JPH05280982A - Position measuring apparatus of tunnel excavator - Google Patents

Abstract

PURPOSE:To measure the position of a tunnel excavator easily and accurately by an automatic surveying operation without blocking a collimation line by a method wherein a truck is utilized. CONSTITUTION:A laser projection-photodetection device 5 is installed in a fixed position on the ceiling face of a tunnel excavation hole; it is faced with a target 6 which is arranged on the back surface of a truck 4a at the last part. A TV camera 7 is installed at the upper part of a truck 4n at the forefront part; it is faced with a target 8 installed at the rear part of a shield excavator 1. In addition, measuring pipes 10 which are connected via flexible joints 9 are arranged respectively at individual trucks 4a, 4b,...4n. Hole-bend measuring instruments 11 which are moved at the inside of the individual measuring pipes 10 are inserted into, and passed through, the measuring pipes. Data on angles and distances from the projection-photodetection device 5, the TV camera 7 and the hole-bend measuring instruments 11 are input to an operation and processing part 12; the data which have been obtained are processed. Thereby, the positional coordinates of the excavator 1 are operated by using the installation of the laser projection-photodetection device 5 as a reference.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position measuring device for a tunnel machine, and more particularly to a tunnel for measuring the position of the tunnel machine via a bogie following the tunnel machine such as a tunnel boring machine or a shield machine. The present invention relates to a position measuring device for an excavator.

[0002]

2. Description of the Related Art For example, in tunnel excavation work using a shield excavator, a propelling jack is pressed against the end of a segment assembled inside the rear portion of a skin plate to propel it while taking its reaction force. At this time, it is necessary to control excavation to minimize the amount of horizontal and vertical deviation from the planned route.

One of the measuring methods for this purpose is to install a target at the rear part of the shield excavator, oscillate a laser beam toward the target from a laser transit provided at a known point in the mine, and receive a reflected wave from the target. Then, there is a method of detecting the position / orientation of the shield excavator from the light receiving angle thereof, and the laser transit has a function of automatically following the excavator's excavation by driving the pulse motor.

[0004]

However, this measuring method is effective for a tunnel with a large diameter cross section reaching a diameter of 5 m or more, for example, but in the case of a small diameter tunnel,
Since the laser beam was blocked by the row of carriages for reciprocating transportation in the mine or for transporting equipment such as segments, it was practically unusable. For this reason, conventionally, there was no choice but to rely on manual surveying, resulting in a large increase in the number of surveying steps. Moreover, in the manual measurement method, the cumulative error was large because the measurements were taken from the reference point in a scale-like manner.

The present invention has been made in view of the above problems, and an object thereof is to perform automatic surveying without obstructing the collimation line by utilizing a carriage following a tunnel excavator. The present invention provides a position measuring device for a tunnel machine, which can easily measure the exact position of the tunnel machine.

[0006]

In order to achieve the above object, a position measuring device for a tunnel excavator according to the present invention comprises a first image pickup device arranged at a fixed position of a tunnel excavation hole,
The target of the first imaging device arranged on the rear bogie of a plurality of connecting carriages traveling on the rail laid in the tunnel excavation hole, and the fixed position of the tunnel excavator arranged on the front carriage of the connecting carriage. A second image pickup device for monitoring the measuring tube, a measuring pipe provided in each of the connecting carriages and connected to each other through a flexible joint, and a hole bending measurement for detecting the bending degree of the measuring pipe inserted into the measuring pipe. And the distance and angle between the first imaging device and the target, the distance and angle of the measuring pipe measured by the hole bend measuring device, and the distance and angle between the second imaging device and the tunnel machine. The calculation means is provided for calculating the coordinates of each part and adding the coordinates of each part to the fixed point coordinates to calculate the position coordinates of the tunnel machine.

