JP3442451B2 - Survey 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 surveying method in tunnel tunnels such as shield tunneling or propulsion tunnels. More specifically, the present invention relates to a surveying method for highly accurately and quickly constructing a tunnel along a planned line.

[0002]

2. Description of the Related Art In recent years, the demand for advanced utilization of underground space has increased, and expectations for tunnel construction by shield excavation and propulsion methods have become great.
Correspondingly, there is a strong demand for further sophistication of the technology. As is well known, in tunnel construction, it is technically indispensable to lay the tunnel along the alignment as planned, especially in the shield method and the propulsion method where mechanical excavation is performed. For that purpose, accurate measurement of the position of the excavator is a very important requirement.

For measuring the position of such an excavator and surveying for construction along a planned line of a tunnel, a method of surveying by human power and a method by automatic surveying have been conventionally known. Of these, center surveying (traverse surveying) and offset surveying are the main methods of human-powered surveying. Also, as an automatic surveying method that replaces human-powered methods, a method using a laser rangefinder and gyro compass is available. is there.

This latter automatic surveying method is far more rational than the manual surveying, and the manual surveying can be performed constantly during the excavation, as compared to the manual surveying performed between shield excavations. Because the variation is small,
It is gradually becoming popular. However, although it is an automatic surveying method having such an excellent advantage, in the method using the laser rangefinder, when the tunnel alignment is a curve, the number of times the laser rangefinder is replaced increases,
Further, there is a defect that the laser beam is blocked if there is an obstacle between the laser distance measuring and measuring device and the shield machine. In the case of the method using the gyro compass, when the shield machine horizontally moves at the same angle in the horizontal direction,
Since the gyro compass points in the same direction before and after moving, it has the drawback that it is measured as if it is moving in the same direction, and that it appears as an error.

Therefore, the inventors of the present invention can solve the drawbacks of the conventional automatic surveying methods while making the best use of the features of the automatic surveying method such as the shield construction method, and construct a tunnel along the planned line. We have already proposed a method for tunnel surveying with high efficiency and high accuracy. This method is a rangefinder that travels along a rear carriage in an excavation pit, and it detects the temporary reference point between the excavator and the reference point and the position of the rangefinder sequentially based on the reference point. And the position of the excavator is detected.

FIG. 1 illustrates a series of procedures of a surveying method already proposed by the inventors of the present invention. 2 to 5 illustrate this procedure along with a concrete example. That is, first, in the state shown in FIG. 2, the reflection prism located at two reference points behind the rear bogie from the distance measuring and angle measuring device (21) mounted on the movable bogie (20) located at the position (a). The motors (b) and (c) are driven horizontally and vertically, and when three points are sequentially collimated, the three-dimensional coordinate position of the rangefinder is determined by triangulation. Next in FIG.
As shown in FIG. 3, the rangefinder horn (21) whose three-dimensional coordinate position is required is rotated horizontally and vertically, and the reflecting prisms (d) (e) are installed at two appropriate positions to see through. )
Is collimated, and the three-dimensional coordinate positions of the two reflecting prisms (d) and (e) are obtained and used as two temporary reference points. Next, as shown in FIG. 4, the movable carriage (2
0) is automatically moved from the position (a) to the position (f), the distance measuring finder (21) moved to the position (f) is moved to the reflection prism (d) ( e) Collimate and determine the three-dimensional coordinate position of the rangefinder with the triangulation procedure. Then, as shown in FIG. 5, the reflection prism (g) installed on the excavator is collimated from the provisional reference point whose coordinate position is already known and the distance measuring and angle measuring device (21), and the reflection prism The three-dimensional coordinate position is obtained, and the position of the excavator (24) is automatically measured.

The surveying method as described above enables highly efficient and highly accurate automatic surveying. However, the subsequent study by the present inventor revealed that there is room for further improvement in the above surveying method. This is because the distance light used to measure the distance in the conventional surveying method is, for example, as shown in FIG. 6, radiated with a spread of about ± 20 minutes, and the automatic tracking type rangefinder Has a structure for tracking the weighted center of the light reflected by the reflection prism (h, i), so in order for the automatic tracking type rangefinder to track the center of the reflection prism (h, i) When one of the reflecting prisms (h) is automatically tracked, one of the reflecting prisms (i) must be positioned outside the range of the spread (25) of the light wave being tracked.

