JPH04127013A - Shield surveying method - Google Patents

Abstract

PURPOSE:To effectively detect the coordinates position of an optional measuring point by setting a distance angle measuring device and a reflecting prism to always confront to each other, and continuously obtaining the coordinates position at a shield excavator or a rear car truck from a reference point at the back of the rear car truck. CONSTITUTION:A light wave distance sensor 1 or the like is set at an optional measur ing point A of a rear car truck 12. A photodetector 8 is provided at a rear reference point. The two points are connected by a wire 7. A digital theodolite 3 and the photode tector 8 are always confronting to each other by the tension of the wire. The distance D between the measuring point A and the rear reference point is measured by the distance sensor 1 and a reflecting prism 4. At this time, if a vertical angle phi is mea sured, the distance L on the plane coordinates is obtained according to L=Dcosalpha (alpha is a vertical angle from the measuring point A to the rear reference point of the car truck 12). A direction angle beta of the laser beams is detected by measuring a direc tion angle gamma in the advancing direction of the car truck 12 by a gyro 14 of a running device remaining stationary at the measuring point A and measuring a horizontal angle delta of the measuring point A to the advancing direction. As a result, the horizontal coordinates position of the measuring point A is obtained from a predetermined formu la.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a shield surveying method. More specifically, the present invention relates to a method of surveying inside a shield tunnel to enable construction of a tunnel along a planned line in the shield construction method.

(Conventional technology and its issues) In recent years, as the demand for advanced utilization of underground space has increased,
There are great expectations for tunnel construction using the shield excavation method, and there is a strong demand for further advancement of the technology in response.

As is well known, when constructing tunnels, including the shield method, it is technically essential to lay the tunnel along the planned alignment, and in particular, mechanical excavation is required. In the shield construction method, accurate measurement of the position of the shield excavator is an extremely important requirement.

Conventionally, manual surveying methods and automatic surveying methods have been known for measuring the position of the excavator in such a shield construction method and for surveying for constructing a tunnel along a planned line. Among these manual surveying methods, center surveying (traverse surveying) and seven-offset surveying are the mainstream methods, and automated surveying methods that replace manual labor include using a racer range finder or gyro compass. .

This latter automatic surveying method is much more rational than manual surveying.Compared to manual surveying, which is carried out between shield excavations, surveying can be carried out constantly even during shield excavation, and there is less variation in survey accuracy. Due to these characteristics, it is gradually becoming popular.

However, although this automatic surveying method has excellent advantages, the method using a laser rangefinder and goniometer requires an expensive automatic tracking device, and also requires a lot of work to replace and install the laser rangefinder. The drawback was that it took a lot of time, and especially when constructing curved sections, it required a lot of replacement work, which required a lot of labor. Additionally, if the racer spot is off the light receiving plate, there are problems such as automatic surveying becoming impossible. On the other hand, in the case of the method using a gyro compass, when the shield tunneling machine moves horizontally at the same angle, the gyro compass points in the same direction before and after the movement, so it appears as though the same direction is being used. The disadvantage is that it is measured as if it were moving in the same direction, or that it appears as an error.

In addition, in the shield tunnel, a track is installed along the rear truck from any survey point where the rear truck pulled by the shield tunneler is located to the shield excavator, and a mobile measuring device that runs along the trajectory is installed. By measuring the distance traveled with a rotary encoder equipped with a gyro or accelerometer and installed on the traveling part of the mobile measuring device,
There is also a known method of automatically measuring the position of the shield excavator based on arbitrary survey points located on the rear truck.

In this case, as a method of detecting an arbitrary survey point located on the rear truck, a manual survey method or an automatic survey using a racer rangefinder and goniometer are generally used. However, in the case of manual surveying, as the shield excavator advances, the rear truck connected to the shield excavator also moves, so any survey point located on the rear truck also moves during excavation, which requires frequent surveys. I need. In addition, in the case of automatic surveying using a laser rangefinder and goniometer, even if any survey point located on the rear trolley moves, it will automatically follow and determine the coordinate position of any survey point located on the rear trolley. Continuous detection is convenient, but
Automatic tracking devices are expensive, and racer rangefinders with automatic tracking devices are large in size, so although they are suitable for large-diameter shield work, they are difficult to apply to small and medium-sized diameters.

This invention was made in view of the above circumstances, and it solves the drawbacks of the conventional automatic surveying method in the shield tunnel construction method, which is gradually becoming popular, and makes it possible to construct shield tunnels along the planned line. The aim is to provide a new method of tunnel surveying in shield construction with high efficiency and high precision.

