JP3685329B2 - Travel distance measurement method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a travel distance measuring method, and in particular, a plurality of travel pipes are arranged in a state of being connected in series along a tunnel excavated by an excavator, and the number of travel pipes traveled by the travel body and each travel pipe. The present invention relates to a travel distance measuring method that calculates and measures the travel distance of a traveling body based on the length of the vehicle.
[0002]
[Prior art]
Conventionally, when a sewer pipe or the like having a relatively small diameter is disposed in the ground, a tunnel is dug by a dug machine started from a start shaft, and a lining pipe such as a plurality of fume pipes (for example, 1 A construction method has been put into practical use in which the length of the book is about 2455mm) and is pushed from the starting shaft one by one with the main pushing device. In general, the excavator is propelled by the pushing force of the main pushing device.
[0003]
In this type of construction method, when measuring the tunnel path from the start shaft and the position of the excavator, if the operator enters the lining pipe and cannot actually measure it, a plurality of traveling pipes (for example, one length of about 2455mm) are connected in series in the tunnel (in the lining pipe), one by one from the starting shaft, and at least the travel distance of the traveling body is measured by running the traveling body in these traveling pipes. Like to do.
[0004]
When the traveling body is a wire-pulled traveling body, a front winder and a rear winder that wind up the wire connected to the traveling body are provided on each of the excavator side and the start shaft side. There is a technique in which the traveling body is caused to travel toward the excavator, the amount of the wire fed from the rear winder is measured at that time, and the traveling distance of the traveling body is obtained from the wire feeding amount.
[0005]
When measuring the distance traveled by the traveling body, tension is applied to the wire fed from the rear winder (or front winder), and the wire stretches, but the inventors of the present application measure the amount of wire elongation under the same conditions as in actual tests. As a result, an elongation or error of about 1 m (about 2%) was generated with respect to the feeding of the wire of about 50 m.
[0006]
In Japanese Patent Laid-Open No. 5-22036, when a self-propelled carriage travels in a propulsion pipe (traveling pipe) disposed along a tunnel and the self-propelled carriage travels toward an excavator. A technique is disclosed in which a cable extending from a winding device provided on the start shaft side is pulled, and the traveling distance of the self-propelled carriage is measured from the amount of cable drawn from the winding device. Japanese Patent Application Laid-Open No. 2002-71302 also discloses a technique for calculating a straight movement distance by calculating a wire feed amount from a drum from a rotation amount of the drum.
[0007]
On the other hand, there is a technique for measuring the rotation amount of a wheel by an encoder attached to the traveling body and obtaining the traveling distance of the traveling body from the rotation amount. Japanese Patent Laid-Open No. 6-1214119 discloses a technique for measuring a moving distance of an unmanned lawn mower from a rotation amount of a wheel using an encoder attached to the unmanned lawn mower.
[0008]
Here, the cushion material interposed between each lining pipe pushed into the tunnel and the lining pipe connected to the lining pipe returns from the compressed state, or is slightly larger in diameter than the lining pipe The length of the multiple lining pipes in the tunnel gradually increases due to the fact that the state of the lining pipes pushed into the tunnel excavated in a slightly zigzag state is repaired by earth pressure, It will return to the starting shaft side accordingly.
[0009]
It is common to have a compass mounted on the traveling body, based on the azimuth angle of the traveling body measured from the compass and the travel distance when the traveling body traveled from the start shaft to the excavator, In the case of an excavator in which the excavator is formed by connecting a plurality of trunk members in series through an intermediate foldable portion, the intermediate fold angle measured by the fold angle detection sensor is used. Based on this, the position of the excavator from the starting vertical shaft can be measured.
[0010]
[Problems to be solved by the invention]
As before, when the distance traveled from the wire pulling type traveling body (distance from the starting shaft of the excavator) is obtained from the amount of wire delivered from the winder as in the conventional case, as described above, the wire is fed about 50 m. On the other hand, an elongation of about 1 m (about 2%), that is, an error occurs, and the error increases as the traveling distance of the traveling body (the amount of feeding of the wire) becomes longer. Therefore, the accurate traveling distance of the traveling body is measured. There is a problem that it is difficult.
[0011]
In order to make the wire difficult to stretch, it is conceivable to devise by changing the wire material, increasing the wire diameter, or reducing the tension acting on the wire, but it may be disadvantageous in terms of cost However, it is extremely difficult to prevent the wire from extending at all, and there is a limit to accurately measuring the traveling distance of the traveling body.
[0012]
In addition, when the amount of rotation of the wheel is measured by an encoder attached to the traveling body and the traveling distance of the traveling body is calculated from the amount of rotation, the traveling of the traveling pipe is caused by slipping or jumping at the joint between the traveling pipes. There is a possibility that the travel distance of the body cannot be measured accurately.
[0013]
It is an object of the present invention to accurately and easily calculate the travel distance of a traveling body traveling in a plurality of travel pipes arranged in series in a tunnel excavated by an excavator in a travel distance measuring method. It is to provide a mileage measuring method that can be measured.
