JP3511405B2 - 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 every time a shield machine excavates for several rings, and a 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. It is being appreciated.

[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,
This surveying work cannot be done at the same time as the excavation work,
There was a demand for labor saving or unmanned work because the dugout work was stopped or the surveyor was forced to work overtime.

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 one point on the line parallel to the shield machine axis appears near the middle of the rear equipment, know the relative positional relationship with the shield machine body at this point, and if this point can be collimated with a total station installed at a known coordinate point,
The position can be known from the attitude data of the shield machine.

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]

The present invention has been proposed in order to achieve the above-mentioned objectives of labor saving and unmanned surveying, and a semi-transmissive semi-reflective screen is installed near the middle of the equipment behind the shield machine. together, we established the total station to the end portion of the rear facilities, through the gap between the laser light emitted from the visible light laser rangefinder fixed to the sheet Rudo machine shea <br/> Rudo machine after side facilities and segment Irradiate the semi-transmissive semi-reflective screen in the rear equipment ,
Distance between the laser irradiation point on the screen and the shield machine
Obtains a release, by the total station, each time the total stay to collimate the coordinates known two points behind Shi
While measuring the own position of the ® down, to collimate the laser beam irradiation point on the transflective screen, the laser beam
Obtain the position coordinates of the irradiation point and seal the shield machine
The attitude of the shield machine is determined by
Laser light irradiation point and seam on the semi-transmissive semi-reflective screen
The distance between the machine and the laser beam on the screen
The position of the shield machine is calculated from the position coordinates of the points and the attitude of the shield machine. From claim 2
Akira is a semi-transmissive semi-reflective scan near the middle of the equipment behind the shield.
A clean is installed and a toe is installed at the rear of the rear equipment.
Installed the station and was fixed to the shield machine
It is emitted from more than three visible laser rangefinders.
Laser light to the equipment behind the shield machine and the segment
Through the gap between
Irradiate cleanly, and a plurality of 3 or more on the same screen
Find the distance between each laser light irradiation point and the shield machine.
Therefore, with the total station,
Collimate two points with known coordinates of
The semi-transmissive semi-reflective screen while measuring its own position
Collimate the plurality of laser light irradiation points above,
Obtain the position coordinates of each laser light irradiation point and
A seal for each of the plurality of laser light irradiation points on the screen
Distance with the machine and the position coordinates of those laser light irradiation points
The position and orientation of the shield machine is calculated from
It is a thing.

Since the present invention is configured as described above, the laser light emitted from the visible light laser range finder fixed to the shield machine is passed through the gap between the shield machine rear equipment and the segment of the rear equipment. The distance between the shield machine and the laser spot on the screen is measured by irradiating a semi-transmissive semi-reflective screen installed near the middle. At this time, the laser spot projected on the screen appears on the opposite side of the screen,
This point is collimated by a total station installed at the rearmost part of the rear equipment, and each time, two points with known coordinates are measured to measure the self-position of the total station. The position coordinates of the spot can be obtained.

[0009] said of the way, require us was on the screen
The distance between the laser spot and the shield machine, Leh
The position coordinates of the Zarspot and the gyro compass, pitching meter, rolling meter, etc. equipped on the shield machine .
Position of the shield machine is calculated from the data of the shield machine attitude detection means. Also, more than three lasers
The distance between each of the pots and the shield machine,
The position of the shield machine from the position coordinates of each spot
And the attitude is calculated.

[0010]

The present invention will be described below with reference to the illustrated embodiments. FIG. 1 is a vertical cross-sectional view of the face of a shield tunnel under excavation, in which 1 is a shield machine, 2 is a tunnel, and 3 is rear equipment, and a visible light laser range finder 4 is fixed to the shield machine 1. Near the middle of the rear equipment 3, a semi-transmissive semi-reflective screen 5 made of, for example, a vinyl chloride halftone sheet (film-like) bonded to a matte vinyl chloride plate is provided, and a total station is provided at the rear end of the rear equipment. 6 is installed. Further, a point 7 whose coordinates are known is installed behind the total station 6 and collimated by the total station 6 so that the self position of the total station can be confirmed.