(Means for Solving the Problems) In order to solve the above-mentioned problems, the present invention installs a rangefinder and goniometer at an arbitrary survey point on a shield excavator or a rear truck towed by the shield excavator as it excavates. , A reflective prism for distance measuring light waves is installed at a reference point on the rear side (wellhead side) as seen from the rear truck (hereinafter referred to as the rear reference point), and a wire-shaped wire rod with tension is applied to the distance measuring goniometer and the reflective prism. so that even if the range finder and goniometer located on the shield excavator or the rear trolley move with excavation, the range finder and the reflecting prism always face each other, and from the rear reference point Provided is a surveying method that continuously detects the coordinate position of an arbitrary survey point located in .

In addition, in the method of the present invention, rotational force due to the tension of the wire is used to make the arbitrary survey point located on the shield excavator or the rear truck face the rear reference point, but the rear reference point and the arbitrary survey point At the center of rotation, rotational resistance occurs due to mechanical friction, etc., so it may not be possible to follow changes at minute deflection angles. Therefore, in this invention, in order to correct this, a CCD camera and a screen are integrated with a reflective prism at the rear reference point, and the amount of deviation when the laser spot irradiated from the rangefinder and the screen is irradiated is adjusted. The present invention also provides a surveying method in the shield construction method, which is characterized in that the position of an arbitrary survey point located on a shield excavator or rear truck is detected and corrected based on the detected value.

Next, the method of the present invention will be explained in more detail with reference to the drawings. Of course, the method of the invention is not limited by the following examples.

(Example) Figure 1 shows measuring equipment and equipment for carrying out the method of this invention.
This is an example of the configuration of the device. Moreover, FIG. 2 is a diagram illustrating the facing state of the measuring instruments when an arbitrary survey point is moved when the arbitrary survey point is located on the rear truck.

At any survey point A located on the rear truck, a light wave distance meter (
1) Along with the racer oscillator (2), a digital heptadrite (3) that can be swung up, down, left and right at the same time and measure the swing angle will be installed. The rear reference point includes a reflective prism (4), a screen (5), and a CCD.
A camera (6) is set, and a wire (
7). Even if the position of the digital hexaodolite (3) changes as the rear truck moves, the tension between the digital hexaodolite (3) and the receiver (8) or the wire (7) is used to ensure that the two always face each other and the laser beam I try to hit R or the screen (9).

The wire (7) is locked by the arm (10) (], 1). Furthermore, a gyro (14) is mounted on the rear truck (12) as a movement measuring device (13).

Further, the light receiver (8) is installed on a pedestal (15) by supporting legs (17) while holding a balance weight (16).

FIG. 3 shows the principle of measuring the coordinate position of an arbitrary survey point located on the rear truck using the method of the present invention.

The distance between an arbitrary survey point located on the rear truck and the rear reference point is measured using a light wave distance meter and a reflective prism, and by measuring the vertical angle φ at this time, the distance in plane coordinates is L = It is determined by D-CO3α. In addition, the azimuth angle β of the laser beam is determined by a gyro mounted on a traveling device stationary at an arbitrary survey point located on the rear truck.
The azimuth angle γ of the traveling direction of the rear truck is measured, and the azimuth angle β of the laser beam can be detected by measuring the horizontal angle δ to an arbitrary survey point with respect to the traveling direction. Therefore, the horizontal coordinate position A-(XI
, Yl, Zl) are as shown in the following equation.

X1=X+D-CO3α・5IN(γ+δ)Y1=Y+
D-CO8α・C08(γ+δ)Z1=Z+D-8IN
α Here, D: Measurement value by a light wave distance meter α: Vertical angle γ from an arbitrary survey point located on the rear truck to the rear reference point of the rear truck ・Azimuth angle of the traveling direction of the rear truck δ: Progress of the rear truck The horizontal angle between the direction and the direction connecting an arbitrary survey point located on the rear truck and the rear reference point of the rear truck This figure shows the principle of correction when the rangefinder and goniometer cannot be rotated completely due to the resistance of the rotating part. The symbols in the figure indicate the following.

0...Reference point (X, Y, Z) 0-...Irradiation point A of the racer spot on the screen...Arbitrary survey point A located on the rear truck-...
Points Sx, Sy when the laser beam is translated in parallel from O' to reference point ○... Amounts of distance from the center of the screen to the laser spot ΔX, ΔY, ΔZ... Distance P from the center of the screen to the laser spot...・Center of the screen (if the wire is in a straight line as it should be, the laser spot will emit P) Amount of distance from the center of the screen to the laser spot (
The amount of deviation in the X, Y, and Z directions is calculated from (SX, SY) as follows.