[0014]
[Means for Solving the Problems]
The travel distance measuring method according to claim 1 is a plurality of travel pipes composed of two or more kinds of travel pipes having different lengths along a tunnel excavated by an excavator and having a predetermined length for each type. a plurality of driving tube is placed into the state of being connected in a serial manner with a method for measuring a travel distance of the running body of the wire towed traveling a plurality of traveling tube, wire unwinding or winding on the traveling body Wire amount detecting means for detecting the amount is provided in advance, and the traveling body is provided in advance when detecting the number of traveling tubes that have passed when the traveling body travels in one direction by the tube number detecting means. The detection means of the tube number detection means detects the number of the detection pipes provided in advance in a predetermined position of each of the travel pipes to detect the number of the travel pipes, and after the detection means detects each detection target, The time until the detected part is detected. Determines the type of each traveling tube based on the wire unwinding or winding amount of the traveling tube per one detected using ya amount detection means, the number of detected Type of travel tube in the tube speed detecting means Based on the production length of each type of travel pipe, the travel distance of the traveling body is calculated, and the distance from the detection means detecting each detected part to the next detected part is It is characterized in that it is obtained from the wire feed or winding amount detected using the wire amount detection means .
[0015]
In this travel distance measuring method, a plurality of travel pipes composed of two or more kinds of travel pipes having different lengths along a tunnel excavated by an excavator and having a predetermined length for each type. It arrange | positions in the state which connected the traveling pipe in series. A wire pulling type traveling body can travel in the plurality of traveling pipes, and the traveling body is preliminarily provided with a wire amount detecting means for detecting a wire feeding or winding amount.
When the traveling body travels in one direction in a plurality of traveling pipes, the detecting means of the tube number detecting means provided in advance in the traveling body detects the detected part provided in advance at a predetermined position of each traveling pipe. The number of traveling pipes through which the traveling body has passed is detected.
Then, based on the wire feeding or winding amount per running tube detected by the wire amount detecting unit from when the detecting unit detects each detected unit until the next detected unit is detected. The type of each traveling pipe is determined.
The travel distance (full length) of the travel pipe can be calculated from the number of travel pipes classified by type detected by the tube number detection means and the production length of the travel pipes classified by type. The distance from detection of each detected portion by the detecting means of the tube number detecting means to detection of the next detected portion is obtained from the amount of wire fed or wound detected using the wire amount detecting means. It is possible to accurately calculate and measure the travel distance of the traveling body by adding to the travel distance of the travel pipe the distance from the time when the detection means finally detects the detected part until the next detected part is detected.
[0016]
[0017]
The detection unit is an optical sensor having a light emitting unit and a light receiving unit, and the detected unit is a hole formed in the traveling tube, so that the light from the light emitting unit is reflected by the traveling tube and is not received by the light receiving unit. You may make it detect the hole as a detection part. Further, the detection unit a magnetic sensor, may be provided to the detected portion consisting detectable magnet in the magnetic sensor in the travel tube, the sensing unit and the limit switch, the possible detected by the limit switch You may provide a detection part in a driving | running | working pipe | tube.
[0018]
As for the wire amount detection means, it can measure the amount of movement of the mark attached to the wire or the one that has a rotating body that rotates with the feeding or winding of the wire and an encoder that can detect the amount of rotation of this rotating body. It is good also as what has an easy camera.
[0019]
Here, the traveling of the traveling body will be specifically described. A winding device for winding the wire connected to the traveling body is provided on each of the excavator side and the starting shaft side, and the wire is wound by the winding device on the excavator side. Winding and traveling the traveling body toward the excavator, winding the wire with the winding device on the starting shaft side, and traveling the traveling body toward the starting shaft .
[0020]
[0021]
[0022]
[0023]
According to a second aspect of the present invention, there is provided a travel distance measuring method according to the first aspect of the present invention, wherein the length of the travel pipe is different from the error of the wire feed or winding amount per travel pipe detected by the wire amount detection means. The difference is that the difference is larger. In other words, even if there is an error due to the elongation of the wire or the like, the wire feeding or winding amount per shorter traveling tube is surely shorter than the length of the longer traveling tube, and the longer traveling tube 1 Since the wire feed or winding amount per book is surely longer than the length of the shorter traveling tube, it is possible to reliably determine the type of traveling tube.
[0024]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings. In this embodiment, a tunnel is dug with a digging machine launched from a start shaft, and a plurality of lining pipes are inserted into the tunnel one by one from the start shaft and pushed into the sewer pipe by a main pushing device. It is an example at the time of applying this invention to the construction method arrange | positioned in.
[0025]
As shown in FIG. 1, a remote control room 6 provided with a control device 7 therein, a mud feed device 8 including a mud feed pump 9, a mud treatment device 10, a slide, A material supply device 11 and the like are installed, and a start stand 12, a main pushing device 13 having a push-in jack 14, a mud pump 15, a water level gauge 16, a rear winder 17, and a sheave 18 are installed in the start shaft 2.
[0026]
As shown in FIGS. 1, 4, and 9, the excavating machine 1 connects five first to fifth trunk members 20 to 24 in series via intermediate folding portions 25 to 28 that can be folded. The remote control type automatic excavator is operated by the control device 7 in the remote control room 6. The first first body member 20 is a body member of the excavator main body 30, and the second to fifth body members 21 to 24 following the first body member 20 are arranged in order from the front side. The subsequent pipe 1 and the subsequent pipe 2 are provided.
