JPH0424394A - Laser beam radiating method to facing surface of tunnel and device therefore - Google Patents

Abstract

PURPOSE:To accurately position a center line and the like by radiating laser beams which are radiated from a position separated from the facing surface of a tunnel by a specified distance, by means of 2 reflecting mirrors, and thereby describing the line of radiation on the facing surface with the swing angle of each mirror controlled. CONSTITUTION:Following equipment is provided for the facing surface 1 within a tunnel pit where the equipment is composed of a pedestal 13 such as a tripod and the like, a stationary reflecting mirror 28 reflecting laser beams (l) from the pedestal, a reflecting mirror 15A turning around the axis of (y), which reflecting the beams (l), and of a reflecting mirror 15B turning around the axis of (z), which reflects the beams (l) again, and a controller 16 controlling the swing angle of each reflecting mirror 15A and 15B is also provided. The line of irradiation is described on the facing surface with the swing angle of each reflecting mirror 15A and 15B suitably controlled by means of a controller 16, so that the irradiation pattern, the line movement of irradiation, and the size of an image irradiated are controlled so as to be determined. By this constitution, efficiency can thereby be enhanced with working time required for various alignment and the like shortened.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention irradiates a tunnel face with a laser beam during tunnel excavation work, and detects the tunnel center line, shoring line, excavation line, and relates to a method and apparatus for irradiating a tunnel face with a laser beam that can draw a blasting pattern or the like.

[Conventional technology]

During tunnel excavation work, the conventional method for determining the center line of the excavated cross section of the face is to place two points A and B, which were previously determined by survey, on the face 1 shown in Figure 16.
The laser beam i from the two laser light sources 2A and 2B shown in FIGS. 7 and 18 is irradiated and printed, the dimensions are divided based on this to find the center point 4, and the plumb stroke is aligned with the center point 4. I was looking for tunnel center line 3.

In addition, in order to find the erection line of the shoring during tunnel excavation, use the erection gauge 5 based on the two points A and B irradiated with the laser beam 1 on the face 1 during tunnel excavation. The netsuke of the support F is seeking position 6, and this is the 19th position.
Shown in the figure.

On the other hand, in tunnel excavation work, when excavating a cross-sectional pattern without copper shoring, it is necessary to use some method to indicate the excavation line on face 1 during tunnel excavation. There are two methods: one using marking, and the other using marking.

The method using gauge shoring is to fabricate a steel gauge such as a pipe or lightweight H steel that matches the excavation line, and use this to find the position of the shoring F shown in Figure 19 above. This is to display the excavation line, and after the excavation line has been obtained for boat fishing, the gauge shoring is removed.

In addition, the marking method is to find the tunnel center point 10 in FIG.
The excavation marking line 11 is displayed while rotating a rod or the like.

However, in the above-mentioned conventional technology, the method is labor-intensive, takes a lot of work time, and is inefficient, and when you want to reconfirm, you have to repeat the same procedure from the beginning, and confirmation cannot be done immediately. There's a problem.

In addition, regarding the method of displaying excavation lines by marking,
There was a problem that the accuracy of the excavation line was poor, excessive digging was required, and the amount of sprayed and lining concrete was increased, making it uneconomical.

Furthermore, in curve construction, it is necessary to separately consider the relief amount of the tunnel center line on the excavation face, which has the disadvantage of complicating the work.

On the other hand, for the purpose of positioning during tunnel excavation and prevention of over-excavation, a device called an automatic excavation cross-section irradiation system has been developed that irradiates the excavation line on the face with laser light. A mount is installed on the ceiling or side, and a two-axis swivel table equipped with a laser emitter is installed on top of it.The two-axis swivel table is controlled to draw the excavation line on the face surface with laser light. It is something.

However, in this system, the laser emitter itself is swivel-controlled using a two-axis swivel base, so the control is complicated, and since the swivel base rotates while supporting the laser emitter, its weight The problem was that it was bulky and the system was not easy to move.

On the other hand, when blasting the face during tunnel excavation, a blasting pattern such as the location of the holes to be drilled, the number of holes to be drilled, and the number of blasting stages is created, taking into consideration the tunnel cross-sectional pattern and rock quality of the ground. Based on this, holes are drilled at the approximate locations imagined by workers on site and blasting is carried out.

