JP4606226B2 - Displacement meter position measuring method and position measuring device - Google Patents

Displacement meter position measuring method and position measuring device Download PDF

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JP4606226B2
JP4606226B2 JP2005101840A JP2005101840A JP4606226B2 JP 4606226 B2 JP4606226 B2 JP 4606226B2 JP 2005101840 A JP2005101840 A JP 2005101840A JP 2005101840 A JP2005101840 A JP 2005101840A JP 4606226 B2 JP4606226 B2 JP 4606226B2
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displacement
displacement meter
measuring
meter
bending angle
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JP2006284248A (en
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康裕 伊藤
雅春 齋藤
征史 中村
健司 松井
宏 江原
俊輔 白井
高弘 近藤
博 斉藤
伸昭 清水
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Taisei Corp
Kajima Corp
Komatsu Ltd
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Kajima Corp
Komatsu Ltd
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本発明は、例えば曲線ボ−リングによる推進管の推進や、その先端装置の位置計測に好適で、小形軽量で、狭隘な設置スペ−スに設置できるとともに、計測器等の修理や部品交換に容易に応じられ、計測の速やかな復旧と再現性を得られるとともに、推進作業の速やかな再開を図れる、変位計の位置計測方法および位置計測装置に関する。   The present invention is suitable for propulsion of a propulsion tube by, for example, curved boring and position measurement of its tip device, and can be installed in a small, lightweight, narrow installation space, and also for repairing and replacing parts of measuring instruments. The present invention relates to a position measuring method and a position measuring apparatus for a displacement meter that can be easily adapted to obtain quick restoration and reproducibility of measurement, and can promptly resume propulsion work.

従来より、トンネルの築造や上下水道の新設、シ−ルドトンネルの拡幅、シ−ルド駅の施工に際しては、推進工法を駆使したボ−リング工が採用されている。
前記ボ−リング工は、元押しジャッキ等の推進手段を備え、該推進手段によって推進管を地山に推進し、前記推進管の先端部に掘削装置を備えた先端装置を設け、地山を掘削しながら推進管を地山へ推進させて施工するもので、前記施工時には掘削位置と推進管の推進位置、並びにそれらの姿勢を計測して管理する必要がある。
Conventionally, in the construction of tunnels, the establishment of new water and sewage systems, the widening of shield tunnels, and the construction of shield stations, a boring method utilizing the propulsion method has been adopted.
The boring work is provided with propulsion means such as a push jack, and the propulsion pipe is propelled to a natural ground by the propulsion means, and a tip device provided with a drilling device is provided at the tip of the propulsion pipe. The construction is carried out by propelling the propulsion pipe to the natural ground while excavating, and it is necessary to measure and manage the excavation position, the propulsion position of the propulsion pipe, and their posture during the construction.

例えば、シ−ルドトンネルの拡幅に際して、シ−ルドトンネル内に曲線ボ−リング装置を構成する推進装置を設置し、該推進装置から曲管状の外管を順次継ぎ足して地山へ推進し、前記外管の内部に曲管状の内管を順次継ぎ足して収容し、該内管の先端部に掘削装置を設け、該掘削装置によって地山を掘削しながら、内管と外管とを一緒に地山へ推進し、一方、前記先端側の内管内に孔芯測定器として、光ファイバジャイロを設置し、該ジャイロによって外管ないし内管の推進位置と方向を検出し、その信号によって掘削装置の進路を修正するようにしていた(例えば、特許文献1参照)。   For example, when the shield tunnel is widened, a propulsion device constituting a curved boring device is installed in the shield tunnel, and a curved outer tube is sequentially added from the propulsion device and propelled to a natural ground. A curved tubular inner pipe is sequentially added and accommodated inside the outer pipe, a drilling device is provided at the tip of the inner pipe, and the inner pipe and the outer pipe are grounded together while excavating natural ground with the drilling device. On the other hand, an optical fiber gyroscope is installed as a hole core measuring instrument in the inner pipe on the tip side, and the propulsion position and direction of the outer pipe or the inner pipe are detected by the gyro, and the signal of the excavator is The course was corrected (for example, refer to Patent Document 1).

しかし、前記光ファイバジャイロは、高価で精密な取り付けを要し、設置に手間が掛かる上に、ジャイロ自身が回転体であるため、振動による影響を受け易く、またケ−ブルワイヤの送り出し量によって移動量を測定するため、振動やケ−ブルワイヤの伸びによって測定値に誤差を生じ易く、しかも内管の内側に設けた保護管に移動可能に収容されるため、狭隘な内管内で保護管のスペ−ス確保は難しい、という問題があった。   However, the above-mentioned optical fiber gyro requires expensive and precise installation, takes time and labor for installation, and since the gyro itself is a rotating body, it is easily affected by vibration and moves depending on the amount of cable wire sent out. In order to measure the amount, the measurement value is likely to be erroneous due to vibration or cable wire elongation, and is also movably accommodated in a protective tube provided inside the inner tube. -There was a problem that securing the service was difficult.

このような問題を解決するものとして、推進管の内部に光ファイバジャイロを収容した走行管を移動可能に収容し、該走行管の端部に互いに係合可能な雌雄側継手を設け、該継手を介して隣接する走行管を屈曲可能に連結するとともに、走行管の下側に引抜伝達部材を屈曲可能に連結し、前記走行管を推進管の内外に出入り可能にしたものがある(例えば、特許文献2参照)。
また、光ファイバジャイロを、ヨ−角方向変位を検出する一軸型光ファイバジャイロに構成し、構成を簡潔かつ小形化するとともに、推進管の推進距離を測定する距離測定手段と、ヨ−角の相対角度変化と推進距離の積分演算により、先導体の平面座標変化と推進管の平面線形を算出するようにしたものがある(例えば、特許文献3参照)。
In order to solve such a problem, a propelling pipe is movably accommodated with a traveling pipe containing an optical fiber gyroscope, and a male and female joint that can be engaged with each other is provided at the end of the traveling pipe. The adjacent traveling pipes are connected so as to be bendable, and the pulling transmission member is connected to the lower side of the traveling pipe so as to be bendable, so that the traveling pipe can be moved in and out of the propulsion pipe (for example, Patent Document 2).
Further, the optical fiber gyro is configured as a uniaxial optical fiber gyro for detecting a yaw angle direction displacement, the configuration is simplified and miniaturized, and distance measuring means for measuring the propulsion distance of the propulsion pipe, There is an apparatus in which the plane coordinate change of the leading conductor and the plane alignment of the propulsion pipe are calculated by the integral calculation of the relative angle change and the propulsion distance (see, for example, Patent Document 3).

しかし、これらの装置は、光ファイバジャイロを要するため、何れも高価であり、そのうえ前者のものは、走行管に小形ジャイロからなる測量ロボットを収容し、該走行管を弾性バンドを介して支持板に取り付けているため、不安定で測定誤差を生じ易く、また走行管を推進管の中央に配置し、該走行管の下方に送泥管や排泥管、引き抜き伝達部材を配置しているため、推進管が大径化するとともに、走行管の引き出し時に送排泥管を同動させるため、多大の労力と手間を要して作業性が悪い、等の問題があった。
一方、後者のものは、一軸型光ファイバジャイロやレベルセンサを要するため、設備費が上昇するとともに、それらの設置が煩雑で手間が掛かり、しかもそれらを先導体の内部に設置しているため、それらの故障による修理や推進作業の復旧が難しい問題があった。
However, since these devices require an optical fiber gyro, they are all expensive. In addition, the former device accommodates a surveying robot composed of a small gyro in the traveling tube, and the traveling tube is supported by an elastic band through a support plate. Because it is unstable and prone to measurement errors, the traveling pipe is located in the center of the propulsion pipe, and the mud pipe, mud pipe, and extraction transmission member are located below the traveling pipe. In addition, the diameter of the propulsion pipe is increased, and the feeding / discharging mud pipe is moved when the traveling pipe is pulled out. Therefore, there is a problem that work is troublesome because much labor and labor are required.
On the other hand, since the latter requires a single-axis optical fiber gyroscope and a level sensor, the equipment cost increases, and the installation of them is cumbersome and troublesome, and because they are installed inside the leading conductor, There was a problem that it was difficult to repair or restore the propulsion work due to these failures.

特公平7−76507号公報Japanese Patent Publication No. 7-76507 特開2004−76565号公報JP 2004-76565 A 特開2003−247826号公報JP 2003-247826 A

本発明はこのような問題を解決し、例えば曲線ボ−リングによる推進管の推進や、その先端装置の位置計測に好適で、小形軽量で、狭隘な設置スペ−スに設置できるとともに、計測器等の修理や部品交換に容易に応じられ、計測の速やかな復旧と再現性を得られるとともに、推進作業の速やかな再開を図れる、変位計の位置計測方法および位置計測装置を提供することを目的とする。   The present invention solves such a problem, and is suitable for propulsion of a propulsion pipe by, for example, curved boring and position measurement of its tip device, and can be installed in a small, light and narrow installation space. Displacement meter position measurement method and position measurement device that can be easily accommodated for repairs and parts replacement, etc., and that measurement can be promptly restored and reproducible, and propulsion can be resumed promptly And

請求項1の発明は、変位計測部に沿って配置した移動ガイドに、変位センサを内蔵した互いに同長の複数の変位計を折り曲げ可能に連結して移動可能に収容し、前記移動ガイド内における変位計の移動量を基に、所定の変位計の位置を演算する変位計の位置計測方法において、前記変位計の移動始端部に距離計測手段を設置し、該距離計測手段を介し、最先の一対の変位計の両端部と、その枢支部の少なくとも3位置の三次元位置を基準値として計測し、かつ前記一対の変位計の折れ角の初期値を演算後、前記変位計に一対の変位計を順次連結して延伸し、かつその際前記距離計測手段を介して、延伸した一対の変位計の両端部と、その枢支部の少なくとも3位置の三次元位置を計測するとともに、延伸した一対の変位計の折れ角を算出し、該折れ角と、延伸した変位計の枢支部における三次元位置と、延伸に伴ない変化する先行の折れ角を相対量として検出した検出角度と、変位計の長さとを基に、最先または所望の変位計の位置を演算し得るとともに、小形軽量で、狭隘な設置スペ−スに設置でき、しかも各変位計を容易に引き出して、変位計に内蔵した変位センサ類の修理や交換に容易に応じられ、計測の速やかな復旧とその再現性を得られるとともに、推進作業の速やかな再開を図れ、例えば曲線ボ−リングによる推進部材の推進や、その先端装置の位置計測に好適にしている。 According to the first aspect of the present invention, a plurality of displacement gauges having the same length are connected to a movement guide arranged along the displacement measuring section so as to be foldable and accommodated in a movable manner. In the displacement measuring method for calculating the position of a predetermined displacement meter based on the displacement amount of the displacement meter, a distance measuring means is installed at the moving start end of the displacement meter, and the first through the distance measuring means After measuring the three-dimensional positions of at least three positions of the pair of displacement gauges and at least three of the pivot parts as reference values, and calculating the initial value of the bending angle of the pair of displacement gauges, Displacement meters were sequentially connected and extended, and at that time, the distance measuring means was used to measure the three-dimensional positions of at least three positions of both ends of the extended pair of displacement meters and the pivots, and extended. Calculate the bending angle of a pair of displacement meters, Based on the bending angle, the three-dimensional position of the extended displacement meter at the pivot, the detected angle detected as the relative amount of the previous bending angle that changes with the extension, and the length of the displacement meter, the first or desired It is possible to calculate the position of the displacement meter, and it is small and lightweight, can be installed in a narrow installation space, and each displacement meter can be easily pulled out to easily repair or replace the displacement sensors built in the displacement meter. In response, the measurement can be promptly restored and reproducible, and the propulsion operation can be promptly restarted. For example, it is suitable for propulsion of the propulsion member by curve boring and position measurement of the tip device.

