JP3483438B2 - Underground propulsion device initial angle detection method and horizontal position continuous detection 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 of excavating and promoting the underground without excavating the ground when burying a telephone cable, a water pipe, a sewer pipe, a gas pipe, etc. in the earth in civil engineering work. The present invention relates to an initial angle detection method and a continuous position detection method for an underground propulsion device applied to a certain non-excavation propulsion technique.

Conventionally, as a method of burying a pipe in the ground,
A method of burying a pipe has been adopted mainly by applying a so-called excavation method of excavating from the road surface or the ground surface. But,
Such an excavation method has a problem that the road traffic is obstructed and at the same time, a large amount of earth and sand that is treated as industrial waste is generated. In addition, since large-scale machinery is used to carry out excavation work at night, noise and vibration are given to residents in the vicinity, which adversely affects the living environment.

For this reason, a starting and reaching shaft is provided at the starting point and the ending point of the pipe burying position, and the tip device is started by a press-fitting method or an excavating method according to a planned line set underground from the starting shaft. The construction method is applied. The press-fitting method is a method of first propelling a predetermined stroke by using a hydraulic jack built in the tip device, and then press-fitting the tip device by a hydraulic jack of an original pushing device installed in the starting shaft. The excavation method is to excavate the earth and sand by utilizing the excavation capacity of the excavation unit having the rotating mechanism attached to the tip device, and at the same time, push the tip device forward by the hydraulic jack of the former push device installed in the starting shaft. Is the way.

The non-open cutting method using such propulsion technology is
Speaking of the press-fitting method, it is a technology that can propel a tunnel (propulsion pipe) with a pipe diameter of 300 to 400 mm up to about 500 m, and the excavation method has a maximum pipe diameter of 600 m.
It is possible to propel a tunnel (propulsion pipe) up to m up to about 250 m. In addition, since the tip device is equipped with a direction correction jack and a center bending portion, it has the feature that it can flexibly respond to curved propulsion, and can also propel a sharp curve with a radius of curvature of about 100 m. it can.

In carrying out such a non-open cutting method, specialized technical know-how related to propulsion is required.
In order to realize high-quality construction, it is important to accurately grasp the propulsion position for accurate construction management during propulsion. Conventionally, the strength of the electromagnetic field generated from the electromagnetic coil installed inside the propulsion machine is controlled. The horizontal position during the construction of the machine under the ground was detected by the method of using the receiver placed on the ground and the method of the gyro measurement.

[0006]

In the conventional method, when another metal buried object such as a water pipe exists in the vicinity of the machine, the electromagnetic field is distorted and a large error occurs with respect to the actual position of the machine. there were. Furthermore, when propelling under the orbit of a river or railway, receivers cannot be installed and measurement becomes impossible, and it becomes difficult to receive electromagnetic fields due to an increase in the amount of soil on the machine, and intermittent position detection results in measurement. There were problems such as a decrease in accuracy, a risk of traffic accidents due to measurement on the road, and an increase in measurement time as the vehicle was propelled over a long distance. Also, in the conventional gyro measurement, due to the measurement error of the initial angle when the device starts,
There is also a problem that a linear error occurs in the entire measured value. It is an object of the present invention to significantly reduce the initial angle error that affects the entire horizontal displacement measurement value of a machine and improve the accuracy of horizontal position detection.

[0007]

A method for detecting an initial angle of an underground propulsion device according to the present invention provides a horizontal setting angle (initial angle) with respect to a propulsion base line at the time of starting of a propulsion device that propels underground to excavate a tunnel. An initial angle detecting method for calculating, which is a horizontal angle data obtained by a gyro which is installed in the propulsion device and detects a horizontal angle change immediately after the propulsion device is started, and an inclinometer which is installed in the propulsion device and detects an inclination. The horizontal displacement of the device being propelled by using the angle data obtained by the above, the distance data obtained by the range finder mounted in the propulsion device and measuring the propulsion distance, and the target plate for position measurement installed in the propulsion device. It is characterized in that the initial angle with respect to the propulsion base line at the start of the propulsion device installed in the shaft is calculated back using the survey data obtained by the simultaneous measurement.

According to the method for detecting the initial angle of the underground propulsion apparatus of the present invention, when measuring the horizontal installation angle (initial angle) with respect to the propulsion base line in the vertical shaft at the start of the propulsion apparatus in which the gyro cannot be measured, , A few strokes (one stroke is, for example, 75c for one stroke) when the apparatus is started by using the target plate for measuring the horizontal displacement mounted in the apparatus.
Each horizontal displacement in m) is measured by a transit installed in the rear part of the device in the vertical shaft, and horizontal angle data obtained by operating the gyro at the same time, distance data by a rangefinder, and an inclinometer (elevation angle meter for detecting pitching). , The rotation angle measuring instrument for detecting the rolling) is used to calculate the solution of the horizontal displacement calculation formula in which the initial angle is an unknown number, and the initial angle is calculated backwards as being equal to the horizontal displacement measurement data. Here, since the value of the initial angle exists for the survey data,
The average value of these values is finally adopted as the value of the initial angle, but the resolution of the solution obtained here is one with a significant figure from the resolution of one solution in the target plate surveying by the average value processing. It has gone down.

Further, the continuous position detecting method for the underground propulsion device of the present invention is a method for continuously detecting the horizontal position of the propulsion device for propelling the ground to excavate a tunnel, and detects a change in horizontal angle. After starting the propulsion device equipped with a gyro, an inclinometer for detecting the inclination and a rangefinder for measuring the propulsion distance, after detecting the initial angle by the above-mentioned method, the horizontal angle data output from the gyro is measured by the inclinometer. A correction calculation is performed using the angle data, and the horizontal position of the propulsion device is repeatedly calculated by the distance data obtained at the same time and the corrected horizontal angle data.

