JP6853071B2 - Shield survey method - Google Patents

Description

The present invention relates to a shield surveying method for measuring the position and orientation of a shield excavator during a digging operation in a shield method for constructing a tunnel using a shield excavator.

In the shield method, it is necessary to accurately measure the position of the shield excavator. As a method for measuring the position and attitude of a shield excavator, a shield survey method has been proposed using a total station that has both a function as a light wave rangefinder for measuring a distance and a function as a theodolite for measuring an angle (for example,). See Patent Document 1). In the conventional technology, a total station is mounted on a trolley located behind the shield excavator, and the target installed on the shield excavator is measured by the total station. Therefore, the position and attitude of the shield excavator in progress are measured and the shield is measured. While the excavator is stopped, the position and attitude of the total station are calculated back by measuring the target with the total station and measuring the attitude of the trolley with the gyrocompass.

Japanese Unexamined Patent Publication No. 06-137072

However, in the conventional technology, since the total station is mounted on the bogie, the field of view between the target and the target installed on the shield excavator is immediately blocked by the rear bogie, and the frequency of replacement (frequency of moving the total station) is reduced. It will increase. Therefore, there is a problem that survey errors are likely to accumulate. In addition, it is necessary to use an expensive gyro compass for measuring the posture of the trolley, and it takes time for the indicated value of the azimuth angle of the gyro compass to settle, so that the time required for the survey becomes long.

The present invention has been made in consideration of the above-mentioned circumstances, and an object of the present invention is to provide a shield surveying method capable of reducing the frequency of refilling (frequency of moving the total station) and improving the surveying accuracy. And.

In order to achieve the above object, the shield surveying method of the present invention collimates a plurality of equipment targets provided on a shield excavator by a total station equipped with an automatic tracking function, and is based on the measured positions of the plurality of equipment targets. This is a shield surveying method for measuring the position and orientation of the shield excavator, in which the measurer operates a total station for artificial measurement installed at a known point in the shield tunnel, and a plurality of shield excavators are provided. An artificial measurement process for measuring the position and orientation of the shield excavator by collimating a reference target installed at a known point in the shield tunnel together with the equipment target, and a support mounted in the shield tunnel. By the refilling process of installing a total station for automatic measurement and the total station for automatic measurement installed on the support , a plurality of the equipment targets of the shield excavator whose position and orientation were measured by the artificial measurement process are collimated. By doing so, a plurality of positions provided in the shield excavator by the position measurement step of measuring the position and orientation of the automatic measurement total station installed on the support and the automatic measurement total station installed on the support. It includes an automatic measurement step of collimating the equipment target with the automatic tracking function and automatically measuring the position and orientation of the shield excavator, and the artificial measurement step and the prime of the shield excavator while the shield excavator is stopped. By carrying out the replacement step and the position measurement step, the position and attitude of the shield excavator in motion can be measured by the automatic measurement step.
Further, a shield surveying method of the present invention, in the prime replacement step, the human measuring total station may be installed on the support as the total station for automatic measurement.
The of et, provided in the shield surveying method of the present invention, the plurality of the device target, a plurality of artificial measurement target to be used in the artificial measuring step, and a plurality of targets for automatic measurement to be used in the automatic measuring step You may.
Further, in the shield surveying method of the present invention, in the position measurement step, the mounting positions of the artificial measurement target and the automatic measurement target in the shield excavator are stored as target placement information, and the artificial measurement step The position and orientation of the shield excavator measured in 1 and the target arrangement information may be used to calculate the respective positions of the plurality of automatic measurement targets.
Further, in the shield surveying method of the present invention, in the artificial measurement step and the automatic measurement step, a device for projecting visible laser light may be provided to project visible laser light in the same direction as collimation light.

According to the present invention, since the position and attitude of the shield excavator in motion can be measured by the total station installed on the support attached to the inner wall of the shield tunnel, the frequency of refilling (frequency of installing the total station). Can be reduced and the surveying accuracy can be improved.

It is a figure which shows the system configuration example which carries out the shield surveying method which concerns on this invention. It is a side sectional schematic diagram explaining the shield surveying method which concerns on this invention. It is sectional drawing which explains the shield surveying method which concerns on this invention.

Hereinafter, embodiments of the shield surveying method according to the present invention will be described with reference to the accompanying drawings.