For this reason, while it is possible to drill holes that match the site conditions, which are slightly different from the planned blasting pattern, over-excavation can result in unexcavation, which increases work time and increases the amount of shotcrete etc. there were.

Additionally, an unmanned robot called Jumbo, which uses computer control to coordinate each drilling position of a blasting pattern, has also been developed.

This robot jumbo creates coordinates of a blasting pattern using a personal computer, and drills holes while automatically sequentially moving the bit position of the drilling machine according to the fEI. However, when it comes to geological formations where the rock quality changes significantly, methods based on human sensations are superior, and robots cannot handle all types of geological formations. The problem is that the robot itself is too difficult and requires a considerable burden on humans.

[Problem to be solved by the invention]

The present invention was made in order to solve the above-mentioned conventional problems, and it is possible to efficiently and accurately draw an excavation line etc. on a face surface during tunnel excavation using a laser beam,
Moreover, it is an object of the present invention to provide a method and apparatus for irradiating laser light onto a tunnel face that is relatively simple in structure and easy to use.

[Means for Solving the Problems] As a means for solving the above problems, the method of irradiating a tunnel face with a laser beam of the present invention includes laser light irradiation at a position a predetermined distance from the face of a tunnel in a tunnel. By irradiating the laser beam onto the face through two reflecting mirrors and drawing an irradiation line on the face by controlling the swing angle of the two reflecting mirrors, the center line of the tunnel can be efficiently and accurately drawn. , can clearly indicate shoring construction lines, etc.

Further, as a device to which the above-mentioned method of the present invention is applied, there is a laser beam irradiator installed on a mount such as a tripod that is installed facing the face of the tunnel, and a device that reflects the laser beam from the laser beam irradiator. It is composed of two reflecting mirrors whose swing angle can be freely controlled, and a controller that controls the swing angle of the reflecting mirrors. On the stand are a distance measuring device such as a light wave distance meter that measures the distance to the tunnel center on the face, an azimuth measuring device such as a gyro compass that measures the azimuth to the tunnel center, and a laser. By installing an angle detector such as a servo speedometer that detects the installation angle of the light irradiator and controlling the swing angle of the reflecting mirror via a controller based on these measured values and detected values, a more functional laser beam irradiation line can be obtained. You will get it.

〔Example〕

The present invention will be described in detail below with reference to the drawings. Fig. 1 is a side view showing the configuration of an apparatus for applying the method of the present invention to irradiate a laser beam to an excavated section in a tunnel; The figure is a plan view showing the equipment on the tripod in Fig. 1, and Fig. 2-B is a sectional view taken along line A-A in Fig. 2-A.

First, as shown in Fig. 1, Fig. 2-A, and Fig. 2-B, this device consists of a mount 13 such as a tripod installed facing the face 1 inside the tunnel, and a mount 13 such as a tripod installed on the mount 13 such as the tripod. a laser beam irradiator 14 provided in the laser beam irradiator 14;
Laser light from! A fixed reflecting mirror 28 that reflects the reflected laser beam 1, a y-axis rotating reflecting mirror 15A that reflects the reflected laser beam 1, a biaxial rotating reflecting mirror 15B that further reflects the reflected laser beam 1, and a reflecting mirror 15A,
The controller 16 is configured to control the swing angle of the reflecting mirror 15A,
The swing angle of 15B is appropriately controlled to determine the irradiation line drawn on the face l and how to draw it, that is, the irradiation pattern, the movement of the irradiation line, the size of the irradiated image, etc. In the figure, 26 is an amplifier, 27 is a scanner, and a plumb bob 1 is mounted on a mount 13 such as a tripod.
8 is provided.

Although the fixed reflecting mirror 28 is provided in this embodiment, the fixed reflecting mirror 28 is not necessary if the laser beam irradiator 14 is arranged at right angles to the reflecting mirror 15A.

Further, in the controller 16 in Fig. 2, A indicates the projection pattern, B indicates the projection pattern, C indicates the parallel movement pattern, D indicates the dimension, and E indicates the projection pattern. is the selection code for the input mode, and F is the selection code for the power mode. First, as a projection pattern,
Point 60, diameter 61, radius 63, semicircle 64, shown in FIG.
It has a selection code for the semi-ellipse 65, and for the semi-ellipse, the radius/diameter ratio can be determined using an input mode by inputting Rz/Dy.