Δx=-sx-cosβ-8Y ・SINα・CO8
β ΔY #5 (XI, Yl.

The coordinate position of the Zl) point is determined as follows.

X1#X+L-8INβ-ΔX Y 1 = Y+L -CO3β+ΔY ) X, Y, Z: Indicates the X, Y, Z coordinate values of the reference point of the receiver.

With this equipment configuration and surveying method, more accurate surveying can be achieved.

FIGS. 5(a), 5(b), and 5(c) are diagrams illustrating the movement of the rear reference point where the light receiver is installed.

That is, (a) Initial survey ・Find the coordinates of the reference point Find the position coordinates of the rear reference point.

(b) Carry out automatic surveying when positioning/excavation is completed - Calculate the coordinates of any survey point from the coordinates of the reference point, the azimuth and distance to the arbitrary survey point.

・The rear truck moves as the excavation progresses.

(c) Reordering - Move the reference point when the positioning reaches its limit.

・The coordinates of the new control point can be calculated inversely from any measured survey point or obtained by surveying.

・Automatic positioning is possible.

According to the surveying method of the present invention as described above, when the rear known point where the receiver is installed has to be relocated due to wire length limitations, etc., this reference point can be moved to an arbitrary position in front. If it is reinstalled, the arbitrary survey point located on the rear truck is known, so it is possible to calculate backwards from this known point and find the coordinates of the movement position. This installation method can be repeated sequentially as the excavation progresses.

Of course, the implementation of this method is not limited to the above examples, and various embodiments are possible. When the rear bogie is short, it is sufficient to install the surveying device according to the present invention on the shield excavator and survey directly to the position of the shield excavator, and when the rear bogie is long, as shown in the example, A method such as the above-mentioned gyro travel method may be used to survey to an arbitrary survey point located in the area, and from the arbitrary survey point to the shield excavator in front of the shield excavator. Various configurations of the measuring device are also included in the method of the present invention.

Furthermore, in this construction method, the same effect can be obtained even if the laser oscillator side and the light receiver side are installed with the positional relationship reversed.

(Effects of the Invention) According to the present invention, manual surveying or an expensive automatic tracking device is used to detect the position of an arbitrary survey point where the shield excavator or the rear truck pulled by the shield excavator is located. This allows for efficient detection without any additional effort.

[Brief explanation of drawings]

FIG. 1 is a front view showing an example of the configuration of a measuring instrument/device that can be used in the method of the present invention, and FIG. 2 is a plan view illustrating the movement of a rangefinder and goniometer. FIG. 3 is a coordinate system diagram showing the measurement principle of the method of this invention. FIGS. 4(a), 4(b), and 4(c) are coordinate system diagrams showing the principle of correcting coordinate positions. FIGS. 5(a), 5(b), and 5(c) are front views showing the movement process of the rear reference point. 1...Light wave distance meter 2...Laser oscillator 3...Digital theodolite 4...Reflection prism 5...Screen 6...CCD camera 7...Wire 8...Light receiver 10.11 ... Arm 12 ... Rear truck 13 ... Movement measuring device 14 ... Gyro 15 ... Frame 6 ... Balance weight 7 ... Support leg

Claims (2)

[Claims] (1) In the shield excavation tunnel, install a rangefinder and goniometer at any survey point on the shield excavator or the rear truck towed by the shield excavator as it excavates, and measure the distance at the reference point located on the rear side of the rear truck. A reflective prism for light waves is installed,
The rangefinder and reflecting prism are connected with a tensioned wire, so that even if the rangefinder and reflector installed on the shield excavator or the rear truck move as the excavation progresses, the rangefinder and reflector will remain intact. A shield surveying method characterized in that the coordinate positions of arbitrary survey points located on the shield excavator or the rear truck are continuously detected from the rear reference point of the rear truck by always facing each other. (2) Consisting of a device equipped with a CCD camera and a screen integrated with a reflecting prism at a reference point located on the rear side of the rear truck, and a shield tunneling machine or a distance measuring angle meter installed on the rear truck. A screen detects the amount of deviation of a laser spot irradiated from a shield excavator, corrects it based on the detected value, and detects the position of an arbitrary survey point located on a shield excavator or a rear truck. 1) Shield surveying method.