JP4996566B2 - Underground joining method between excavators and position detection method for excavators - Google Patents

Description

  The present invention relates to an underground bonding method between excavators and a position detection method for excavators.

  In construction of underground structures such as tunnel construction and boring construction, it is common to construct along the planned alignment after accurately grasping the current position in the ground. In particular, in joining the tunnels in the ground, it is important to accurately grasp the positional relationship between the tunnels.

  Conventionally, various methods for detecting the current position in the ground have been developed. For example, (1) a method of detecting the position of the face by repeatedly performing an underground survey from the wellhead (hereinafter referred to as “downhole survey method”), (2) boring from the ground to the well, and using this borehole (3) Method of detecting the positional relationship from the face to the destination by horizontal boring (hereinafter referred to as “horizontal boring method”), (4) Underground (5) A method for detecting the position of the excavator from the ground using magnetism (hereinafter referred to as a “magnetic sonde method”). (6) A method for calculating the shape and position of the entire underground structure based on the bending angle of two rods arranged in the mine (hereinafter referred to as “link method”), (7) CCD Method for detecting optically the position from the captured image by camera (hereinafter, referred to as "image method") or the like is generally adopted.

  In Patent Document 1 and Patent Document 2, as a method for accurately detecting the current position (measurement point) in the ground, an elastic wave from a measurement point to three or four reception points whose coordinates are known is disclosed. An underground position detection method is disclosed in which the position of a measurement point is calculated by measuring the propagation time to each reception point.

Japanese Laid-Open Patent Publication No. 2002-129893 ([0013]-[0024], FIG. 1) JP 2008-0763352 A ([0029]-[0040], FIG. 6)

However, in (1) underground survey method, (4) gyro method, (6) link method, and (7) underground image position detection method using image method, the accumulated survey error may increase as the distance becomes longer.
In addition, (2) Check boring method, (3) Horizontal boring method, (5) Underground position detection method using magnetic sonde method may not be able to be measured depending on the local conditions such as existing structures. It was.

  In addition, the position detection method in Patent Documents 1 and 2 accurately grasps the current position and then corrects the construction error in light of the construction plan. It was necessary to calculate the correction value and the correction value for the construction error.

  Therefore, it is necessary to perform a large amount of data processing regardless of the planned alignment of tunnel construction and boring construction, and it takes time to manage the data, and there is a problem that the equipment required for data processing is expensive. .

  The present invention is intended to solve the above-described problems, and a method for underground joining of excavators that enables simple and inexpensive joining in the ground between excavators, and a stop. It is an object of the present invention to propose a position detection method for an excavator that can easily and inexpensively detect the position of another excavator using the excavator in the state.

  In order to solve such a problem, the invention according to claim 1 is directed to the first excavator and the second excavator by causing the second excavator to excavate toward the stopped first excavator. And a method of providing measurement reference points to at least four boring holes formed radially from the first excavator, respectively, and each of the measurement reference points, The step of measuring the distance from the machine reference point provided on the face plate of the second excavator by means of elastic waves, and the excavation of the second excavator using the distance between each measurement reference point and the machine reference point And a step of excavating the second excavator while adjusting the direction.

According to the joining method between the excavators, the traveling direction of the second excavator can be confirmed only by measuring the distances between the four measurement reference points provided around the first excavator and the machine reference points. Therefore, the excavator can be joined in the ground easily and with high accuracy.
In addition, since the direction of the second excavating machine is checked based on the relationship between the original positions of the excavating machines, the number of processing data can be reduced, and construction can be performed with simple equipment.

Further, the invention according to claim 2, the digging machines that connect the first digging machine and the second digging machine by digging the second digging machine toward the stopped first digging machine. A method of providing at least four measurement reference points on the face plate of the first excavator, and each of the measurement reference points and the machine reference points provided on the face plate of the second excavator . A step of obtaining a mutual distance by multiplying a difference t between a transmission time T1 of an elastic wave transmitted from one of the waves and a reception time T2 received on the other by a sound velocity V in the ground , each of the measurement reference points and the mechanical reference And a step of excavating the second excavator while adjusting the excavation direction of the second excavator using the distance to the point.