Therefore, for example, as illustrated in FIG.
The distance between the two reflecting prisms (26) needs to be 1 m or more, and as a result, for example, even if the position of the excavator is measured using only two reflecting prisms on the face side, it is about 9 m.
It took 0 seconds and real-time measurement of the position of the excavator was impossible. Furthermore, during the time lag that occurs during such measurement, the position of the excavator often shifts, which often causes a large error in the distance measurement and angle measurement.

The present invention has been made in view of the above circumstances, and an object of the present invention is to solve the drawbacks of the conventional automatic surveying methods and to provide a highly accurate and rapid shield surveying method. .

[0010]

SUMMARY OF THE INVENTION The present invention is to solve the above-mentioned problems by providing a range finder that travels along a rear bogie in a tunnel excavation pit, wherein the excavator and the reference point are based on the reference point. the location of the temporary reference point and the distance measurement measuring SumiTadashi between the reference point及
In the surveying method of detecting the position of the excavator by sequentially detecting using the reflection prisms installed at each temporary reference point, the reflection prisms installed at the reference point and the temporary reference point are
A pair stored in a box where each shutter opens and closes
Can be used as a reflection prism or between two positions
As a single reflecting prism, it is placed close to the corresponding light wave spread range or at a distance within the light wave spread range.
And location, the reference point and the temporary reference point, the opening of one of the shutters of the two reflecting prisms, may be properly measures the distance and angle measuring by the movement of the position of one of the reflecting prism,
Then the opening of the other of the shutter, also the properly reflecting prisms
Cormorant line distance measurement and angle measuring by the movement to the other position, one
Pair of reflecting prisms or one reflecting prism capable of two positions
The present invention provides a surveying method characterized in that the position and orientation of a machine are detected by the alternate position individual distance measurement and angle measurement .

Further, the present invention is characterized in that, in the above-mentioned invention , the turning angle of the rangefinder is taken out as data, and the position and orientation of the machine are detected by calculation processing. It also provides a survey method.

[0012]

In other words, in the present invention, for example, as shown in FIG. 7, the reflecting prism is stored in the box that opens and closes the shutter (27) corresponding to each reflecting prism, and either one of the shutters ( 27) and close the other shutter (27) to open the shutter (2
The distance measurement and angle measurement are performed by using the reflection prism (h) corresponding to 7), then the opened shutter (27) is closed, the closed shutter (27) is opened, and the opened shutter (27) is opened. Distance measurement and angle measurement are performed using the reflection prism (i) corresponding to 27). As described above, a pair of reflection
The shutter alternately opens the shutter at each individual position to measure the distance and angle.
At that time, the reflecting prisms are light waves that correspond to each other.
Can be placed close to each other within the spread range.

By using the reflecting prism via the shutter in this way, it is possible to bring the reflecting prisms (h, i) close to each other without having to consider the spread (25) of the light wave. By arranging the reflecting prisms (h, i) close to each other, the turning and tracking time of the automatic tracking type rangefinder can be greatly reduced. Therefore, for example, it takes only about 15 seconds to measure the position of the excavator in the shield construction method or the propulsion construction method by using two facet side reflection prisms, and real-time measurement of the excavator position is sufficiently possible. Became.

Furthermore, since the time lag that occurs during such measurement is extremely small, the displacement of the position of the excavator can be minimized, and highly reliable distance measurement and angle measurement data can be obtained. Instead of the shutter opening / closing method, the reflecting prism itself may be moved. this
In this case, the reflecting prism is a single mirror that can move between two positions.
As a projection prism, the spread range of the light wave corresponding to two positions
Are placed at a distance within, and at the reference point and the temporary reference point,
By moving the reflecting prism to one position,
Angle measurement, then move to the other position to
And angle measurement will be performed.

Of course, in the surveying method of the present invention, as in the conventional surveying method, a) angle measurement data of two reflecting prisms and distance data of either one of them, a)
For example, as illustrated in FIG. 8, one of the reflection prisms (i) is moved so that the distance measurement angle measurement data of one reflection prism (h) and the turning angle of the automatic tracking type distance measurement angle measurement device become zero. If the amount of movement (I) in the case of a c), c) the propulsion amount obtained from the angle measurement value of the two reflecting prisms and the jerk stroke value of the excavator is adopted, the position of the excavator can be accurately and accurately determined. Measure quickly.

Of course, in the case of (a), equipment for moving the reflecting prism up and down is required. Furthermore, in the present invention, the turning angle of the rangefinder may be taken out as data, and the position and orientation of the excavator may be detected in real time by calculation processing. In other words, the distance-measuring and measuring instrument according to the present invention, based on the amount of light reflected from the prism, determines the weighted center of the amount of reflected light inside the prism, determines the turning angle, and actually shifts to the turning operation, and Since the angle is measured, the position and orientation of the excavator can be measured instantly and in real time simply by taking out the turning angle as data and calculating it.