In addition, the projection pattern has selection codes for straight lines, dividing lines, and circular arc lines shown in Figure 4, and the dividing points can be selected from 4, 8, and 18 in the input mode. , and for the arc line, select either the input mode 30'' arc line or 60° arc line, and set the input mode to 0.
Projection is performed sequentially within 180°.

Furthermore, the parallel movement pattern has a y-axis and two-axis child row movement code shown in FIG.
The distance traveled is displayed on both the y-axis and the z-axis.

In addition, the parallel movement range in the parallel movement pattern of FIG. 5 is 10 degrees on the y-axis and 10 degrees on the z-axis.

Next, the configuration of an apparatus according to an embodiment in which the present invention is applied as a target target irradiation method is shown in the plan view of FIG. 6, which has almost the same configuration as that of FIG. It shows.

That is, this device also has a laser beam irradiator 14 mounted on a mount 13 such as a tripod for transit, and controls the irradiation image with a controller 16. The installation in the longitudinal direction and the lateral direction is performed by detecting the angle, correcting the angle of the irradiated image using the controller 16, and adjusting the y-axis reflection mirror 15A and the z-axis reflection mirror 1 in the laser beam irradiator 14.
By adjusting the swing angle of 5B, a predetermined irradiation image without inclination can be obtained on the face 1 where the tunnel is excavated. Note that instead of the pitching rolling meter or the servo accelerometer 19, a bubble-type spirit level may be provided.

Furthermore, the method of irradiating the tunnel excavation face 1 using the gauge point irradiation method is as follows.

In addition, in FIG. 7, the tunnel center point Co of the face 1
That is, the intersection point between the SL line 12 and the plumb-down center line 3 is determined by surveying and printed.

Next, the laser beam irradiation device is installed in the mine, and the point projection of the projection pattern is made to coincide with the tunnel center point Co. Then, the distance Bc from the laser beam irradiator 4 to the tunnel center line, the distance Lc to the tunnel face 1, and the level difference (1c) between the laser beam irradiator 14 and the tunnel center point Co are input to the controller 16, and the initial Projection horizontal angle θco and initial projection vertical angle θh.

to remember.

Then, set the projection pattern, projection pattern, parallel movement pattern, and dimensions to the controller 16's selection code A, B, C,
The first irradiation is completed by drawing a predetermined projected image on the excavated face 1 selected from D.

Next, the second and subsequent irradiations are performed with the following capacity. First, in FIG. 8, by inputting the excavation distance ΔLc from the first time into the controller 16, the initial projection horizontal angle θ
and the initial projection vertical angle θho, and calculate the difference angle Δθc
The controller 16 controls the y-axis reflection mirror 15A and the z-axis reflection mirror 15B by the amount o and Δθho to draw a projected image on the newly excavated face IA. This second and subsequent projection method is shown in Fig. 8, and the tunnel center point of the new face IA is indicated by Cn, where the difference in the projection horizontal angle is θcn-θco=tan-'(Bo)-tan −
'('') Lc + ΔLc Lc, and the difference in the projection vertical angle is c θhn-θho = tan-'()-tan-'
It is expressed as (')Lc+ΔLcLc.

After that, such projection is continued until the laser beam can be identified on the tunnel excavation face surface, but for the next projection, the laser beam irradiator 14 etc. are moved and the settings are restarted from the initial stage shown in FIG. 7. .

Next, the plan view in FIG. 9 and the side view in FIG. Although indicated by part numbers, in this case, a gyro compass 20 and a light wave distance meter 21 are installed on a mount 13 such as a tripod, and a laser beam irradiator 14 and the road coordinates x, y,
Automatic projection is performed by determining the z position coordinate and controlling the y-axis reflecting mirror 15A and the z-axis reflecting mirror 15B using the controller 16.

In this case, the controller 16 determines the laser gauge coordinates from the fixed point coordinates based on the direction and distance, and instructs the controller 16 about the swing angles of the y-axis reflecting mirror 15A and the z-axis reflecting mirror 15B of the laser beam irradiator 14. be.

Note that the mount 13A such as a tripod in FIG.
At the road coordinate point actually measured in 1, a reflection mirror 15D and a plumb bob 18A are provided on this mount 13A, such as a tripod.