FIG. 1 shows a configuration example of a shield surveying system that implements the shield surveying method of the present embodiment. With reference to FIG. 1, the shield surveying system is installed at the equipment targets 2a to 2d provided at positions visible from the rear of the shield excavator 1, the reference target 4 installed at the known point 3, and the known point 5. A total station 6 for collimating the device targets 2a and 2b and the reference target 4, a total station 8 installed on the support 7 for collimating the device targets 2c to 2d, a surveying device 9, and a terminal device 10 are provided. There is. The total station 6, the total station 8, the surveying device 9, and the terminal device 10 all have a communication function such as a wireless LAN, and are configured to be able to communicate directly or indirectly.

The equipment targets 2a to 2d are prism reflectors for total stations 6 and 8 attached to the shield excavator 1 at intervals. The device targets 2a to 2d reflect the light for distance measurement and angle measurement projected from the total stations 6 and 8 and send it back to the total stations 6 and 8. In the present embodiment, the device targets 2a and 2b are artificial measurement targets in which the measurer operates the total station 6 to measure the position and posture of the shield excavator 1, and the device targets 2c and 2d are shielded by the total station 8 in the device targets 2c and 2d. This is an automatic measurement target that automatically measures the position and posture of the excavator 1.

The reference target 4 is a prism reflector for the total station 6. The device targets 2a to 2d reflect the light for distance measurement and angle measurement projected from the total stations 6 and 8 and send it back to the total stations 6 and 8. As the known points 3 and 5 where the reference target 4 and the total station 6 are installed, a temporary reference point used for construction in a shield tunnel mine called a dowel is used.

The total station 6 projects light for distance measurement and angle measurement toward the device targets 2a and 2b and the reference target 4, and receives the reflected light to measure the distance between the device targets 2a and 2b and the reference target 4. It has a function as a light wave rangefinder and a function as a theodolite for measuring the angles of the device targets 2a and 2b and the reference target 4. Further, the total station 6 has an automatic tracking function of a well-known technique for automatically tracking the device targets 2a and 2b. The total station 8 has a function as a light wave rangefinder that measures the distance to the device targets 2c and 2d by projecting light for distance measurement and angle measurement toward the device targets 2c and 2d and receiving the reflected light. And, it has a function as a theodolite that measures the angle with the device targets 2c and 2d. Further, the total station 8 has a well-known automatic tracking function for automatically tracking the device targets 2c and 2d.

The surveying device 9 is an information processing device such as a personal computer equipped with a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. A control program for controlling the operation of the surveying device 9 is stored in the ROM. The CPU reads the control program stored in the ROM and expands the control program in the RAM, thereby functioning as the shield excavator position calculation unit 91, the target position calculation unit 92, and the total station position calculation unit 93.

Further, the surveying device 9 includes a storage unit 94. The storage unit 94 is a storage means such as a semiconductor memory or an HDD (Hard Disk Drive). The storage unit 94 stores the mounting positions of the equipment targets 2a to 2d in the shield excavator 1 as target arrangement information 941. Further, the storage unit 94 stores the positions of the known points 3 and 5 measured by the daily excavation management survey that has been conventionally performed as the known point information 942. Further, the storage unit 94 stores the calculation result by the shield excavator position calculation unit 91 as the survey result 943.

The shield excavator position calculation unit 91 determines the angle and distance between the total station 6 installed at the known point 5 and the reference target 4, the angle and distance between the total station 6 installed at the known point 5 and the equipment targets 2a and 2b, respectively. The position and orientation of the shield excavator 1 are calculated using the distance, the target arrangement information 941 and the known point information 942. Further, the shield excavator position calculation unit 91 has the position of the total station 8 calculated by the total station position calculation unit 93, the angles of the total station 8 and the equipment targets 2c and 2d automatically measured by using the automatic tracking function, and the respective angles. The position and attitude of the shield excavator 1 are calculated using the distance.

The target position calculation unit 92 calculates the respective positions of the device targets 2c and 2d by using the position and attitude of the shield excavator 1 calculated by the shield excavator position calculation unit 91 and the target arrangement information 941. The height information is provided to the total station 6 by collimating the known point 3 or a reference point having other height information.

The total station position calculation unit 93 uses the respective positions of the device targets 2c and 2d calculated by the target position calculation unit 92 and the respective angles and distances of the measured total station 8 and the device targets 2c and 2d to make a total station. Calculate the position and posture of 8.

The terminal device 10 is an information processing device such as a tablet equipped with a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. A control program for controlling the operation of the terminal device 10 is stored in the ROM. The CPU reads the control program stored in the ROM and expands the control program in the RAM, thereby functioning as an operation unit 101 for operating the total stations 6 and 8 and a display unit 102 for displaying the survey results by the surveying device 9. ..