[0027]
The excavator main body 30 includes a cutter head 31 and a cutter drive hydraulic motor 32 , and the cutter head 31 is rotationally driven by the cutter drive hydraulic motor 32 to excavate a front ground. At that time, muddy water is jetted from the excavator main body 30 to the front ground, and the muddy water is disposed in the start shaft 2 and the tunnel 3 (lining pipe 4) by the mud pump 9 of the mud feeder 8. The mud pipe 33 is supplied to the excavator main body 30.
[0028]
The excavated soil excavated by the cutter head 31 is taken into the chamber, and is agitated together with the mud water by the waste mud relay pump 34 provided in the third body member 22, and is then tunneled from the chamber into the tunnel 3 (lining pipe 4). It is discharged to the start shaft 2 side through the sludge pipe 35 disposed in the, and is sent from the start shaft 2 to the muddy water treatment apparatus 10 through the drain pipe 37 by the mud pump 15 and processed. Therefore, the muddy water subjected to the muddy water treatment is supplied to the mud feeding device 8 and used again as the muddy water supplied to the excavator main body 30.
[0029]
In order to reduce the frictional force acting between the body members 20 to 24 of the excavator 1 and the inner surface of the tunnel 3 and to reduce the frictional force acting between the lining pipe 4 and the inner surface of the tunnel 3, a lubricant is supplied. The device 11 supplies the lubricant to the second body member 21 through the lubricant supply pipe 38 disposed in the start shaft 2 and the tunnel 3 (lining pipe 4), and the lubricant is supplied from the second body member 21. Is supplied between the inner surface of the tunnel 3 and the body members 20 to 24 and the lining pipe 4.
[0030]
As shown in FIG. 6, the excavator 1 is provided with a plurality of (for example, four) middle-folded jacks 55 that connect the first body member 20 and the second body member 21, and the middle-folded portion 25. Four sets of half-turn angle detection sensors 56 for detecting half-turn angles of .about.28 are provided. For each bending angle, the lateral swing angle of the other body member relative to the connected one body member, and further the vertical swing angle may be detected. A hydraulic pressure supply device 42 for supplying hydraulic pressure to the cutter drive hydraulic motor 32 and the folding jack 55 is also provided. The rearmost fifth body member 24 is used as a storage for a measurement traveling body 41 (hereinafter referred to as traveling body 41), which will be described later, and a front winder 39 is provided inside the fifth body member 24. Yes.
[0031]
As shown in FIG. 2, each lining pipe 4 is, for example, a concrete fume pipe having a diameter of 400 m to 600 mm and a length of 2455 mm. One end of the lining pipe 4 is formed on the male part 4a and the other end is formed on the female part 4b. The female part 4b is fitted with a ring-shaped cushion material 4c and a sealing material 4d, and the female part 4b of the lining pipe 4 is attached to the female part 4b. A male part 4a of another lining pipe 4 is fitted and connected via a cushioning material 4c and a sealing material 4d.
[0032]
When the excavator 1 is started from the start shaft 2, the divided first trunk member 20 to fifth trunk member 24 are sequentially carried into the start shaft 2 by a crane or the like, and are sequentially connected to each other. The vehicle is started using the pushing device 13 . After the excavator 1 starts, a plurality of lining pipes 4 are sequentially carried into the start shaft 2 by a crane or the like, and the leading lining pipe 4 is placed between the excavator 1 and the main pushing device 13 . Set and push forward with the main pusher 13 .
[0033]
In addition, the second and subsequent lining pipes 4 are set between the front lining pipe 4 and the main pushing device 13 while being connected to the front lining pipe 4, and are pushed forward by the main pushing device 13. Move. Then, the plurality of connected lining pipes 4 are integrally pushed forward, and the digging machine 1 is propelled by the leading lining pipe 4 pushing the digging machine 1. The main pushing device 13 is provided with a pushing amount detection sensor 13a for detecting the pushing amount.
[0034]
Now, in order to excavate the tunnel 3 of the planned route with the excavator 1 and arrange the sewage pipe with the planned route, it is necessary to measure the tunnel route from the start shaft 2 and the position of the excavator 1. For this purpose, as shown in FIGS. 1, 3 and 4, a plurality of traveling pipes 40 are arranged in series along the tunnel 3 (inside the lining pipe 4) excavated by the excavator 1. Then, the traveling body 41 is caused to travel within the plurality of traveling pipes 40, and the traveling distance and azimuth angle of the traveling body 41 are detected.
[0035]
The traveling tube 40 is formed in, for example, a square cylinder having a square section made of stainless steel, and two types of first and second traveling tubes 40 having different lengths are prepared. As shown in FIG. 5, for example, the length of the first traveling tube 40 is 2455 mm, the length of the second traveling tube 40 is 2250 mm, and the difference between the lengths of these traveling tubes 40 is 2455 mm−2250 mm = 205 mm. It is. Each traveling tube 40 and the traveling tube 40 connected to the traveling tube 40 are coupled by a coupling member (not shown) so as to be rotatable around a vertical axis.
