JP3511404B2 - Excavation confirmation survey method of shield machine - Google Patents

Description

Detailed Description of the Invention

[0001]

The present invention relates to a shield construction method,
A shield machine that is applied to confirmation surveys to measure the current position and attitude of the shield machine in order to constantly monitor the excavation direction of the shield machine and to correct the trajectory before the deviation from the planned line is large. This is related to the surveying method of excavation confirmation.

[0002]

2. Description of the Related Art In the conventional shield construction method, the excavation is stopped once every several rings of the shield machine have been excavated, the total station is installed and surveyed based on the survey points extended in the tunnel. I aimed the machine directly and confirmed its position and attitude.

Recently, the shield machine itself has been equipped with a system for recognizing the excavation locus, but the reliability is not sufficient and the frequency is low, but the conventional confirmation survey is performed. Has been.

[0004]

However, this survey requires manpower and the work is performed in the mine. Especially, since several tens of meters before the shield machine are surveyed using the narrow space of the rear equipment, You are forced to work hard. Also,
Since this surveying work cannot be performed at the same time as the excavation work, the excavation work is stopped or the surveyor is forced to work overtime, and labor saving or unmanned work is desired.

Therefore, there is no problem if the shield machine can be directly collimated at a total station with known coordinates, which is installed from the rear of the shield machine, avoiding the positions of the transport vehicle passage and pipes in the mine. Obstructs the field of view, and direct collimation is impossible. Therefore, if a point on the line parallel to the shield machine axis appears at the rear of the rear equipment, the relative positional relationship with the shield machine body is known, and if this point can be collimated by a total station installed at a known coordinate system, the shield The position can be known from the attitude data of the aircraft.

The present invention has been proposed in view of such circumstances, and an object of the present invention is to provide an unmanned and automated method for surveying and confirming the excavation of a shield machine.

[0007]

SUMMARY OF THE INVENTION The present invention has been proposed to achieve the above-mentioned objectives of labor saving and unmanned surveying, and a laser emitted from a visible light laser range finder fixed to a shield machine. Light is radiated through the gap between the equipment behind the shield machine and the segment to a semi-transmissive / semi-reflective screen installed at the rear of the equipment behind the shield machine, and the laser on the screen
The distance between the laser irradiation point and the shield machine is obtained, and the laser irradiation point on the screen is collimated by a total station installed at a position coordinate known point behind the screen, and the laser irradiation point on the screen is collimated . Laser irradiation point
The position of the shield machine equipped with the shield machine after obtaining the position coordinates
The attitude of the shield machine is obtained by the detection means, and the screen
The distance between the laser irradiation point on the screen and the shield machine,
Position coordinates of laser irradiation point on screen and shield
The position of the shield machine is calculated from the attitude of the machine .

The invention of claim 2 is fixed to a shield machine.
Laser emitted from three visible laser rangefinders
Allow light to pass through the gap between the segment behind the shield machine and the segment.
The three semi-transmissive semi-reflective discs installed at the rear of the rear equipment.
Illuminate each of the leans and put them on those three screens
Find the distance between each of the three laser irradiation points and the shield machine
Therefore, the three laser irradiation points on the three screens
Position coordinates known point further behind those screens
Collimated by the total station installed in
The position of each of the three laser irradiation points on those screens
Three lasers on the three screens are obtained by finding the coordinates.
-The distance between each irradiation point and the shield machine,
The position coordinates of the three laser irradiation points on the screen
In addition, the position and orientation of the shield machine are calculated . According to a third aspect of the present invention, the total station is a CCD (charge coupled device).
(c) As a remote-controlled total station equipped with a camera, confirming surveying is performed from the outside of the tunnel while looking at the monitor screen.

[0009] The invention of claim 4 is configured to communicate the data of the visible light laser rangefinder and the total station at all times of tunnel outside the operating room, performing remote collimation needed the distorter <br/> Le station It was done like this.