Next, the shield surveying method of the present embodiment will be described in detail with reference to FIGS. 2 and 3.
First, as one of the daily excavation management surveys performed when the shield excavator 1 is stopped, the measurer performs an artificial measurement process of operating the total station 6 to measure the position and posture of the shield excavator 1. To do.

In the artificial measurement step, as shown in FIG. 2A, the measurer installs the reference target 4 at the known point 3 in the shield tunnel 11 and the total station 6 at the known point 5 in the shield tunnel 11. ..

Next, the measurer operates the total station 6 by the terminal device 10 to collimate the reference target 4 and specify the azimuth angle of the total station 6 as shown by the arrow A shown in FIG. 2 (a). As shown by the arrow B shown in FIG. 2A, the device targets 2a and 2b are collimated as the artificial measurement targets, and the angles and distances from the device targets 2a and 2b are measured, respectively. Since the total station 6 has an automatic tracking function, if there is a device target within the collimation range, the total station 6 is automatically collimated and the angle and distance are measured. Specifically, when the excavation ring information of the shield excavator 1 is given, the surveying device 9 calculates the approximate positions of the equipment targets 2a and 2b, collimates the total station 6 in that direction, and automatically collimates the target. To do. As a result, the measurer does not have to directly collimate, so that the collimation work can be simplified.

The known point 3 and the known point 5 are generally provided at the bottom of the tunnel in the shield tunnel 11, and the total station is located at the known point 5 at a position where the reference target 4 installed at the known point 3 can be collimated. 6 is installed. Therefore, the device targets 2a and 2b, which are the artificial measurement targets, are easily collimated when they are arranged below the spring line.

The angle and distance between the total station 6 and the reference target 4 measured by the total station 6 and the respective angles and distances between the artificially measured total station 6 and the device targets 2a and 2b are transmitted to the surveying device 9.

Then, the angle between the artificially measured total station 6 and the reference target 4 by the shield excavator position calculation unit 91 of the surveying device 9, and the respective angles and distances between the artificially measured total station 6 and the equipment targets 2a and 2b. , The position and attitude of the shield excavator 1 are calculated by using the target arrangement information 941 and the known point information 942.

Next, as shown in FIG. 2B, the measurer performs a refilling step of installing the total station 8 on the support 7 attached to the inner wall of the shield tunnel 11 and the total station 8 installed on the support 7. A position measurement step of measuring the position and posture is performed. The total station 8 installed in the refilling process may also be used as the total station 6 used in the artificial measurement process. In addition, the refilling process is a process of changing the collimating position of the target, and in addition to the act of installing the same equipment as the total station 6 on the support 7 as the total station 8, the equipment different from the total station 6 is supported as the total station 8. It shall include the act of installing on the tool 7.

In the refilling process, the measurer installs the total station 8 on the support 7 attached to the inner wall of the shield tunnel 11. The support 7 is attached above the spring line at the top of the tunnel or at the side of the tunnel. Then, the support 7 and the total station 8 installed on the support 7 are arranged at positions where they do not come into contact with the rear carriage of the shield excavator 1.

Next, in the position measurement step, the measurer operates the total station 8 by the terminal device 10 to view the device targets 2c and 2d as automatic measurement targets as shown by the arrow C shown in FIG. 2 (b). The angle and distance from the device targets 2c and 2d are measured in accordance with each other. Since the total station 8 has an automatic tracking function, if there are device targets 2c and 2d within the collimation range, the total station 8 is automatically collimated and the angle and distance are measured. As a result, the measurer does not have to directly collimate, so that the collimation work can be easily performed even if the total station 8 is set on the support 7.

The respective angles and distances of the total station 8 and the device targets 2c and 2d measured by the total station 8 are transmitted to the surveying device 9. As a result, the work of reading the survey result, the work of writing down, and the work of inputting can be omitted, so that mistakes due to human error can be eliminated.

Then, the respective positions of the device targets 2c and 2d calculated by the target position calculation unit 92 by the total station position calculation unit 93 of the surveying device 9, and the respective angles of the artificially measured total station 8 and the device targets 2c and 2d. And the distance are used to calculate the position of the total station 8.

The position and attitude of the shield excavator 1 calculated by the shield excavator position calculation unit 91 are stored in the storage unit 94 as the survey result 943, transmitted to the terminal device 10, and displayed as the survey result on the display unit 102. To. As a result, the measurer can confirm the survey result on the spot.

Next, the measurer instructs the total station 8 to perform automatic measurement, and causes the total station 8 to carry out an automatic measurement step of automatically measuring the position and attitude of the shield excavator 1 being propelled by the total station 8.