Next, the coordinate relationships of the above coordinate input projection method are shown in FIG. 11, where A is the actually measured known coordinate point (X+,
)'+, Z+), B is the coordinate point of the laser beam irradiator 14 (
xi, )'z, zz) is also the position of the optical distance meter 21, C is the road center of the design coordinate point (X3.y3.Z3), and D is the projection center coordinate point (X4.)'4-24). is the tunnel center, and fCtl is the distance between points C and D above perpendicular to the tunnel direction.

Furthermore, N indicates due north (+X), E indicates due east (+y), and T indicates the tunnel direction.

Further, the procedure of the coordinate input projection method for projecting onto the tunnel excavation face surface, that is, point D in FIG. 11 will be explained in the following items.

(LA), First, the laser beam irradiator 14 is installed at an arbitrary point, point B, and the road coordinates of points A and C (x.

y, z).

(IB), Next, the road coordinates of point A (X +, y +,
Z +) + distance fan between points A and B actually measured with the light wave distance meter 21, gyro compass 20 of point A seen from point B
Road coordinates of point B (Xz, )' from the direction θAm actually measured at
t, Zz) are calculated automatically. However, for the two directions, the level direction shall be measured using a level meter and input manually.

Design road coordinates of point C (X 3+ 3' 3+ Z 3)
+ Distance lcD between points C and D, direction θ of point D as seen from point C. , the road coordinates of point D (x4°)' a, Z 4
) is determined by automatic calculation.

From the road coordinates of point B (CXt, 'jt+Zt'') and the road coordinates of point D (X4.y4.Za), the projection plane orientation θ1D+longitudinal section projection angle θ2 of point D viewed from point B is automatically calculated.

θ from the controller 16. , θZ, the azimuth driver outputs θID, the biaxial reflection mirror 15B in the laser beam irradiator 14 outputs 02, and the laser point is automatically projected onto point D.

(IF) Select the projection pattern, projection pattern, parallel movement pattern, and dimensions from the selection code, and draw a predetermined projection image on the excavation face surface.

When the first projection is completed as described above, the next (IE).

(IC).

(ID).

Perform the second and subsequent projections according to the instructions.

(2A), the position of the laser beam irradiator 14, that is, B
The design road coordinates of the new point C (X3
．． )'3.2*), l. , θ. Projection is performed simply by inputting , using the controller 16.

(2B), If point B of the laser beam irradiator 14 is moved, the settings are redone from the first item (IA).

Next, FIG. 12 shows an apparatus according to an embodiment in which the method of the present invention is applied to project a blasting pattern indicating the position of drilling holes for blasting a tunnel excavation face. Similarly to the figure, a laser beam irradiator 14, two reflecting mirrors 15A, 15B, etc. are mounted on a pedestal 13 such as a tripod (not shown), and a personal computer 30, an Ilo 31, and a controller 16 are provided. A blasting pattern is created using the computer 30, and this data is sent to the Ilo 31 and the controller 1.
6, a blasting pattern 32 as shown in FIG. 13 is projected from the laser beam irradiator 14 onto the tunnel excavation face surface.

In this case, the position of each drilling point 33 is expressed in polar coordinates as shown in FIG. It is advisable to adopt the point aiming projection method or the coordinate input projection method.

Next, FIG. 15 shows a block diagram of the controller 16 of the laser beam irradiator device for tunnel excavation cross section of the present invention described above, and the two reflecting mirrors 15A and 15B whose swing angle is controlled by the controller 16 are shown in FIG. In this explanation, the directions are explained using Y and Z.

(A) First, the Y pattern generation circuit 41 and the Z pattern generation circuit 47 generate Y and Z coordinate data of the projection pattern as voltages in each circuit, and sequentially output them to the subsequent stage.

(B) Next, the pattern shaping circuit (1) 42 and the pattern shaping circuit (It) 48 convert each coordinate data input signal into Y,
The waveform is shaped to be necessary for driving the Z reflection mirror.

Note that if the voltage generated by the pattern generation circuit is digital, it is converted to analog, and if the voltage generated by the pattern generation circuit is analog, the waveform is shaped.

(C) Next, the Y level adjustment circuit 43 and the Z level adjustment circuit 49 manually or automatically adjust the Y and Z levels,
Decide on the size of each pattern.

(D) Furthermore, the Y direction movement adjustment circuit 44 and the Z direction movement adjustment circuit 50 manually or automatically move the pattern in the Y and Z directions.