[0010]

Since the present invention is constructed as described above,
First, the total station collimates two points whose coordinates are known and recognizes its own position. By irradiating the laser light emitted from the visible light laser range finder fixed to the shield machine through the gap between the shield machine rear equipment and the segment, the semi-transmissive semi-reflective screen arranged in the recess of the rear equipment, Shield machine and laser on screen
-Measure the spot distance. At this time, the laser spot projected on the screen rises to the opposite side of the screen, and this point is collimated at the total station behind the screen, whereby the position coordinates of the laser spot on the screen are obtained. Shield machine and laser on screen obtained as above
Shield machine such as gyro compass, pitching meter, rolling meter, etc. equipped with the distance of the spot and the shield machine
Position of the shield machine is calculated from the data of the posture detection means.

The position and attitude of the shield machine are calculated without using the attitude data of the shield machine by determining the position coordinates of each laser spot with three sets of the visible light laser range finder and the screen. To be done. Also, by remotely operating the total station from the operation room outside the mine, a series of confirmation surveys can be performed while in the operation room.

[0012]

The present invention will be described below with reference to the illustrated embodiments. Figure 1 is a vertical cross-sectional view of the face of a shield tunnel during excavation. 1 is a shield machine, 2 is a tunnel, and 3 is rear equipment. A visible light laser range finder 4 is fixed parallel to the axis of the shield machine 1. At the rear end of the rear equipment 3, for example, a semi-transmissive / semi-reflective screen 5 formed by laminating a vinyl chloride half mirror sheet (film-like) on a matte vinyl chloride plate is provided.

Further, a total station 6 is fixed to the lined tunnel 2 so that a known position coordinate point 7 which is reversed from the screen 5 can be collimated. Since the illustrated embodiment is configured as described above, the total station 6 first collimates the two known position coordinate points 7, 7 to recognize the self position of the total station 6. Thus, the light emitted from the visible light laser range finder 4 fixed in parallel to the axis of the shield machine 1 is installed at the rear part of the rear equipment 3 through the gap between the rear equipment 3 and the segment as shown by the arrow. by irradiating the transflective screen 5 and the laser on the screen 5 spot
Tsu door and to measure the distance of the shield machine 1.

At this time, the laser spot projected on the screen 5 rises on the opposite surface of the semi-transmissive semi-reflective screen 5, and the point is collimated at the total station 6 behind the screen 5 to make the screen 5 visible. The position coordinates of the upper laser spot are determined.
The distance between the shield machine 1 and the laser spot on the screen 5 thus obtained, and the screen 5
The position of the shield machine 1 is calculated from the position coordinates of the upper laser spot and the data of instruments such as a gyrocompass, a pitching meter, and a rolling meter equipped on the shield machine 1.

It should be noted that the set of the visible light laser range finder 4 and the screen 5 is made into three sets, and the position coordinates of the respective laser spots are obtained so that the shield machine 1 does not use the attitude data. The position and orientation of is calculated. That is, in this case, it is fixed to the shield machine 1.
The shield machine 1 of the three visible laser rangefinders
The relative position of the visible light laser
-For the shield machine 1 of the laser beam emitted by the rangefinder
Since the relative injection angles of
And a husband of three laser irradiation points on three screens
The distance between each and the shield machine, and 3 on the three screens 5
From the position coordinates of each laser spot, seal
It is possible to calculate the position and orientation of the aircraft 1.
It In addition, a CCD (cha
It is possible to confirm and measure by looking at the monitor screen from the outside of the tunnel by installing a large coupled device) camera and performing information processing by the image from the camera.

The data of the visible light laser range finder 4 and the total station 6 are constantly communicated to the operation room outside the tunnel, and the position and orientation of the shield machine 1 can be recognized by remote collimation of the total station at any time. .