The measurer instructs the total station 8 to perform automatic measurement by the terminal device 10.

When the total station 8 is instructed to perform automatic measurement, as shown by the arrow C shown in FIG. 2 (b), the total station 8 repeats collimation of the device targets 2c and 2d, which are targets for automatic measurement, at predetermined intervals to measure the device. The respective angles and distances of the targets 2c and 2d are transmitted to the surveying device 9.

The target for automatic measurement to be collimated is not limited to the equipment targets 2c and 2d, and a plurality of equipment targets 2a to 2d attached to the shield excavator 1 may be selected. However, it is preferable to use a target arranged above the spring line as a target for automatic measurement, such as the device targets 2c and 2d of the present embodiment. That is, as shown in FIG. 3, even when the field of view from the total station 6 installed at the bottom of the tunnel to the equipment targets 2a to 2d is blocked by the rear carriage 12, the support 7 on which the total station 8 is installed is above the spring line. Since it is arranged in, the field of view from the total station 8 installed on the support 7 to the device targets 2c and 2d is secured. Therefore, the automatic measurement can be continued over a long distance.

Then, in the surveying device 9, the shield excavator position calculation unit 91 has the position of the total station 8 calculated by the total station position calculation unit 93, and the angles of the total station 8 and the equipment targets 2c and 2d measured by automatic measurement. And the distance are used to calculate the position and attitude of the shield excavator 1.

The position and attitude of the shield excavator 1 calculated by the shield excavator position calculation unit 91 are stored in the storage unit 94 as the survey result 943, transmitted to the terminal device 10, and displayed as the survey result on the display unit 102. To. As a result, the measurer can confirm the survey result on the spot. In this automatic measurement process, automatic measurement is continued until the next artificial measurement such as daily excavation management survey.

In the present embodiment, the number of artificial measurement targets (equipment targets 2a and 2b) and the number of automatic measurement targets (equipment targets 2c and 2d) are two, but 3 or more may be provided for each. Further, a part or all of the artificial measurement target and the automatic measurement target may be shared. When the artificial measurement target and the automatic measurement target are shared, the target position calculation unit 92 can be omitted in the surveying device 9.

Further, in the present embodiment, in the daily excavation management survey, the total station 6 is configured to perform the survey of the known points 3 and 5, and the storage unit 94 has the coordinate history of the positions of the known points 3 and 5. It is stored as known point information 942. As a result, the coordinate history of the known points 3 and 5 can be confirmed on the system, and it can be confirmed that the influence of the shield has disappeared and the movement of the coordinates has converged. In addition, if there is a sudden movement in the coordinates due to a survey error, movement of known points 3 and 5, etc., it is possible to warn.

Further, the total stations 6 and 8 may be provided with a device for projecting the visible laser light so as to project the visible laser light in the same direction as the light for distance measurement and angle measurement. As a result, obstacles can be easily identified by visible laser light, so that obstacles such as hoses and cables can be easily displaced, leading to a reduction in surveying time.

Further, in the present embodiment, the support 7 is attached to the inner wall of the shield tunnel 11, but the support 7 is installed at a position where it does not contact the rear carriage 12 and the device target can be easily collimated. It can be installed anywhere.

As described above, in the present embodiment, the device targets 2a to 2d provided in the shield excavator 1 are collimated by the total stations 6 and 8 provided with the automatic tracking function, and the measured positions of the device targets 2a to 2d are set. This is a shield surveying method for measuring the position and orientation of the shield excavator 1 based on the device provided in the shield excavator 1 by the measurer operating a total station 6 installed at a known point 5 in the shield tunnel 11. From the artificial measurement process of measuring the positions of the device targets 2a to 2b by collimating the reference target 4 installed at the known point 3 in the shield tunnel 11 together with the targets 2a and 2b, and from the positions of the device targets 2a and 2b. The process of calculating the position and attitude of the shield excavator 1 and calculating the positions of the equipment targets 2c and 2d from it, the process of installing the total station 8 on the support 7 attached to the inner wall of the shield tunnel 11, and the artificial process. By collimating the device targets 2c and 2d whose positions were measured by the measuring process, the position measuring process of measuring the position and orientation of the total station 8 installed on the support 7 and the total station 8 installed on the support 7 shield the shield. It is provided with an automatic measurement step of collimating the equipment targets 2c and 2d provided in the excavator 1 with an automatic tracking function and automatically measuring the positions of the equipment targets 2c and 2d, while the shield excavator 1 is stopped. By carrying out the artificial measurement process, the refilling process, and the position measurement process, the position and attitude of the moving shield excavator 1 are measured by the automatic measurement process.
With this configuration, the position and posture of the moving shield excavator 1 can be measured by the total station 8 installed on the support 7 attached to the inner wall of the shield tunnel 11, so that the replacement frequency (total station 8 is installed). Frequency) can be reduced and survey accuracy can be improved. Further, since the total station 6 used for the artificial measurement and the total station 8 used for the automatic measurement can be used in combination, the cost can be reduced.

