the fume tube until the tunnel excavator at the tip of the fume tube can directly collimate, At the last total station, the surveying reference point prepared in advance in the tunnel excavator is surveyed to determine the current position of the tunnel excavator in the horizontal direction. Place it on a tripod instead, The height difference Rangsit measured sequentially, are drilled while measuring the height of the reference point of the tunnel excavation apparatus by integrating the difference in height.

[0004]

However, in the above-mentioned excavation method, a plurality of surveying personnel must enter a narrow and dark small-diameter fume pipe having an inner diameter of about 80 cm to 150 cm, and a total station, a transit, and a reflecting prism must be installed. At the same time, there were problems to be solved not only because of the troublesome work of moving in the fume pipe in a cramped posture due to repeated surveying, but also for prolonging the excavation work and generating human errors in the survey results.

The present invention relates to a method for burying fume pipes by propulsion excavation, which can shorten the construction period of drilling work, especially curve digging, reduce the number of surveying personnel, and relieve troublesome work in small-diameter pipes. It is an object to provide a self-propelled device for automatic surveying to be used.

[0006]

Means for Solving the Problems The present invention solves the above-mentioned problems and achieves the object, and comprises a fume pipe burying method by propulsion excavation and a self-propelled device for automatic surveying used in the method.

[0007] First, the fume pipe burying method by propulsion excavation is arranged such that the excavation bit having a diameter larger than the outer diameter of the fume pipe to be buried is continuously connected to a tunnel excavation apparatus having a bent part, and the fume pipe is arranged in a shaft. Fume pipes are sequentially added by the pushing and retracting operations of the installed pusher jack, and the fume pipes are sequentially added in the fume pipe burial method in which the excavation hole and the outer peripheral surface of the fume pipe are filled with mud and propelled and excavated. A reflector that can be measured from both sides is installed on the inner wall of the pipe, and an auto-tracking total station (a mechanism to automatically search, collimate, and track the reflector in the total station) Turning to any angle, exploration, surveying according to instructions from a computer given via a communication line Automatically performing ones) equipped with a,
Starting from a reference reflector pre-installed in a shaft, using a triangulation method with the reflector and the automatic tracking total station, determine the coordinates of the automatic tracking total station mounted on the self-propelled vehicle from the distance and angle The coordinates of the reflector arranged on the inner wall of the fume tube are obtained, and in order to repeat this operation up to the tunnel excavator, advance the self-propelled bogie to obtain the direction and coordinates of the tunnel excavator, and then move the self-propelled bogie to the rear end. The bogie is retracted to the fume tube, and the bogie is moved forward and backward every time between the pushing operation and the retracting operation of the pushing jack.The excavating operator is made aware of the correction data in the next excavating operation by the communication means, and the excavating direction is determined. It is characterized in that it is modified.

The self-propelled device for automatic surveying used in the construction method is a device that travels in a buried fume pipe without orbit, and includes an automatic tracking type total station, a battery for power supply, and a microcomputer for controlling a truck. The tilt angle detecting device for detecting the tilt angle of the bogie, and the rotation of motors with reduction gears arranged on the left and right of the center of the bogie are individually transmitted to the drive wheels supported on the lower surface of the bogie. A tilt correcting means, a brake means for stopping traveling, an encoder for detecting a tilt angle and controlling the tilt correcting means to detect a travel distance, and a fume disposed on the front and rear lower surfaces of the bogie. An auxiliary wheel that rotates in contact with the inner wall of the pipe, and a stable fixing means for fixing a bogie when performing surveying with an automatic tracking total station; And controls the tilt correcting means via said microcomputer carriage control based on a detection signal from the detection device unit, is characterized in that in order to maintain the truck always in a stable state.

[0009]

According to the method of the present invention, a reflector that can be measured from both sides is disposed on the inner wall of the fume pipe to be sequentially added, and a self-propelled bogie that runs tracklessly in the fume pipe is equipped with an automatic tracking type total station. Starting from a reference reflector pre-installed in a shaft, using a triangulation method with the reflector and the automatic tracking total station, the coordinates of the automatic tracking total station mounted on the self-propelled vehicle and the inner wall of the fume tube are arranged. To determine the coordinates of the installed reflector, and to repeat this operation up to the tunnel excavator, advance the self-propelled bogie to obtain the direction and coordinates of the tunnel excavator, then retreat the bogie to the last fume tube,
The bogie is moved forward and backward every time between the pushing operation and the retracting operation of the pushing jack, and the direction and coordinates of the tunnel excavator are set in order to allow the excavator to recognize the correction data in the next excavation operation by the communication means. Thus, it is possible to perform the excavation work while always controlling to exactly match the planned line of the tunnel.

