JP6669590B2 - Positioning method of shield machine - Google Patents

Description

  The present invention relates to a method for measuring the position of a shield machine.

Shield tunnels used as pipes for roads and railways are constructed by a shield method.
In the shield method, a shield machine is used. The shield machine is, for example, a cylindrical skin plate that forms the outer shell of the machine, a cutter head provided at the front end (face side end) of the skin plate, and excavating the ground. A propulsion jack provided on the inside.

  In the shield method, for example, a starting shaft and a reaching shaft are built in the ground, and while excavating the ground with a shield machine from the starting shaft to the reaching shaft, segments are sequentially formed inside the rear part of the skin plate. A segment ring is constructed by assembling in the circumferential direction of the tunnel, and a cylindrical lining is constructed by connecting adjacent segment rings in the axial direction of the tunnel. According to this method, the shield machine presses the existing segment ring at the rear of the shield machine rearward with the propulsion jack, and moves forward while excavating the ground by the thrust generated as a reaction force.

  Patent Literature 1 discloses a method for measuring the position and orientation of a shield machine in a tunnel. This method comprises the steps of: collimating a plurality of reference points provided on a wellhead side from an automatic tracking distance measuring angle measuring instrument to detect the position of the automatic tracking distance measuring angle measuring instrument; Detecting the position of a plurality of targets by collimating the target from an automatic tracking rangefinder, and based on the detection results of the positions of the plurality of targets of the shield machine, Determining the orientation.

Japanese Patent No. 5022484

However, in the technique disclosed in Patent Document 1, each time the position of the shield machine is measured, the plurality of reference points are collimated from the automatic tracking type distance measuring angle measuring instrument, and the automatic tracking type distance measuring angle measuring instrument is used. Must be detected. Therefore, position measurement of the shield machine was troublesome.
The present invention has been made in view of the above circumstances, and has as its object to efficiently measure the position of a shield machine.

  Therefore, the position measuring method of the shield machine according to the present invention uses the first distance measuring angle gauge that collimates the target provided on the shield machine and moves following the excavation of the shield machine. In this method, the position of the shield machine is measured while the shield machine is excavated. The position surveying method of the shield excavator is to acquire movement data including a moving distance of a first distance measuring goniometer from a past surveying time to a current surveying time, and to perform a first surveying in the past surveying. By changing the position and the reference direction of the distance measuring gon based on the movement data, the position and the reference direction of the first distance measuring and measuring horn can be specified at the time of the current survey. Collimating the target from the first ranging finder, detecting the relative position of the target from the first ranging finder, and determining the position and position of the identified first ranging finder. Specifying the position of the shield machine based on the reference direction and the detected relative position of the target from the first ranging finder.

  According to the present invention, the movement data including the movement distance of the first distance measuring goniometer from the past survey time to the current survey time is acquired, and the first distance measuring goniometer during the past survey is acquired. By changing the position and the reference direction based on the movement data, the position and the reference direction of the first distance measuring and measuring square at the time of the current survey are specified. This eliminates the need to detect the position of the first ranging angle finder by collimating the plurality of reference points from the first ranging angle finder each time the position of the shield machine is measured. Therefore, it is possible to reduce the time and effort required to measure the position of the shield machine, and thus it is possible to efficiently perform the position measurement of the shield machine.

  Further, according to the present invention, the position and the reference direction of the first distance measuring goniometer can be continuously grasped at short time intervals during the excavation of the shield machine, so that the first distance measuring goniometer can be obtained. , The positioning of the shield machine can be repeated at short time intervals. Therefore, since the position of the shield excavator being excavated can be measured in real time, the result can be immediately reflected in the excavation direction control (for example, pressure control of the propulsion jack) of the shield excavator being excavated.

The figure which shows the construction method of the shield tunnel in 1st Embodiment of this invention Schematic configuration diagram of the position surveying system of the shield machine in the first embodiment 5 is a flowchart showing a method for measuring the position of the shield machine in the first embodiment. 9 is a flowchart showing a method for measuring the position of a shield machine during excavation in the first embodiment. The figure which shows the position measuring method of the shield machine before the start of excavation in the said 1st Embodiment. The figure which shows the position survey method of the shield machine which is excavating in the said 1st Embodiment. The figure which shows the relationship between the extension amount of the propulsion jack, the moving distance of the surveying instrument, and the moving distance of the succeeding bogie in the first embodiment. Schematic configuration diagram of a position surveying system of a shield machine in a second embodiment of the present invention The figure which shows the relationship between the rotation angle of the axle of the succeeding bogie, the moving distance of the surveying instrument, and the moving distance of the succeeding bogie in the second embodiment. The figure which shows the construction method of the shield tunnel in 3rd Embodiment of this invention. Schematic configuration diagram of a shield excavator position survey system in the third embodiment The figure which shows the construction method of the shield tunnel in the modification of the said 3rd Embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIGS. 1A to 1C show a method of constructing a shield tunnel in a first embodiment of the present invention.
In this embodiment, for convenience, the front, rear, left and right are defined as the tunnel digging direction is the forward direction. Further, in the present embodiment, the configuration of the shield excavator will be described taking a so-called mud pressure type shield excavator as an example, but the type of the shield excavator is not limited to this.

  A shield machine 1 used for construction of a shield tunnel includes a cylindrical skin plate 2 forming a main body thereof, a cutter head 3 for excavation provided at a front end portion of the skin plate 2, and a space behind the cutter head 3. And a shield partition (bulk head) 4 arranged on the skin plate 2.

  The cutter head 3 is rotatably supported by the shield partition 4. The cutter head 3 excavates the ground while rotating using a driving motor (not shown) provided on the rear surface of the shield partition wall 4 as a driving source.

  A cutter chamber (not shown) is defined between the cutter head 3 and the shield partition wall 4 and the skin plate 2. Excavated earth and sand generated by excavation by the cutter head 3 stays in the cutter chamber. The shield machine 1 includes a screw conveyor (not shown) that carries out the excavated earth and sand in the cutter chamber to the rear of the shield partition wall 4.

  The shield machine 1 includes an erector device (not shown) in the skin plate 2 behind the cutter head 3 and the shield partition wall 4. This erector device constructs a segment ring by assembling the segments 7 having an arc-shaped cross section, and constructs a cylindrical lining body 8 by connecting adjacent segment rings in the tunnel axis direction.

  Inside the skin plate 2 of the shield machine 1, a plurality of propulsion jacks 5 are arranged along the inner surface of the skin plate 2 at intervals in the circumferential direction of the skin plate 2. The propulsion jack 5 is a hydraulic jack composed of a cylinder and a rod, and is extendable and contractible. The cylinder of the propulsion jack 5 has its front end fixed to the skin plate 2, and the rod of the propulsion jack 5 can advance and retreat at the rear end side. By extending the propulsion jack 5 in a state where the rear end of the rod of the propulsion jack 5 is in contact with the existing segment 7, the shield machine 1 can obtain a propulsive force. In this manner, the propulsion jack 5 takes the reaction force from the existing segment 7 to propel the shield machine 1.