(E) And the driver (1) 45 and the driver (
n) 51 supplies the power necessary to drive the Y and Z reflection mirrors.

〔Effect of the invention〕

By employing the laser beam irradiation method and apparatus of the present invention as explained above, the tunnel centerline on the tunnel excavation face,
The display of shoring erection lines, excavation lines, and even blasting patterns can be used for a long time, for example, about two weeks, with just one degree of preparation, and the various work times mentioned above can be shortened, making the work easier. This has the effect of significantly improving efficiency.

In addition, when you want to reconfirm, you can easily project a laser beam at any time without being restricted by work, and there is a mechanism to check the excavation.Furthermore, compared to the conventional method of displaying excavation lines using markings, The accuracy of the excavation line is high, there is less over-excavation, and the amount of sprayed and lining concrete is reduced, making tunnel excavation work more economical.

Furthermore, by adopting the present invention for curve construction, it is possible to easily display the tunnel center line, shoring construction line, and excavation line, which has the advantage of improving work efficiency and accuracy.

On the other hand, when the present invention is applied to the display of blasting patterns, the drilling position can be changed while comparing the planned blasting pattern with the actual rock condition, which reduces the amount of unexcavation due to over-digging.
This has the effect of reducing the amount of penetration of shotcrete, etc.

In particular, in the present invention, the laser beam is reflected by two reflecting mirrors, and the irradiation line is drawn on the face by controlling the swing angle of the reflecting mirrors, so when rotating the laser beam irradiator, Compared to this, it has the advantage that the structure of the frame is simpler and the range of application of the image irradiated onto the face is wider.

[Brief explanation of the drawing]

FIG. 1 is a side view showing the configuration of an apparatus for applying the method of the present invention to irradiate a laser beam onto an excavated section in a tunnel;
- Figure A is a plan view showing the equipment on the tripod in Figure 1, Figure 2-B
The figure is a sectional view taken along A-A in Figure 2-A, Figure 3 is a projection pattern diagram of the device in Figure 1, Figure 4 is a projection pattern diagram of the device in Figure 1, and Figure 5 is a diagram of the projection pattern of the device in Figure 1. 6 is a plan view showing equipment on a pedestal such as a tripod of the device applying the present invention to the gauging irradiation method; FIG. 7 is an initial projection diagram of the device shown in FIG. 6; FIG. 8 is a diagram of the second and subsequent projections by the apparatus shown in FIG. 6, and FIG. 9 is a plan view showing equipment on a mount such as a tripod of the apparatus to which the present invention is applied to the coordinate input projection method.
FIG. 10 is a side view of the arrangement of FIG. 9, FIG. 11 is a diagram showing the coordinate relationship of the device shown in FIG. 9, and FIG. 12 is a diagram showing the arrangement of the device shown in FIG. A configuration diagram showing the equipment, etc., FIG. 13 is a diagram showing an example of projection of a blasting pattern by the device shown in FIG. is a block diagram of a controller applied to the device of the present invention, FIGS. 16, 17, and 18 are explanatory diagrams of how to draw out the conventional tunnel center line, and FIG. 19 is a diagram of the conventional shoring position. FIG. 20 is an explanatory diagram of a method of displaying excavation lines using conventional markings. ■... Face, 13... Mount for tripod, etc., 14...
Laser light irradiator, 15A, 15B...Reflection mirror, 1
6...Controller, 2...Laser light. Figure 2-A Figure 2-8 Figure Figure 11 Figure 13 Figure 20 Figure 1゜

Claims (1)

[Claims] 1. A laser beam irradiated at a position a predetermined distance from the face of the tunnel inside the tunnel is irradiated onto the face of the face via two reflecting mirrors, and the swing angle of the two reflecting mirrors is adjusted. A method of irradiating a tunnel face with laser light by drawing an irradiation line on the face using the control method. 2. A tunnel consisting of a laser beam irradiator provided on a pedestal, two reflecting mirrors that reflect the laser beam from the laser beam irradiator and whose swing angle can be freely controlled, and a controller that controls the swing angle of the reflecting mirrors. A device for irradiating laser light onto the face of the 3. A gyro compass, a light wave distance meter, a laser beam irradiator, and two reflecting mirrors that reflect the laser beam from the laser beam irradiator and whose swing angle can be freely controlled;
A laser beam irradiation device for a tunnel face, comprising a controller for controlling the swing angle of the reflecting mirror.