In addition, the self-propelled device for automatic surveying can be used to control the micro-controlling vehicle based on a detection signal from an inclination angle detecting device, regardless of whether the bogie itself is out of balance or the fume tube is curved. Automatically controlling the inclination correction means via a computer to maintain a stable state, and stopping the self-propelled trolley by the stable fixing means, stabilize the trolley attitude when measuring the automatic tracking type total station on the trolley As a result, it is possible to run the vehicle in a fume tube without a track, and it is not necessary to lay or remove the track.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS First, an embodiment of a fume pipe burying method by propulsion excavation will be described with reference to the drawings. FIG. 1 is a plan view when a tunnel planning line is curved, and FIG. 2 is an automatic tracking on a self-propelled truck. FIG. 3 is an explanatory view of a measuring method using a total type station and a reflecting mirror, and includes a drill bit 2 having a diameter larger than the outer diameter of a fume pipe 1 to be buried, and a tunnel drilling apparatus 4 having a bent part 3. The fume tube 1 having the metal sleeve S is successively added by the pushing operation and the retracting operation of the push jack 6 disposed in the shaft 5, and the mud is formed between the excavation hole 7 and the outer peripheral surface of the fume tube 1. It is based on the fume pipe burial method of propelling and excavating while filling 8.

In the above fume pipe burying method, the reflectors M ₁ , M ₂ , M ₃ , M ₃ , M ₃ , M ₃ , M ₃ , M ₂ , M ₃ , M ₂ , M ₃ , M ₂ , M ₁ , M ₂ , M ₃ , M ₂ , M ₁ , M ₂ , M ₃
Are sequentially arranged at appropriate intervals that can be measured linearly (see FIG. 2).

The measurement is performed using a self-propelled device for automatic surveying shown in FIGS. The self-propelled device for automatic survey includes an automatic tracking total station 10, a battery 11 for power supply, a microcomputer 1
2 and a self-propelled vehicle 9 equipped with a survey control microcomputer 13, a tilt angle detecting device section including a two-axis inclinometer 14 for detecting the tilt angle of the self-propelled vehicle 9, and a left and right central portion on the self-propelled vehicle. Inclination correcting means arranged to independently transmit the rotation of a motor 15 with a speed reducer provided with a braking means 17 to two drive wheels 16 supported on the lower surface of the self-propelled trolley; An encoder 18 for detecting an angle and controlling the inclination correcting means to measure a traveling distance;
When surveying is performed with four auxiliary wheels 20 which are disposed on the lower surface in front of and behind the self-propelled trolley 9 with the ground position higher than the drive wheels 16 and rotate in contact with the inner wall of the fume tube, and the automatic tracking total station 10 And a metal outrigger 21 for stably fixing the self-propelled carriage 9.

Next, the measuring method will be described with reference to FIG. 2.
The start operation results in a self-running start state, and the self-running control is performed by the bogie control microcomputer 12.

Now, when the self-propelled vehicle 9 starts at the starting point P ₀ , the surveying control microcomputer 13 issues a command to the automatic tracking total station 10, and firstly, the reference reflecting mirrors M _a and M _b installed in advance in the shaft 5. , The reflecting mirrors M _a , M
_b , M ₁ is measured to determine the starting point P _0, and the position of the reflecting mirror M ₁ is measured, so that the survey control microcomputer 13 travels to the bogie control microcomputer via the communication line and travels forward. Give a command.

When a forward command is received, the outrigger 21
And issues a speed command to the motor 15 with a speed reducer.
Thereby, the self-propelled carriage 9 starts moving forward.

A trolley control microcomputer 12
Reads the signal from the two-axis inclinometer 14 and operates the speed command given to the two motors 15 with the reducer in order to correct the inclination of the self-propelled vehicle.

Further, the pulse of the encoder 18 is checked, and the traveling distance of the self-propelled carriage 9 is confirmed.
Decelerated by the speed command at ₁ the front, 0 at the position P ₁ of the objective
The vehicle control microcomputer 12 confirms the stop of the self-propelled vehicle 9 and reports the end of movement to the survey control microcomputer 13,
Survey control microcomputer 1 that received the report
3 instructs the bogie control microcomputer 12 to operate the outrigger 21, and waits for a report of the operation completion to perform the next survey.