請求項2の発明は、前記移動ガイドを静止または移動する変位計測部に設置し、例えば移動ガイドを山林の法面に設置して、地盤の変状を計測可能にする一方、移動する例えば推進部材に設置して、推進部材の特定位置や先端装置の位置計測に応じられるようにしている。
請求項3の発明は、前記最先の変位計の先端部を、変位計と同動する推進部材の所定位置に着脱可能に装着するようにして、変位計による推進部材の所定位置の計測を実現するとともに、その着脱操作によって変位計と推進部材との着脱を実現し、変位計の引き抜きを簡便に行なえるようにしている。
According to the invention of claim 2, the moving guide is installed in a displacement measuring unit that is stationary or moving, for example, the moving guide is installed on a slope of a forest to enable measurement of ground deformation, while moving, for example, propulsion. It is installed on the member so that it can respond to the specific position of the propulsion member and the position measurement of the tip device.
According to a third aspect of the present invention, the tip of the first displacement meter is detachably attached to a predetermined position of a propulsion member that moves together with the displacement meter, and the predetermined position of the propulsion member is measured by the displacement meter. In addition, the displacement gauge and the propelling member can be attached and detached by the attachment / detachment operation so that the displacement gauge can be easily pulled out.

請求項4の発明は、前記所定の変位計を移動ガイドに沿って移動始端部方向へ引き出し後、前記変位計を移動ガイドに沿って原位置へ移動する際、前記距離計測手段を介し、一対の変位計の両端部と、その枢支部の少なくとも3位置の三次元位置を計測するとともに、復帰させる一対の変位計の折れ角を算出し、該折れ角と、前記変位計の枢支部における三次元位置と、復帰に伴ない変化する先行の折れ角を相対量として検出した検出角度と、変位計の長さとを基に、最先または所望の変位計の位置を演算し、各変位計を原位置に復帰させるようにして、所定の変位計を引き出し後、内蔵した変位センサ類の修理や点検に応じられるとともに、修理後、各変位計を計測して原位置に正確に移動させ、計測の速やかな復旧と、その再現性を得られるようにしている。
請求項5の発明は、前記各変位計の原位置復帰終期に、最先の変位計の先端部を推進部材の所定位置に係合するようにして、変位センサ類の修理点検後、変位計を原位置に正確に位置付け、計測の再現性と信頼性を得られるようにしている。
According to a fourth aspect of the present invention, when the predetermined displacement meter is pulled out along the movement guide in the direction of the movement start end, when the displacement meter is moved to the original position along the movement guide, Measuring the three-dimensional position of at least three positions of both ends of the displacement meter and the pivot, and calculating the bending angle of the pair of displacement meters to be returned, and the bending angle and the tertiary at the pivot of the displacement meter. Based on the original position, the detected angle detected as the relative amount of the previous bending angle that changes with the return, and the length of the displacement meter, the position of the first or desired displacement meter is calculated, and each displacement meter is After returning to the original position and pulling out the specified displacement meter, it is possible to respond to repairs and inspections of the built-in displacement sensors, and after repairing, each displacement meter is measured and accurately moved to the original position for measurement. Quick recovery and reproducibility I have to so that.
According to a fifth aspect of the present invention, at the end of returning to the original position of each displacement meter, the tip of the first displacement meter is engaged with a predetermined position of the propulsion member, and after the displacement sensor is repaired and inspected, the displacement meter Is accurately positioned in the original position so that measurement reproducibility and reliability can be obtained.

請求項6の発明は、変位計測部に沿って移動ガイドを配置し、該移動ガイドに変位センサを内蔵した互いに同長の複数の変位計を折り曲げ可能に連結し、かつ前記変位計を移動可能に収容する一方、前記移動ガイド内における変位計の移動量を基に、所定の変位計の位置を演算可能にした変位計の位置計測装置において、前記変位計の移動始端部に距離計測手段を設置し、該距離計測手段を介し、最先の一対の変位計の両端部と、その枢支部の少なくとも3位置の三次元位置を基準値として計測可能に設けるとともに、前記一対の変位計の折れ角の初期値を演算可能に設ける一方、前記変位計に一対の変位計を順次連結かつ延伸可能に設け、かつその際前記距離計測手段を介して、延伸した一対の変位計の両端部と、その枢支部の少なくとも3位置の三次元位置を計測するとともに、延伸した一対の変位計の折れ角を算出し、該折れ角と、延伸した変位計の枢支部における三次元位置と、延伸に伴ない変化する先行の折れ角を相対量として検出した検出角度と、変位計の長さとを基に、最先または所望の変位計の位置を演算可能にし、距離計測手段による計測不可能な、例えば地中の変位計の位置計測を実現し得るとともに、小形軽量で、狭隘な設置スペ−スに設置でき、しかも各変位計を容易に引き出して、変位計に内蔵した変位センサ類の修理や交換に容易に応じられ、計測の速やかな復旧とその再現性を得られるとともに、推進作業の速やかな再開を図れ、例えば曲線ボ−リングによる推進部材の推進や、その先端装置の位置計測に好適にしている。 According to the invention of claim 6, a movement guide is arranged along the displacement measuring section, a plurality of displacement gauges having the same length built in the displacement sensor are connected to the movement guide so as to be bent, and the displacement gauge can be moved. In the displacement measuring device that can calculate the position of a predetermined displacement meter based on the amount of movement of the displacement meter in the movement guide, a distance measuring means is provided at the moving start end of the displacement meter. It is installed and provided through the distance measuring means so as to be able to measure the three-dimensional positions of at least three positions of the first pair of displacement gauges and at least three positions of the pivots as a reference value. An initial value of the corner is provided so that it can be calculated, while a pair of displacement meters are sequentially connected to the displacement meter so as to be extendable, and at that time, via the distance measuring means, both ends of the extended pair of displacement meters, At least of its pivot Measure the three-dimensional position of the position, calculate the bending angle of the extended pair of displacement gauges, the bending angle, the three-dimensional position of the extended displacement meter at the pivotal support, and the preceding folding that changes with the extension Based on the detected angle detected as a relative amount and the length of the displacement meter, the position of the first or desired displacement meter can be calculated, and for example, a displacement meter that cannot be measured by the distance measuring means Position measurement can be realized, it is small and lightweight, can be installed in a narrow installation space, and each displacement meter can be easily pulled out to easily repair and replace displacement sensors built in the displacement meter, The measurement can be promptly restored and reproducible, and the propulsion operation can be promptly resumed, which is suitable for propulsion of the propulsion member by, for example, curved boring and position measurement of the tip device.

請求項7の発明は、前記移動ガイドを静止または移動可能な変位計測部に設置し、例えば移動ガイドを山林の法面に設置して、地盤の変状を計測可能にする一方、移動する例えば推進部材に設置して、推進部材の特定位置や先端装置の位置計測に応じられるようにしている。
請求項8の発明は、前記最先の変位計の先端部を、変位計と同動可能な推進部材の所定位置に着脱可能に装着し、変位計による推進部材の所定位置の計測を実現するとともに、その着脱操作によって変位計と推進部材との着脱を実現し、変位計の引き抜きを簡便に行なえるようにしている。
In the invention according to claim 7, the moving guide is installed in a stationary or movable displacement measuring unit, for example, the moving guide is installed on a slope of a forest, and the deformation of the ground can be measured while moving. It is installed on the propulsion member so that it can respond to the specific position of the propulsion member and the position measurement of the tip device.
The invention according to claim 8 detachably attaches the distal end portion of the foremost displacement meter to a predetermined position of a propulsion member that can move together with the displacement meter, and realizes measurement of the predetermined position of the propulsion member by the displacement meter. At the same time, the attachment / detachment operation realizes attachment / detachment between the displacement meter and the propelling member, so that the displacement meter can be easily pulled out.

請求項1の発明は、変位計の移動始端部に距離計測手段を設置し、該距離計測手段を介し、最先の一対の変位計の両端部と、その枢支部の少なくとも3位置の三次元位置を基準値として計測し、かつ前記一対の変位計の折れ角の初期値を演算後、前記変位計に一対の変位計を順次連結して延伸し、かつその際前記距離計測手段を介して、延伸した一対の変位計の両端部と、その枢支部の少なくとも3位置の三次元位置を計測するとともに、延伸した一対の変位計の折れ角を算出し、該折れ角と、延伸した変位計の枢支部における三次元位置と、延伸に伴ない変化する先行の折れ角を相対量として検出した検出角度と、変位計の長さを基に、最先または所望の変位計の位置を演算し得るから、距離計測手段による計測不可能な、例えば地中の変位計の位置計測を実現し得るとともに、小形軽量で、狭隘な設置スペ−スに設置でき、しかも各変位計を容易に引き出して、変位計に内蔵した変位センサ類の修理や交換に容易に応じられ、計測の速やかな復旧とその再現性を得られるとともに、推進作業の速やかな再開を図れ、例えば曲線ボ−リングによる推進部材の推進や、その先端装置の位置計測に好適な効果がある。 According to the first aspect of the present invention, a distance measuring means is installed at the moving start end of the displacement meter, and through the distance measuring means, the three ends of at least three positions of the both ends of the first pair of displacement meters and its pivotal support are provided. After measuring the position as a reference value and calculating the initial value of the bending angle of the pair of displacement meters, the pair of displacement meters are sequentially connected to the displacement meter and extended, and at that time, via the distance measuring means And measuring the three-dimensional positions of at least three positions of both ends of the extended pair of displacement meters and the pivot, calculating the bending angle of the extended pair of displacement meters, and the extended displacement meter of the three-dimensional position in the pivot portion, based on the preceding and detection angle detected as a relative quantity bending angle of and a length of displacement of meter changes in conjunction stretching, the earliest or desired displacement meter Since the position can be calculated, it is impossible to measure by distance measuring means, for example, in the ground It is possible to measure the position of the scale, and it is small and lightweight, can be installed in a narrow installation space, and each displacement meter can be easily pulled out to easily repair or replace the displacement sensors built in the displacement meter. It is possible to obtain a quick recovery and reproducibility of the measurement, and to promptly restart the propulsion work, which is suitable for propulsion of the propulsion member by, for example, curved boring and position measurement of the tip device. .

請求項2の発明は、前記移動ガイドを静止または移動する変位計測部に設置し得るから、例えば移動ガイドを山林の法面に設置して、地盤の変状を計測できる一方、移動する例えば推進部材に設置して、推進部材の特定位置や先端装置の位置計測に応じられる効果がある。
請求項3の発明は、前記最先の変位計の先端部を、変位計と同動する推進部材の所定位置に着脱可能に装着するから、変位計による推進部材の所定位置の計測を実現できるとともに、その着脱操作によって変位計と推進部材との着脱を実現し、変位計の引き抜きを簡便に行なうことができる。
In the invention of claim 2, the moving guide can be installed in a stationary or moving displacement measuring unit. For example, the moving guide can be installed on a slope of a forest to measure the deformation of the ground, while moving, for example, propulsion. There is an effect that it can be installed on the member and can respond to the specific position of the propelling member and the position measurement of the tip device.
In the invention of claim 3, since the tip of the first displacement meter is detachably attached to a predetermined position of the propulsion member that moves together with the displacement meter, measurement of the predetermined position of the propulsion member by the displacement meter can be realized. At the same time, the attachment / detachment of the displacement meter and the propelling member can be realized by the attachment / detachment operation, and the displacement meter can be easily pulled out.

