JP4182181B2 - Automatic tracking survey instrument - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an automatic tracking surveying instrument, and more particularly to a surveying instrument used for a tunnel excavator such as a shield excavator or a tunnel boring machine.
[0002]
[Prior art]
In tunnel construction using shield tunneling machines and tunnel boring machines, high precision and high efficiency have been promoted recently. To meet such demands, the position and orientation of tunnel tunneling machines are accurately grasped. There is a need to.
[0003]
Therefore, conventionally, in order to meet such a demand, an automatic tracking type surveying apparatus as shown in FIG. 4 has been installed. The automatic tracking type surveying device shown in the figure is applied to the shield machine 1, and the automatic tracking type surveying device (total station) 2 is sequentially assembled and installed in a ring shape behind the shield machine 1. Installed in segment 3.
[0004]
The shield machine 1 is provided with a prism or a reflection target 4 collimated by the surveying instrument 2. The machine coordinate value of the installation position of the surveying instrument 2 is obtained from a plurality of coordinate origins called dowels installed behind.
[0005]
The coordinate value of the shield machine 1 is detected in real time by collimating the machine coordinate value of the surveying instrument 2 and the distance and angle to the target 4 with the surveying instrument 2, and based on this coordinate value. The attitude of the shield machine 1 is controlled, and the surveying instrument 2 is controlled so that the target 4 is always collimated.
[0006]
However, the conventional automatic tracking surveying apparatus configured as described above has the following technical problems.
[0007]
[Problems to be solved by the invention]
That is, in the surveying instrument shown in FIG. 4, various facilities such as a rear carriage exist between the surveying instrument 2 and the target 4 installed in the shield machine 1 in actual construction. There is a limit to the space that can be used, and it is difficult to install the target 4 at a location suitable for measuring the position of the shield machine 1.
[0008]
Further, the effective collimating distance of the surveying instrument 2 is about 100 m as a linear distance, and if it falls outside this effective collimating distance, the cumbersome replacement work of the heavy surveying instrument 2 is performed.
[0009]
In this case, especially in the construction of a sharp curve part, the effective collimation distance will be outside in a short time, automatic surveying will be disabled, and it will be necessary to perform refilling work frequently, making the work more troublesome. Accompany.
[0010]
The present invention has been made in view of such conventional problems. The object of the present invention is to increase the degree of freedom of a space that can be collimated by a surveying instrument and to eliminate the need for replacement work. It is to provide an automatic tracking surveying device.
[0011]
[Means for Solving the Problems]
In order to achieve the above object, the present invention is mounted on the front side of a bogie located behind a tunnel excavator and is capable of measuring an included angle between measuring points and measuring a distance to the measuring points. A collimation type surveying instrument and a plurality of targets individually installed in segments that are sequentially assembled and installed in an annular shape on the excavation surface excavated by the tunnel excavator, and from three targets with known coordinate values After determining the mechanical origin of the installation position of the surveying instrument, collimate a new target, measure the distance from the surveying instrument to the target, and the obtained distance measurement value and coordinate value are known 3 based on the number of targets, determine the coordinate values of the target, during the stop of the tunnel boring machine, by measuring the included angle between the three target including the new target, of the three target Known coordinates and measurement By the included angle that is, the a sequential automatic tracking type surveying instrument for determining the machine coordinate values after the movement of the surveying instrument, wherein the non-target, on the same plane in the end surface periphery of the same segments assembled disposed annularly The coordinate value is obtained based on the distance measurement with the surveying instrument and the collimation direction and the machine coordinate value, and the center of the segment is determined by the obtained coordinate value and the known diameter of the segment. A pair of targets for obtaining the above was provided.
According to the automatic tracking surveying apparatus configured as described above, since the automatic collimation type surveying instrument is mounted on the front side of the carriage located behind the tunnel excavator, the collimation of the tunnel excavator side is performed. Increased freedom.
In addition, the surveying instrument sequentially obtains three-dimensional machine coordinate values based on three targets whose coordinate values that are always secured are known, and this surveying instrument is mounted on a carriage located behind the tunnel excavator. Therefore, there is no need to replace surveying equipment.