Such a survey is performed at each target position P ₂ , P ₃
.. Performed at the reflecting mirrors M ₂ , M ₃ ... At the final position (P ₃ , M _{3 in} FIG. 2).
A reflecting mirror M _n of the center of the center of, by measuring the inner reflector M _m of the inner surface position after determining the orientation of tunneling device 4, coordinate, Hume pipe end portion a self-propelled carriage 9 1 and the self-propelled carriage 9 is moved forward and backward every time between the pushing operation and the retracting operation of the push-down jack 6, and the modification data in the next excavation work is recognized by the excavation worker by telephone means. Correct the direction.

Next, a description will be given of an embodiment of a self-propelled device for automatic surveying used in the above fume pipe burying method.
As shown in the figure, the automatic tracking total station 10,
Power supply battery 11, trolley control microcomputer 12, and surveying control microcomputer 1
A self-propelled trolley 9 mounted on the vehicle 3; a tilt angle detecting device section comprising a two-axis inclinometer 14 for detecting the tilt angle of the self-propelled trolley 9; Inclination correcting means for independently transmitting the rotation of a motor 15 with a speed reducer provided with 17 to two plastic drive wheels 16 supported on the lower surface of the self-propelled trolley; and detecting the inclination angle. And an encoder 18 for controlling the inclination correcting means to measure a traveling distance, and an encoder 18 which is disposed on the lower surface in front of and behind the self-propelled trolley 9 with the ground position higher than that of the drive wheel 16 so as to contact the inner wall of the fume tube and rotate. Four auxiliary wheels 20 made of plastic, a metal outrigger 21 for stably fixing the self-propelled vehicle 9 when performing surveying with the automatic tracking type total station 10, and a horizontal axis rotation of a forward / reverse rotation motor 25. Vertical direction And outrigger drive means for transmitting,
A bumper switch 19 for stopping running when an obstacle is contacted before and after the self-propelled trolley 9; Battery voltmeter and two-axis inclinometer 1
4 is provided with an outside air thermometer for temperature correction and the like, and the inclination correcting means is controlled through the self-propelled bogie control microcomputer 12 based on a detection signal from the inclination angle detecting device.

In the above-described embodiment, the case where the two-axis inclinometer 14 is used as the tilt angle detecting device has been described. However, the present invention is not limited to this, and a gyro such as a rate gyro, a rate integrating gyro, a laser A gyro, an optical fiber gyro, a vibration gyro, or the like can be used.

The means for stably fixing the self-propelled carriage 9 include:
Although the three outriggers 21 are used, the number of outriggers is not limited to the number, and any means for stably stopping the self-propelled trolley 9 may be used for extending the left and right inner walls of the fume tube.

The rotation of the motors 15 with reduction gears arranged on the left and right sides of the center of the self-propelled vehicle 9 is transmitted independently to two drive wheels 16 supported on the lower surface of the self-propelled vehicle. As shown in FIG. 6, the tilt correcting means includes a timing pulley 22, a timing belt 23, and a bearing 24.
It is composed of

As the outrigger driving means, as shown in FIG. 7, a worm gear 26 and a worm wheel / nut 27 are rotated via a bevel gear 28 by rotating a shaft of a forward / reverse rotation motor 25, and are constituted by ball screws. The driven outrigger 21 is driven vertically.

In general, a self-propelled bogie that travels in a fume tube without a track has a center of gravity of the self-propelled bogie because the self-propelled bogie itself has a disturbed balance and the embedded state of the fume tube is curved. The deviation from the vertical center line causes a difference in the height in the lateral direction with respect to the traveling direction inside the fume tube.

For example, when the vehicle shifts to the right, the vehicle moves to the upper right, and if this inclination is left, the self-propelled truck sometimes falls down, making the surveying difficult or impossible.

However, the self-propelled device for automatic surveying according to the present invention is provided on the left and right sides of a central portion of the self-propelled vehicle, and a tilt angle detecting device comprising a two-axis inclinometer 14 for detecting the tilt angle of the self-propelled vehicle. Since the rotation of the motor with speed reducer 15 is provided independently to the two drive wheels 16 made of plastic supported on the lower surface of the self-propelled bogie, the inclination is corrected. can do.