請求項4の発明は、前記所定の変位計を移動ガイドに沿って移動始端部方向へ引き出し後、前記変位計を移動ガイドに沿って原位置へ移動する際、前記距離計測手段を介し、一対の変位計の両端部と、その枢支部の少なくとも3位置の三次元位置を計測するとともに、復帰させる一対の変位計の折れ角を算出し、該折れ角と、前記変位計の枢支部における三次元位置と、復帰に伴ない変化する先行の折れ角を相対量として検出した検出角度と、変位計の長さとを基に、最先または所望の変位計の位置を演算し、各変位計を原位置に復帰させるから、所定の変位計を引き出し後、内蔵した変位センサ類の修理や点検に応じられるとともに、修理後、各変位計を原位置に正確に移動させることができ、計測の速やかな復旧と、その再現性を得られる効果がある。
請求項5の発明は、前記各変位計の原位置復帰終期に、最先の変位計の先端部を推進部材の所定位置に係合させるから、変位センサ類の修理点検後、変位計を原位置に正確に位置付け、計測の再現性と信頼性を得られる効果がある。
According to a fourth aspect of the present invention, when the predetermined displacement meter is pulled out along the movement guide in the direction of the movement start end, when the displacement meter is moved to the original position along the movement guide, Measuring the three-dimensional position of at least three positions of both ends of the displacement meter and the pivot, and calculating the bending angle of the pair of displacement meters to be returned, and the bending angle and the tertiary at the pivot of the displacement meter. Based on the original position, the detected angle detected as the relative amount of the previous bending angle that changes with the return, and the length of the displacement meter, the position of the first or desired displacement meter is calculated, and each displacement meter is Since it returns to its original position, after pulling out a predetermined displacement meter, it is possible to respond to repairs and inspections of the built-in displacement sensors, and after the repair, each displacement meter can be accurately moved to its original position, enabling quick measurement. Recovery and reproducibility There is an effect.
According to the fifth aspect of the present invention, since the tip of the first displacement meter is engaged with a predetermined position of the propulsion member at the end of returning to the original position of each displacement meter, the displacement meter is restored after the repair inspection of the displacement sensors. There is an effect that the position can be accurately positioned and the reproducibility and reliability of measurement can be obtained.

請求項6の発明は、変位計の移動始端部に距離計測手段を設置し、該距離計測手段を介し、最先の一対の変位計の両端部と、その枢支部の少なくとも3位置の三次元位置を基準値として計測可能に設けるとともに、前記一対の変位計の折れ角の初期値を演算可能に設ける一方、前記変位計に一対の変位計を順次連結かつ延伸可能に設け、かつその際前記距離計測手段を介して、延伸した一対の変位計の両端部と、その枢支部の少なくとも3位置の三次元位置を計測するとともに、延伸した一対の変位計の折れ角を算出し、該折れ角と、延伸した変位計の枢支部における三次元位置と、延伸に伴ない変化する先行の折れ角を相対量として検出した検出角度と、変位計の長さを基に、最先または所望の変位計の位置を演算可能にしたから、距離計測手段による計測不可能な、例えば地中の変位計の位置計測を実現し得るとともに、小形軽量で、狭隘な設置スペ−スに設置でき、しかも各変位計を容易に引き出して、変位計に内蔵した変位センサ類の修理や交換に容易に応じられ、計測の速やかな復旧とその再現性を得られるとともに、推進作業の速やかな再開を図れ、例えば曲線ボ−リングによる推進部材の推進や、その先端装置の位置計測に好適な効果がある。 According to the invention of claim 6, a distance measuring means is installed at the moving start end of the displacement meter, and through the distance measuring means, both ends of the first pair of displacement gauges and at least three positions of the pivotal support are three-dimensional. A position is provided as a reference value so as to be measurable, and an initial value of a bending angle of the pair of displacement meters is provided to be computable, while a pair of displacement meters are sequentially connected to the displacement meter and extendable, The distance measurement means measures the three-dimensional positions of at least three positions of both ends of the extended pair of displacement gauges and the pivots, and calculates the bending angle of the extended pair of displacement gauges. If, based on the three-dimensional position in the pivot portion of the stretched displacement meter, and the detection angle detected as a relative quantity bending angle of the preceding varying not accompanied stretching, the length of the displacement of meter, the earliest Or, since the position of the desired displacement meter can be calculated, the distance For example, it is possible to measure the position of a displacement meter in the ground that cannot be measured by the measuring means, and it can be installed in a small, lightweight, narrow installation space, and each displacement meter can be easily pulled out to become a displacement meter. Easily responds to repairs and replacements of built-in displacement sensors, obtains quick restoration of measurement and reproducibility, and promptly resumes propulsion work.For example, propulsion of propulsion members by curve boring, There is an effect suitable for position measurement of the tip device.

請求項7の発明は、前記移動ガイドを静止または移動可能な変位計測部に設置可能にしたから、例えば移動ガイドを山林の法面に設置して、地盤の変状を計測することができる一方、移動する例えば推進部材に設置して、推進部材の特定位置や先端装置の位置計測に応じられる効果がある。
請求項8の発明は、前記最先の変位計の先端部を、変位計と同動可能な推進部材の所定位置に着脱可能に装着したから、変位計による推進部材の所定位置の計測を実現できるとともに、その着脱操作によって変位計と推進部材との着脱を実現し、変位計の引き抜きを簡便に行なうことができる。
In the invention of claim 7, since the moving guide can be installed in a stationary or movable displacement measuring unit, for example, the moving guide can be installed on a slope of a forest to measure the deformation of the ground. For example, it is installed on a propulsion member that moves, and has an effect of being able to respond to a specific position of the propulsion member or position measurement of the tip device.
In the invention of claim 8, since the tip portion of the foremost displacement meter is detachably attached to a predetermined position of the propulsion member movable together with the displacement meter, measurement of the predetermined position of the propulsion member by the displacement meter is realized. In addition, the attachment / detachment operation realizes attachment / detachment of the displacement meter and the propelling member, and the displacement meter can be easily pulled out.

以下、本発明をシ−ルドトンネルの拡幅施工に用いた曲線ボ−リング装置の先端装置の位置計測に適用した図示の実施形態について説明すると、図1乃至図11において1,2は地盤3に離間して築造したシ−ルドトンネル等のトンネルで、該トンネル1,2の間を拡幅部4として、拡幅施工している。   Hereinafter, the illustrated embodiment in which the present invention is applied to position measurement of a tip device of a curved boring device used for widening construction of a shield tunnel will be described. In FIGS. In a tunnel such as a shield tunnel that is constructed separately, the widening portion 4 is used as the widening portion 4 between the tunnels 1 and 2.

前記拡幅施工は、推進側または発進側である一方のトンネル1の適所に架台5を設置し、該架台5に曲線ボ−リング装置6の推進装置7を設置している。
前記推進装置7は、前記架台5上に据え付けた推進架台8と、該架台8に固定した曲線ガイド9と、推進部材でかつ変位測定部である曲線管状の大径の外管10を、保持可能なパイプホルダ11と、前記外管10を拡幅部4の地盤1方向へ推進可能な推進シリンダ12と、先後行の外管10を接続する管接続装置13と、反力受14と、を備えている。
In the widening construction, a gantry 5 is installed at an appropriate position on one of the tunnels 1 on the propulsion side or the start side, and the propulsion device 7 of the curved boring device 6 is installed on the gantry 5.
The propulsion device 7 holds a propulsion gantry 8 installed on the gantry 5, a curved guide 9 fixed to the gantry 8, and a curved tubular large-diameter outer tube 10 that is a propulsion member and a displacement measuring unit. A possible pipe holder 11, a propulsion cylinder 12 capable of propelling the outer tube 10 toward the ground 1 of the widened portion 4, a tube connecting device 13 for connecting the preceding and succeeding outer tube 10, and a reaction force receiver 14. I have.

前記外管10は所定長さに形成され、その先端部に掘削装置(図示略)を備えた先端装置16が連結され、該掘削装置を介して地盤3を掘削し、その掘削分、地盤3へ推進可能にされ、所定距離推進後、その後端部に後行の外管10を継ぎ足し、その先後行の外管10を一緒に地盤3へ推進可能にしている。 The outer pipe 10 is formed to a predetermined length, and a tip device 16 having a drilling device (not shown) is connected to the tip of the outer tube 10 to excavate the ground 3 through the drilling device. to be enabled propulsion, after a predetermined distance promotion, replenishing the outer tube 1 0 of the trailing in its rear portion, which enables promoting outer tube 10 of the front-rear line to ground 3 together.

前記外管10の内側に、送泥管17と排泥管18が配管され、また外管10内に配置したダクト(図示略)に、油圧ホ−ス19とエア−ホ−ス20および各種ケ−ブルコ−ド21等が収容されている。
前記外管10の内面の一側に、該外管10と同長で同曲率の曲線状の移動ガイドである計測管22が配管され、その外径は実施形態の場合、作業員が立ち入り困難な外径800mmに構成され、前記外管10の継ぎ足し時に、先後行の計測管22を継ぎ足し、これを外管10の内面に沿わせてボルト締め等で固定している。
なお、移動ガイドは前記計測管22のような管状のものに限らず、略U字形断面の樋状のものや、曲線状若しくは直線状のものであっても良く、要は内部に後述の変位計を移動可能に収容できれば良い。
A mud feed pipe 17 and a mud discharge pipe 18 are provided inside the outer pipe 10, and a hydraulic hose 19, an air hose 20, and various types are arranged in a duct (not shown) disposed in the outer pipe 10. A cable cord 21 and the like are accommodated.
A measuring tube 22, which is a curved movement guide having the same length and the same curvature as the outer tube 10, is piped on one side of the inner surface of the outer tube 10, and the outer diameter of the measuring tube 22 is difficult for an operator to enter in the embodiment. The outer tube 10 is configured to have an outer diameter of 800 mm, and when the outer tube 10 is added, the preceding and following measuring tubes 22 are added and fixed along the inner surface of the outer tube 10 by bolting or the like.
The moving guide is not limited to a tubular shape such as the measuring tube 22, but may be a bowl shape having a substantially U-shaped cross section, a curved shape or a linear shape, and the displacement guide described below is disposed inside. What is necessary is just to be able to accommodate the meter movably.

前記計測管22の内側に外部ケ−シング23が収容され、該外部ケ−シング23は外管10と略同長の角管または曲管状に形成され、その外周部に複数のロ−ラ24が回転自在に支持されていて、これらのロ−ラ24を計測管22の内面に走行可能に配置している。
前記外部ケ−シング23は、前記外管10および計測管22の継ぎ足し時に、先後行の外部ケ−シング23を継ぎ足し、かつその接続部をピン25を介して上下方向に回動可能に連結している。
An outer casing 23 is accommodated inside the measuring tube 22, and the outer casing 23 is formed into a rectangular tube or a curved tube having substantially the same length as the outer tube 10, and a plurality of rollers 24 are provided on the outer periphery thereof. These rollers 24 are arranged on the inner surface of the measuring tube 22 so as to be able to run.
When the outer tube 10 and the measuring tube 22 are added, the outer casing 23 is connected to the preceding and following outer casing 23 and the connecting portion is connected via a pin 25 so as to be pivotable in the vertical direction. ing.