[0011] Since the illustrated embodiment is constituted as described above, an intermediate of the rear facilities 3 through the gap between the laser light emitted from the visible light laser range finder 4 shield machine after lateral facilities 3 and segment By irradiating the semi-transmissive semi-reflective screen 5 installed in the vicinity, the distance between the laser spot on the screen 5 and the shield machine 1 is measured. At this time, the laser spot projected on the screen 5 emerges on the semi-opposite surface of the semi-transmissive semi-reflective screen 5. Therefore, by collimating this point with the total station 6 installed at the rear end of the rear equipment 3, the screen The position coordinates of the laser spot on 5 are obtained. Each time, the total station 6 collimates the two points 7 and 7 whose coordinates are known to measure the self position, and collimates the laser light irradiation point on the screen 5.
The distance between the shield machine 1 and the laser spot on the screen 5 thus obtained, and the screen
The position coordinates of the laser spot on the 5, gyrocompass that is provided on the shield machine 1, pitching meter, et al or the meter data rolling meter or the like, position shielded-machine 1 is issued calculated <br/>.

A CCD is installed in the total station 6.
It is equipped with a camera, and the information is processed by the image from the camera to confirm and measure while looking at the monitor screen from outside the tunnel. Further, the data of the visible light laser range finder 4 and the total station 6 can be constantly communicated to the operation room outside the tunnel, and the position and posture of the shield machine 1 can be recognized by remote collimation of the total station at any time.

If each laser spot can be collimated by the total station 6 by installing three or more visible light laser rangefinders 4 fixed to the shield machine, the posture data of the shield machine 1 can be used. Instead, the position and orientation of the shield machine 1 can be calculated. Further, 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 remote collimation of the total station 6 recognizes the position and the posture of the shield machine 1 at any time, and the shield digging state is remote. It can be confirmed by operation.

[0014]

According to the present invention, as described above, 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 shield machine rear equipment and the segment to the middle of the rear equipment. It irradiates the semi-transmissive semi-reflective screen installed at the position, and the laser light irradiation point on the screen is collimated by the total station installed at the end of the rear equipment at each of the two coordinates-known rear points. By collimating the laser irradiation point on the screen while measuring the self position, the position of the shield machine is confirmed, the shield excavation situation is automatically measured, and the surveying and excavation are performed in parallel to save labor. It can be achieved.

Since the semi-transmissive semi-reflective screen irradiated with the laser beam from the visible light laser range finder is arranged in the middle of the rear equipment, it is possible to cope with a steeper curved shield tunnel.

[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 points with known coordinates

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

Claims (2)

(57) [Claims] It established a transflective screen 1. A near the middle of the shield machine behind equipment, established the total station to the end portion of the rear facilities, emitted from the visible light laser rangefinder fixed to the sheet Rudo machine the is laser light irradiating the semi-transparent semi-reflective screen in the rear equipment through the gap between the shield machine after lateral facilities and the segment, the laser beam irradiation point on the screen and the shield
Obtains distances between the machine, by the total station, each time while measuring the own position of the total station to collimate the coordinates known two points behind the semitransparent on the semi-reflective screen <br/> laser irradiation Collimate the point and position the laser light irradiation point
Calculate the position coordinates, and use the shield machine posture detection means equipped on the shield machine
The attitude of the shield machine is determined, and the laser light irradiation point and the shield on the semi-transmissive semi-reflective screen are measured.
The distance between the machine and the laser light on the screen.
A digging confirmation surveying method for a shield machine , comprising calculating the position of the shield machine from the position coordinates of the shooting point and the attitude of the shield machine. 2. A semi-transmissive semi-transparent structure near the middle of the equipment behind the shield machine.
Installed a reflective screen, and at the end of the rear equipment
Installed a total station in the section and fixed it to the shield machine
From multiple visible laser rangefinders
The laser light emitted from the shield machine and the segment
Through the gap between
Irradiate the reflective screen, 3 or more on the same screen
Distance between each of the multiple laser beam irradiation points and the shield machine
Ask for separation, and use the total station to move to the rear seat each time.
Collimate two points with known marks
While measuring the position, on the transflective screen
Collimate the plurality of laser light irradiation points and
Position coordinates of each of the plurality of laser light irradiation points, and
The distance between the various shield machines and the laser irradiation points
Calculate the position and orientation of the shield machine from the position coordinates
A method for surveying and confirming the excavation of a shield machine, which is characterized in that