  Such a bonding method between the excavators is preferably used when the distance between the excavators approaches. For example, it is possible to prevent an error due to a change in a propagation waveform due to a difference in soil layer or the like.

  The invention according to claim 3 is a position detection method for an excavator that detects the position of the second excavator during excavation using the first excavator in a stopped state. When the separation distance from the second excavator is large, measurement reference points are provided in at least four boring holes formed radially from the first excavator, and each of the measurement reference points and the second excavation machine are provided. The positional relationship between the first excavator and the second excavator is detected by measuring the distance from the machine reference point provided on the face plate of the machine with elastic waves, and the first excavator and the second excavator are detected. When the separation distance from the machine is small, at least four measurement reference points are provided on the face plate of the first excavator, each of the measurement reference points and the machine reference point provided on the face plate of the second excavator By measuring the distance of the first digging machine and the second digging It is characterized by detecting the positional relationship between the.

  According to this excavator position detection method, it is possible to detect the position of the second excavator using the stopped first excavator, so that it is simple and inexpensive without newly providing a measuring device or the like. In addition, the position of the second excavator can be detected.

  According to the underground bonding method between excavators and the position detection method of the excavator according to the present invention, high-quality construction can be performed easily and inexpensively.

  Preferred embodiments of the present invention will be described with reference to the drawings. In the description, the same reference numerals are used for the same elements, and duplicate descriptions are omitted.

In this embodiment, as shown in FIG. 1 and FIG. 2, the position of the second excavating machine during excavation is detected using the first excavating machine 1 in the stopped state, and the second excavating machine 2 is used as the first excavating machine. A case will be described in which the first excavation machine 1 and the second excavation machine 2 are joined in the ground by excavating toward 1.
The first excavator 1 and the second excavator 2 are joined by abutting the face plates 11 and 21 of the two excavators together.

  In the present embodiment, the first stage (see FIG. 1) performed when the separation distance between the first digging machine 1 and the second digging machine 2 is large, and the separation distance between the first digging machine 1 and the second digging machine 2. Different measurement methods are employed in the second stage (see FIG. 2) that is performed when the value is small.

  In the present embodiment, an elastic wave is transmitted from a transmitter (machine reference point 22) provided on the face plate 21 of the second excavator 2, and a plurality of receivers (measurements) provided on the first excavator 1 side. By receiving this elastic wave at the reference points 11, 11,..., The mutual positional relationship is confirmed.

  The underground joining method between the excavators in the first stage includes a measurement reference point installation process, a distance measurement process, and an excavation process.

  In the measurement reference point installation step, as shown in FIG. 1, four bore holes 13, 13,... Are formed radially from the first excavator 1, and the measurement reference points 12 are respectively installed in the bore holes 13. It is.

  In this embodiment, the boring hole 13 is formed by drilling from the side surface of the first excavator 1. Then, four measurement reference points 12, 12,... Are set by installing a receiver at the tip of each formed boring hole 13.

The length of each boring hole 13 is not limited, but it is desirable that the distance between the measurement reference points 12 be maximized. As a result, the base of the quadrangular pyramid with the machine reference point 22 and the measurement reference points 12, 12,... Provided on the face plate 21 of the second excavating machine 2 as vertices widens, so that the position detection accuracy can be improved. it can.
Moreover, if the length of each boring hole 13 is made equal and the distance from the center point P of the first excavator 1 to each measurement reference point 12 is set to be the same, the calculation for detecting the positional relationship is easy. Become.