前記外部ケ−シング23の接続端部23aは、図4のように略V字形に形成され、該接続端部23aに、隣接する外部ケ−シング23の接続端部23aを挿入かつ回動可能な切欠部(図示略)が形成されている。
前記外部ケ−シング23の内面の一側、実施形態では下側面に計測台26が固定され、該計測台26に枢支部である計測ロッド27が固定されている。
The connection end portion 23a of the external casing 23 is formed in a substantially V shape as shown in FIG. 4, and the connection end portion 23a of the adjacent external casing 23 can be inserted and rotated into the connection end portion 23a. A notch (not shown) is formed.
A measurement table 26 is fixed to one side of the inner surface of the external casing 23, in the embodiment, a lower surface, and a measurement rod 27 that is a pivotal support is fixed to the measurement table 26.

前記計測ロッド27の一側または両側に、変位計28の一端が上下方向に回動可能に連結され、該変位計28は互いに同長Lの直管状に形成されていて、その長さは計測管22の単位長さである、継ぎ足し長さの略1/2に形成され、単位長さの計測管22に、一台の位置計測器15を構成する、一対の変位計28と計測ロッド27が連結されて収容されている。   One end of a displacement gauge 28 is connected to one side or both sides of the measurement rod 27 so as to be pivotable in the vertical direction. The displacement gauges 28 are formed in a straight tube having the same length L, and the length is measured. A pair of displacement gauges 28 and a measuring rod 27 which are formed to be approximately a half of the length of the addition of the tube 22 and constitute one position measuring device 15 in the measurement tube 22 of the unit length. Are connected and accommodated.

前記変位計28の枢着側の基部に、該ロッド27のピッチングおよびロ−リング量を計測可能な傾斜計等のセンサ(図示略)が内蔵され、該センサの検出信号を、施工現場の所定位置に設置したマイクロコンピュ−タ等のデ−タ処理演算器(図示略)に入力可能にしている。
また、前記変位計28の枢着側の他側端部に、変位計28のX軸またはY軸方向の折れ角ないし変位を検出可能なセンサ(図示略)が内蔵され、継ぎ足し後の変位計28の折れ角を検出可能にしている。
A sensor (not shown) such as an inclinometer capable of measuring the pitching and rolling amount of the rod 27 is built in the base of the displacement gauge 28 on the pivot side, and the detection signal of the sensor is used as a predetermined signal at the construction site. The data can be input to a data processing arithmetic unit (not shown) such as a microcomputer installed at the position.
In addition, a sensor (not shown) capable of detecting a bending angle or displacement of the displacement meter 28 in the X-axis or Y-axis direction is built in the other end of the displacement meter 28 on the pivot side, and the displacement meter after the addition is added. 28 bending angles can be detected.

前記変位計28の他端部は、フレキシブル継手29を介して揺動自在に連結され、かつ当該部の揺動変位を許容可能にしている。
前記変位計28の両端部と、その中央の枢着部である計測ロッド27の3点位置は、それらを外部ケ−シング23および計測管22を介して外管10に収容し、これを前記推進装置7にセットして推進する際、距離計測手段であるトランシット30等によって計測可能にされている。
このため、前記計測ロッド27および変位計28の計測位置である前記3点位置に対応する、外部ケ−シング23と計測管22の各位置に通孔が形成され、トランシット30による計測を可能にしている。
The other end portion of the displacement meter 28 is slidably connected via a flexible joint 29, and allows the oscillating displacement of the portion to be allowed.
The three positions of the measuring rod 27, which is the center of the both ends of the displacement meter 28, are accommodated in the outer tube 10 via the outer casing 23 and the measuring tube 22, and this is stored in the outer tube 10. When propelled by being set in the propulsion device 7, the measurement can be performed by the transit 30 or the like that is a distance measuring means.
For this reason, a through hole is formed at each position of the external casing 23 and the measurement tube 22 corresponding to the three-point positions that are the measurement positions of the measurement rod 27 and the displacement gauge 28, thereby enabling measurement by the transit 30. ing.

前記トランシット30は、前記曲線ボ−リング装置6の近接位置に設置され、その光軸を前記推進装置7に設定し、または推進装置7より所定位置推進した外管10位置に向けて、前記通孔を介し内部に収容した各変位計28の前記3点位置を計測可能にしている。   The transit 30 is installed at a position close to the curved bowling device 6, and its optical axis is set to the propulsion device 7, or toward the outer tube 10 that is propelled at a predetermined position by the propulsion device 7. The positions of the three points of each displacement meter 28 accommodated therein can be measured through holes.

すなわち、図6に模式的に示すように、最先行の外管10にセットした1番目の変位計28の3点位置P〜Pの3次元位置、つまりP(X,Y,Z)、P(X,Y,Z)、P(X,Y,Z)を前記トランシット30によって計測し、かつこれら3点位置P〜Pを基に、変位計28,28の折れ角θを算出し、これを折れ角の初期値としている。
この場合、前記3点位置P〜Pの計測および折れ角θの算出に当たって、変位計28に設置した傾斜計によるピッチングおよびロ−リング量を基に、前記数値を補正している。
That is, as schematically shown in FIG. 6, the three-dimensional positions of the three point positions P 1 to P 3 of the first displacement meter 28 set in the outermost outer tube 10, that is, P 1 (X 1 , Y 1 , Z 1 ), P 2 (X 2 , Y 2 , Z 2 ), P 3 (X 3 , Y 3 , Z 3 ) are measured by the transit 30 and based on these three point positions P 1 to P 3 . Then, the bending angle θ 1 of the displacement gauges 28 and 28 is calculated, and this is set as the initial value of the bending angle.
In this case, in measuring the three-point positions P 1 to P 3 and calculating the bending angle θ 1 , the numerical values are corrected based on pitching and rolling amounts by an inclinometer installed in the displacement meter 28.

そして、前記外管10を推進し、それらを所定量推進したところで、後行の外管10を継ぎ足し、該外管10の内部に計測管22と外部ケ−シング23、および計測ロッド27と変位計28とを継ぎ足すようにしている。   Then, when the outer tube 10 is propelled and a predetermined amount thereof is propelled, the succeeding outer tube 10 is added, and the measuring tube 22, the outer casing 23, and the measuring rod 27 are displaced inside the outer tube 10. A total of 28 is added.

前記計測ロッド27の継ぎ足し状況は、図7に模式的に示すように、1番目の変位計28の後端部のP位置に、フレキシブル継手29を介して、2番目の変位計28の先行側が揺動可能に連結され、その連結部を前記Pと同位置のPとしている。
前記変位計28の他端に、計測ロッド27が上下方向に回動可能に連結され、該ロッド27の位置をPとし、該計測ロッド27の他側に変位計28の基端を上下方向に回動可能に連結し、該変位計28の他端をPとしている。
As shown schematically in FIG. 7, the addition state of the measuring rod 27 is preceded by the second displacement gauge 28 via the flexible joint 29 at the position P 3 at the rear end of the first displacement gauge 28. side is swingably connected to, and the connecting portion and the P 4 in the same position as the P 3.
The other end of the displacement gauge 28, measured rod 27 is pivotably connected in the vertical direction, the position of the rod 27 and P 5, the vertical direction base end of the displacement gauge 28 to the other side of the measuring rod 27 rotatably connected, and the other end of the displacement meter 28 and P 6 to.

そして、これら2番目の変位計28の3点位置P〜Pの3次元位置、つまりP(X,Y,Z)、P(X,Y,Z)、P(X,Y,Z)を、前記トランシット30によって計測して、変位計28,28の折れ角θと、1番目の一対の変位計28の折れ角の変化量、θ+Δθを検出し、継ぎ足し後のP位置を前記検出角度と変位計28の長さを基に、いわゆるベクトル加算して算出可能にしている。
すなわち、P位置は、P(X,Y,Z)=P(X,Y,Z)+2L×f(θ)+L×f(θ+Δθ)として算出される。
その際、前記3点位置P〜Pの計測および折れ角θおよびθ+Δθの算出に当たって、変位計28に設置した傾斜計によるピッチングおよびロ−リング量を基に、前記数値を補正している。
Then, the three-dimensional positions of the three point positions P 4 to P 6 of the second displacement meter 28, that is, P 4 (X 4 , Y 4 , Z 4 ), P 5 (X 5 , Y 5 , Z 5 ), P 6 (X 6 , Y 6 , Z 6 ) is measured by the transit 30, and the change amount of the bending angle θ 2 of the displacement meters 28, 28 and the bending angle of the first pair of displacement meters 28, θ 1 + Δθ is detected, and the P 1 position after addition is calculated by so-called vector addition based on the detected angle and the length of the displacement meter 28.
That is, the P 1 position is calculated as P 1 (X, Y, Z) = P 5 (X, Y, Z) + 2L × f (θ 2 ) + L × f (θ 1 + Δθ 1 ).
At that time, in the measurement of the three point positions P 4 to P 6 and the calculation of the bending angles θ 2 and θ 1 + Δθ, the numerical values are corrected based on the pitching and rolling amounts by the inclinometer installed in the displacement meter 28. is doing.

この後、前記外管10の推進を再開し、それらを所定量推進したところで、後行の外管10を継ぎ足し、該外管10の内部に計測管22と外部ケ−シング23、および計測ロッド27と変位計28とを継ぎ足し、かつ継ぎ足した計測管22を、外管10の内面に例えばボルト連結している。   Thereafter, the propulsion of the outer tube 10 is resumed, and when they are propelled by a predetermined amount, the succeeding outer tube 10 is added, and the measuring tube 22, the outer casing 23, and the measuring rod are added inside the outer tube 10. 27 and the displacement meter 28 are added, and the added measuring tube 22 is connected to the inner surface of the outer tube 10 by, for example, a bolt.

前記計測ロッド27の継ぎ足し状況は、図8に模式的に示すように、2番目の変位計28の後端部のP位置に、フレキシブル継手29を介して、3番目の変位計28の先行側が揺動可能に連結され、その連結部を前記Pと同位置のPとしている。 As shown schematically in FIG. 8, the measurement rod 27 is added to the position of the rear end of the second displacement meter 28 at the position P 6 via the flexible joint 29. side is swingably connected to, and the connecting portion and P 7 in the same position as the P 6.

そして、前記3番目の変位計28の他端に、計測ロッド27が上下方向に回動可能に連結され、該ロッド27の位置をPとし、該計測ロッド27の他側に変位計28の基端を上下方向に回動可能に連結し、該変位計28の他端をPとしている。 Then, the other end of the third displacement gauge 28, measured rod 27 is pivotably connected in the vertical direction, the position of the rod 27 and P 8, the other side to the displacement gauge 28 of the measuring rod 27 rotatably connected to the base end in the vertical direction, and the other end of the displacement meter 28 and P 9.

そして、これら3番目の変位計28の3点位置P〜Pの3次元位置、つまりP(X,Y,Z)、P(X,Y,Z)、P(X,Y,Z)を、前記トランシット30によって計測し、3番目の変位計28,28の折れ角θと、1番目および2番目の各一対の変位計28の折れ角の変化量θ+Δθ+Δθと、θ+Δθを検出し、これらを基に前記継ぎ足し後のP位置を算出可能にしている。
その際、前記3点位置P〜Pの計測および前記折れ角の変化量の算出に当たって、変位計28に設置した傾斜計によるピッチングおよびロ−リング量を基に、前記数値を補正している。
Then, the three-dimensional positions of the three point positions P 7 to P 9 of the third displacement meter 28, that is, P 7 (X 7 , Y 7 , Z 7 ), P 8 (X 8 , Y 8 , Z 8 ), P 9 (X 9 , Y 9 , Z 9 ) is measured by the transit 30, and the bending angle θ 3 of the third displacement gauges 28, 28 and the bending of each of the first and second pairs of displacement gauges 28 are measured. Angle change amounts θ 1 + Δθ + Δθ 1 and θ 1 + Δθ 2 are detected, and based on these, the post-addition P 1 position can be calculated.
At that time, in the measurement of the three point positions P 7 to P 9 and the calculation of the change amount of the bending angle, the numerical values are corrected based on the pitching and rolling amounts by the inclinometer installed in the displacement meter 28. Yes.

