JPH02232499A - Automatic survey positioning system of tunnel living machine - Google Patents

Abstract

PURPOSE:To make it possible to position automatically a lining machine speedily and at a low cost without requiring any specialist by measuring two reflection prisms mounted to the lining machine in three dimensions by a laser light wave theodolite provided to a ceiling. CONSTITUTION:A laser light of a laser emitter of an automatic positioning device in a lining machine body 19 is corresponding with a laser light from a laser emitter of an automatic measurement mounted to the inside of a tunnel to move the body 19 to a planned position, and an auto trigger 27 is controlled to ament rolling and pitching. After that, No.1 and 2 reflection prisms 26 and 25 mounted to the lining machine body 19 are measured by a laser light wave theodolite 23 provided to a ceiling, and each position coordinate and mechanical shaft directional angle are calculated to transmit the data to host computer by a ratio machine. A quantity differential between modified mechanical position coordinate and planned position coordinate is calculated from the measurement data to file to a memory of the host computer.

Description

[Detailed Description of the Invention] Industrial Application Field The present invention relates to an automatic surveying and positioning system for tunnel lining equipment, which measures the position and orientation of lining equipment and processes information from a position detection device using a microcomputer. The method is applied to a system that automatically moves from the approximate position and positions it at the planned position, then calculates the amount of deviation between the positioning point and the planned position in the tunnel design cross section and stores it in the memory.

Conventional technology Since the lining machine is a newly developed machine for constructing tunnel-subsequent lining, there is no particular conventional technology, but if you want to do it manually, the following methods can be considered. In order to measure the height and posture of the lining machine and perform positioning, a reflective prism attached to the lining machine is measured by a specialized engineer using a light wave transshift.The data is then calculated using a calculator, microcomputer, etc. Manually operate the hydraulic valve/cylinder device and determine the position using information from the position/orientation detection device.

Problems to be Solved by the Invention When pouring concrete on a planned cross section using a lining machine,
It is necessary to set the lining machine to six planned positions.

In order to set it at the planned position, it is necessary to accurately survey the current position of the machine and calculate the amount of correction to the position and orientation.Generally, surveying work is performed by specialized engineers, but this work is It requires experience and skill, making it difficult to perform general operations easily.

In addition, the nature of the work with lining equipment is such that the distance from the end of excavation to the end of primary lining is determined by the condition of the ground being excavated, so the time required for surveying and positioning becomes a problem.
If done manually, it would be time consuming and complicated.

SUMMARY OF THE INVENTION An object of the present invention is to provide an inexpensive automatic imffl positioning system that quickly sets a lining machine at a planned position without requiring a specialized engineer.

Means to solve the problem Laser light wave theodolite (a device that precisely observes angles) measures two reflecting prisms attached to a lining machine in the X and YZ directions (three dimensions) by automatic VJ star measurement or by radio operation. In Japan, a high-performance transit is recently named the 7-odorite.) is installed on the ceiling of the first tunnel.

In addition, the necessary calculations are performed using the survey Y-axis and L-channel linear information, and by controlling the position/attitude detection device installed on the lining machine and the hydraulic valve/cylinder device of the awl/rigger. Automatic positioning is performed and the position information is stored in the computer's memory.

Function: Reads the previous position information from the memory, calculates the current planned position, and automatically controls the encoder motor of the laser light wave theo-dry l to direct it to the reflecting prism at the planned position.
Then rotate and measure. If the measurement is not possible due to poor collimation, the measurement is performed again by wirelessly controlling the laser beam to the laser light receiving plate using the laser beam as a guide.

In addition, during positioning, the rolling motion of the lining machine is automatically corrected by controlling the hydraulic valve cylinder device of the outrigger, and then the hydraulic cylinder and hydraulic motor device are controlled by a computer based on the measurement data. It automatically corrects the direction movement and the turning movement of the yawing, which is the angle difference between the lining machine axis and the tunnel axis.

Actual Examples In Figures 1 to 4, 1 is an absolute 1 encoder, 2 is a linear encoder, 3 is an inclinometer, and 4 is an L-1 encoder.
- the light emitter, 5 a measuring device, 6 a controller, 7 a positioning actuation mechanism, 8 a host computer, 9 a radio device;
10 is an inorganic device, 11 is a local microcomputer, 12 is a laser emitter, 13 is a light wave distance meter, 14 is a motor with an encoder (horizontal direction), 15 is a motor with an encoder (vertical direction)
, 16 is a base, 17 is a hydraulic motor, 1B is a hydraulic cylinder, L9 is a lining machine body, 20 is a swivel table, 21 is a slide table, 22 is a tunnel, 23 is a laser light wave theodolite,
24 is a reference point reflecting prism, 25 is a NO2 reflecting prism, 26 is a No. 1 reflecting prism, 27 is an outer 1, a rigger,
28 is a face.

In FIG. 1, the automatic surveying and positioning system consists of an automatic surveying device section A and an automatic positioning device section B.

The automatic surveying device part A is an env-27 installed on the base 16 and measuring and rotating angles in the horizontal and vertical directions.
'4-f motor 14. 15. Local microcomputer 11 that receives pulse signals from the encoder and sends control signals
, a laser emitter 1 that irradiates the tunnel center axis onto the face.
2. A light wave distance meter 13 that measures the distance to the reflection point and sends the measurement information to the local microcomputer 11.