  A trailing bogie 10 is connected to the rear of the shield machine 1 in the lining body 8 via a tow bar 9. The trailing bogie 10 is provided with hydraulic equipment, electric equipment, and the like for operating the shield machine 1. Here, FIG. 1 shows an example in which the succeeding bogie 10 includes only one bogie. On the other hand, FIG. 10, which will be described later, shows an example in which the succeeding bogie 10 includes a plurality of bogies (four bogies 10a to 10d in FIG. 10, which will be described later).

  As shown in FIG. 1, a sleeper 11 is laid on the bottom of the lining 8. On the upper surface side of the sleeper 11, a pair of left and right rails 12 for running the succeeding bogie 10 is laid along the tunnel axial direction. Here, the track 13 includes the sleeper 11 and the rail 12. The trailing bogie 10 can travel on a track 13 (especially on a rail 12).

  The front end of the tow bar 9 is attached to the shield machine 1 via a hinge mechanism (not shown). The rear end of the tow bar 9 is attached to the leading end of the succeeding bogie 10 via a hinge mechanism (not shown). Thereby, the tow bar 9 can swing in the left-right direction with respect to the shield machine 1, and the trailing bogie 10 can swing in the left-right direction with respect to the tow bar 9.

  The trailing bogie 10 follows the excavation of the shield excavator 1 while being guided by the rail 12 and being towed by the shield excavator 1 via the tow bar 9, and advances on the track 13.

Next, a method of constructing a shield tunnel will be described with reference to FIG.
First, as shown in FIGS. 1 (A) and 1 (B), with the propulsion jack 5 shortened, the segment 7 is assembled in the skin plate 2 using the above-described erector device, and a new segment ring is formed. To construct. This new segment ring constitutes the lining 8.

Next, as shown in FIG. 1 (C), the shield jacking machine 1 is propelled by extending the propulsion jack 5.
By repeating the construction of the segment ring and the propulsion of the shield machine 1 in this manner, a shield tunnel including the lining 8 is constructed.

  As shown in FIG. 1, a surveying instrument 20 is provided above the trailing bogie 10. The surveying instrument 20 is a so-called automatic tracking type distance measuring angle measuring instrument (total station). Here, the surveying instrument 20 corresponds to the “first distance measuring angle measuring instrument” of the present invention. Since the surveying instrument 20 is provided on the trailing bogie 10 and can move integrally with the trailing bogie 10, the surveying instrument 20 can move following the excavation of the shield excavator 1.

The shield machine 1 is provided with a plurality of targets TA1 and TA2 (see FIGS. 5A and 6A described later). The targets TA1 and TA2 are configured by a reflection prism or the like. In this embodiment, the shield excavator 1 has two targets. However, it goes without saying that three or more targets may be provided.
The surveying instrument 20 can automatically collimate the targets TA1 and TA2, respectively (ie, can automatically collimate). The technique relating to this automatic collimation is well known as described in, for example, Japanese Patent No. 5196725, and therefore the description thereof is omitted.

A plurality of reference points 24a and 24b (see FIGS. 5 (A) and 6 (A) described later) are provided behind the subsequent bogie 10 in the lining body 8 (ie, on the pit side with respect to the subsequent bogie 10). I have. The reference points 24a and 24b are configured by a reflecting prism or the like. In the present embodiment, the number of reference points provided in the lining body 8 is two. However, it goes without saying that three or more reference points may be provided.
The surveying instrument 20 can automatically collimate the reference points 24a and 24b, respectively (that is, automatically collimate).

FIG. 2 shows a schematic configuration of a position measurement system 30 for measuring the position of the shield machine 1 underground (in a tunnel mine).
The position surveying system 30 includes the surveying instrument 20, an extension amount measuring sensor 31 for measuring the extension amount of the propulsion jack 5, a processing device 32, a recording device 33, and a display device 34. In the position measurement system 30, the processing device 32, the recording device 33, and the display device 34 can be arranged, for example, in the trailing bogie 10 or in a packing house at a tunnel construction site.

  The surveying instrument 20 and the processing device 32 are connected via a signal line 41. The extension measuring sensor 31 and the processing device 32 are connected via a signal line 42. The processing device 32 and the recording device 33 are connected via a signal line 43. The processing device 32 and the display device 34 are connected via a signal line 44. In the present embodiment, communication between the surveying instrument 20, the extension amount measuring sensor 31, the processing device 32, the recording device 33, and the display device 34 is performed by connecting the signal lines 41 to 44. However, in addition, at least one of the signal lines 41 to 44 may be changed to a wireless communication device (transmitter and receiver) to perform wireless communication between them.

  The processing device 32 includes a CPU, a memory, a hard disk, and the like, and performs various arithmetic processes. The processing device 32 includes a coordinate system setting unit 51 for tunnel design, a coordinate information storage unit 52, a subsequent bogie moving distance calculating unit 53, a surveying machine moving distance calculating unit 54, a surveying machine position specifying unit 55, a shield An excavator position specifying unit 56 and a clock 57 are provided.

  In the present embodiment, as shown in FIGS. 5B and 6B to be described later, the coordinate system setting unit 51 in the tunnel design sets the direction in which x increases from the origin along the x axis (x direction). A two-dimensional coordinate system (orthogonal coordinate system) for tunnel design is set such that is set to north and the direction in which y increases along the y-axis (y direction) from the origin is set to east. In the present embodiment, the coordinate system setting unit 51 in the tunnel design sets a two-dimensional coordinate system in the tunnel design. In addition, the coordinate system setting unit 51 in the tunnel design sets the two-dimensional coordinate system in the tunnel design. It goes without saying that a three-dimensional coordinate system may be set.

  In the present embodiment, the coordinate system setting unit 51 for tunnel design sets the x direction (toward north) as a reference direction for tunnel design.

The coordinate information storage unit 52 stores the laying position (coordinates) of the track 13 (particularly, the rail 12) in the coordinate system set by the coordinate system setting unit 51 for tunnel design. That is, the coordinate information storage unit 52 stores the linear data of the track 13 (particularly, the rail 12). Here, the linear data of the track 13 (particularly the rail 12) can be included in the “movement data” of the present invention.
The coordinate information storage unit 52 further stores the positions (coordinates) of the reference points 24a and 24b in the coordinate system set by the coordinate system setting unit 51 for tunnel design.

  The subsequent bogie travel distance calculation unit 53 calculates the travel distance of the subsequent bogie 10 based on the extension amount of the propulsion jack 5 measured by the extension amount measurement sensor 31.

  The surveying instrument moving distance calculating unit 54 calculates the moving distance of the surveying instrument 20 based on the moving distance of the subsequent bogie 10 calculated by the subsequent bogie moving distance calculating unit 53. In this embodiment, since the surveying instrument 20 is provided on the trailing bogie 10 and can be moved integrally with the trailing bogie 10, the moving distance of the surveying instrument 20 matches the moving distance of the trailing bogie 10.