図中、31はトンネル1の覆工壁であるセグメント、32はセグメン31に設置した口元管で、前記外管10の推進方向に臨ませて配置されている。
33は最先端の外部ケ−シング23の先端に突設した軸部で、その先端に円錐台形状の係合部34が設けられ、該係合部34をストッパガイド35に着脱可能に装着している。
In the figure, 31 is a segment which is a lining wall of the tunnel 1, and 32 is a mouth pipe installed on the segment 31, which is arranged facing the propelling direction of the outer pipe 10.
Reference numeral 33 denotes a shaft portion protruding from the tip of the most advanced external casing 23, and a frustoconical engagement portion 34 is provided at the tip, and the engagement portion 34 is detachably attached to the stopper guide 35. ing.

前記ストッパガイド35は、先端装置16の後端部と外管15との接合部に設置され、その内部に前記係合部34に嵌合可能なテ−パ孔状の係合孔36が形成されている。
そして、外管10の推進時に係合部34を係合孔36に嵌合し、前記最先端の外部ケ−シング23の前方取り付け位置を規制可能にし、一方、前記センサ若しくは検出器の故障および修理点検時に、トンネル1の適所から外部ケ−シング23を引張り、係合孔36から係合部34を容易に引き抜き可能にしている。
この場合、前記最先端の外部ケ−シング23と係合部34の位置関係、および先端装置16とストッパガイド35との位置関係は、前記デ−タ処理演算器に予め入力されている
The stopper guide 35 is installed at a joint portion between the rear end portion of the tip device 16 and the outer tube 15, and a taper-like engagement hole 36 that can be fitted into the engagement portion 34 is formed therein. Has been.
Then, when the outer tube 10 is propelled, the engaging portion 34 is fitted into the engaging hole 36 so that the front mounting position of the state-of-the-art external casing 23 can be regulated. At the time of repair and inspection, the external casing 23 is pulled from an appropriate position of the tunnel 1 so that the engaging portion 34 can be easily pulled out from the engaging hole 36.
In this case, the positional relationship between the state-of-the-art external casing 23 and the engaging portion 34 and the positional relationship between the tip device 16 and the stopper guide 35 are previously input to the data processing calculator.

このように構成した本発明の変位計の位置計測方法と位置計測装置は、推進部材である外管10の先端に接続した先端装置16の位置測定手段として、ピッチングおよびロ−リング量を計測可能な傾斜計等のセンサ(図示略)と、変位計28のX,Y軸方向の折れ角を検出可能な検出器(図示略)とを内蔵した、単一または一対の変位計28を計測ロッド27を介して回動可能に連結する。 The displacement meter position measuring method and position measuring apparatus of the present invention configured as described above can measure pitching and rolling amount as position measuring means of the tip device 16 connected to the tip of the outer tube 10 as a propelling member. A single or a pair of displacement gauges 28 including a sensor (not shown) such as an inclinometer and a detector (not shown) capable of detecting the bending angle of the displacement gauge 28 in the X and Y axis directions It connects so that rotation is possible via 27. FIG.

そして、前記変位計28を、継ぎ足し長さに相当する単位長さの外部ケ−シング23に収容し、該ケ−シング23を単位長さの計測管22に収容し、該計測管22を単位長さの外管10に収容する。
前記外部ケ−シング23は、ロ−ラ24を介して計測管22に移動可能に収容し、該計測管22を外管10の内面にボルト締めして固定する。
The displacement meter 28 is accommodated in an external casing 23 having a unit length corresponding to the length of addition, the casing 23 is accommodated in a measurement tube 22 having a unit length, and the measurement tube 22 is united. It is accommodated in the outer tube 10 having a length.
The external casing 23 is movably accommodated in the measurement tube 22 via a roller 24, and the measurement tube 22 is fixed to the inner surface of the outer tube 10 by bolting.

前記外部ケ−シング23と計測管22は、前記外管10の長さと略同長に形成し、これを外管10の継ぎ足しと同時期に前後して継ぎ足す。
そして、最先端の外部ケ−シング23に、係合部34と一体的な軸部23を突設し、また先端装置16の後端部の所定位置に、ストッパガイド35を取り付ける。
The outer casing 23 and the measuring tube 22 are formed to have substantially the same length as the outer tube 10 and are added back and forth at the same time as the outer tube 10 is added.
Then, the shaft portion 23 integrated with the engaging portion 34 is projected from the most advanced external casing 23, and a stopper guide 35 is attached to a predetermined position of the rear end portion of the tip device 16.

このように本発明装置は、従来の高価なジャイロないし光ファイバ−ジャイロや、その絶対位置を検出するセンサを要せず、また衝撃等に繊細で精密な取り付けを要する特別な計測器を要しないから、これを容易に取り付けられ、これを低廉に提供し得る。   Thus, the device of the present invention does not require a conventional expensive gyroscope or optical fiber gyroscope, or a sensor for detecting the absolute position thereof, and does not require a special measuring instrument that requires delicate and precise mounting for impact or the like. Therefore, it can be easily attached and provided at low cost.

次に、本発明装置を用いて実際に外部ケ−シング23と計測管22、および変位計28等を設置する場合は、トンネル1内の所定位置に曲線ボ−リング装置6を設置し、該曲線ボ−リング装置6の近接位置にトランシット30を設置する。
そして、前記推進装置7のパイプホルダ11に最先行の外管10を保持し、該外管10の先端に掘削装置を備えた先端装置16を連結する。
Next, when the external casing 23, the measurement tube 22, the displacement meter 28, etc. are actually installed using the device of the present invention, the curved boring device 6 is installed at a predetermined position in the tunnel 1, and the The transit 30 is installed at a position close to the curved bowling device 6.
Then, the foremost outer tube 10 is held on the pipe holder 11 of the propulsion device 7, and a tip device 16 having a drilling device is connected to the tip of the outer tube 10.

この後、前記外管10の内部に送泥管17と排泥管18を配管し、また外管10の内部にダクト(図示略)を取り付け、該ダクト内に油圧ホ−ス19とエア−ホ−ス20と、各種ケ−ブルコ−ド21等を収容する。
また、これと前後して外管10内面の一側に、外管10と同長の計測管22を配管し、その内部に軸部33と係合部34を突設した最先行の外部ケ−シング23を挿入し、該係合部34をストッパガイド35の係合孔36に嵌合する。
Thereafter, a mud pipe 17 and a mud pipe 18 are piped inside the outer pipe 10, and a duct (not shown) is attached inside the outer pipe 10, and a hydraulic hose 19 and an air hose are installed in the duct. A hose 20 and various cable cords 21 are accommodated.
In addition, a measuring tube 22 having the same length as the outer tube 10 is provided on one side of the inner surface of the outer tube 10 before and after this, and a shaft portion 33 and an engaging portion 34 are provided in the inside of the measuring tube 22 so as to project. Insert the singe 23 and fit the engaging part 34 into the engaging hole 36 of the stopper guide 35.

このように、本発明は外管10内面の一側に計測管22を配管し、外管10内に大きな空スペ−スを確保し、該スペ−スに計測管22と分離して送泥管17と排泥管18とを配管し、また油圧ホ−ス19、エア−ホ−ス20、各種ケ−ブルコ−ド21等を配置しているから、外管10内の有効利用と、その小径化を図れる。   Thus, in the present invention, the measurement tube 22 is piped on one side of the inner surface of the outer tube 10, a large empty space is secured in the outer tube 10, and the mud is separated from the measurement tube 22 in the space. Since the pipe 17 and the sludge pipe 18 are piped, and the hydraulic hose 19, the air hose 20, various cable cords 21 and the like are arranged, The diameter can be reduced.

前記外部ケ−シング23の内部に、計測ロッド27と、該ロッド27に連結した一対の変位計28が予め設置され、これらが外部ケ−シング23の外周に設けたロ−ラ24を介して、計測管22の内面を走行して移動する。   Inside the external casing 23, a measuring rod 27 and a pair of displacement gauges 28 connected to the rod 27 are installed in advance, and these are connected via a roller 24 provided on the outer periphery of the external casing 23. It travels on the inner surface of the measuring tube 22 and moves.

こうして、外管10に前述の関係部材を装着後、内部に収容した計測ロッド27と、一対の変位計28の両端部の3点位置を、前記通孔を介しトランシット30によって測定する。この状況は図1のようである。   In this way, after mounting the above-mentioned related members on the outer tube 10, the three positions of the measurement rod 27 housed inside and both ends of the pair of displacement gauges 28 are measured by the transit 30 through the through hole. This situation is as shown in FIG.

すなわち、図6に模式的に示すように、最先行の外管10にセットした1番目の変位計28の3点位置P〜Pの3次元位置、つまりP(X,Y,Z)、P(X,Y,Z)、P(X,Y,Z)を前記トランシット30によって計測し、かつこれら3点位置P〜Pを基に、変位計28,28の折れ角θを算出し、これを折れ角の初期値とする。
その際、前記3点位置P〜Pの計測および折れ角θの算出に当って、変位計28に設置した傾斜計によるピッチングおよびロ−リング量を基に、前記数値を補正する。
That is, as schematically shown in FIG. 6, the three-dimensional positions of the three point positions P 1 to P 3 of the first displacement meter 28 set in the outermost outer tube 10, that is, P 1 (X 1 , Y 1 , Z 1 ), P 2 (X 2 , Y 2 , Z 2 ), P 3 (X 3 , Y 3 , Z 3 ) are measured by the transit 30 and based on these three point positions P 1 to P 3 . Then, the bending angle θ 1 of the displacement gauges 28 and 28 is calculated, and this is set as the initial value of the bending angle.
At that time, in the measurement of the three point positions P 1 to P 3 and the calculation of the bending angle θ 1 , the numerical value is corrected based on the pitching and rolling amounts by the inclinometer installed in the displacement meter 28.

この後、推進シリンダ12を駆動して前記外管10を推進し、該管10が所定量推進したところで、後行の外管10を継ぎ足し、該外管10の内部に計測管22と外部ケ−シング23、および計測ロッド27と変位計28とを継ぎ足し、該計測管22を外管10の内部に取り付ける。
その際、前記継ぎ足しによって、1番目の変位計28,28が計測ロッド27を中心に折れ曲がり、その折れ角が推進状況に応じてθ+Δθに変化する。
Thereafter, the propulsion cylinder 12 is driven to propel the outer tube 10. When the tube 10 has propelled by a predetermined amount, the succeeding outer tube 10 is added, and the measurement tube 22 and the outer tube are placed inside the outer tube 10. -Thing 23, measuring rod 27 and displacement meter 28 are added, and measuring tube 22 is attached to the inside of outer tube 10.
At that time, due to the addition, the first displacement gauges 28 and 28 are bent around the measuring rod 27, and the bending angle changes to θ 1 + Δθ 1 according to the propulsion state.