[0036]
The leading traveling pipe 40 is connected to the fifth trunk member 24 at the tail of the excavator, and a plurality of traveling pipes 40 are connected in series so as to extend from the leading traveling pipe 40 to the rear side (starting shaft 2 side). The rearmost traveling tube 40 is arranged in a state of protruding slightly rearward from the last lining tube 4. Since the leading traveling pipe 40 is connected to the fifth body member 24, the digging machine 1 is pushed forward when the lining pipe 4 is pushed forward by the main pushing device 13 , so that it is pulled by the digging machine 1. The traveling pipe 40 moves forward integrally with the excavator 1 and the lining pipe 4.
[0037]
As shown in FIG. 3, each traveling pipe 40 is provided with an electric cable pipe 42, a mud pipe 33 a, a mud pipe 36 a, a lubricant supply pipe 38 a and the like having the same length as the traveling pipe 40. These tubes 40, 42, 33a, 36a, and 38a are integrated to form an inner unit 43. Each inner unit 43 has a plurality of wheels (not shown) and is supported by the wheels in a stable posture so as to be able to travel in the tunnel axis direction in the lining pipe 4. It will be in the position.
[0038]
In the lining pipe 4, the pipes 40, 42, 33 a, 36 a, 38 a of each inner unit 43 and the pipes 40, 42, 33 a, 36 a, 38 a of the inner unit 43 adjacent to the inner unit 43 are respectively connected. The A power cable for supplying necessary power to the excavator 1 side and a signal cable for transmitting a necessary detection signal from the excavator 1 side to the control device 7 are passed through the plurality of electric pipes 42.
[0039]
Thus, the traveling body 41 is disposed so as to be able to travel in the plurality of traveling pipes 40 arranged in series along the tunnel 3, and the leading traveling pipe 40 is the fifth trunk member at the tail end of the excavator. 24, the rearmost traveling pipe 40 projects rearward from the rearmost lining pipe 4, but a front winder 39 is provided in front of the first traveling pipe 40, and the rearmost traveling pipe 40 is provided. A sheave 18 is provided on the rear side of the tube 40, and a rear winder 17 is provided on the upper side of the main pushing device 13.
[0040]
When the wire 45 (string) extending forward from the traveling body 41 is wound by the front winder 39, the traveling body 41 travels toward the excavator 1, and the wire 46 (cable) extending rearward from the traveling body 41 is the rear winder 17. When wound up, the traveling body 41 travels toward the start shaft 2. Here, the traveling body front position detection switch 57 (see FIG. 6) is attached to the leading traveling pipe 41, and the traveling body rear position detection switch 58 (see FIG. 6) is attached to the rearmost traveling pipe 41. Yes. Further, the rear winder 17 is provided with an encoder 17a (see FIG. 6) as wire amount detection means for detecting the wire feeding or winding amount from the rotation amount of the rotating body that rotates together with the wire feeding or winding.
[0041]
When arranging a plurality of traveling pipes 40 connected in series along the tunnel 3, one inner unit 43 having the traveling pipe 40 is added each time the lining pipes 4 are added one by one. Add one by one and put it in the tunnel 3. When the lining pipe 4 and the inner unit 43 are added, the traveling body 41 is disconnected from the wire 45 and retracted to the outside of the traveling pipe 40, and the sheave 18 is retracted so as not to get in the way.
[0042]
As shown in FIGS. 4 and 6, the traveling body 41 is equipped with a plurality of wheels 41 a and is provided with an azimuth meter 50 and a three-dimensional accelerometer 51 made of a three-dimensional gyro, and a light emitting unit and a light receiving unit. An optical sensor 52 corresponding to the detecting means of the tube number detecting means having a section is provided facing downward. A hole 53 (for example, a circular hole having a diameter of 17 mm) as a detected portion is provided in a predetermined position at a predetermined distance from the right short side on the bottom wall of each traveling tube 40, and the optical of the traveling body 41 is directly above the hole 53. The hole 53 can be detected when the sensor 52 passes. Signal lines extending from the azimuth meter 50, the accelerometer 51, and the optical sensor 52 provided on the traveling body 41 are connected to the control device 7 through the wire 46 formed of a cable.
[0043]
Now, a method for measuring the route of the tunnel 3 from the start shaft 2 and the position of the excavator 1 will be described. First, a block diagram including the control system of FIG. 6 will be described.
As shown in FIG. 6, the control device 7 includes a computer 60, a display 61, and an operation panel 62, and the control device 7 controls the excavator 1, the main pushing device 13, the front winder 39, and the rear winder 17. .
[0044]
Further, the control device 7 includes four sets of bending angle detection sensors 56 of the excavator 1, a push amount detection sensor 13 a of the main pushing device 13, an azimuth meter 50, an accelerometer 51, and a traveling body 52 of the traveling body 41, The encoder 17a, the traveling body front position detection switch 57, and the traveling body rear position detection switch 58 of the rear winder 17 are electrically connected to each other through signal lines, and based on these signals, the tunnel 3 from the start shaft 2 is connected. The route and the position of the excavator 1 are measured, and the various controls including the excavator 1 are performed.
[0045]
Next, a method of measuring the route of the tunnel 3 from the start shaft 2 and the position of the excavator 1 executed by the control device 7 will be described based on the flowcharts of FIGS. 7 and 8. In the flowchart, Si (i = 1, 2, 3,...) Indicates each step.