The surveying instrument position specifying unit 55 is configured to determine the position (coordinates) and the reference direction of the surveying instrument 20 in the coordinate system set by the coordinate system setting unit 51 for tunnel design (for example, FIG. 5B and FIG. The reference directions S ₀ and S ₁ and the angles θ ₀ and θ ₁ ) shown in B) are specified.

  The shield machine position specifying unit 56 specifies the position (coordinates) and direction (for example, which direction the shield machine 1 is facing) of the shield machine 1 in the coordinate system set by the coordinate system setting unit 51 for tunnel design. Further, the shield excavator position specifying unit 56 associates the specified position and orientation of the shield excavator 1 with the time obtained from the clock 57 to generate time-series data of the position and orientation of the shield excavator 1. Here, in the present embodiment, the position (coordinates) of the specified shield excavator 1 is determined by a determination point K (a front end portion at the center of the cutter head 3) shown in FIGS. 5A and 6A described later. The position (coordinates) of the shield machine 1 specified below is not limited to the position (coordinates) of the center tip of the cutter head 3.

The recording device 33 includes at least one of a printer and a storage device. When the recording device 33 includes a printer, the printer prints the time-series data of the position and orientation of the shield machine 1 on paper or the like. When the recording device 33 includes a storage device, the storage device stores the time-series data of the position and the orientation of the shield machine 1 described above.
The display device 34 displays the time-series data of the position and orientation of the shield machine 1 described above, and is, for example, a display.

  FIG. 3 is a flowchart illustrating the position surveying method of the shield machine 1 in the present embodiment. This flow shows a position surveying method of the shield machine 1 from the time when the excavation of the shield machine 1 is stopped before the start of the excavation until the completion of the excavation after the start of the excavation. This flow can be repeated for each excavation of one segment ring.

First, at the time of excavation stop of the shield machine 1, at step S1, to identify the position P ₀ and the reference direction S ₀ of the surveying instrument 20.
The specification of the position P ₀ and the reference direction S ₀ of the surveying instrument 20 will be described with reference to FIGS.
FIG. 5A shows a position measurement method of the shield machine 1 before starting the excavation (when the excavation is stopped) in a plan view. FIG. 5B shows the position P ₀ and the reference direction S ₀ of the surveying instrument 20 in the coordinate system set by the coordinate system setting unit 51 for tunnel design.

When the shield machine 1 stops excavating, the surveying machine 20 automatically collimates the reference points 24a and 24b to measure and measure the distance, and uses the rear resection method to determine the position P ₀ (coordinate (x _{0, y 0))} and identifying the reference direction _{S 0.} Specifically, for example, the reference points 24a and 24b behind the survey instrument 20 are automatically collimated, and the distance between the known reference points 24a and 24b and the distance between the survey points 20 measured by the survey instrument 20 are measured. Based on the distance to the reference point 24a and the distance from the surveying instrument 20 to the reference point 24b measured by the surveying instrument 20, the position P ₀ (coordinates (x ₀ , y ₀ )) and the reference direction of the surveying instrument 20 to identify the S _0.

Here, the “reference direction of the surveying instrument 20” refers to an angle when the surveying instrument 20 is viewed from a reference direction in the tunnel design (in the present embodiment, the x direction (toward north)) (from a reference direction in the tunnel design). Clockwise angle). That is, as shown in FIG. 5B, the reference direction S ₀ of the surveying instrument 20 is an angle when the surveying instrument 20 is viewed from the reference direction in the tunnel design (in the present embodiment, the x direction (toward north)). (Angle clockwise from the reference direction in tunnel design) Corresponds to θ ₀ .

Here, the angle θ ₀ can be calculated by the following equation (1).
θ ₀ = arctan (y ₀ / x ₀ ) (1)

Incidentally, in the specification of the position P ₀ and the reference direction S ₀ of the surveying instrument 20 in the above-described step S1, the coordinate system setting section 51, the coordinate information storage section 52, and the surveying instrument position specifying section 55 in the tunnel design are used. Can be

  In step S2 in FIG. 3, the position of the shield machine 1 (the position of the desired point K) and the direction of the shield machine 1 are specified.

Specifically, in step S2, first, as shown in FIG. 5A, the target TA1 is automatically collimated from the surveying instrument 20, and the distance from the surveying instrument 20 to the target TA1 and the collimation of the target TA1 are determined. the angular measure, and the measurement result, based on the position P ₀ and the reference direction S ₀ of the surveying instrument 20 identified at step S1 described above, to locate the target TA1 (coordinates). In other words, by automatically collimating the target TA1 from the surveying instrument 20 and measuring the distance from the surveying instrument 20 to the target TA1 and the collimating angle of the target TA1, the relative position of the target TA1 from the surveying instrument 20 is measured. position detecting (e.g. a surveying instrument 20 as the origin, the reference direction S ₀ position coordinate in a coordinate system, such as a polar coordinate system to the reference direction (reference)), and the detected relative position, at step S1 described above Based on the specified position P ₀ of the surveying instrument 20 and the reference direction S ₀ , the position (absolute position) of the target TA1 in the above-described orthogonal coordinate system is specified.

Next, the target TA2 is automatically collimated from the surveying instrument 20, and the distance from the surveying instrument 20 to the target TA2 and the collimation angle of the target TA2 are measured. The measurement result is specified in step S1 described above. The position (coordinates) of the target TA2 is specified based on the measured position P ₀ of the surveying instrument 20 and the reference direction S ₀ . In other words, by automatically collimating the target TA2 from the surveying instrument 20 and measuring the distance from the surveying instrument 20 to the target TA2 and the collimating angle of the target TA2, the relative position of the target TA2 from the surveying instrument 20 is measured. position detecting (e.g. a surveying instrument 20 as the origin, the reference direction S ₀ position coordinate in a coordinate system, such as a polar coordinate system to the reference direction (reference)), and the detected relative position, at step S1 described above Based on the specified position P ₀ of the surveying instrument 20 and the reference direction S ₀ , the position (absolute position) of the target TA2 in the above-described orthogonal coordinate system is specified.

Here, in step S2, the term "collimating the corner", when viewed target TA1, TA2 from the reference direction of the surveying instrument 20 (the reference direction _{S 0} in step S2) angle (from the reference direction _{S 0} clockwise Angle). As shown in FIG. 5 (A), for example, semi-angle alpha ₀ visual target TA2, the angle at which the reference direction S ₀ viewed target TA2 (e.g., clockwise angle from the reference direction S ₀₎ corresponding to .