前記継ぎ足し状況は図7に模式的に示すように、1番目の変位計28の後端部のP位置に、フレキシブル継手29を介して、2番目の変位計28の先行側を揺動可能に連結し、その連結部を前記Pと同位置のPとし、該変位計28の他端に計測ロッド27を上下方向に回動可能に連結する。
前記計測ロッド27の位置をPとし、該計測ロッド27の他側に変位計28の基端を上下方向に回動可能に連結し、該変位計28の他端をPとする。
As shown schematically in FIG. 7, the leading state of the second displacement gauge 28 can be swung through the flexible joint 29 at the position P 3 at the rear end of the first displacement gauge 28. connected to, the connection section and P 4 in the same position and the P 3, it is pivotally connected to the other end of the displacement gauge 28 to measure the rod 27 in the vertical direction.
Wherein the position of the measurement rod 27 and P 5, the proximal end of the displacement gauge 28 on the other side pivotably connected to the vertical direction of the measuring rod 27, the other end of the displacement meter 28 and P 6.

そして、前記継ぎ足した計測ロッド27と、一対の変位計28の両端部の3点位置P〜Pの3次元位置、つまりP(X,Y,Z)、P(X,Y,Z)、P(X,Y,Z)を、前記トランシット30によって計測し、また変位計28,28の折れ角θと、1番目の一対の変位計28の折れ角の変化量、θ+Δθとを検出し、前記検出角度と変位計28の長さを基に、いわゆるベクトル加算して継ぎ足し後の最先端のP位置を算出する。
すなわち、前記P位置は、P(X,Y,Z)=P(X,Y,Z)+2L×f(θ)+L×f(θ+Δθ)として算出される。
その際、前記3点位置P〜Pの計測および折れ角θおよびθ+Δθの検出に当たって、変位計28に設置した傾斜計によるピッチングおよびロ−リング量を基に、前記数値を補正する。
Then, the three-dimensional positions P 4 to P 6 at both ends of the measuring rod 27 and the pair of displacement meters 28, that is, P 4 (X 4 , Y 4 , Z 4 ), P 5 (X 5 , Y 5 , Z 5 ), P 6 (X 6 , Y 6 , Z 6 ) are measured by the transit 30, and the bending angle θ 2 of the displacement meters 28, 28 and the first pair of displacement meters The amount of change 28 in bending angle, θ 1 + Δθ 1 , is detected, and based on the detected angle and the length of the displacement meter 28, so-called vector addition is performed to calculate the most recent P 1 position after addition.
That is, the P 1 position is calculated as P 1 (X, Y, Z) = P 5 (X, Y, Z) + 2L × f (θ 2 ) + L × f (θ 1 + Δθ 1 ).
At that time, in the measurement of the three point positions P 4 to P 6 and the detection of the bending angles θ 2 and θ 1 + Δθ 1 , the numerical values are calculated based on the pitching and rolling amounts by the inclinometer installed in the displacement meter 28. to correct.

この後、推進シリンダ12を駆動して外管10の推進を再開し、該管10を所定量推進したところで、後行の外管10を継ぎ足し、該外管10を内部に計測管22と外部ケ−シング23、および計測ロッド27と変位計28とを同時に継ぎ足し、該計測管22を外管10の内面に固定する。
その際、計測管22の内面をロ−ラ24が走行して、外部ケ−シング23が移動し、また前記継ぎ足しによって、1番目と2番目の変位計28,28が計測ロッド27を中心に折れ曲がり、その折れ角が推進状況に応じてθ+Δθ+Δθ、θ+Δθに変化する
Thereafter, the propulsion cylinder 12 is driven to restart the outer tube 10, and when the tube 10 is propelled by a predetermined amount, the succeeding outer tube 10 is added, and the outer tube 10 is connected to the measuring tube 22 and the outer tube. The casing 23, the measuring rod 27, and the displacement meter 28 are simultaneously added to fix the measuring tube 22 to the inner surface of the outer tube 10.
At that time, the roller 24 travels on the inner surface of the measuring tube 22 and the outer casing 23 moves, and the first and second displacement meters 28 and 28 are centered on the measuring rod 27 by the addition. It bends and its angle changes to θ 1 + Δθ 1 + Δθ, θ 2 + Δθ 2 depending on the propulsion situation

前記計測ロッド27の継ぎ足し状況は、図8に模式的に示すようで、2番目の変位計28の後端部のP位置に、フレキシブル継手29を介して3番目の変位計28の先行側を揺動可能に連結し、その連結部を前記Pと同位置のPとする。
そして、前記3番目の変位計28の他端に、計測ロッド27が上下方向に回動可能に連結し、該ロッド27の位置をPとし、該計測ロッド27の他側に変位計28の基端を上下方向に回動可能に連結し、該変位計28の他端をPとする。
The addition state of the measuring rod 27 is schematically shown in FIG. 8, and the leading side of the third displacement meter 28 is connected to the position P 6 at the rear end of the second displacement meter 28 via the flexible joint 29. Are connected so as to be swingable, and the connecting portion is defined as P 7 at the same position as P 6 .
Then, the other end of the third displacement gauge 28, measured rod 27 is pivotally connected in the vertical direction, the position of the rod 27 and P 8, the other side to the displacement gauge 28 of the measuring rod 27 rotatably connected to the base end in the vertical direction, the other end of the displacement meter 28 and P 9.

そして、これら3番目の変位計28の3点位置P〜Pの3次元位置、つまりP(X,Y,Z)、P(X,Y,Z)、P(X,Y,Z)を、前記トランシット30によって計測し、また3番目の変位計28,28の折れ角θと、1番目および2番目の各一対の変位計28の折れ角の変化量θ+Δθ+Δθと、θ+Δθを検出し、これらを基に前記継ぎ足し後の最先端のP位置を算出する。
その際、前記3点位置P〜Pの計測および前記折れ角の変化量の算出に当たって、変位計28に設置した傾斜計によるピッチングおよびロ−リング量を基に、前記数値を補正する。
Then, the three-dimensional positions of the three point positions P 7 to P 9 of the third displacement meter 28, that is, P 7 (X 7 , Y 7 , Z 7 ), P 8 (X 8 , Y 8 , Z 8 ), P 9 (X 9 , Y 9 , Z 9 ) is measured by the transit 30, and the bending angle θ 3 of the third displacement gauges 28, 28 and the first and second pairs of displacement gauges 28 are measured. The bending angle variation amounts θ 1 + Δθ 1 + Δθ and θ 1 + Δθ 2 are detected, and the most advanced P 1 position after the addition is calculated based on these.
At that time, when measuring the three point positions P 7 to P 9 and calculating the amount of change in the bending angle, the numerical values are corrected based on the pitching and rolling amounts by the inclinometer installed in the displacement meter 28.

以降、外管10と、計測管22および外部ケ−シング23を継ぎ足し、計測管22を外管10内部に固定するとともに、その継ぎ足した3点位置を、トランシット30によって計測し、それらの測定値を各傾斜計によるピッチングおよびロ−リング量を基に補正し、最先端のP位置を算出する。
このように本発明は、変位計28の延伸に伴ない変化する折れ角を相対量として検出し、その検出角度と一定長の変位計28の連結に基づき、ベクトル加算することで、先端位置の座標を算出する。
したがって、計測管に沿ってジャイロを内蔵した計器を走行させ、またはケ−ブル送出量若しくは走行メ−タ等により、間接的に距離測定する従来の方法に比べて、測定誤差の発生を防止し測定の信頼性を得られる。
Thereafter, the outer tube 10, the measuring tube 22 and the outer casing 23 are added, the measuring tube 22 is fixed inside the outer tube 10, and the added three point positions are measured by the transit 30 and their measured values are measured. pitching and b a by each inclinometer - corrected based on the ring amount to calculate the P 1 position of the cutting edge.
As described above, the present invention detects the bending angle that changes with the extension of the displacement meter 28 as a relative amount, and adds a vector based on the detected angle and the connection of the displacement meter 28 of a certain length, thereby the tip position. Calculate the coordinates.
Therefore, it is possible to prevent the occurrence of measurement errors compared to the conventional method of measuring distances indirectly by running an instrument with a built-in gyroscope along the measuring tube or by using a cable sending amount or a running meter. Measurement reliability can be obtained.

そして、前記P位置に、軸部33およびストッパガイド35の位置と、先端装置16と掘削装置の位置関係を相加し、実質的な掘削装置の位置を演算し、該掘削装置の位置を基に曲線ボ−リング装置6を姿勢制御し、地盤3の掘削を制御する。 Then, the to P 1 position, and the position of the shaft portion 33 and the stopper guide 35, and additive the positional relationship of the excavation device with tip device 16 calculates the position of the substantial rig, the position of the rigs Based on this, the posture of the curved boring device 6 is controlled and excavation of the ground 3 is controlled.

このように前記推進施工時は、計測ロッド27と変位計28が外部ケ−シング23に収容されているから、変位計28に内蔵した傾斜計等のセンサ類や検出器類を直接保護するとともに、同一の外管10に収容した、送泥管17や排泥管18、油圧ホ−ス19から漏洩する泥水や油、水等による前記センサ類への飛散や滴下、接触を回避し、また前記油圧ホ−ス19等の圧力変動による挙動から防護して、前記センサ類や検出器類の故障の発生を未然に防止する。   Thus, at the time of the propulsion construction, the measuring rod 27 and the displacement meter 28 are accommodated in the external casing 23, so that sensors and detectors such as an inclinometer built in the displacement meter 28 are directly protected. , Avoiding scattering, dripping and contact of the mud, oil and water leaking from the mud pipe 17, the mud pipe 18 and the hydraulic hose 19 contained in the same outer pipe 10; By protecting the hydraulic hose 19 and the like from the behavior due to pressure fluctuations, failure of the sensors and detectors is prevented.

一方、前記推進作業時に、例えば傾斜計等が掘削時の振動や湿度によって、その一部が故障し、それらの出力情報が遮断し、または出力値が異常値を示して、該当する傾斜計等の修理交換を要する場合、曲線ボ−リング装置6の駆動を停止し、最後端部の計測管22に位置する外部ケ−シング23を保持し、これを計測管22の外側の管軸方向へ引張る。
このようにすると、前記引張力が最先端の外部ケ−シング23に伝わり、該ケ−シング23に突設した係合部34が係合穴36から引き抜かれ、外部ケ−シング23のロ−ラ24が計測管22の内面を走行して、最後行の計測管22の外側に引き出される。
On the other hand, during the propulsion work, for example, an inclinometer or the like is broken due to vibration or humidity at the time of excavation, the output information thereof is cut off, or the output value indicates an abnormal value, and the corresponding inclinometer or the like In the case where it is necessary to repair and replace the curved boring device 6, the driving of the curve boring device 6 is stopped, and the external casing 23 located in the measuring tube 22 at the rearmost end is held, and this is moved in the direction of the tube axis outside the measuring tube 22. Pull.
In this way, the tensile force is transmitted to the most advanced external casing 23, and the engaging portion 34 projecting from the casing 23 is pulled out from the engaging hole 36, so The la 24 travels on the inner surface of the measuring tube 22 and is drawn out of the measuring tube 22 in the last row.

そして、事前に特定した故障傾斜計等の位置相当分、外部ケ−シング23引き出したところで、ケ−シング23内部の傾斜計等を取り出し、これを修理若しくは新規な傾斜計に交換したところで、外部ケ−シング23を順次、計測管22内に押し戻す。   Then, when the external casing 23 is pulled out by an amount corresponding to the position of the fault inclinometer specified in advance, the inclinometer etc. inside the casing 23 is taken out and repaired or replaced with a new inclinometer. The casing 23 is sequentially pushed back into the measuring tube 22.