Further, in the present embodiment, the support 7 is arranged at a position above the spring line and not in contact with the rear carriage 12 of the shield excavator 1.
With this configuration, the equipment targets 2c and 2d can be easily collimated by the total station 8 installed on the support 7 without being obstructed by the rear carriage 12, so that the frequency of refilling (frequency of installing the total station 8) can be reduced. Can be done.

Further, in the present embodiment, the device targets 2a to 2d are a plurality of artificial measurement targets (device targets 2a and 2b) used in the artificial measurement process and a plurality of automatic measurement targets (device targets) used in the automatic measurement process. 2c, 2d) and.
With this configuration, it is not necessary to use the device targets 2a and 2b collimated in the artificial measurement process in the automatic measurement process, so that the total station 8 has a high degree of freedom in installation and is easy to use.

Further, in the present embodiment, the plurality of artificial measurement targets (equipment targets 2a and 2b) are below the spring line, and the plurality of automatic measurement targets (equipment targets 2c and 2d) are above the spring line. Each is arranged.
With this configuration, even if the device targets 2a and 2b below the spring line collimated in the artificial measurement process are not used, the device targets 2c and 2d located above the spring line are used in the automatic measurement process. can do. Therefore, in the automatic measurement step, the field of view from the total station 8 installed on the support 7 to the device targets 2c and 2d is secured, and the automatic measurement can be continued over a long distance.

It is clear that the present invention is not limited to each of the above embodiments, and each embodiment can be appropriately modified within the scope of the technical idea of the present invention.

1 Shield excavator 2a ~ 2d Equipment target 3, 5 Known points 4 Reference target 6, 8 Total station 7 Support 9 Surveying device 10 Terminal device 11 Shield tunnel 12 Rear trolley 91 Shield excavator position calculation unit 92 Target position calculation unit 93 Total station Position calculation unit 94 Storage unit 941 Target placement information 942 Known point information 943 Survey result 101 Operation unit 102 Display unit

Claims (5)

A shield surveying method in which a plurality of equipment targets provided on a shield excavator are collimated by a total station equipped with an automatic tracking function, and the position and attitude of the shield excavator are measured based on the measured positions of the plurality of equipment targets. And
The measurer operates a total station for artificial measurement installed at a known point in the shield tunnel to view a reference target installed at a known point in the shield tunnel together with a plurality of the equipment targets provided in the shield excavator. By conforming to the artificial measurement process for measuring the position and attitude of the shield excavator,
The refilling process of installing a total station for automatic measurement on the support installed in the shield tunnel,
The automatic measurement installed on the support is performed by collimating a plurality of the equipment targets of the shield excavator whose position and posture are measured by the artificial measurement process by the total station for automatic measurement installed on the support. Position measurement process to measure the position and posture of the total station for
The automatic measurement total station installed on the support tool automatically measures the position and orientation of the shield excavator by collimating a plurality of the equipment targets provided on the shield excavator with the automatic tracking function. Equipped with a measurement process,
By carrying out the artificial measurement step, the refilling step and the position measurement step while the shield excavator is stopped, the position and attitude of the shield excavator in motion can be measured by the automatic measurement step. Shield survey method. In the prime replacement step, the shield surveying method according to claim 1, characterized in that installed in the support of the human measurement total station as the total station for automatic measurement. The first or second aspect of claim 1 or 2, wherein the plurality of the device targets include a plurality of artificial measurement targets used in the artificial measurement process and a plurality of automatic measurement targets used in the automatic measurement process. Shield survey method. In the position measurement step, the mounting positions of the artificial measurement target and the automatic measurement target in the shield excavator are stored as target placement information, and the position of the shield excavator measured in the artificial measurement step and the position of the shield excavator are stored. The shield surveying method according to claim 3, wherein the positions of the plurality of automatic measurement targets are calculated using the posture and the target arrangement information. The method according to any one of claims 1 to 3, wherein in the artificial measurement step and the automatic measurement step, a device for projecting a visible laser light is provided and the visible laser light is projected in the same direction as the collimation light. Shield survey method.

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