  In the present embodiment, the boring is performed from the side of the first excavator 1, but the boring hole 13 may be formed from behind the first excavator 1, and the method for forming the boring hole 13 is not limited. Further, the installation location of the measurement reference point 12 is not limited to the tip of the boring hole 13 and can be appropriately arranged.

  In the distance measuring step, an elastic wave is transmitted from a machine reference point 22 provided on the face plate 21 of the second excavator 2, and a distance from the machine reference point 22 to the measurement reference point 12 is measured to thereby measure the first excavator 1. This is a step of detecting the positional relationship between the second excavator 2 and the second excavator 2.

  In the present embodiment, four or more measurement reference points 12 are provided in order to calculate four unknowns of the coordinates XYZ of the machine reference point 22 (the tip of the second excavator 2) and the sound velocity V in the soil. The number of measurement reference points 12 is not limited as long as it is four or more.

The machine reference point 22 is set by installing a transmitter at the center of the face plate 21 of the second excavator 2.
The installation location of the machine reference point 22 is not limited to the center of the face plate 21 and can be set as appropriate.

  The distance from the machine reference point 22 to each measurement reference point 12 is measured by multiplying the difference t between the elastic wave transmission time T1 from the transmitter and the elastic wave reception time T2 by the receiver by the sound velocity V in the ground. Thus, the mutual distance is obtained. In addition, as a calculation method of the positional relationship between the machine reference point 22 and the measurement reference point 12 in the distance measurement process, a known calculation method can be appropriately employed.

  The digging step is a step of digging the second digging machine 2 while adjusting the digging direction of the second digging machine 2 using each distance L from the machine reference point 22 to each measurement reference point 12.

In the distance measurement step, since the positional relationship between the machine reference point and each measurement reference point is calculated, excavation toward the first excavator is performed while adjusting the excavation direction of the second excavator.
Here, if the distance between the center point P of the first excavator 1 and each measurement reference point 12 is the same, the direction adjustment of the second excavator 2 is performed for each of the machine reference point 22 and each measurement reference point 12. What is necessary is just to carry out so that the distance L may become the same.

When excavation by the second excavator 2 is performed for a certain distance in the excavation process, the distance measurement process is performed again, and the positional relationship between the first excavator 1 and the second excavator 2 is confirmed again. And based on the result, an excavation process is performed. Similarly, the distance measurement process and the digging process are repeated until the separation distance between the first digging machine 1 and the second digging machine 2 reaches a predetermined distance.
Each measurement reference point 12 may be moved closer to the first digging machine 1 direction in the borehole 13 as the second digging machine 2 approaches the first digging machine 1.

When the distance between the first excavating machine 1 and the second excavating machine 2 is reduced by the underground bonding method between the excavating machines in the first stage, the process proceeds to the second stage.
In addition, although the transition time from the first stage to the second stage is not limited, for example, to a position where the straight line connecting the machine reference point and the measurement reference point is blocked by the face plate of the first excavator 1 When approaching.

  The underground joining method between the excavators in the second stage includes a measurement reference point installation process, a distance measurement process, and an excavation process.

  As shown in FIG. 2, the measurement reference point installation step is a step of installing four measurement reference points 14, 14,... By installing a receiver on the face plate 11 of the first excavator 1.

  The installation location of the measurement reference point 14 is not limited as long as it is within the face plate 11 of the first excavator 1, but in this embodiment, the distance from the center point of the face plate 11 to each measurement reference point 14 is the same. Install so that.

  Since the distance between the first excavator 1 and the second excavator 2 is short, the apex angle of the quadrangular pyramid with the machine reference point 22 and the measurement reference points 14, 14,. Can be performed with high accuracy.

The distance measuring step is a step of measuring the distance to the measurement reference points 14, 14,... By transmitting an elastic wave from the machine reference point 22 provided on the face plate of the second excavator.
In addition, since the measuring method in a distance measurement process is the same as the content demonstrated in the 1st step, detailed description is abbreviate | omitted.