その際、外部ケ−シング23の押し戻し長さ毎に、計測ロッド27と、一対の変位計28の両端部の前記3点位置を、トランシット30によって前述同様に計測し、それらの位置を挿入時と確認しながら押し戻し、引き出した各計測ロッド27と、一対の変位計28とを引き出し前の原位置に復帰させる。
その際、前記押し戻し終期に、最先行の外部ケ−シング23に突設した係合部34が、ストッパガイド35の係合孔36に嵌合し、それらの引き出し前の原位置を復旧させたところで、前記推進を再開する。
At that time, for each push-back length of the external casing 23, the three-point positions of both ends of the measuring rod 27 and the pair of displacement gauges 28 are measured by the transit 30 in the same manner as described above, and these positions are inserted. Are pushed back while being confirmed, and the pulled out measuring rods 27 and the pair of displacement gauges 28 are returned to their original positions before being pulled out.
At that time, at the end of the pushing-back, the engaging portion 34 protruding from the foremost external casing 23 is fitted into the engaging hole 36 of the stopper guide 35 to restore the original position before the drawing. By the way, the promotion is resumed.

すなわち、前記先端装置16が所定位置に到達し、係合部34が係合孔35に嵌合することで、外部ケ−シング23が原位置に復帰したことを確認し、一連の修理作業を終了する。
この後、外管10と、計測管22および外部ケ−シング23と、変位計28と計測ロッド27の継ぎ足しと、トランシット30による前記3点位置の計測を再開する。
このように、係合部34が係合孔35に嵌合し、外部ケ−シング23が引き抜き前の位置に正確に復帰するから、この後の前記センサ類や検出器による測定精度が維持され、測定の再現性と信頼性を得られる。
That is, it is confirmed that the distal casing 16 has reached a predetermined position and the engaging portion 34 is fitted into the engaging hole 35, so that the external casing 23 has returned to the original position, and a series of repair work is performed. finish.
Thereafter, the measurement of the three-point position by the outer tube 10, the measurement tube 22 and the external casing 23, the addition of the displacement meter 28 and the measurement rod 27, and the transit 30 is resumed.
In this way, the engaging portion 34 is fitted into the engaging hole 35 and the external casing 23 is accurately returned to the position before being pulled out, so that the measurement accuracy by the sensors and detectors thereafter is maintained. Reproducibility and reliability of measurement.

このように、前記係合部34を係合孔35に嵌合することで、外部ケ−シング23を前記故障発生位置と同位置に確実かつ容易に設定でき、前記先端のPの座標位置を確実に再現でき、以降の測定精度とその連続性を確保できるとともに、前記トラブルに容易に対応し得る。 Thus, the engaging portion 34 by fitting the engaging hole 35, external to case - a single 23 can reliably and easily set in the failure position at the same position, the coordinate position of P 1 of the tip Can be reliably reproduced, the subsequent measurement accuracy and continuity can be ensured, and the trouble can be easily dealt with.

図9乃至図11は、前述した本発明の位置計測装置の測定精度と再現性を確認するための試験状況を示し、地盤3上に半径16mの曲線管の試験用計測管36を設置し、その一端から前記変位計28に相当する孔変位計37を挿入し、先行の孔変位計37に後行の孔変位計37を回動可能に連結し、かつその際の孔変位計37の両端部と、枢支連結部27の3点位置を所定高さに設置したトランシット38で測定する。 9 to 11 show a test situation for confirming the measurement accuracy and reproducibility of the position measuring apparatus of the present invention described above, and a test tube 36 for testing a curved tube having a radius of 16 m is installed on the ground 3. A hole displacement meter 37 corresponding to the displacement meter 28 is inserted from one end thereof, and a subsequent hole displacement meter 37 is rotatably connected to the preceding hole displacement meter 37, and both ends of the hole displacement meter 37 at that time are connected. And the three points of the pivot support 27 are measured with a transit 38 installed at a predetermined height.

次に、後行側である上側の孔変位計37に次の孔変位計37を連結し、その際の3点位置をトランシット38で測定する。
そして、その都度、先端の孔変位計37の位置を算出し、また先端の孔変位計37の位置を直視で測量し、それらの結果を比較して、本発明の測定方法の試験精度と再現性を評価した。
そして、前記試験の結果、前記先端の孔変位計37の直視測量位置と、先端の孔変位計37の算出位置とが、許容誤差の範囲内であることが確認され、前記本発明の位置計測装置の測定精度と再現性が確認された。
Next, the next hole displacement meter 37 is connected to the upper hole displacement meter 37 which is the succeeding side, and the three positions at that time are measured by the transit 38.
Each time, the position of the tip hole displacement meter 37 is calculated, the position of the tip hole displacement meter 37 is measured directly, and the results are compared to test accuracy and reproduction of the measurement method of the present invention. Sex was evaluated.
As a result of the test, it was confirmed that the direct-viewing measurement position of the tip hole displacement meter 37 and the calculated position of the tip hole displacement meter 37 are within an allowable error range, and the position measurement of the present invention is performed. The measurement accuracy and reproducibility of the device were confirmed.

図12乃至図14は本発明の他の実施形態を示し、前述の構成と対応する部分に同一の符号を用いている。
このうち、図12は本発明の第2の実施形態を示し、この実施形態は係合部39とストッパガイド40とを鉄等の強磁性材料で構成し、これらを通電制御して互いに同極または異極性に磁化させ、係合部39とストッパガイド40とを簡便かつ確実に吸引または排斥可能にしている。
12 to 14 show other embodiments of the present invention, and the same reference numerals are used for portions corresponding to the above-described configuration.
Of these, FIG. 12 shows a second embodiment of the present invention. In this embodiment, the engaging portion 39 and the stopper guide 40 are made of a ferromagnetic material such as iron, and these are energized and controlled to have the same polarity. Alternatively, the engaging portions 39 and the stopper guide 40 can be easily and reliably attracted or rejected by magnetizing them with different polarities.

例えば、係合部39とストッパガイド40とのセット時または再セット時、これらを異極性に磁化させて吸着し、それらの位置を拘束する。
また、前記傾斜計等の故障に伴なう外部ケ−シング23の引抜き時は、通電を停止し、または両者を同極性に磁化して、係合部39とストッパガイド40とを排斥させ、その引き抜きを容易に行なうようにする。
For example, when the engaging portion 39 and the stopper guide 40 are set or reset, they are magnetized and attracted to different polarities to restrain their positions.
Further, when the external casing 23 is pulled out due to a failure of the inclinometer or the like, the energization is stopped, or both are magnetized to the same polarity, and the engaging portion 39 and the stopper guide 40 are rejected. The drawing is made easy.

図13および図14は本発明の第3の実施形態を示し、このうち図13は前記試験において、一対の孔変位計37を回動可能に連結した位置計測器41を二台用意し、これらを揺動可能に連結して単位長さ当りの計測管36に収容する。
そして、前記連結した二台の位置計測器38の両端部と、その間の2つの枢支連結部27の4点の三次元位置を、トランシット38で測定し、各枢支連結部27における折れ角θを算出し、これを初期値とする。
FIG. 13 and FIG. 14 show a third embodiment of the present invention. Among these, FIG. 13 provides two position measuring instruments 41 in which a pair of hole displacement meters 37 are rotatably connected in the test. Are accommodated in the measuring tube 36 per unit length.
Then, the three-dimensional positions of the four ends of the two connected position measuring devices 38 and the two pivot connection portions 27 between them are measured by the transit 38, and the bending angle at each pivot connection portion 27 is measured. θ is calculated and set as an initial value.

次に、先行の位置計測器38の後端部に、二台の位置計測器38を連結して延伸し、延伸した二台の位置計測器38の両端部と、その間の2つの枢支連結部27の4点の三次元位置を、トランシット38で測定し、延伸に伴ない変化する折れ角を相対量として検出し、この検出角度および孔変位計37の長さを基にベクトル加算して、先端位置Pの座標を算出する。 Next, two position measuring devices 38 are connected to the rear end portion of the preceding position measuring device 38 and extended, and both ends of the extended two position measuring devices 38 and two pivot connections between them are connected. The three-dimensional positions of the four points of the section 27 are measured by the transit 38, the bending angle that changes with stretching is detected as a relative amount, and a vector is added based on the detected angle and the length of the hole displacement meter 37. , and calculates the coordinate tip position P 1.

このように図13は、単位長さ当りの計測管36に二台の位置計測器38を収容し、孔変位計37の長さを短小にし、その揺動角度ないし折れ角またはその挙動を促して、曲率半径の小さな計測管36による計測に対応可能にしている。   13 accommodates two position measuring instruments 38 in the measuring tube 36 per unit length, shortens the length of the hole displacement meter 37, and promotes its swing angle or bending angle or its behavior. Thus, it is possible to cope with measurement by the measurement tube 36 having a small curvature radius.

図14は前述した図13の計測原理を、曲率半径の小さな外管10の推進に適用し、その先端部を位置計測している。
すなわち、曲率半径の小さな外管10と同じ曲率半径の単位長さ当りの計測管36に、一対の変位計28と計測ロッド27からなる位置計測器を二台挿入し、その4点の三次元位置をトランシット30で測定して、各枢支連結部27における折れ角θを算出し、これを初期値とする。
FIG. 14 applies the measurement principle of FIG. 13 described above to the propulsion of the outer tube 10 having a small radius of curvature, and the position of the tip portion is measured.
That is, two position measuring instruments each consisting of a pair of displacement gauges 28 and a measuring rod 27 are inserted into a measuring tube 36 per unit length having the same radius of curvature as the outer tube 10 having a small radius of curvature, and the four-dimensional three-dimensional. The position is measured by the transit 30 to calculate the bending angle θ at each pivot connection portion 27 and set it as an initial value.

次に、先行の位置計測器の後端部に、二台の位置計測器を連結して延伸し、延伸した二台の位置計測器の両端部と、その間の2つの枢支連結部27の4点の三次元位置を、トランシット30で測定し、延伸に伴ない変化する折れ角を相対量として検出し、この検出角度および孔変位計37の長さを基にベクトル加算して、先端位置Pの座標を算出し、以降、外管10および計測管22を延伸する。 Next, the two position measuring devices are connected to the rear end portion of the preceding position measuring device and extended, and both end portions of the two extended position measuring devices and the two pivot connection portions 27 between them are connected. The three-dimensional positions of the four points are measured by the transit 30, the bending angle that changes with stretching is detected as a relative amount, and a vector is added based on the detected angle and the length of the hole displacement meter 37, and the tip position The coordinates of P 1 are calculated, and thereafter, the outer tube 10 and the measuring tube 22 are extended.

なお、前述の実施形態は推進部材として管体を用いているが、中実部材であっても良く、また推進部材は曲線状のものに限らず直線状のものであっても良い。
また、曲線ボ−リング装置6に限らず水平ボ−リング、または小口径推進工法における先端装置16の位置計測や、法面等に計測管22を埋設または設置して、地滑り等の変位の経年変化の計測に利用することも可能である。
In the above-described embodiment, the tubular body is used as the propulsion member. However, a solid member may be used, and the propulsion member is not limited to a curved shape but may be a linear shape.
Further, not only the curved boring device 6, but also the horizontal boring or the position measurement of the tip device 16 in the small-diameter propulsion method, the measuring tube 22 is embedded or installed on the slope, etc. It can also be used to measure changes.