Further, in the present invention, the coordinate values are obtained on the basis of the distance measurement by the surveying instrument and the machine coordinate values, which are installed on the same plane of the inner periphery of the end face of the same segment assembled and installed in an annular shape. Since the pair of targets for determining the center of the segment is provided based on the coordinate value and the known diameter of the segment, the center point of the segment can be determined without using a special measuring instrument.
Further, in the present invention, a pair of the tunnel digging machine main body, which is installed on the inner periphery of the tunnel digging machine body, obtains the coordinate value of the tip of the tunnel digging machine based on the distance measurement by the surveying instrument and the known diameter and length of the tunnel digging machine. Target can be provided.
According to this configuration, the current position, azimuth, and direction of the tunnel excavator can be obtained without using a measuring device such as a gyro.
The target can be composed of a reflective sheet that is attached to the segment.
According to this configuration, an inexpensive reflection sheet can be made disposable.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of the invention will be described in detail with reference to the accompanying drawings. 1 to 3 show an embodiment of an automatic tracking surveying apparatus according to the present invention.
[0013]
The surveying device shown in the figure illustrates the case where the present invention is applied to a shield machine 10, and the shield machine 10 includes a hollow cylindrical main body 10 a and a cutter 10 b provided at the front end of the main body 10 a. And a gyro 10c, and a propulsion jack (not shown), a driving device for the cutter 10b, an assembly device for the segment 12, and the like are installed inside the main body 10a.
[0014]
At the rear of the shield machine 10, the segments 12 are sequentially assembled and installed in an annular shape as the machine digs. Further, a rear carriage 14 that travels in an annularly assembled segment 12 is installed on the rear side of the shield machine 10.
[0015]
In the case of the present embodiment, the rear carriage 14 is pulled and moved as the shield machine 10 is excavated, and an automatic collimation type surveying instrument 16 is installed at the front end thereof. The rear carriage 14 does not necessarily have to be pulled and moved by the shield machine 10, and may be a self-propelled type, for example.
[0016]
This surveying instrument 16 is a so-called total station surveying instrument. In this embodiment, the surveying instrument 16 has a CCD camera 16a and is supported by a pan head (not shown) that can move in a three-dimensional direction.
[0017]
The surveying instrument 16 can automatically search the reflection target provided at the measurement point by image processing in response to a control signal from the control device 18 installed outside the mine, and can determine the direction of the searched reflection target. By collimating, irradiating the reflected target with a light wave or laser beam and receiving the reflected wave, it is possible to automatically measure the distance to the measuring points and the included angle between the measuring points. it can.
[0018]
On the other hand, a plurality of targets 20 _{0 to} 20 _n , 20 _a , and 20 _b are installed at positions where the surveying instrument 16 can collimate in the ring segment 12 that is assembled and installed in an annular shape. In this embodiment, each of the reflection targets 20 _{0 to} 20 _n is composed of a reflection sheet attached to the inner surface side of the segment 12.
[0019]
Target 20 ₀ which is disposed at the rear end of the segment 12 in FIG. 1 is intended to be the origin target automatic tracking, when the excavation of the shield machine 10 is started, or the segment 12 of a plurality of rings In the installed state, the three-dimensional coordinate values (x ₀ , y ₀ , z ₀ ) are accurately obtained, and considering the ease of collimation, the segment 12 is orthogonal to the tunnel axis direction on the ceiling side. Are arranged as follows.
[0020]
Note that the origin target 20 ₀ may be replaced Sheng needed. Further, the first to n-th target 20 ₁ to 20 _n that are disposed on the side surface of each segment 12, when the excavation of the shield machine 10 proceeds, the position of the surveying instrument 16 is moved along with this, the mobile This is used when obtaining the machine coordinate values (x _0n , y _0n , z _0n ) of the installation position of the subsequent surveying instrument 16. In this embodiment, 1 is used for one ring segment 12. It can be affixed to any position that can be collimated by the surveying instrument 16.