In addition, the automatic positioning device section B does not emit a laser beam that indicates the axial direction of the lining machine, but uses an absolute encoder l1 that sends out a pulse signal to indicate the turning angle of the laser light wave device 4 and the turning table 20 (see Fig. 3), and the slide table 2l. Linear encoder 2 that sends out the moving star as a pulse signal, lining machine main body 19 for horizontal
an inclinometer 3 that sends the state of The system comprises a host computer 8 which issues control signals to the lining machine 6, a controller 6 which operates the positioning actuating mechanism 7 based on the control signals 6, and a positioning actuating mechanism 7 which positions the lining machine.

In FIGS. 2 and 3, each device will be explained according to the operation of the lining machine.The lining machine main body 19 is connected to the face C from the laser emitter 12 of the automatic surveying device section A. The robot moves to the planned position with the laser beam from the laser emitter 4 attached to the lining main body aligned with the irradiated laser beam. When the rough transfer is completed, the computer 8 in the host 1 reads the electric signal from the inclinometer 3 through the measuring device 5 and sends a control signal to the controller 6, which controls the hydraulic hub and cylinder and operates the outrigger 27. Correct rolling pitching. Next, the laser lightwave theodolite 23 (lightwave distance meter 1
3) NO1 reflective prism 26 and NO2 installed on the lining machine
Measure the reflecting prism 25. (The laser light wave theodolite 23 and the reference reflecting prism 24 are arranged in three-dimensional coordinates X, Y, Z.
Install it at the specified location. ) +fil+ constant is the pulse signal of the motor 14.15 with encoder and the measured distance of the light wave distance meter 13 when aiming the NOI and NO2 reflecting prism 26.25 from the reference beam Z, anti-11.1 Briz J, 24. The local microcomputer 11 reads No. 1, “26.25 position coordinates of the 2 anti-1.1 prism,”
Calculate the axial direction angle of the machine. This a++ amount data is the radio device 10. ! The data is transmitted and received by H and sent to the host 1/computer 8. Then, the host combination 1-18 calculates the current machine position coordinates from the survey data, calculates the turning movement from the moving star channel axis direction angle and machine axis direction angle from the planned position coordinates7, -6 to control hydraulic pressure/linder 18 and hydraulic motor 17 11. 'Operate the M turntable 20.

Calculate the position coordinates of the machine thus positioned, and then calculate the deviation lj7.3 between the existing coordinates and the planned position coordinates of the machine at the design cross section, and store it in the memory of the host computer 8. .

Note that the laser light wave theodolite 23 in FIG. 2 is a member corresponding to the automatic alffl device section A in FIG.

Effects of the Invention According to the present invention, the self-other surveying positioning system for a tunnel lining machine is composed of an automatic surveying device section installed in the tunnel, a reflective bristle installed on the lining machine, and an automatic positioning device section. The automatic surveying device section includes a laser emitter, a light wave distance meter, a horizontal control rotation device that rotates and drives these instruments in the horizontal direction, and a vertical control rotation device that rotates and drives these instruments in the vertical direction. , a local microphone that controls these instruments and control rotation devices, and a radio device that transmits and receives control information of the local microcomputer, and the automatic positioning device section transmits and receives the radio device of the automatic surveying device section. Information from the radio, the position/attitude detection device that detects the position and attitude of the lining machine, the hydraulic valve cylinder device that corrects the position and attitude of the lining machine, and the non-VA machine and position/attitude detection device. The host computer performs calculations based on the above information and controls the valve/cylinder device, thereby providing the following effects.

(1) A general work station can perform measurements with high accuracy, which would normally require a specialized engineer.

(2) Measured data is exhausted, movement correction in XY direction, IW
The angular difference between the I machine axis and the 1-channel axis is automatically corrected by a hydraulic cylinder and a hydraulic motor device, which saves the labor of difficult positioning work.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of a control system in an embodiment of the present invention, and FIG. 2 is a layout diagram in an embodiment of the present invention.
is a plan view, and (h) is a side view. 3 is an enlarged view of the automatic positioning device shown in FIG. 2, (a) is a plan view and (h) is a side view, and FIG. 4 is a flow chart of the process according to the present invention. l Absolute enhancer, 2-linear encoder, 3-one inclinometer, 4-laser emitter, 5-measuring device, 6 controller, 7 positioning actuation mechanism, 8-host computer, 9=radio device, l 〇1 radio, 1.1-local mine, 12-laser emitter, l3-light wave distance meter, motor with encoder (horizontal direction), motor with encoder (vertical direction), automatic surveying device, automatic Positioning device section.

Claims (1)

[Claims] It consists of an automatic surveying device section installed in the tunnel, a reflecting prism and an automatic positioning device section attached to the lining machine, and the automatic surveying device section includes a laser emitter, a light wave distance meter, and these instruments. A horizontal control rotation device that rotates and drives these instruments in the horizontal direction, a vertical control rotation device that rotates and drives these instruments in the vertical direction, a local microcomputer that controls these instruments and the control rotation device, and control information of the local microcomputer. The automatic positioning device section includes a radio device that transmits and receives the radio device of the automatic surveying device section, a position/attitude detection device that detects the position and attitude of the lining machine, and a position/attitude detection device that detects the position and attitude of the lining machine. Hydraulic valves that correct the position and attitude of the machine
An automatic surveying and positioning system for a tunnel lining machine, comprising a cylinder device and a host computer that performs calculations based on information from a radio and a position/attitude detection device to control the valve/cylinder device.