For example, assuming that the position (coordinates) of the target TA2 is (X ₀ , Y ₀ ) and the distance from the surveying instrument 20 to the target TA 2 is L, the x coordinate X ₀ and the y coordinate Y ₀ are represented by the following equation (2) ) And (3).
X ₀ = x ₀ + Lcos (θ ₀ + α ₀ ) (2)
Y ₀ = y ₀ + Lsin (θ ₀ + α ₀ ) (3)

From the above equations (2) and (3), the position of the surveying instrument 20 (the coordinates (x ₀ , y ₀ ) in the above-described rectangular coordinate system) and the reference direction S ₀ (the angle θ ₀ in the above-described rectangular coordinate system) and Based on the relative position of the target TA2 from the surveying instrument 20 (coordinates (L, α ₀ ) in the polar coordinate system described above) and the position of the target TA2 (coordinates (X ₀ , Y ₀ ) in the rectangular coordinate system described above). It is clear that can be specified.
The position of the target TA1 can be specified similarly to the specification of the position of the target TA2.

  Next, the position of the shield machine 1 (the position of the point K) and the direction of the shield machine 1 are specified based on the specified positions of the targets TA1 and TA2.

  As for the obtained point K, the positional relationship (distance between them) with the targets TA1 and TA2 is known and invariable. Therefore, when the positions of the targets TA1 and TA2 are specified, the position of the obtained point K is univocally determined. Is determined. When the positions of the targets TA1 and TA2 are specified, the direction of the shield machine 1 is uniquely determined accordingly.

  Note that in specifying the position of the shield machine 1 (the position of the calculated point K) and the direction of the shield machine 1 in step S2 described above, the shield machine position specifying unit 56 described above may be used.

Next, proceeding to step S3 in FIG. 3, the extension operation of the propulsion jack 5 is started, and the excavation of the shield excavator 1 is started.
In step S4, the position (coordinates) and direction of the shield machine 1 during the excavation are measured in real time (the position of the shield machine 1 is automatically measured). This real-time measurement will be described with reference to FIG. 4, FIG. 6, and FIG.

FIG. 4 is a flowchart illustrating a position surveying method of the shield machine 1 during excavation.
FIG. 6A shows a position measurement method of the shield machine 1 during excavation in plan view. FIG. 6B shows the positions P ₀ , P ₁ and the reference directions S ₀ , S ₁ of the surveying instrument 20 in the coordinate system set by the coordinate system setting unit 51 for tunnel design.
FIG. 7 shows the relationship between the extension amount JL of the propulsion jack 5, the moving distance SD of the surveying instrument 20, and the moving distance CD of the trailing bogie 10.

In the present embodiment, the position (coordinates) and the reference direction of the surveying machine 20 specified at the time of the position surveying of the shield machine 1 in the past are used in order to measure the position of the shield machine 1 this time. In particular, in the present embodiment, in order to measure the position of the shield machine 1 this time, the position (coordinates) and the reference direction of the surveying machine 20 specified during the previous position measurement of the shield machine 1 are used. Here, in the following description regarding steps S11 to S13 shown in FIG. 4, the position P ₀ of the surveying machine 20 and the reference direction from the time of the previous position survey of the shield machine 1 to the time of the current position survey of the shield machine 1 are described. A case where S ₀ has changed to the position P ₁ and the reference direction S ₁ will be described (see FIGS. 5 and 6).

  First, in step S11, based on the extension amount JL of the propulsion jack 5 of the shield excavator 1 from the previous position measurement of the shield excavator 1 to the current position measurement of the shield excavator 1, the previous shield excavation is performed. The movement distance CD of the succeeding bogie 10 from the position surveying of the machine 1 to the current time of the position surveying of the shield machine 1 is calculated, and the position of the previous shield machine 1 is calculated based on the moving distance CD of the succeeding bogie 10. The moving distance SD of the surveying machine 20 from the time of the surveying to the time of the position surveying of the shield machine 1 is calculated. For the calculation of the moving distance SD of the surveying instrument 20, a diagram shown in FIG. 7 (a diagram showing the relationship between the extension amount JL of the propulsion jack 5, the moving distance SD of the surveying instrument 20, and the moving distance CD of the trailing bogie 10) is shown. Used. As shown in FIG. 7, the longer the extension amount JL of the propulsion jack 5, the longer the moving distance SD of the surveying instrument 20 and the moving distance CD of the trailing bogie 10. This is equivalent to the travel distance CD corresponding to the amount of extension of the propulsion jack 5 (extension amount JL) between the time of the previous position measurement of the shield machine 1 and the time of the current position measurement of the shield machine 1, and the subsequent bogie. 10 travels on the track 13 and that the surveying instrument 20 is provided on the trailing bogie 10 and can be moved integrally therewith (that is, the moving distance SD of the surveying instrument 20 and the following bogie 10 Is the same distance as the moving distance CD). For the calculation of the moving distance SD of the surveying instrument 20, the following bogie moving distance calculating section 53 and the surveying instrument moving distance calculating section 54 can be used.

  In step S11, the linear data of the trajectory 13 (particularly the rail 12) is read from the coordinate information storage unit 52 into the surveying instrument position specifying unit 55. Therefore, in step S11, the surveying instrument position specifying unit 55 determines the moving distance SD and the trajectory 13 (particularly, the traveling distance SD of the surveying instrument 20 from the previous position surveying of the shield machine 1 to the current position surveying of the shield machine 1) The movement data including the linear data of the rail 12) can be obtained.

Next, in step S12, in a surveying instrument position specifying unit 55 specifies the position P ₁ and the reference direction S ₁ of the surveying instrument 20 at a position survey of this shield machine 1.

The position P ₁ (coordinates (x ₁ , y ₁ )) of the surveying instrument 20 at the time of the position survey of the shield excavator 1 this time can be calculated by the following equations (4) and (5).
x ₁ = x ₀ + dx (4)
y ₁ = y ₀ + dy (5)

  In the above expression (4), “dx” corresponds to the x component of the amount of change in the position of the surveying instrument 20 from the time of the previous position measurement of the shield machine 1 to the time of the current position measurement of the shield machine 1. In the above formula (5), “dy” corresponds to the y component of the amount of change in position of the surveying machine 20 from the time of the previous position survey of the shield machine 1 to the time of the current position survey of the shield machine 1. I do. These “dx” and “dy” are the moving distance SD and the trajectory of the surveying machine 20 from the time of the previous position survey of the shield machine 1 to the time of the current position survey of the shield machine 1 acquired in step S11. 13 (particularly the rail 12) and the movement data including the linear data. This is because, based on the movement data, the subsequent bogie 10 moves along the track 13 (particularly the rail 12) from the last time the position of the shield machine 1 was measured to the time of the current position of the shield machine 1. This is based on the fact that it is possible to grasp in which direction and how much, and that the surveying instrument 20 is provided on the trailing bogie 10 and can be moved integrally therewith.