[0021]
Further, the pair of targets 20 _a and 20 _b provided on the front end side of the ring segment 12 is for obtaining the center position O of the ring segment 12 assembled and installed in an annular shape. It is on the circumferential end surface and is installed on substantially the same plane perpendicular to the tunnel axis direction.
[0022]
The pair of targets 20 _c , 20 _d provided on the main body 10 a of the shield machine 10 is for obtaining the tip coordinate values (x _M , y _M , x _M ) of the shield machine 10, At a position that can be collimated by the surveying instrument 16, it is arranged on substantially the same plane orthogonal to the tunnel axis direction.
[0023]
Next, an example of a procedure for automatically tracking by controlling the surveying instrument 16 by the control device 18 will be described. FIG. 2 shows an example of this control procedure. When the procedure starts, initial setting is first performed in step s1.
[0024]
The contents of this initial setting are the coordinates of the origin and the first and second targets 20 ₀ , 20 ₁ , 20 ₂ (x ₀ , y ₀ , z ₀ ), (x ₁ , y ₁ , z ₁ ), (x ₂ , y ₂ , z ₂ ) and the coordinate value (x ₀₀ , y ₀₀ , z ₀₀ ) of the machine origin of the installation position of the surveying instrument 16, the two targets 20 _a , 20 _b installed in the segment 12, and the shield machine The coordinate values (x _c , y _c , z _c ) and (x _d , y _d , z _d ) of the two targets 20 _c and 20 _d installed at 10 are input.
[0025]
These coordinate values are obtained in advance, but the coordinate values (x ₀₀ , y ₀₀ , z ₀₀ ) of the machine origin are three targets (origin, first and second targets) 20 with known coordinate values. _0, 20 _1, 20 ₂ may be determined by collimated by the surveying instrument 16.
[0026]
In addition, the coordinate values (x _c , y _c , z _c ) and (x _d , y _d , z _d ) of the targets 20 _c , 20 _d , 20 _a , and 20 _b are indices of the collimation direction of the surveying instrument 16. Although it is input in advance in order to shorten the collimation time, the collimation direction can be determined by the image processing of the surveying instrument 16, so that it is not always necessary to input the initial setting.
[0027]
When the initial setting is completed, in step s2, the collimation directions of the targets 20 ₀ , 20 ₁ , 20 ₂ , 20 _a , 20 _b , 20 _c , and 20 _d given in the initial setting are calculated and stored. Thus, tracking of the targets 20 ₀ , 20 ₁ , 20 ₂ , 20 _a , 20 _b , 20 _c , and 20 _d is performed as an index of the subsequent collimation direction.
[0028]
In the subsequent step s3, the coordinate values (x ₃ , y ₃ , x ₃ ) of the third target 20 ₃ are calculated. The calculation in this case is performed by collimating the third target 20 ₃ from the installation position of the surveying instrument 16 and measuring the distance, and the coordinate values (x x of the three targets 20 ₀ , 20 ₁ , 20 ₂ whose coordinate values are known. ₀ , y ₀ , z ₀ ), (x ₁ , y ₁ , z ₁ ), (x ₂ , y ₂ , z ₂ ) and the coordinate value of the machine origin (x ₀₀ , y ₀₀ , z ₀₀ ) Done.
[0029]
When the third target 20 ₃ coordinates (x _3, y _3, x ₃₎ is calculated, in preparation for the next survey, surveying instruments 16, by unsuitable direction of origin Tageddo 20 _0, waiting To do.
[0030]
When the excavation for one ring is completed in step s4 and the excavation of the shield machine 10 is stopped, the origin target, the second and third targets 20 ₀ , 20 ₂ , 20 _{3 are} obtained in steps s5, 6 and _7. Measurement is performed in the order of.
[0031]
In this measurement, the targets 20 ₀ , 20 ₂ , and 20 ₃ are collimated, and the distance from the surveying instrument 16 and the included angle between the targets 20 ₀ , 20 ₂ , and 20 ₃ are measured. In the subsequent step s8, the measurement result and the three known coordinate values (x ₀ , y ₀ , z ₀ ), (x ₂ , y ₂ , z ₂ ), (x ₃ , y ₃ ) of the targets 20 ₀ , 20 ₂ , 20 ₃ are obtained. , Z ₃ ), machine coordinate values (x ₀₁ , y ₀₁ , z ₀₁ ) after movement are calculated.