According to the continuous position detecting method for the underground propulsion device of the present invention, when the horizontal position of the propulsion device for propelling the underground to dig a tunnel is detected, the horizontal angle change of the propulsion device is detected. It is equipped with a gyro means to measure, and this measurement can continuously output the horizontal angle change of the propulsion device without being affected by the surrounding electromagnetic field etc., and continuously calculate the horizontal position of the device. , Road measurement is not required, and measurement accuracy and safety are improved. In addition, since it is possible to detect the position from the starting shaft, restrictions such as construction depth of rivers and railways over the tracks can be relaxed. By combining with the initial angle detection method of the invention, it is possible to eliminate a linear error factor, and it is possible to greatly improve the detection accuracy.

[0011]

Embodiments of the present invention will be described below.
FIG. 1 is a diagram for explaining an initial angle of the propulsion device with respect to the base line, and in this case, the propulsion device 1 is installed at an initial angle of 2 with respect to the base line 3. In this state, first, as shown in FIG. 2, the value of the scale of the target plate 5 as shown in FIG. 3 mounted in the apparatus is read by the transit 4 installed at the rear of the apparatus as shown in FIG. By doing so, the initial position data X0 corresponding to the unknown initial angle α is measured. Here, it is assumed that the transit 4 is installed in the shaft along the propulsion base line.

Next, the gyro, rangefinder and inclinometer (elevation angle measuring meter for detecting pitching, rotation angle measuring meter for detecting rolling) are activated and propelled by the length L1. Similarly, the horizontal displacement data X1 is measured, and the correction angle θ1 is calculated from the gyro angle data and the inclinometer data at that time. As shown in FIG. 5, the horizontal relative displacement at this time is X1-X0.
Is. If the initial angle at this time is α1, then X1-X0 =
Since L1sin (θ1 + α1), the initial angle at which the device is installed is calculated back as α1 = sin ⁻¹ ((X1−X0) / L1) −θ1.

Next, if the data is measured in the same manner by propelling from the measurement point of X1 to L2 again, the initial angle is α
2 = sin ⁻¹ ((X2-X1) / L2) -θ2. Similarly, the nth initial angle calculation formula is αn = sin ^-1 ((Xn-Xn-1) / Ln)-
θn. Each of the n pieces of initial angle data obtained in this way generally has different values due to differences in the accuracy of the target plate and the accuracy of the measuring equipment, and therefore shows different values and is not a perfect match. do not do. Therefore, the obtained initial angle data is statistically processed with the sample number n. By performing this process, the obtained initial angle α is obtained by simply measuring the displacement with the target plate and calculating the back angle, and the effective number is one digit lower than each initial angle αn. Therefore, according to this method, it is possible to calculate with accuracy higher than the resolution of the target plate.

Further, when propelling the underground propulsion pipe into the ground,
The current position can be continuously detected by the values of θ1, θ2, ..., θn and L1, L2, ..., Ln. On the contrary, when the destination point is set, the destination point can be easily reached by calculating based on the corresponding parameter and propelling the propulsion device.

[0015]

As described above, according to the initial angle detecting method for the underground propulsion device of the present invention, the machine propels the horizontal installation angle of the device with respect to the propulsion base line which cannot be measured by the gyro alone, that is, the initial angle. It became possible to back-calculate the horizontal displacement generated by doing the measurement by the transit and using the gyro change value at that time. Furthermore, by significantly suppressing the initial angle error that affects the entire horizontal displacement measurement value of the propulsion device by the gyro,
It is possible to improve the accuracy of continuous position detection by the continuous position detection method of the present invention.

[Brief description of drawings]

FIG. 1 is a diagram for explaining an initial angle of a propulsion device with respect to a base line.

FIG. 2 is a diagram for explaining the installation of a transit.

FIG. 3 is a diagram showing a target plate mounted in the apparatus.

FIG. 4 is a diagram for explaining an example of measurement by transit.

FIG. 5 is a diagram for explaining an example of measurement by transit.

[Explanation of symbols]

1 propulsion device 2 initial angle 3 baseline 4 Transit 5 target plate

─────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-6-307184 (JP, A) JP-A-7-139290 (JP, A) JP-A-4-12219 (JP, A) Actual Kaihei 7- 20398 (JP, U) (58) Fields investigated (Int.Cl. ⁷ , DB name) E21D 9/093

Claims (2)

(57) [Claims] 1. An initial angle detection method for calculating a horizontal set angle (initial angle) with respect to a propulsion base line at the time of starting a propulsion device that excavates a tunnel by propelling in the ground. Horizontal angle data obtained by a gyro installed in the device to detect horizontal angle changes, angle data obtained by an inclinometer installed in the propulsion device to detect tilt, and propulsion distance measured in the propulsion device. It is installed in the shaft using the distance data obtained by the range finder and the survey data obtained by simultaneously measuring the horizontal displacement of the device during propulsion using the target plate for position measurement installed in the propulsion device. A method for detecting an initial angle of an underground propulsion device, characterized in that the initial angle of the propulsion device with respect to the propulsion base line when starting is calculated backward. 2. A method for continuously detecting a horizontal position of a propulsion device for excavating a tunnel by propelling in the ground, comprising measuring a horizontal angle change gyro, a tilt inclinometer and a propulsion distance. After the start of the propulsion device equipped with the range finder, after detecting the initial angle by the method according to claim 1, the horizontal angle data output from the gyro is corrected and calculated using the angle data of the inclinometer, and at the same time, A horizontal position continuous detection method for an underground propulsion device, characterized in that the horizontal position of the device under propulsion is repeatedly calculated based on the obtained distance data and the corrected horizontal angle data.