[0046]
As shown in FIG. 7, when there is a measurement start instruction on the traveling body 41 by an operator operation (S1; Yes), when the traveling body rear position detection switch 58 is ON (S2; Yes), the traveling body 41 is at the end. Therefore, the initial position of the traveling body 41 is set to the measured values of the azimuth meter 50 and the accelerometer 51 as the traveling distance 0. It is set based on (S3).
[0047]
Next, when excavation by the excavator 1 is interrupted (S4; Yes), the front winder 39 is driven, the front winder 39 winds up the wire 45, and the traveling of the traveling body 41 is started (S5). ), The traveling body 41 travels toward the excavator 1 at, for example, 5 km / h. At this time, the wire 46 is fed out from the rear winder 17 in a state where an appropriate feeding load is applied to the rear winder 17. Even if there is a measurement start instruction (S1; Yes), the traveling body 41 may be automatically traveled to the initial position when the traveling body rear position detection switch 58 is OFF (S2; No; at this time). When the excavation is not interrupted (S4; No), the process returns to S1.
[0048]
When the traveling body 41 starts traveling in S5, the traveling distance of the traveling body 41 is measured (S6), and the azimuth (azimuth angle change) of the traveling body 41 by the azimuth meter 50 is measured (S7). These measurements are traveling body 41 is arrived at the fifth barrel member 24 of the last excavator 1, the running body front position detection switch 5 7 is performed until turned ON. Traveling body front position detection switch 5 7 turns ON (S8; Yes), the traveling member 41 reaches the fifth cylinder member 24, the winding of the wire 45 by the front winder 39 is stopped, the running body 41 The travel is stopped (S9).
[0049]
Here, the method of measuring the travel distance of the traveling body 41 in S6 will be described based on the flowchart of FIG. The travel distance is automatically calculated by the control device 7. First, the first and second travel tube numbers X and Y are respectively set to 0 and stored in a storage unit (RAM or the like) of the computer 60. The wire feed amount Z is set to 0 and stored in the storage unit of the computer 60 (S21).
[0050]
Next, the encoder signal from the encoder 17a of the rear winder 17 is read (S22), the wire feed amount Z is calculated based on the encoder signal (S23), updated and stored in the storage unit of the computer 60, and the traveling distance of the traveling body 41 L is calculated by the formula of X × 2445 + Y × 2250 + Z (mm). Since X and Y are both 0 at the beginning when the traveling body 41 starts traveling, the traveling distance L is the wire feed amount Z.
[0051]
Next, it is determined by the optical sensor 52 of the traveling body 41 whether or not the hole 53 that is the detected portion has been detected (S25). When the optical sensor 52 is OFF, it is determined that the detected portion is not detected ( S25; No) Returning to S22, S22 to S24 are repeated. When the optical sensor 52 passes directly above the hole 53, the optical sensor 52 is turned on, and it is determined that the detected portion is detected (S25; Yes), and the process proceeds to S26.
[0052]
In S26, it is determined whether or not the wire feed amount Z when it is determined that the detected portion is detected is 2455 (mm) or more (S26), and when Z ≧ 2455 (mm) (S26; Yes), It is determined that the traveling tube 40 corresponding to the wire feed amount Z (the distance from the initial position when it is detected for the first time from the initial position) from when the detection unit is detected is the first traveling tube 40 having a length of 2455 (mm). Thus, the first traveling tube number X is incremented to X + 1 (S27).
[0053]
When Z ≧ 2455 (mm) is not satisfied (S26; No), the traveling tube 40 corresponding to the wire feed amount Z from the previous detection of the detected portion is the second traveling tube 40 having a length of 2255 (mm). As a result of the determination, the second traveling tube number Y is incremented to Y + 1 (S28). After S27 or S28, the process returns to S21, the wire feed amount Z is reset to 0 (S21), and then S22 and subsequent steps are executed.
[0054]
The determination principle of S26 will be described in detail. As a result of the inventors measuring the amount of elongation of the wire 46 under the same conditions as the actual test, about 1 m (about 2%) with respect to about 50 m of the drawn wire. Elongation or error occurred. That is, the lengths of the first traveling pipe 40 and the second traveling pipe 40 are larger than the error of the wire feed amount (length) per second traveling pipe 40 of about 49.1 (mm) = 2455 (mm) × 0.02. Difference 2455 (mm)-2250 (mm) = 205 (mm) is larger, so if the wire feed amount Z when it is determined that there is a detected part is 2455 (mm) or more, the first run The pipe 40 can be determined with certainty, and if it is smaller than 2455 (mm), it can be reliably determined with the second traveling pipe 40.
[0055]
As described above, according to this traveling body distance measuring method, the first and second traveling pipes 40 are manufactured to predetermined lengths 2455 (mm) and 2250 (mm), and the traveling body 41 is connected to the excavator 1 side. The numbers X and Y of the first and second travel pipes 40 that have passed when traveling in one direction are detected, and the detected numbers X and Y of the first and second travel pipes 40 are detected. Based on the lengths 2455 (mm) and 2250 (mm) of the second travel pipe 40, the travel distance L of the travel body 41 is calculated and measured.