[0032]
The calculation for obtaining the coordinates of an unknown point from three points with known coordinate values has been put into practical use, for example, by obtaining the position of a moving body with a GPS system using a satellite, and the distance from a non-point and the included angle are calculated. By measuring, the three-dimensional coordinate value of the unknown point can be obtained with high accuracy.
[0033]
If the machine coordinate values (x ₀₁ , y ₀₁ , z ₀₁ ) after movement obtained in step s8 have an error that exceeds the predicted range or cannot be obtained for some reason, step Returning to s5, the same procedure is repeated.
[0034]
When the machine coordinate values (x ₀₁ , y ₀₁ , z ₀₁ ) after movement are obtained, the process proceeds to step s9. In step s9, the measurement of the pair of targets 20 _a, 20 _b disposed on the segment 12 is made, on the basis of the machine coordinate values after the movement _{(x 01, y 01, z} 01), each target 20 _a, 20 coordinate values of _{b (x a, y a,} z a), (x b, y b, z b) is obtained.
[0035]
In the subsequent step s10, the center O of the segment 12 is calculated. In this calculation, the coordinate values (xa, ya, za) and (xb, yb, zb) obtained in step s9 correspond to two points on the circumference of the ring-shaped segment 12, as shown in FIG. Since the length of the line segment between the coordinate values (xa, ya, za) and (xb, yb, zb) is obtained because the position is the position , since the diameter of the segment 12 is known, each coordinate value is obtained from the two points obtained. When a point whose distance matches the radius of the inner circumference of the segment 12 is obtained, that point becomes the center O. In this case, the center O of the segment 12 can be corrected from the pitching value obtained by the inclinometer in the excavator 10.
[0036]
When the center O of the segment 12 can be obtained in this way, a conventional measuring rod with a level is applied to the inner peripheral surface of the segment 12 in a horizontal state and surveyed from behind with a transit. This eliminates the need to obtain the center O.
[0037]
When the center O of the segment 12 is obtained, by plotting the trajectory in order, the center line of the constructed tunnel can be found, and the coincidence or mismatch between the planned tunnel and the constructed tunnel can be judged.
[0038]
When the calculation of the center O of the segment 12 is completed, the targets 20 _c and 20 _d arranged in the main body 10 a of the shield machine 10 are measured in step s11.
[0039]
Then, the coordinate values (x _c , y _c , z _c ), (x _d , y _d , z _d ) obtained by this measurement, and the diameter D and length L of the shield machine main body 10a (all known) 3, the tip coordinate values (x _M , y _M , x _M ) of the excavator 10 are obtained, and the excavation direction and attitude control of the shield excavator 10 are calculated (step s12, 13).
[0040]
When the above processing procedure is completed, the process returns to step s3, the coordinate values (x ₄ , y ₄ , x ₄ ) of the fourth target 20 ₄ are calculated, and the procedure after step s5 is sequentially repeated.
[0041]
Now, according to the automatic tracking type surveying apparatus configured as described above, after the mechanical origin (x ₀₀ , y ₀₀ , z ₀₀ ) of the installation position of the surveying instrument 16 is determined, the shield machine 10 is stopped. By collimating the targets 20 _{0 to} 20 _n and obtaining their coordinate values, three or more targets 20 _{0 to} 20 _n whose coordinate values that can be collimated by the surveying instrument 16 are always secured are secured. Since the machine coordinate values (x _0n , y _0n , z _0n ) of the surveying instrument 16 after movement are sequentially obtained based on the three targets 20 _{0 to} 20 _n whose coordinate values are known, the survey is performed on the side of the carriage 14 that is towed and moved. Even if the device 16 is mounted, the coordinate value can be obtained with high accuracy.
[0042]
Further, since the automatic collimation type surveying instrument 16 is mounted on the front side of the carriage 14 towed or behind the shield machine 10, the degree of collimation freedom on the shield machine 10 side is increased. It becomes possible to install the targets 20 _c and 20 _d at a place suitable for collimation.