[0007]

According to the above construction, the coordinates of the rear bogie with respect to the fixed point where the first imaging device is arranged are calculated from the angle and distance between the first imaging device and the target provided on the rear bogie. .. Moreover, the coordinates of each trolley are calculated in order from the rear part by the hole bending measuring machine inserted in the measuring pipe. Further, the position coordinates of the tunnel excavator are calculated according to the angle and the distance of the tunnel excavator with respect to the second imaging device provided on the front carriage. That is, the calculating means calculates the accurate position of each measurement point with respect to the fixed point coordinates by adding the coordinates of each part to the coordinate position of the fixed point, and the accurate position of the tunnel excavator according to the deviation amount in the horizontal and vertical directions. Output position coordinates.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail below with reference to the drawings. FIG. 1 shows a case where the position measuring device for a tunnel machine according to the present invention is applied to a shield tunnel having a small diameter cross section.

In FIG. 1, 1 is a shield excavator for tunnel excavation having a small diameter, and 2 is a large number of segments which are sequentially assembled at the rear portion of the skin plate constituting the outer shape of the excavator and constitute tunnel excavation holes. A rail 3 is laid in the tunnel excavation hole, and a large number of carriages 4a, 4b ... 4n for transporting scraps or transporting equipment such as segments are mounted on the rail 3.
The connecting trolley 4 connecting the two runs, and reciprocates between the excavator 1 and the starting shaft (not shown).

A fixed point position on the ceiling surface of the tunnel excavation hole,
That is, a first image pickup device, that is, a laser projecting / receiving device 5 is installed at a known point and faces a target 6 arranged on the rear upper surface of the rearmost connecting carriage 4a.
The distance between the target 6 and the vertical and horizontal angles of the target 6 are monitored. The measurement principle of the laser projecting / receiving device 5 is the same as that described in the conventional section.

A second image pickup device, that is, a television camera 7 is installed on the upper part of the front carriage 4n, and the television camera 7 faces a target 8 provided at a fixed point position inside the rear portion of the excavator 1. The distance of the target 8 from the camera 7 and the vertical and horizontal angles are monitored.

Further, a measuring pipe 10 is arranged in series on each of the carriages 4a, 4b ... 4n through a flexible joint 9 such as a ball valve, and the measuring pipe 10 is moved along the inside thereof. Hole bending measuring instrument 11
Has been inserted.

The hole bend measuring device 11 is disclosed in, for example, Japanese Patent Laid-Open No. 62-62.
The same as the hole bending measuring device described in Japanese Patent No. 49210, and as shown in FIG. 2, a pair of hollow cylinder-shaped leading and trailing hollow cylindrical members of substantially the same length that are inserted into the measuring pipe 10. Measuring tube 26 in which one ends of the cylindrical bodies 20 and 22 are rotatably connected by a ball joint 24 having a through hole formed in the center thereof.
And a light receiver 28 provided near the front end of the preceding cylinder 20 so as to be orthogonal to the cylinder axis, and installed on the cylinder axis near the front end of the following cylinder 22 and being substantially the same as the cylinder axis. It has a laser emitting device 21 for projecting light (S1, S2) in the front-back direction on the optical axis. A plurality of rotating rollers 23 for moving them along the measuring tube 10 are mounted below the cylindrical bodies 20 and 22, and the moving length of the rotating rollers 23 is controlled by, for example, a stepping motor. The moving length is detected and the measuring device 11
Then, after projecting light to the light receiving device 25 provided at the entrance of the measuring tube 10 for initial setting, the length of the roller 23 at the end (2 L) is ½ of the length, and The measurement is performed by sequentially moving in a line.

Then, the angle and distance data of the laser projecting / receiving device 5, the television camera 7 and each hole bending measuring device 11 are input to the arithmetic processing unit 12, where the data obtained by each device is processed. Then, the bending position in the horizontal and vertical directions with respect to the coordinate position of the excavator 1 and the reference position is calculated with reference to the installation position of the laser projecting / receiving device 5, and the calculation result is output to the display 14 and the printer 15.