For theta ₁ (angle from the reference direction of the tunnel design when viewed surveying instrument 20) corresponding angle to the reference direction S ₁ of the surveying instrument 20 at the current time position survey of the shield machine 1, FIG. 6 (B ) And the above-described equations (4) and (5).
θ ₁ = arctan (y ₁ / x ₁ )
_{= Arctan {(y 0 + dy} ) / (x 0 + dx)} (6)

Therefore, in step S12, the position P ₀ and the reference direction S ₀ (angle θ ₀ ) of the surveying instrument 20 at the time of the previous position survey of the shield excavator 1 are changed based on the above-described movement data, so that the current shielding The position P ₁ and the reference direction S ₁ (angle θ ₁ ) of the surveying instrument 20 at the time of the position survey of the excavator 1 are specified.

  Next, in step S13, the position of the shield machine 1 (the position of the obtained point K) and the direction of the shield machine 1 at the time of position measurement of the shield machine 1 are specified this time.

Specifically, in step S13, first, as shown in FIG. 6A, the target TA1 is automatically collimated from the surveying instrument 20, the distance from the surveying instrument 20 to the target TA1, and the collimation of the target TA1. the angular measure, and the measurement result, based on the position P ₁ and the reference direction S ₁ of the surveying instrument 20 identified at step S12 described above to locate the target TA1 (coordinates). In other words, by automatically collimating the target TA1 from the surveying instrument 20 and measuring the distance from the surveying instrument 20 to the target TA1 and the collimating angle of the target TA1, the relative position of the target TA1 from the surveying instrument 20 is measured. position detecting (e.g. a surveying instrument 20 as the origin, the reference direction S ₁ position coordinate in a coordinate system, such as a polar coordinate system to the reference direction (reference)), and the detected relative position, at step S12 described above based on the position P ₁ and the reference direction S ₁ of the identified survey instrument 20 to identify the position of the target TA1 (absolute position) in the orthogonal coordinate system described above.

Next, the target TA2 is automatically collimated from the surveying instrument 20, and the distance from the surveying instrument 20 to the target TA2 and the collimating angle of the target TA2 are measured. The measurement result is specified in step S12 described above. on the basis of the position _{P 1} and the reference direction _{S 1} of the surveying instrument 20, to identify the position of the target TA2 (coordinates). In other words, by automatically collimating the target TA2 from the surveying instrument 20 and measuring the distance from the surveying instrument 20 to the target TA2 and the collimating angle of the target TA2, the relative position of the target TA2 from the surveying instrument 20 is measured. position detecting (e.g. a surveying instrument 20 as the origin, the reference direction S ₁ position coordinate in a coordinate system, such as a polar coordinate system to the reference direction (reference)), and the detected relative position, at step S12 described above based on the position P ₁ and the reference direction S ₁ of the identified survey instrument 20 to identify the position of the target TA2 (absolute position) in the orthogonal coordinate system described above.

Here, in step S13, a "collimation angle", when viewed target TA1, TA2 from the reference direction of the surveying machine 20 (Step S13, the reference direction _{S 1)} angle (from the reference direction _{S 1} clockwise Angle). As shown in FIG. 6 (A), for example, semi-angle alpha ₁ viewing target TA2, the angle at which the reference direction S ₁ viewed target TA2 (e.g., clockwise angle from the reference direction S ₁₎ corresponding to .

For example, the position of the target TA2 (coordinates) and _(X 1, _{Y 1),} and, when the distance from the surveying instrument 20 to the target TA2 and L, x-coordinate _{X 1} and y coordinate _{Y 1} is the following formula (7 ) And (8).
X ₁ = x ₁ + Lcos (θ ₁ + α ₁ ) (7)
Y ₁ = y ₁ + Lsin (θ ₁ + α ₁ ) (8)

From the above equations (7) and (8), from the position of the surveying instrument 20 (the coordinates (x ₁ , y ₁ ) in the above-described rectangular coordinate system) and the reference direction S ₁ (the angle θ ₁ in the above-described rectangular coordinate system), Based on the relative position of the target TA2 from the surveying instrument 20 (coordinates (L, α ₁ ) in the polar coordinate system described above) and the position of the target TA2 (coordinates (X ₁ , Y ₁ ) in the orthogonal coordinate system described above) It is clear that can be specified.
The position of the target TA1 can be specified similarly to the specification of the position of the target TA2.

Next, based on the specified positions of the targets TA1 and TA2, the position of the shield machine 1 (the position of the calculated point K) and the direction of the shield machine 1 are specified in the same manner as in step S2 described above.
As described above, the position of the shield machine 1 at the time of the position survey of the shield machine 1 this time (the position of the obtained point K) and the direction of the shield machine 1 can be specified.

  In step S5 in FIG. 3, it is determined whether excavation for one segment ring by the shield excavator 1 has been completed. If excavation for one segment ring has not yet been completed, the process proceeds to step S6 and waits. After the lapse of the time wt, the process returns to step S4. Here, the waiting time wt corresponds to a time interval for executing the flow shown in FIG. For example, when the waiting time wt is set to 30 seconds, the flow shown in FIG. 4 can be executed every 30 seconds while the shield machine 1 is excavating. In this case, for example, when the excavation of the shield machine 1 advances at 3 cm / min, the position (coordinates) and direction of the shield machine 1 can be measured every time the shield machine 1 advances 1.5 cm.

In the above description of steps S11 to S13, the position P ₀ of the surveying instrument 20 and the reference direction S ₀ are set to the position P from the time of the previous position survey of the shield machine 1 to the time of the previous position survey of the shield machine 1. It has been described a case where changes to ₁ and the reference direction S _1, but the position P _k of the surveying instrument 20 from the time position survey of the previous shield machine 1 until the position survey of the previous shield machine 1 _(k is an arbitrary It goes without saying that the same applies when the natural number) and the reference direction S _k are changed to the position P _{k + 1} and the reference direction S _{k + 1} .

  When the excavation for one segment ring by the shield excavator 1 is completed, the flow illustrated in FIG. 3 ends.

According to the present embodiment, the position surveying method of the shield machine 1 is performed by collimating the targets TA1 and TA2 provided on the shield machine 1 and moving along with the excavation of the shield machine 1. Is a method of measuring the position of the shield excavator 1 during the excavation of the shield excavator 1 using the distance measuring angle measuring instrument (the surveying instrument 20). The position surveying method of the shield excavator 1 obtains movement data including the movement distance SD of the first distance measuring and measuring square (the surveying machine 20) from the past surveying time to the current surveying time (step S11). ), By changing the position P ₀ and the reference direction S ₀ (angle θ ₀ ) of the first distance measuring and angle measuring instrument (the surveying instrument 20) at the time of the past survey based on the movement data, The position P ₁ and the reference direction S ₁ (angle θ ₁ ) of the first distance measuring and angle measuring instrument (the surveying instrument 20) are specified (step S12), and the first distance measuring and measuring angle measuring instrument is used in the current survey. Collimating the targets TA1 and TA2 from (the surveying instrument 20) and detecting the relative positions (L, α ₁ ) of the targets TA1 and TA2 from the first distance measuring angle finder (the surveying instrument 20); , the first position P ₁ and the reference distance measurement measuring SumiTadashi (surveying instrument 20) specified Based on the direction S ₁ (the angle θ ₁ ) and the relative positions (L, α ₁ ) of the detected targets TA1 and TA2 from the first distance measuring angle finder (the surveying instrument 20), the shield machine 1 (The position of the calculated point K) (step S13). Thus, each time the position of the shield machine 1 is measured, the plurality of reference points 24a and 24b are collimated from the first distance measuring and angle measuring instrument (the surveying instrument 20), and the first distance measuring and angle measuring instrument (surveying) is used. Since it is not necessary to detect the position of the machine 20), it is possible to reduce the time and effort required for the position measurement of the shield machine 1 and thus to efficiently perform the position measurement of the shield machine 1.