The digging process is a process of digging the second digging machine 2 while adjusting the digging direction according to each distance from the machine reference point 22 to each measurement reference point 14.
In addition, since the content of the excavation process in the second stage is the same as that described in the first stage, detailed description thereof is omitted.

  Then, the distance measuring process and the digging process are repeated until the second digging machine 2 reaches the first digging machine 1.

  As described above, according to the underground joining method between the excavators and the position detection method of the excavator according to the present embodiment, the first excavator is located at a position where the distance between the first excavator 1 and the second excavator 2 is long. In order to perform measurement using a plurality of measurement reference points 12, 12,..., Which are arranged radially with respect to 1 as a center, it is formed by a straight line connecting the machine reference point 22 and the measurement reference points 12, 12,. The quadrangular pyramid does not have an acute angle, and position detection can be performed with high accuracy.

  On the other hand, when the distance between the first excavator 1 and the second excavator 2 is short, measurement is performed using the measurement reference points 14, 14,... Set on the face plate 11 of the first excavator 1, It is unlikely to be affected by geological conditions such as soil acoustic wave errors, and can be detected with high accuracy.

Since the measurement reference points 12 and 14 are set using the boring hole 13 formed from the first excavator 1 or the face plate 11 of the first excavating machine 1, it is troublesome to form a new boring hole from the ground. It is possible to carry out easily without requiring.
Therefore, even if it is underground joining in a deep location, construction can be performed relatively easily.

  Since four or more measurement reference points 12 and 14 are provided, it is possible to calculate the sound speed in the soil even when the excavator is underground connected in a place where velocity logging is difficult. The positional relationship between 1 and the second excavator 2 can be calculated with high accuracy.

As mentioned above, although an example about a suitable embodiment of the present invention was explained, the present invention is not limited to the embodiment, and design change is possible suitably in the range which does not deviate from the meaning of the present invention.
For example, in the above embodiment, a transmitter is installed at the machine reference point set on the second excavator and a receiver is installed at the measurement reference point set on the first excavator side, and an elastic wave is transmitted from the machine reference point. Thus, the positional relationship between the first excavator and the second excavator is measured, but a transmitter may be installed at each measurement reference point and a receiver may be installed at each machine reference point to perform measurement.

  Further, a machine reference point may be provided at the center of the face plate of the first excavator and four measurement reference points may be provided on the face plate of the second excavator.

  Moreover, in the said embodiment, it divided into two steps, the case where the distance between excavation machines is separated, and the case where it is near, and it was assumed that the measurement reference point was installed at each different position, and the measurement was performed. You may perform underground joining between excavators using only the measurement reference point.

  In addition, as a calculation method of the positional relationship between the machine reference point and the measurement reference point in the distance measurement step, a known calculation method can be adopted as appropriate, but as an example below, convergence calculation by the least square method is performed. Show.

The relationship of Equation 1 holds for the elastic wave arrival time t _i at the measurement reference point 12 (14), the sound velocity V of the medium, and the distance L _i between the two points.

  Since the measurement value includes an error ε, Equation 1 is as follows.

  Multiplying both sides of Equation 2 by the speed of sound V yields Equation 3. The machine reference point coordinates (X, Y, Z) and the measurement reference point coordinates (xi, yi, zi) are used.

Since Equation 3 is non-linear, Equation 3 is converted into a linear equation, and the correction amount (ΔX, ΔY, ΔZ, ΔV) from the initial value (X ₀ , Y ₀ , Z ₀ , V ₀ ) is reduced to a minimum of two. Calculate by multiplication.
First, Taylor expansion is performed on Equation 3 at an initial value, and then it is expanded to the first order to obtain Equation 4.

  By equation 4, equation 5 is obtained.

  Next, ΔX, ΔY, ΔZ, ΔV that minimizes the sum of squares of the error ε is obtained.

  ΔX, ΔY, ΔZ, ΔV in Equation 6 are partially differentiated, and the result is set to zero.