[0056]
In this case, an optical sensor 52 as a detecting unit is provided in advance in the traveling body 41, and the optical sensor 52 detects a hole 53 as a detected portion provided in advance at a predetermined position of each traveling tube 40. Based on the wire feed amount Z per traveling tube from the time when 52 detects each hole 53 until the next hole 53 is detected, the type of the traveling tube is discriminated. 2 The numbers X and Y of the traveling pipes 40 can be reliably detected.
[0057]
The traveling body 41 is a wire pulling traveling body, and an encoder 17a as a wire amount detecting means for detecting the wire feed amount Z is provided in advance, and the optical sensor 52 is included in the traveling distance of the traveling body 41. The distance Z from the detection of the hole 53 of each traveling tube 40 to the detection of the next hole 53 is obtained from the wire feed amount detected using the encoder 17a.
[0058]
Thus, the travel distance L of the traveling body 40 can be calculated from the formula of X × 2445 + Y × 2250 + Z (mm). Conventionally, when the travel distance of the traveling body is obtained only by the wire feed amount, for example, when the tunneling machine 1 excavates a 300 m tunnel, the error is about 6 m, but the above measurement method is used. In addition to the maximum error of about 49.1 (mm) = 2455 (mm) x 0.2 due to wire feeding, it is possible to keep it below 80 mm even if errors due to connection of the traveling pipe are taken into account. It is possible to greatly improve the accuracy of measuring the 41 travel distance.
[0059]
Now, as shown in FIG. 7, when the traveling body 41 stops at the fifth trunk member 24 at the tail of the excavator in S9, the traveling distance L of the traveling body 41 measured in S6 and the traveling measured in S7. Based on the azimuth angle of the body 41, the position P5 of the fifth trunk member 24 at the tail of the excavator is measured (S10), and then the four folding angle detection sensors 56 detect the respective folding portions 25-28. The bending angles a1-2 to a4-5 are measured (S11).
[0060]
Next, using the position P5 of the fifth trunk member 24 at the tail of the excavator measured in S10 and the middle folding angles a1-2 to a4-5 of the respective middle folding portions 25 to 28 measured in S11. The positions P1 to P5 of the five first to fifth body members 20 to 24 of the excavator 1 are calculated (the position P5 of the fifth body member 24 is the position P5 measured in S10), The position PCL (see FIG. 9) of the axis line CL of the excavator 1 is calculated (S12).
[0061]
After that, during tunnel excavation by the excavator 1 (S13; Yes), the middle folding angles a1-2 to a4-5 of the middle folding portions 25 to 28 and the main pushing device 13 are The digging distance EL of the digging machine 1 serving as the push amount is measured in real time by the push amount detection sensor 13a (S14).
[0062]
And position PCL of axial center line CL of excavation machine 1 calculated | required by S12, and position P2 of the 2nd trunk | drum member 21 used as the reference | standard trunk | drum member of the five 1st-5th trunk | drum members 20-24, The positions P1 to P5 of the five first to fifth body members 20 to 24 are calculated in real time based on the middle bending angles a1 to a4-5 and the digging distance EL measured in S14. (S15), and then returns to S13. The second body member 21 serving as the reference body member is a body member located on the rear side of the length of the lining pipe 4 from the tip of the excavating machine 1, that is, the first body member 20 is from the lining pipe 4. Becomes a long body member.
[0063]
When tunneling is not being performed by the excavator 1 (S13; No), when measuring with the traveling body 41 (S16; Yes), returning to S1 and when measuring with the traveling body 41 is not performed (S16; No), it returns to S13.
[0064]
Here, in S15, based on the position PCL of the axis line CL obtained in S12 and the excavation distance EL obtained in S14, the position P2 of the second body member 21 that is the reference body member is calculated. Based on the position P <b> 2 of the second body member 21 and the middle folding angle a <b> 1-2 ahead of the second body member 21, the front body member 20 on the front side of the second body member 21 is positioned. The position P1 can be calculated.
[0065]
Here, when calculating the position P2 of the second body member 21 which is the reference body member in S15, as shown in FIG. Therefore, the position P2 of the second body member 21 is calculated based on the position PCL of the axis line CL obtained in S12 and the excavation distance EL obtained in S14. can do.
[0066]
Every time the excavator 1 excavates an integral multiple of the length of the lining pipe 4 lining the inner surface of the tunnel, it is desirable to perform the measurement with the traveling body 41 in S16 and perform S1 to S12. .
[0067]
As described above, according to the position measuring method of the excavator 1, the excavation suspended state (S4; Yes), the traveling body 41 is moved along the tunnel 3 to start the fifth trunk member 24 at the tail of the excavator. 2 is measured (S10), and the middle folding angles a1-2 to a4-5 are measured (S12). In S12, the position of the fifth trunk member 24 at the tail of the excavator measured in S10 and S11 and the middle folding angles a1-2 to a4-5 of the middle folding portions 25 to 28 are used to determine the plurality of excavators 1. The positions P1 to P5 of the trunk members 20 to 24 from the starting shaft 2 are calculated, and the position PCL of the axial line CL of the excavator 1 is calculated.