  Further, according to the present embodiment, the position and the reference direction of the first ranging finder (the surveying instrument 20) are continuously grasped at short time intervals (for example, every 30 seconds) during the excavation of the shield machine 1. Therefore, the position measurement of the shield machine 1 can be repeatedly performed at short time intervals (for example, every 30 seconds) using the first distance measuring and angle measuring instrument (the surveying instrument 20). Therefore, since the position of the shield excavator 1 during excavation can be measured in real time, the result can be immediately reflected in the excavation direction control (for example, pressure control of the propulsion jack 5) of the shield excavator 1 being excavated. it can.

  Further, according to the present embodiment, the first distance measuring and angle measuring instrument (the surveying instrument 20) is provided on the succeeding bogie 10 that moves following the excavation of the shield excavator 1. The moving distance SD of the first distance measuring and angle measuring instrument (the surveying instrument 20) is calculated based on the moving distance CD of the subsequent bogie 10 from the time of the past survey to the time of the present survey (step S11). Thereby, the moving distance SD of the first distance measuring and angle measuring instrument (the surveying instrument 20) can be easily grasped without directly measuring the moving distance SD.

  Further, according to the present embodiment, the moving distance CD of the succeeding bogie 10 is calculated based on the extension amount JL of the propulsion jack 5 of the shield machine 1 from the past surveying time to the present surveying time (step S11). . Thereby, the moving distance CD of the succeeding bogie 10 can be easily grasped without directly measuring the moving distance CD.

  By the way, for example, when the position survey of the shield machine 1 is repeatedly performed every 30 seconds during the excavation using the surveying machine 20 and the excavation speed of the shield machine 1 is 3 cm / min, the shield machine 1 The position (coordinates) and direction of the shield machine 1 can be measured every time the trailing bogie 10 advances by 1.5 cm. In order to detect such a short moving distance CD, it is preferable to calculate the moving distance CD of the trailing bogie 10 based on the extension amount JL of the propulsion jack 5 of the shield machine 1.

  Further, according to the present embodiment, the trailing bogie 10 can travel on the track 13 laid in the shield tunnel. The above-described movement data includes linear data of the track 13 on which the subsequent bogie 10 travels. Thereby, the surveying instrument position specifying unit 55 acquires the moving data including the moving distance SD of the surveying instrument 20 and the linear data of the trajectory 13 from the past surveying time to the current surveying time, and The position of the surveying instrument 20 and the reference direction can be specified.

  Further, according to the present embodiment, the first distance measuring and angle measuring instrument (the surveying instrument 20) is provided on the wellbore side of the subsequent bogie 10 in the shield tunnel when the excavation of the shield excavator 1 is stopped. The collimated reference points 24a and 24b are collimated (step S1). Accordingly, prior to the start of the excavation of the shield excavator 1, the error of the position and the reference direction of the first distance measuring and measuring square (the surveying instrument 20) generated during the previous excavation can be calibrated (reset).

  According to the present embodiment, the past survey is the previous survey. Thus, every time the position of the shield machine 1 is measured, the position and the reference direction of the first distance measuring angle finder (the surveying instrument 20) serving as the reference of the survey can be updated.

  In the present embodiment, the past survey time is the previous survey time, but the past survey time is not limited to the previous survey time. For example, the past survey time may be the last two survey times.

  Further, the position and orientation of the shield machine 1 that can be specified in the present embodiment are not limited to those in the two-dimensional coordinate system, but may be those in the three-dimensional coordinate system.

Next, a second embodiment of the present invention will be described with reference to FIGS.
FIG. 8 shows a schematic configuration of the position measurement system 30 in the present embodiment.
FIG. 9 shows the relationship between the rotation angle RA of the axle of the trailing bogie 10 and the moving distance SD of the surveying instrument 20 and the moving distance CD of the trailing bogie 10 in the present embodiment.
The differences from the first embodiment will be described.

  The position measurement system 30 includes a rotary encoder 61 instead of the extension amount measurement sensor 31 described above. The rotary encoder 61 measures the rotational displacement (rotation angle) of the axle of the trailing bogie 10. The rotary shaft of the rotary encoder 61 is directly connected to the axle of the trailing bogie 10. The rotary encoder 61 and the processing device 32 are connected via a signal line 45. In the present embodiment, communication between the rotary encoder 61 and the processing device 32 is performed by connecting the signal encoder 45 to the rotary encoder 61. In addition, the signal line 45 is connected to a wireless communication device (a transmitter and a receiver). ) To perform wireless communication between them.

  In the present embodiment, the subsequent bogie travel distance calculation unit 53 calculates the travel distance of the subsequent bogie 10 based on the rotation angle of the axle of the subsequent bogie 10 measured by the rotary encoder 61.

  In the present embodiment, in step S11 of FIG. 4 described above, based on the rotation angle RA of the axle of the succeeding bogie 10 from the time of the previous position measurement of the shield machine 1 to the time of the current position measurement of the shield machine 1. The travel distance CD of the succeeding bogie 10 from the last time the position of the shield excavator 1 was measured to the time of the current position of the shield excavator 1 is calculated, and based on the travel distance CD of the subsequent bogie 10, the previous shield The movement distance SD of the surveying machine 20 from the position surveying of the excavator 1 to the current position surveying of the shield excavator 1 is calculated. In calculating the moving distance SD of the surveying instrument 20, a diagram shown in FIG. 9 (a diagram showing a relationship between the rotation angle RA of the axle of the trailing bogie 10, the moving distance SD of the surveying instrument 20, and the moving distance CD of the trailing bogie 10). ) Is used. As shown in FIG. 9, as the rotation angle RA of the axle of the trailing bogie 10 increases, the moving distance SD of the surveying instrument 20 and the moving distance CD of the trailing bogie 10 increase. This is because the trailing bogie 10 has a track distance CD corresponding to the rotation angle RA of the axle of the trailing bogie 10 between the time of the previous position survey of the shield machine 1 and the time of the current position survey of the shield machine 1. 13 and that the surveying instrument 20 is provided on the trailing bogie 10 and can be moved integrally therewith (that is, the moving distance SD of the surveying instrument 20 and the moving distance of the trailing bogie 10). It will be the same distance as the CD). For the calculation of the moving distance SD of the surveying instrument 20, the following bogie moving distance calculating section 53 and the surveying instrument moving distance calculating section 54 can be used.