  When these equations are arranged, a quaternary simultaneous equation is obtained, and the matrix expression is as follows.

  The determinant is solved using Kramel's formula, the initial values are corrected by the calculated ΔX, ΔY, ΔZ, ΔV, and the above calculation is performed again. Similarly, convergence is performed by repeating until the correction amount Δ is sufficiently small.

  Note that the detection method used in the distance measurement process according to the present embodiment is not limited to the underground bonding method between the excavators, and can be applied to tip position verification such as free boring shown in FIG. It is.

  FIG. 3 is a schematic view when a plurality of boring holes 3, 3,... For improving the ground directly under the existing structure B on the ground are formed using free boring.

  At this time, as shown in FIG. 3B, a transmitter is installed at the tip of the universal boring 30 to provide a machine reference point 31. On the other hand, two vertical borings are performed in the vicinity of the reaching point of the universal boring 30 and receivers are installed at two vertical positions in each of the vertical boring holes 4, 4, for a total of four measurement reference points 41, 41. , ... are provided.

Then, an elastic wave is transmitted from the machine reference point 31 and the arrival time to the measurement reference point 41 is measured. Using the measurement result, the positional relationship between the machine reference point 31 and the measurement reference point 41 is calculated by the detection method, so that the tip position of the universal boring 30 is verified.
Thereby, it becomes possible to form the boring holes 3, 3,... As the injection holes for improving the ground directly under the existing structure B with high accuracy.

It is a schematic diagram which shows the 1st step of the underground joining method of the excavation machines which concern on suitable embodiment of this invention. It is a schematic diagram which shows the 2nd step of the underground joining method between the excavation machines. It is a figure which shows the outline of the position verification method of a universal boring, Comprising: (a) is a perspective view, (b) is a top view.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 1st excavation machine 11 Face plate 12 Measurement reference point 13 Boring hole 14 Measurement reference point 2 2nd excavation machine 21 Face plate 22 Machine reference point

Claims (3)

For the first excavation machine in a stopped state, it is an underground joining method between the excavation machines for connecting the first excavation machine and the second excavation machine by excavating the second excavation machine,
Providing measurement reference points respectively in at least four bore holes formed radially from the first excavator;
Measuring the distance between each measurement reference point and the machine reference point provided on the face plate of the second excavator by means of elastic waves;
Digging the second excavator while adjusting the excavation direction of the second excavator using the distance between each measurement reference point and the machine reference point;
An underground joining method between excavators, characterized by comprising: For the first excavation machine in a stopped state, it is an underground joining method between the excavation machines for connecting the first excavation machine and the second excavation machine by excavating the second excavation machine,
Providing at least four measurement reference points on the face plate of the first excavator;
The sound velocity V in the soil is determined by the difference t between the transmission time T1 of the elastic wave transmitted from one of the measurement reference points and the machine reference point provided on the face plate of the second excavator and the reception time T2 received at the other. Obtaining each other's distance by multiplying
Digging the second excavator while adjusting the excavation direction of the second excavator using the distance between each measurement reference point and the machine reference point;
An underground joining method between excavators, characterized by comprising: A position detection method for an excavator that detects the position of the second excavator during excavation using the first excavator in a stopped state,
When the separation distance between the first excavator and the second excavator is large, measurement reference points are respectively provided in at least four bore holes formed radially from the first excavator, Detecting the positional relationship between the first engraving machine and the second engraving machine by measuring the distance between the point and the machine reference point provided on the face plate of the second encircling machine by means of elastic waves,
When the separation distance between the first excavator and the second excavator is small, at least four measurement reference points are provided on the face plate of the first excavator, and the measurement reference points and the second excavator are provided. A position detection method for an excavator, wherein a positional relationship between the first excavator and the second excavator is detected by measuring a distance from a machine reference point provided on the face plate with an elastic wave. .

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