The surveying method of the present invention will be described in more detail.

[0018]

EXAMPLES In the surveying method of the present invention and the conventional surveying method using a reflection prism without a shutter, the measurement accuracy of the position of the excavator was calculated, and the accuracy was compared and examined. In the surveying method of the present invention, assuming that the distance between the reflecting prisms is 1 m, the accuracy of the angle measurement of the automatic tracking type rangefinder is generally 10 seconds. If the distance between the reflection prism and the automatic tracking type rangefinder is 30,000 m, then sin (10 °) × 30,000 = 1.5 mm.

That is, when the distance between the reflecting prisms is 1 m, the accuracy of the position of the shield machine is about 1.5 mm × 2.
(2 reflection prisms) = 3 mm error occurs. Therefore, the azimuth error of the shield machine measurement using the method of the present invention is 0.17 ° at the maximum. On the other hand, in the conventional shield surveying method, when the gyro compass is used, the azimuth error of the shield machine measurement is generally 0.2 °, so the accuracy of the method of the present invention is very high. .

[0020]

As described in detail above, according to the present invention, in the shield excavation method or the propulsion method, the reflecting prism is arranged in the box provided with the shutter corresponding to the reflecting prism. When it is placed within the corresponding spread range of the light wave,
Also, or spread of a corresponding light wave movement of reflecting prism
Interference of light waves, even if it is movable within a range
There is no need to consider the spread of light waves as in the past.
In addition to being able to perform high-precision
Close the box within the corresponding light wave spread range.
With this arrangement, distance measurement and angle measurement of the position of the excavator can be performed quickly, and real-time measurement of the position of the excavator has become possible.

Furthermore, since the time lag that occurs during such measurement is extremely small, the displacement of the excavator position can be minimized, and highly reliable distance measuring and angle measuring data can be obtained.

[Brief description of drawings]

FIG. 1 is a process block diagram showing an outline of a surveying method proposed by the inventor of the present invention.

FIG. 2 is a plan view showing the first step of the surveying method already proposed by the inventor of the present invention.

FIG. 3 is a plan view showing a second step of the surveying method already proposed by the inventor of the present invention.

FIG. 4 is a plan view showing a third step of the surveying method proposed by the inventor of the present invention.

FIG. 5 is a plan view showing a fourth step of the surveying method proposed by the inventor of the present invention.

FIG. 6 is a schematic view showing the arrangement of reflecting prisms in the surveying method proposed by the inventor of the present invention.

FIG. 7 is a schematic view showing the arrangement of reflecting prisms in the surveying method of the present invention.

FIG. 8 is a schematic view showing the arrangement of reflecting prisms in the surveying method of the present invention.

[Explanation of symbols]

b, c Reflective prism located at the reference point d, e, g Reflective prism located at temporary reference point 20 Mobile measurement cart 21 Motor-driven rangefinder 22 Running track 23 Rear bogie 24 excavator 25 Spread of light wave 26 Reflection prism spacing 27 shutter

─────────────────────────────────────────────────── ─── Continuation of the front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) G01C 15/00-15/14 E21D 9/06 G01C 7/06

Claims (2)

(57) [Claims] 1. A range finder that travels along a rear bogie in a tunnel excavation pit, wherein a temporary reference point between the digging machine and the reference point and the position of the range finder are set based on the reference point . Reference point and provisional reference
Using the reflecting prisms installed at each point to detect sequentially,
In the surveying method for detecting the position of the excavator, the reflection prisms installed at the reference point and the temporary reference point are
The pair of reflective plates stored in the box that the
One counter that can move as rhythm or between two positions
As an emissive prism , approaches within the corresponding spread range of light waves
Or at a distance within the spread range of the light wave,
In quasi-point and the temporary reference point, the two reflecting prisms one
Opening the square of the shutter, also the properly one reflecting prisms
Measures the distance and angle measuring by the movement of the position, then the other
The other position is opening the shutter, it is also properly reflecting prisms
Cormorant line distance measurement and angle measuring by the movement of the location, a pair of reflection
Alternating position of prism or one reflecting prism capable of two positions
A surveying method characterized by detecting the position and orientation of the excavator by means of individual distance measurement and angle measurement . 2. The surveying method according to claim 1, wherein the turning angle of the rangefinder is taken out as data and is calculated to detect the position and orientation of the machine.