[0017]

As described above, according to the present invention, in the shield construction method, the laser light emitted from the visible light laser range finder fixed to the shield machine is passed through the gap between the equipment behind the shield machine and the segment. and irradiating the semi-transmissive semi-reflective screen placed in the rear of the equipment, the subscription
Find the distance between the laser irradiation point on the screen and the shield machine,
Wherein the laser irradiation point on the screen, then collimated by the position coordinates the installed total station at a known point in the further rear than the screen, Leh on the same screen
The position coordinates of the irradiation point are calculated, and the
The attitude of the shield machine is obtained by the shield machine attitude detection means.
Therefore, the laser irradiation point on the screen and the shield machine
And the position of the laser irradiation point on the screen.
It is possible to confirm the position of the shield machine from the mark and the attitude of the shield machine, automatically measure the situation of the excavation, perform the survey and the excavation in parallel, and save labor.

The invention of claim 2 is a visible light laser range finder.
It is possible to calculate the position and attitude of the shield machine without using the attitude data of the shield machine by obtaining the position coordinates of each of the three laser spots by setting three sets of the screen and the screen . According to the third aspect of the present invention, the total station is a remote control type total station equipped with a CCD camera, and information processing is performed using images from the CCD camera, so that confirmation surveying can be performed while looking at the monitor screen from outside the tunnel.

[0019] The invention of claim 4 is configured to communicate the data of the visible light laser rangefinder and the total station at all times of tunnel outside the operating room, performing remote collimation needed the distorter <br/> Le station Therefore, the shield excavation state can be confirmed by remote control.

[Brief description of drawings]

FIG. 1 is a vertical cross-sectional view showing an implementation state of an embodiment of a method for confirming and excavating a shield machine according to the present invention.

[Explanation of symbols] 1 shield machine 2 tunnel 3 Rear equipment 4 Visible light laser range finder 5 Semi-transmissive semi-reflective screen 6 total stations 7 Known position coordinates

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

Claims (4)

(57) [Claims] 1. A laser beam emitted from a visible light laser range finder fixed to a shield machine is radiated through a gap between the equipment behind the shield machine and a segment to a semi-transmissive / semi-reflective screen installed at the rear of the machine. The same screen
Obtains distances between the laser irradiation point and the shield machine above, the laser irradiation point on the screen and collimated by the position coordinates the installed total station at a known point in the further rear than the screen, Leh on the same screen
The position coordinate of the irradiation point is obtained and the shield machine posture detection means installed in the shield machine
Determine the attitude of the shield machine, and measure the distance between the laser irradiation point on the screen and the shield machine.
Separation and position coordinates of the laser irradiation point on the screen
If, from the position of the shield machine, calculates <br/> the position of the shield machine, tunneling confirmed surveying method of the shield machine, characterized in that. 2. A laser beam emitted from three visible light laser rangefinders fixed to the shield machine is provided after the shield machine.
Rear part of the rear equipment through the gap between the equipment and the segment
Irradiates each of the three semi-transmissive semi-reflective screens installed in
And then irradiate 3 lasers on those 3 screens
Find the distance between each point and the shield machine, and find the three laser irradiation points on the three screens.
Set a position coordinate known point further behind the screen.
Collimate by the placed total station,
Position of each of the three laser irradiation points on the screen
Find the mark, and select each of the three laser irradiation points on the three screens.
And the distance between the shield machine and those three screens
From the position coordinates of the three laser irradiation points, the shield machine
A method for surveying and confirming the excavation of a shield machine, characterized by calculating the position and orientation . 3. The total station is a remote control type total station equipped with a CCD camera,
The excavation confirmation surveying method for a shield machine according to claim 1 or 2, wherein confirmation surveying is performed from the outside of the tunnel while looking at the monitor screen. Wherein while communicating with the visible light laser rangefinder and the distorter <br/> constantly data Le station of tunnel outside the operating room, and performs remote collimation needed the total station The excavation confirmation surveying method for the shield machine according to claim 1 or 2 .