[0068]
Thereafter, in S14, during tunnel excavation, the middle folding angles a1-2 to a4-5 and the digging distance L excavated by the excavator 1 after S11 (S12) are measured in real time, and in S15, The position PCL of the axis line CL of the excavator 1 obtained in S12 and the position P2 of the reference body member 21 among the plurality of body members 20 to 24, and the middle folding angle a1 of the middle folding parts 25 to 28 measured in S14 Based on -2 to a4-5 and the excavation distance L, the positions P1 to P5 of the plurality of trunk members 20 to 24 from the start shaft 2 are calculated in real time.
[0069]
By moving the traveling body 41 between the excavator 1 and the start shaft 2 along the tunnel 3, the distance and the azimuth angle from the start shaft 2 of the fifth trunk member 24 at the tail of the excavator are measured. The position P5 of the fifth body member 24 can be measured, and after measuring the position P5 of the fifth body member 24, it is necessary to measure the azimuth angle in real time using an azimuth meter in S14 during tunnel excavation. Of course, the positions P1 to P5 of the plurality of trunk members 20 to 24 from the start shaft 2 can be accurately calculated in real time without being based on the azimuth angle in the step S15.
[0070]
That is, the position of the plurality of trunk members 20 to 24 from the start shaft 2 can be calculated in real time without mounting the compass on the excavator 1, and as a result, the compass can be prevented from being submerged. be able to. Moreover, it is necessary to mount the compass 50 on the traveling body 41. However, since it is not necessary to measure an accurate azimuth angle in real time during excavation with the compass 50, it is necessary to apply a compass that is so expensive. In the end, the equipment cost can be greatly reduced.
[0071]
Here, in S15, the position PCL of the axial center line CL of the excavator 1 obtained in S12, the position P1 of the reference body member 21 among the plurality of body members 20 to 24, and the bent portion 25 measured in S14. Based on the intermediate bending angles a1-2 to a4-5 and the excavation distance L, the positions P1 to P5 of the plurality of trunk members 20 to 24 from the start shaft 2 are calculated in real time. The position P2 of the reference body member 21 among the plurality of body members 20 to 24 and the position PCL of the axis line CL that can be calculated based on the position P2 can be used together with the position PCL of the axis line CL obtained in S12. Thus, the positions P1 to P5 of the plurality of trunk members 20 to 24 of the excavator 1 can be calculated in real time without frequently performing the first to S12.
[0072]
In S15, it is assumed that the reference body member 21 of the excavator 1 excavated after S11 (S12) moves along the position PCL of the axial line CL determined in S12, and the position of the axial line CL determined in S12. The position P2 of the reference body member 21 can be calculated in real time on the basis of the PCL and the excavation distance L obtained in S14, and the 21 position P2 of the reference body member and the center bend ahead of the reference body member 21 can be calculated. The position P1 of the body member 20 on the front side of the reference body member 21 can be calculated based on the middle turning angle a1-2 of the portion 25.
[0073]
The positions P3 to P5 of the body members 22 to 24 on the rear side of the reference body member 21 are assumed to move along the position PCL of the axial line CL obtained in S12, as with the reference body member 21. , May be calculated based on the positions P3 to P5 of the trunk members 22 to 24 obtained in S12 and the position PCL of the axial center line CL and the excavation distance L obtained in S14, or may be calculated in front of the reference trunk member 21. In substantially the same manner as the body member 20, the calculation is made based on the position P2 of the reference body member 21 and the intermediate folding angles 2-3 to a4-5 behind the reference body member P2. May be.
[0074]
Every time the excavator 1 excavates an integral multiple of the length of the lining pipe 3 lining the inner surface of the tunnel 2, S <b> 1 to S <b> 12 are performed, so that the digging machine 1 on the inner surface of the tunnel 3 and the start shaft 2 are covered. Since it can be covered with the pipe 4 and the traveling body 41 can be moved along the inside of the covered pipe 4, S1 to S12 can be reliably performed.
[0075]
Since the reference body member 21 is the second body member 21 located on the rear side of the length of the lining pipe 4 from the tip of the digging machine 1, at least until the digging machine 1 advances the length of the lining pipe 4. In the meantime, since the reference body member 21 moves reliably along the position PCL of the axial center line CL obtained in S12, the positions of the plurality of body members 20 to 24 from the start shaft 2 are surely confirmed in real time in S15. It becomes possible to calculate.
[0076]
Various modifications can be added and implemented without departing from the spirit of the present invention.
1] For example, the traveling body may be a self-propelled traveling body. In this case, for example, the cable extending from the traveling body to the start shaft side can be wound by the winder device, and the amount of feeding that is performed when the traveling body travels to the excavator side is measured by an encoder or the like, You may apply to the method of measuring the travel distance of a body.
[0077]
2] Three or more types of travel pipes having different lengths may be prepared in advance, and these travel pipes may be appropriately used, and a plurality of travel pipes may be arranged in series along the tunnel. In this case, it is possible to determine the type of the travel pipe traveled by the traveling body by configuring the length of the different travel pipes to be larger than the error of the wire feed amount.