このように本発明の変位計の位置計測方法および位置計測装置は、小形軽量で狭隘な設置スペ−スに設置できるとともに、計測器等の修理や部品交換に容易に応じられ、計測の速やかな復旧と、その良好な再現性を得られるとともに、推進工法の速やかな再開を図れるから、例えば曲線ボ−リングによる推進管の推進や、その先端装置の位置の計測に好適である。
As described above, the position measuring method and position measuring apparatus of the displacement meter according to the present invention can be installed in a small, light and narrow installation space, and can be easily repaired or replaced with a measuring instrument, etc. Since recovery and good reproducibility can be obtained, and the propulsion method can be promptly restarted, it is suitable for propulsion of the propulsion pipe by, for example, curved boring and measurement of the position of the tip device.

本発明をシ−ルドトンネルの拡幅に適用し、曲線ボ−リング装置による推進管の推進状況を示す断面図である。It is sectional drawing which applies the present invention to the widening of a shield tunnel and shows the propulsion status of the propulsion pipe by the curved boring device. 本発明に適用した推進管の内部状況を拡大して示す断面図である。It is sectional drawing which expands and shows the internal condition of the propulsion pipe applied to this invention. 本発明に適用した計測管の内部状況を拡大して示す断面図である。It is sectional drawing which expands and shows the internal condition of the measurement pipe | tube applied to this invention. 本発明に適用した外部ケ−シングの連結状況を拡大して示す正面図である。It is a front view which expands and shows the connection condition of the external casing applied to this invention. 本発明に適用した係合部とストッパガイドの作動状況を拡大して示す正面図である。It is a front view which expands and shows the operating condition of the engaging part and stopper guide which were applied to this invention. 本発明に適用した1番目の揺動リンクと計測ロッドとの連結状態と、その3点位置の座標を示す正面図である。It is a front view which shows the connection state of the 1st rocking | fluctuation link and measurement rod which were applied to this invention, and the coordinate of the three-point position.

本発明に適用した1番目および2番目の揺動リンクと、計測ロッドとの連結状態と、各リンクの3点位置の座標を示す正面図である。It is a front view which shows the connection state of the 1st and 2nd rocking link applied to this invention, a measuring rod, and the coordinate of the three-point position of each link. 本発明に適用した1番目乃至3番目の揺動リンクと、計測ロッドとの連結状態と、各リンクの3点位置の座標を示す正面図である。It is a front view which shows the connection state of the 1st thru | or 3rd rocking link applied to this invention, a measurement rod, and the coordinate of the three-point position of each link. 本発明による測定精度と再現性を確認するための試験状況を示し、二つの孔内変位計を計測管に挿入している。The test situation for confirming the measurement accuracy and reproducibility according to the present invention is shown, and two in-hole displacement meters are inserted into the measurement tube. 本発明による測定精度と再現性を確認するための試験状況を示し、二つの孔内変位計に更に孔内変位計を連結し、これらを計測管に挿入している。The test situation for confirming the measurement accuracy and reproducibility according to the present invention is shown, and an in-hole displacement meter is further connected to two in-hole displacement meters, and these are inserted into a measuring tube.

本発明による測定精度と再現性を確認するための試験状況を示し、三つの孔内変位計に更に孔内変位計を連結し、これらを計測管に挿入している。The test situation for confirming the measurement accuracy and reproducibility according to the present invention is shown. In-hole displacement meters are further connected to three in-hole displacement meters, and these are inserted into the measuring tube. 本発明の第2の実施形態を示す正面図で、係合部とストッパガイドの作動状況を拡大して示している。It is a front view which shows the 2nd Embodiment of this invention, and has expanded and showed the operating condition of an engaging part and a stopper guide. 本発明の第3の実施形態を示し、前記試験状況において単位長さ当りの計測管に2台の位置計測器を挿入して計測している。A third embodiment of the present invention is shown, and measurement is performed by inserting two position measuring instruments into a measuring tube per unit length in the test situation. 本発明の第3の実施形態を示し、図13の計測原理を基に推進管の位置計測に実施している。A third embodiment of the present invention is shown, and the propulsion pipe position is measured based on the measurement principle of FIG.

符号の説明Explanation of symbols

7 推進装置折れ角
10 推進部材(外管)
22 移動ガイド(計測管)
23 外部ケ−シング
27 枢支部(計測ロッド)
28 変位計
30,38 距離計測手段(トランシット)
34 係合部
35 ストッパガイド
θ, θ 折れ角
θ+Δθ折れ角
θ+Δθ折れ角
θ+Δθ+Δθ 折れ角
7 Propulsion device bending angle 10 Propulsion member (outer tube)
22 Movement guide (measurement tube)
23 External casing 27 Pivot (measuring rod)
28 Displacement meter 30,38 Distance measuring means (Transit)
34 Engagement part 35 Stopper guide θ 1 , θ 2 , θ 3 Folding angle θ 1 + Δθ 1 Folding angle θ 2 + Δθ 2 Folding angle θ 1 + Δθ 1 + Δθ Folding angle

Claims (8)

変位計測部に沿って配置した移動ガイドに、変位センサを内蔵した互いに同長の複数の変位計を折り曲げ可能に連結して移動可能に収容し、前記移動ガイド内における変位計の移動量を基に、所定の変位計の位置を演算する変位計の位置計測方法において、前記変位計の移動始端部に距離計測手段を設置し、該距離計測手段を介し、最先の一対の変位計の両端部と、その枢支部の少なくとも3位置の三次元位置を基準値として計測し、かつ前記一対の変位計の折れ角の初期値を演算後、前記変位計に一対の変位計を順次連結して延伸し、かつその際前記距離計測手段を介して、延伸した一対の変位計の両端部と、その枢支部の少なくとも3位置の三次元位置を計測するとともに、延伸した一対の変位計の折れ角を算出し、該折れ角と、延伸した変位計の枢支部における三次元位置と、延伸に伴ない変化する先行の折れ角を相対量として検出した検出角度と、変位計の長さとを基に、最先または所望の変位計の位置を演算することを特徴とする変位計の位置計測方法。 A plurality of displacement gauges having the same length are connected to a movement guide arranged along the displacement measurement unit so as to be foldable and accommodated movably. Based on the movement amount of the displacement gauge in the movement guide. Further, in the displacement measuring method for calculating the position of a predetermined displacement meter, a distance measuring means is installed at the moving start end of the displacement meter, and both ends of the first pair of displacement meters are connected via the distance measuring means. And measuring a three-dimensional position of at least three positions of the pivot part and the pivot part as a reference value, and calculating an initial value of a bending angle of the pair of displacement meters, and sequentially connecting the pair of displacement meters to the displacement meter. At the same time, the distance measurement means is used to measure the three-dimensional positions of both ends of the extended pair of displacement meters and at least three of the pivots, and the bending angle of the extended pair of displacement meters. And calculate the bending angle and stretching Based on the three-dimensional position at the pivot of the displacement meter, the detected angle detected as a relative amount of the previous bending angle that changes with stretching, and the length of the displacement meter, the position of the first or desired displacement meter is determined. A position measuring method of a displacement meter, characterized by calculating. 前記移動ガイドを静止または移動する変位計測部に設置する請求項1記載の変位計の位置計測方法。 The displacement measuring method according to claim 1, wherein the moving guide is installed in a stationary or moving displacement measuring unit. 前記最先の変位計の先端部を、変位計と同動する推進部材の所定位置に着脱可能に装着する請求項2記載の変位計の位置計測方法。 The position measuring method of the displacement meter according to claim 2, wherein the tip of the first displacement meter is detachably attached to a predetermined position of a propelling member that moves together with the displacement meter. 前記所定の変位計を移動ガイドに沿って移動始端部方向へ引き出し後、前記変位計を移動ガイドに沿って原位置へ移動する際、前記距離計測手段を介し、一対の変位計の両端部と、その枢支部の少なくとも3位置の三次元位置を計測するとともに、復帰させる一対の変位計の折れ角を算出し、該折れ角と、前記変位計の枢支部における三次元位置と、復帰に伴ない変化する先行の折れ角を相対量として検出した検出角度と、変位計の長さとを基に、最先または所望の変位計の位置を演算し、各変位計を原位置に復帰させる請求項1記載の変位計の位置計測方法。 After moving the predetermined displacement meter along the movement guide toward the movement start end, when moving the displacement meter to the original position along the movement guide, both ends of the pair of displacement meters are connected via the distance measuring means. Measure the three-dimensional position of at least three positions of the pivot part, calculate the bending angle of the pair of displacement meters to be returned, determine the bending angle, the three-dimensional position of the displacement part in the pivot part, and return A position of the first or desired displacement meter is calculated on the basis of a detected angle detected as a relative amount of a preceding bending angle that does not change and the length of the displacement meter, and each displacement meter is returned to the original position. The position measuring method of the displacement meter according to 1. 前記各変位計の原位置復帰終期に、最先の変位計の先端部を推進部材の所定位置に係合する請求項4記載の変位計の位置計測方法。 5. The displacement meter position measuring method according to claim 4, wherein the tip of the first displacement meter is engaged with a predetermined position of the propulsion member at the end of returning to the original position of each displacement meter. 変位計測部に沿って移動ガイドを配置し、該移動ガイドに変位センサを内蔵した互いに同長の複数の変位計を折り曲げ可能に連結し、かつ前記変位計を移動可能に収容する一方、前記移動ガイド内における変位計の移動量を基に、所定の変位計の位置を演算可能にした変位計の位置計測装置において、前記変位計の移動始端部に距離計測手段を設置し、該距離計測手段を介し、最先の一対の変位計の両端部と、その枢支部の少なくとも3位置の三次元位置を基準値として計測可能に設けるとともに、前記一対の変位計の折れ角の初期値を演算可能に設ける一方、前記変位計に一対の変位計を順次連結かつ延伸可能に設け、かつその際前記距離計測手段を介して、延伸した一対の変位計の両端部と、その枢支部の少なくとも3位置の三次元位置を計測するとともに、延伸した一対の変位計の折れ角を算出し、該折れ角と、延伸した変位計の枢支部における三次元位置と、延伸に伴ない変化する先行の折れ角を相対量として検出した検出角度と、変位計の長さとを基に、最先または所望の変位計の位置を演算することを特徴とする変位計の位置計測装置。 A movement guide is disposed along the displacement measuring unit, and a plurality of displacement gauges having the same length are incorporated in the movement guide so as to be foldable, and the displacement gauge is movably accommodated while the movement is performed. In a position measuring device for a displacement meter that can calculate the position of a predetermined displacement meter based on the amount of movement of the displacement meter in the guide, a distance measuring means is installed at the moving start end of the displacement meter, and the distance measuring means Through the two ends of the first pair of displacement gauges and the three-dimensional positions of at least three of the pivots are provided as reference values, and the initial bending angle of the pair of displacement gauges can be calculated. On the other hand, a pair of displacement gauges are sequentially connected and extendable to the displacement gauge, and at that time, at least three positions of the both ends of the extended pair of displacement gauges and the pivots thereof via the distance measuring means 3D position While measuring, calculate the bending angle of the extended pair of displacement gauges, and detect the bending angle, the three-dimensional position of the extended displacement gauge at the pivotal support, and the preceding bending angle that changes with the extension as relative amounts. A displacement gauge position measuring device that calculates the position of the first or desired displacement gauge based on the detected angle and the length of the displacement gauge. 前記移動ガイドを静止または移動可能な変位計測部に設置可能した請求項6記載の変位計の位置計測装置。 The displacement measuring device according to claim 6, wherein the moving guide can be installed in a stationary or movable displacement measuring unit. 前記最先の変位計の先端部を、変位計と同動可能な推進部材の所定位置に着脱可能に装着した請求項6記載の変位計の位置計測装置。 The position measuring device for a displacement meter according to claim 6, wherein the tip of the first displacement meter is detachably attached to a predetermined position of a propulsion member that can move together with the displacement meter.
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