For example, the speed of the right driving wheel is made lower than that of the left driving wheel to change the direction to the right, and conversely, the direction is changed to the left. , And vice versa, by turning right and repeating this operation quickly, the self-propelled bogie travels while maintaining a stable posture.

[0029]

According to the above-described method for burying fume pipes by propulsion excavation and the self-propelled device for automatic surveying described above, since a trackless self-propelled vehicle is used, it is necessary to lay and remove the rails for traveling the vehicles. Hume pipe burial by propulsion excavation, which makes it possible for surveying personnel to carry out surveying alone, and shortens the construction period of curve excavation, reduces the number of surveying personnel, and frees from difficult work It is possible to provide a construction method and an automatic surveying device used in the construction method.

[Brief description of the drawings]

FIG. 1 is a schematic plan view of a fume pipe burying method according to the present invention.

FIG. 2 is an explanatory diagram of a procedure for installing a reflecting mirror on an inner wall of a fume tube.

FIG. 3 is a side view of the automatic surveying device.

FIG. 4 is a plan view of the automatic surveying device.

FIG. 5 is a front view of the automatic surveying device.

FIG. 6 is an explanatory diagram of driving means for driving wheels.

FIG. 7 is an explanatory diagram of an outrigger driving unit.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Hume pipe 2 Drilling bit 3 Middle bent part 4 Tunnel excavator 5 Vertical shaft 6 Push jack 7 Drilling hole 8 Mud 9 Self-propelled trolley 10 Automatic tracking type total station 11 Battery for power supply 12 Microcomputer for control of trolley 13 Microcomputer for survey control 14 Biaxial inclinometer 15 Motor with reduction gear 16 Driving wheel 17 Brake means 18 Encoder 19 Bumper switch 20 Auxiliary wheel 21 Outrigger 22 Timing pulley 23 Timing belt 24 Bearing 25 Forward / reverse rotation motor 26 Worm gear 27 Worm wheel / nut 28 Bevel gear M Reflector

──────────────────────────────────────────────────続 き Continued on the front page (58) Fields surveyed (Int. Cl. ⁶ , DB name) E21D 9/06 311 E21D 9/06 301 G01C 15/00

Claims (2)

(57) [Claims] 1. A push-out jack provided in a vertical shaft, which is continuously connected to a tunnel excavator having a drill bit having a diameter larger than the outer diameter of a fume pipe to be buried and having a bent portion, and By the retraction operation, the fume pipes are sequentially added, and the fume pipe burial method, in which mud is filled between the excavation hole and the outer peripheral surface of the fume pipes, can be surveyed from both sides on the inner wall of the fume pipes to be added sequentially. Along with disposing a reflector, an auto-tracking total station is mounted on a self-propelled truck traveling tracklessly in the fume tube, starting from a reference reflector pre-installed in a shaft, the reflector and the auto-tracking total station. Using the triangulation method based on the above, the coordinates of the auto-tracking total station mounted on the self-propelled bogie are found, and the The self-propelled bogie is moved forward to determine the coordinates of the reflectors arranged on the inner wall of the tube, repeat this operation up to the tunnel excavator, and obtain the direction and coordinates of the tunnel excavator. The bogie is moved backward and forward, and the bogie is moved forward and backward every time between the pushing operation and the retracting operation of the pushing jack. A method for burying fume pipes by propulsion excavation, characterized in that the method is modified. 2. A self-propelled device for self-running in a buried fume tube, comprising: an automatic tracking type total station;
A trolley equipped with a battery for power supply and a microcomputer for controlling the trolley has a tilt angle detection unit for detecting the tilt angle of the trolley, and rotation of motors with reduction gears arranged on the left and right of the center of the trolley. Inclination correcting means for individually transmitting to driving wheels supported on the lower surface, brake means for stopping traveling, and an encoder for detecting the inclination angle and controlling the inclination correcting means to detect the traveling distance And auxiliary wheels that are arranged on the front and rear lower surfaces of the bogie and rotate on contact with the inner wall of the fume tube, and stable fixing means for fixing the bogie when performing surveying with an automatic tracking type total station. Based on the detection signal from the angle detection unit, the inclination correcting means is controlled via the bogie control microcomputer so that the bogie is always maintained in a stable state. Automated preparative surveying self device used in fume tube embedded method by promoting drilling, wherein.