[0078]
3] Instead of detecting the wire feed amount Z from the rear winder 17, an encoder for detecting the amount of wire wound around the front winder 39 is provided as a wire amount detection means, and the optical sensor 52 out of the travel distance of the traveling body 41 is provided. The distance Z from the detection of the hole 53 of each traveling tube 40 to the detection of the next hole 53 may be obtained from the amount of wire wound detected using this encoder.
[0079]
【The invention's effect】
According to the travel distance measuring method of claim 1, a plurality of travel pipes composed of two or more types of travel pipes having different lengths along a tunnel excavated by an excavator and having a predetermined length for each type. number of tubes the number of running tubes passing through when arranging the plurality of driving tube while connected in series form, traveling body previously provided the wire detecting means a plurality of traveling tube travels in one direction with a Detecting using the detecting means, and wire feeding or winding per traveling tube detected using the wire amount detecting means from detection of each detected part to detection of the next detected part. Since the type of the travel pipe can be determined based on the amount taken , the travel distance of the travel body is determined based on the number of travel pipes by type detected by the tube number detection means and the production length of the travel pipe by type. was computation, originating Susumu excavator from shafts tunnel path and excavator Position becomes possible accurately and easily measured.
[0080]
The tube number detection means has detection means provided in advance in the traveling body, and the detection means detects the detected portion provided in advance in a predetermined position of each traveling pipe, so that the traveling body is integrated in the plurality of traveling pipes. It is possible to reliably detect the number of travel pipes that have passed when traveling in the direction.
[0081]
Run Gyotai is traveling body of the wire towed, is provided with a wire amount detecting means for detecting the wire feeding or winding amount in advance, out of the travel distance of the traveling body, detecting means each detected portion Since the distance from the detection to the detection of the next detected part is obtained from the wire feed or winding amount detected using the wire amount detection means, first, the number of running tubes detected by the tube number detection means From the length of each traveling pipe, the travel distance (full length) of the number of travel pipes detected by the tube number detection means is obtained, and the detection means finally detects the detected portion in the travel distance of this travel pipe. It is possible to reliably calculate and measure the travel distance of the traveling body by adding the distance from the first to the next detected part.
[0082]
In order to arrange the plurality of travel pipes in a state of being connected in series, two or more types of travel pipes having different lengths are prepared in advance , and the travel pipes are disposed in the tunnel, the travel pipes are connected to each other, etc. However, it is possible to use two or more types of traveling pipes properly as appropriate .
[0083]
According to the travel distance measuring method of the second aspect , the difference in the lengths of the different travel pipes is larger than the error of the wire feed or winding amount per travel pipe detected using the wire amount detection means. Therefore, the wire feed or winding amount per shorter traveling tube is surely shorter than the length of the longer traveling tube, and the wire feeding or winding per longer traveling tube is reduced. Since the winding amount is surely longer than the length of the shorter traveling tube, the type of traveling tube can be reliably determined.
[Brief description of the drawings]
BRIEF DESCRIPTION OF DRAWINGS FIG. 1 is a schematic view showing an underground installation method for a sewer pipe according to an embodiment of the present invention.
FIG. 2 is a perspective view of a lining pipe.
FIG. 3 is a perspective view of an inner unit including a travel pipe.
FIG. 4 is a longitudinal sectional view of a lining pipe, a traveling pipe, a traveling body and the like in the tunnel.
FIG. 5 is a chart showing the lengths of the first and second travel pipes.
FIG. 6 is a block diagram of a control system and the like used in a sewer pipe underground installation method.
FIG. 7 is a flowchart for position measurement.
FIG. 8 is a flowchart for travel distance measurement.
FIG. 9 is a schematic view of an excavator during excavation.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Excavator 3 Tunnel 7 Control apparatus 13 Main pushing apparatus 13a Pushing amount detection sensor 17a Encoder 20-24 First to fifth trunk members 25-28 Folded part 39 Front winder 40 Traveling pipe (first and second traveling pipes)
41 traveling body 50 compass 52 optical sensor (detection means)
53 holes (detected part)
56 Folding angle detection sensor

Claims (2)

A plurality of traveling pipes composed of two or more types of traveling pipes having different lengths are connected in series along the tunnel excavated by the excavator. was placed in a state, a method of measuring the travel distance of the running body of the wire towed traveling a plurality of driving tube,
A wire amount detection means for detecting the wire feed or winding amount is provided in advance in the traveling body,
When detecting the number of traveling pipes passed when the traveling body travels in one direction by the tube number detecting means, a predetermined position of each traveling pipe is detected by the detecting means of the tube number detecting means provided in advance in the traveling body. Detecting the number of the traveling pipes by detecting the detected part provided in advance,
Based on the wire feed or winding amount per running tube detected using the wire amount detection unit from when the detection unit detects each detection unit until the next detection unit is detected. Identify the type of travel pipe,
Based on the number of types of travel pipes detected by the tube number detection means and the production length of the travel pipes by type , the travel distance of the traveling body is calculated , and the detection means detects each detected portion. Then, the distance until the next detected part is detected is obtained from the wire feed or winding amount detected using the wire amount detecting means.
The mileage measuring method characterized by this. The difference in length of different traveling pipes is configured to be larger than the error in the amount of wire drawn out or taken up per traveling pipe detected by the wire amount detecting means. Item 2. The travel distance measuring method according to Item 1 .

Images