  In particular, according to the present embodiment, the travel distance CD of the trailing bogie 10 is calculated based on the rotation angle RA of the axle of the trailing bogie 10 measured by the rotary encoder 61 from the time of the past survey to the time of the present survey. (Step S11). Therefore, in the present embodiment, as compared with the case where the moving distance CD of the succeeding bogie 10 is calculated based on the extension amount JL of the propulsion jack 5 of the shield machine 1 as in the first embodiment described above, the following bogie 10 Can be directly measured. Accordingly, the trailing bogie 10 is towed by the shield excavator 1 via the towbar 9, but in the present embodiment, the measurement of the travel distance CD of the following bogie 10 is not affected by the towing bar 9, and thus the trailing bogie 10 is not affected. The accuracy of the measurement of the moving distance CD can be improved.

  By the way, for example, when the position survey of the shield machine 1 is repeatedly performed every 30 seconds during the excavation using the surveying machine 20 and the excavation speed of the shield machine 1 is 3 cm / min, the shield machine 1 The position (coordinates) and direction of the shield machine 1 can be measured every time the trailing bogie 10 advances by 1.5 cm. In order to detect such a short moving distance CD, it is preferable to calculate the moving distance CD of the subsequent bogie 10 based on the rotation angle RA of the axle of the subsequent bogie 10 measured by the rotary encoder 61.

Next, a third embodiment of the present invention will be described with reference to FIGS.
FIGS. 10A to 10C show a method of constructing a shield tunnel in the present embodiment. FIGS. 10A to 10C correspond to FIGS. 1A to 1C.
FIG. 11 shows a schematic configuration of the position surveying system 30 in the present embodiment.
The differences from the first embodiment will be described.

  In this embodiment, the succeeding bogie 10 is constituted by a plurality of (four in FIGS. 10A to 10C) bogies 10a to 10d. The carts 10a to 10d are connected in series along the tunnel axis direction. The carts 10a to 10d are connected in series via connecting means so that adjacent carts can relatively swing in the left-right direction.

  The surveying instrument 20 is provided above the foremost carriage 10a among the carriages 10a to 10d. A surveying instrument 21 different from the surveying instrument 20 is provided above the rearmost cart 10d among the carts 10a to 10d. The surveying instrument 21 is a so-called automatic tracking type distance measuring and angle measuring instrument (total station). Here, the surveying instrument 21 corresponds to the "second distance measuring angle finder" of the present invention. Since the surveying machine 21 is provided on the succeeding bogie 10 and can move integrally with the succeeding bogie 10, the surveying machine 21 can move following the excavation of the shield excavator 1. The surveying instrument 21 can automatically collimate the reference points 24a and 24b, respectively.

  Each of the surveying instruments 20 and 21 is provided with a target (not shown). These targets are constituted by a reflection prism or the like.

  As shown in FIG. 11, in this embodiment, the position surveying system 30 further includes a surveying instrument 21. The surveying instrument 21 and the processing device 32 are connected via a signal line 46. In the present embodiment, the surveying instrument 21 and the processing device 32 are connected to each other by connecting the signal line 46 to each other. However, in addition, the signal line 46 is connected to a wireless communication device (a transmitter and a receiver). ) To perform wireless communication between them.

  The surveying instrument position specifying unit 55 specifies the positions (coordinates) and reference directions of the surveying instruments 20 and 21 in the coordinate system set by the coordinate system setting unit 51 for tunnel design.

In the present embodiment, the position (coordinates) and the reference direction of the surveying instruments 20 and 21 are specified in step S1 of FIG.
Method of identifying the position and reference direction of the surveying instrument 21 in step S1 of this embodiment, similar to the method of identifying the position P ₀ and the reference direction S ₀ of the surveying instrument 20 at step S1 in the first embodiment described above is there. That is, the surveying instrument 21 automatically collimates the reference points 24a and 24b to measure and measure the distance, and specifies the position and the reference direction of the surveying instrument 21 by using the rear intersection method.

A method for specifying the position of the surveying instrument 20 and the reference direction in step S1 of the present embodiment will be described below.
By automatically collimating the target of the surveying instrument 21 from the surveying instrument 20 and automatically collimating the target of the surveying instrument 20 from the surveying instrument 21, each of the surveying instruments 20 and 21 performs distance measurement and angle measurement. , The relative positional relationship between the surveying instruments 20 and 21 can be grasped. Here, as described above, distance measurement and angle measurement are performed by automatically collimating the reference points 24a and 24b from the surveying instrument 21, and the position and the reference direction of the surveying instrument 21 are specified using the rear intersection method. Therefore, by reflecting this in the relative positional relationship between the surveying instruments 20 and 21, the position and the reference direction of the surveying instrument 20 can be specified.

  In particular, according to the present embodiment, the trailing bogie 10 is constituted by a plurality of bogies 10a to 10d connected in series. A first distance measuring and angle measuring instrument (a surveying instrument 20) is provided on the cart 10a closest to the shield machine 1 among the carts 10a to 10d. On the bogie 10d furthest from the shield machine 1 of the bogies 10a to 10d, a second ranging goniometer (surveying machine 21) different from the first ranging goniometer (surveying machine 20) is provided. Is provided. Accordingly, when the subsequent bogie 10 is long and it is difficult to directly collimate the reference points 24a and 24b from the first distance measuring and angle measuring device (the surveying instrument 20), the second distance measuring and angle measuring device ( The reference points 24a and 24b can be collimated from the surveying instrument 21).

  Further, according to the present embodiment, the second distance measuring and angle measuring instrument (the surveying instrument 21) is provided on the wellbore side of the subsequent bogie 10 in the shield tunnel when the excavation of the shield excavator 1 is stopped. The collimated reference points 24a and 24b are collimated (step S1). Thus, prior to the start of the excavation of the shield excavator 1, the error of the position and the reference direction of the first ranging measuring instrument (the surveying instrument 20) generated during the previous excavation is determined by the second ranging measuring instrument. Calibration (reset) can be performed by using (the surveying instrument 21).

Next, a modified example of the present embodiment will be described with reference to FIG.
FIGS. 12A to 12C show a method of constructing a shield tunnel in this modification. FIGS. 12A to 12C correspond to FIGS. 11A to 11C.
In this modified example, the succeeding bogie 10 is composed of only one bogie. A surveying instrument 20 is provided at an upper portion on the front side of the succeeding bogie 10. A surveying instrument 21 is provided at an upper portion on the rear side of the trailing truck 10.