[0043]
Furthermore, since the surveying instrument 16 is pulled by the shield machine 10 or mounted on the carriage 14 located behind it, it is not necessary to replace the surveying instrument 16 and the heavy surveying instrument 16 needs to be moved and reinstalled at all. There is no.
[0044]
Further, in the case of this embodiment, the target 20 _a, 20 _b is a pair installed in the inner periphery of the end surface of the same segment 12, which is assembled installed annularly viewing these targets 20 _a, 20 _b in the survey instrument 16 By doing so, the center point O of the segment 12 is obtained, so that the center point O of the segment 12 can be obtained without using a special measuring instrument.
[0045]
Furthermore, in the case of this embodiment, the target target 20 _c, 20 _d are a pair disposed on the inner periphery of the tunnel boring machine main body 10a, by collimated these target 20 _c, 20 _d in the survey instrument 16 Since the coordinate values (x _M , y _M , x _M ) at the tip of the tunnel machine can be obtained, the current position, azimuth, and direction of the tunnel machine 10 can be obtained without using a measuring device such as a gyro.
[0046]
In the case of the present embodiment, the targets 20 _{0 to} 20 _n , 20 _a , and 20 _b are made of a reflective sheet that is attached to the segment 12, so that an inexpensive reflective sheet can be made disposable. .
[0047]
In the above embodiment, the case of obtaining the machine coordinate values of the surveying instrument 16, a case has been exemplified for collimating the origin target 20 _0, the practice of the present invention is not limited to this, for example, in the target 20 ₁ to 20 _n provided on the side surface of the segment 12, if it is ensured known coordinate values of three or more points can be collimated in the survey instrument 16, it is not always necessary to use the origin target 20 _0.
[0048]
Further, the embodiment of the present invention can be applied not only to automatic tracking of the shield machine 10 but also to automatic tracking of a tunnel boring machine using a segment, for example.
[0049]
【The invention's effect】
As described above in detail in the embodiment, according to the automatic tracking surveying instrument according to the present invention, the degree of freedom of the space that can be collimated by the surveying instrument is increased, and the replacement work is not required.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram of the overall configuration showing an embodiment of an automatic tracking surveying instrument according to the present invention.
FIG. 2 is a flowchart showing an example of a control procedure of the surveying apparatus of FIG.
FIG. 3 is an explanatory diagram for obtaining the tip position coordinates of a shield machine with the surveying instrument of FIG . 1;
FIG. 4 is an explanatory diagram showing an example of a conventional automatic tracking surveying device.

Claims (3)

An automatic collimation type surveying instrument that is mounted on the front side of the carriage located behind the tunnel excavator and that can measure the included angle between the measuring points and the distance to the measuring point ,
A plurality of targets individually installed in segments that are sequentially assembled and installed in an annular manner on the excavation surface excavated by the tunnel machine,
Obtained by determining the machine origin of the installation position of the surveying instrument from the three targets whose coordinate values are known, collimating a new target and measuring the distance from the surveying instrument to the target Based on the distance measurement value and the three targets whose coordinate values are known, the coordinate value of the target is obtained,
While the tunnel machine is stopped, the included angle between the three targets including the new target is measured, and the surveying instrument is moved according to the known coordinates of the three targets and the measured included angle. An automatic tracking type surveying device that sequentially obtains machine coordinate values later,
In addition to the target, it is installed on the same plane of the inner periphery of the end face of the same segment assembled and installed in an annular shape, and the coordinate value is based on the distance measurement with the surveying instrument and the collimation direction and the machine coordinate value. An automatic tracking surveying apparatus characterized in that a pair of targets for obtaining the center of the segment is provided based on the obtained coordinate value and the known diameter of the segment.   A pair of targets that are installed on the inner circumference of the tunnel machine main body and that determine the coordinate value of the tip of the tunnel machine are provided by distance measurement by the surveying instrument and the known diameter and length of the tunnel machine. The automatic tracking surveying instrument according to claim 1, wherein:   The automatic tracking surveying device according to claim 1, wherein the target is made of a reflective sheet that is attached to the segment.

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