  According to the present modification, the first distance measuring and angle measuring instrument (the surveying instrument 20) is provided on the side of the trailing bogie 10 close to the shield machine 1 and on the side of the subsequent bogie 10 far from the shield machine 1. A second distance measuring and angle measuring instrument (a surveying instrument 21) is provided separately from the first distance measuring and measuring angle measuring instrument (a surveying instrument 20). Accordingly, when it is difficult to directly collimate the reference points 24a and 24b from the first distance measuring and angle measuring instrument (the surveying instrument 20), the reference is made from the second distance measuring and measuring angle measuring instrument (the surveying instrument 21). Points 24a, 24b can be collimated.

  In the first to third embodiments, the position (coordinates) of the shield machine 1 measured by the position measuring method of the shield machine 1 described above is determined to be the point K (the front end portion at the center of the cutter head 3). However, the position (coordinates) of the shield machine 1 to be measured is not limited to the position (coordinates) of the central tip of the cutter head 3. For example, the position (coordinates) of the shield machine 1 to be measured may be the position (coordinates) of the target TA1 or TA2.

  In the first to third embodiments described above, the shield excavator 1 of the mud pressure type has been described. However, the type of the shield excavator 1 is not limited thereto. Good. Further, the distance measuring goniometer used in the first to third embodiments is based on the premise that the target is automatically collimated, but another position measuring method having the same function may be used.

Further, the illustrated embodiments are merely examples of the present invention, and the present invention is not limited to those directly described by the embodiments described above, and includes various improvements and modifications made by those skilled in the art within the scope of the appended claims. It goes without saying that the changes are included.
The claims at the time of filing were as follows.
[Claim 1]
The collimation of the shield excavator during excavation of the shield excavator is performed using a first distance measuring angle finder that collimates a target provided on the shield excavator and moves following the excavation of the shield excavator. A method of measuring the position of the aircraft,
Acquiring movement data including a movement distance of the first distance measuring and measuring horn from a past survey time to a current survey time;
By changing the position and the reference direction of the first distance measuring and measuring square at the time of the past survey based on the movement data, the position and the reference of the first distance measuring and measuring square at the time of the current survey are measured. To determine the direction,
At the time of this survey, collimating the target from the first distance measuring square to detect the relative position of the target from the first distance measuring square; and
Based on the specified position and reference direction of the first ranging finder and the detected relative position of the target from the first ranging finder, Locating,
Including, the position survey method of the shield machine.
[Claim 2]
The first ranging goniometer is provided on a succeeding bogie that moves following the excavation of the shield excavator,
2. The position of the shield machine according to claim 1, wherein a moving distance of the first distance measuring and measuring horn is calculated based on a moving distance of the succeeding bogie from the past survey time to the present survey time. 3. Survey method.
[Claim 3]
The position measuring method of the shield excavator according to claim 2, wherein the moving distance of the succeeding bogie is calculated based on an extension amount of the propulsion jack of the shield excavator from the past surveying time to the present surveying time. .
[Claim 4]
The trailing bogie can travel on a track laid in a shield tunnel,
The position measurement method for a shield machine according to claim 2 or 3, wherein the movement data further includes linear data of the track on which the trailing truck travels.
[Claim 5]
The said 1st distance measuring angle finder, when excavation of the said shield excavator is stopped, collimates the reference point provided in the shield tunnel at the entrance side with respect to the following bogie. The position surveying method for a shield machine according to any one of claims 1 to 4.
[Claim 6]
The first distance measuring angle finder is provided on a side of the subsequent bogie near the shield machine,
5. The second ranging goniometer different from the first ranging goniometer is provided on a side of the following bogie that is far from the shield machine. 6. A method for measuring the position of a shield machine according to one of the preceding claims.
[Claim 7]
The succeeding truck is constituted by a plurality of trucks connected in series,
The first distance measuring angle finder is provided on a carriage closest to the shield machine out of the plurality of carriages,
A second ranging angle finder other than the first ranging finder is provided on a trolley farthest from the shield machine in the plurality of trolleys. Item 5. The position surveying method of a shield machine according to any one of Items 4.
[Claim 8]
7. The second ranging finder when the excavation of the shield excavator is stopped, collimates a reference point provided in the shield tunnel at a wellhead side of the trailing bogie. 8. Or the position surveying method of the shield machine according to claim 7.
[Claim 9]
The position surveying method of a shield machine according to any one of claims 1 to 8, wherein the past survey is a previous survey.

DESCRIPTION OF SYMBOLS 1 Shield excavator 2 Skin plate 3 Cutter head 4 Shield partition 5 Propulsion jack 7 Segment 8 Lining body 9 Tow bar 10 Subsequent bogies 10a to 10d Bogie 11 Sleepers 12 Rails 13 Track 20 Surveying instrument )
21 Surveying instrument (second ranging angle measuring instrument)
24a, 24b Reference point 30 Position measurement system 31 Extension measurement sensor 32 Processing device 33 Recording device 34 Display device 41 to 46 Signal line 51 Coordinate system setting unit 52 for tunnel design Coordinate information storage unit 53 Subsequent bogie moving distance calculation unit 54 Surveyor moving distance calculator 55 Surveyor position specifying unit 56 Shield excavator position specifying unit 57 Clock 61 Rotary encoder TA1, TA2 Target

Claims (5)

The collimation of the shield excavator during excavation of the shield excavator is performed using a first distance measuring angle finder that collimates a target provided on the shield excavator and moves following the excavation of the shield excavator. A method of measuring the position of the aircraft,
Acquiring movement data including a movement distance of the first distance measuring and measuring horn from a past survey time to a current survey time;
By changing the position and the reference direction of the first distance measuring and measuring square at the time of the past survey based on the movement data, the position and the reference of the first distance measuring and measuring square at the time of the current survey are measured. To determine the direction,
At the time of this survey, collimating the target from the first distance measuring square to detect the relative position of the target from the first distance measuring square; and
Based on the specified position and reference direction of the first ranging finder and the detected relative position of the target from the first ranging finder, Locating,
Including, the position survey method of the shield machine. The first ranging goniometer is provided on a succeeding bogie that moves following the excavation of the shield excavator,
2. The position of the shield machine according to claim 1, wherein a moving distance of the first distance measuring and measuring horn is calculated based on a moving distance of the succeeding bogie from the past survey time to the present survey time. 3. Survey method.   The position measuring method of the shield excavator according to claim 2, wherein the moving distance of the succeeding bogie is calculated based on an extension amount of the propulsion jack of the shield excavator from the past surveying time to the present surveying time. . The trailing bogie can travel on a track laid in a shield tunnel,
The position measurement method for a shield machine according to claim 2 or 3, wherein the movement data further includes linear data of the track on which the trailing truck travels. The first distance measuring angle finder is provided on a side of the subsequent bogie near the shield machine,
5. The second ranging goniometer different from the first ranging goniometer is provided on a side of the following bogie that is far from the shield machine. 6. A method for measuring the position of a shield machine according to one of the preceding claims.