FIG. 3 schematically shows, as an example, a method for calculating the horizontal displacement amount of the excavator 1, in which the horizontal direction of the tunnel shaft is taken as the x-axis and the length direction is taken as the y-axis. Assuming that the plane coordinates are (x0, y0), the arithmetic processing unit 12 adds Lx and Ly of the x and y components to the plane coordinates (x0 + Lx) of the target 6 according to the angle measured by the light emitting and receiving device 5 and the distance L. , Y0 + Ly) is calculated.

Further, the arithmetic processing unit 12 is provided between the carriages 4a and 4b.
... (x1, y1), (x2, y2) ... (xn, yn) in order from the back according to the distance and angle measured along 4n.
) Is calculated.

Further, in the arithmetic processing unit 12, the truck 4 in the front row is used.
Plane coordinates (Xn + 1x, yn) of the target 8 with respect to n
+ Ly) is calculated according to the angle measured by the television camera 7 and the separation distance l.

Further, in the arithmetic processing unit 12, the x component and the y component are sequentially added from the above coordinate values to determine the plane coordinates of the excavator 1 with respect to the fixed point coordinates, and the horizontal displacement amount of the excavator with respect to the fixed point and The distance from the fixed point is calculated and output as the degree of hole bending according to the deviation amount. Actually, the deviation amount in the vertical direction is also calculated by adding the z axis which is the vertical axis in the same manner.

By the way, since the propulsion direction of the excavator 1 is determined by the propulsive force of a plurality of shield jacks 2 (not shown) arranged on the inner periphery of the rear portion of the skin plate, the above-mentioned deviation amount is determined. By controlling the propulsive force of each shield jack in the horizontal and vertical directions according to the calculation result, it is possible to perform correction control according to the planned route.

As a result of the excavator 1 repeating the propulsion, if the rearmost carriage 4a reaches a distance and angle that cannot be measured by the light projecting / receiving device 5, the light projecting / receiving device 5 is again moved to a known fixed point position. It is sufficient to repeat the same measurement work as the above with reference coordinates as the reference coordinates.However, unless the planned route includes a sharp bend, the frequency of this work is extremely low compared to the conventional scale-like insect measurement work, The effect on man-hours is extremely small, and the effect of accumulated error is also small.

In the embodiment, the present invention is applied to the shield propulsion method with a small diameter cross section. However, the tunnel is an excavation hole such as a boring machine or other advanced guide hole of a tunnel, in which a bogie runs inside the tunnel. Needless to say, it can be applied to general position measurement of tunnel machine in Japan.

[0022]

As described above in detail with reference to the embodiments, in the position measuring device for a tunnel excavator according to the present invention, the angle and distance between the first image pickup means and the target provided on the rear bogie are used. , The coordinates from the fixed point of the rear bogie are calculated, the coordinates of each bogie are calculated by the hole bending measuring instrument in the measuring pipe, and the angle and distance of the tunnel excavator with respect to the second imaging means provided on the front bogie are calculated. The coordinates of this are calculated, and the coordinates of the tunnel excavator with respect to the fixed point coordinates are calculated by adding the coordinates of each part to the coordinates of the fixed point, and the position coordinates of the tunnel excavator according to the horizontal and vertical displacements are calculated. Because of the output configuration, the position of the tunnel machine can be easily and accurately measured by automatic surveying without obstructing the line of sight by using the trolley that has been an obstacle to conventional measurement. It is possible.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing a case where the present invention is applied to a shield propulsion method.

FIG. 2 is an explanatory diagram showing an internal configuration of a measuring pipe and a hole bending measuring device.

FIG. 3 is an explanatory view schematically showing a method of calculating a horizontal displacement amount of the excavator.

[Explanation of symbols]

 1 Shield excavator 2 Segment 3 Rail 4 Connection trolley 4a Last trolley 4n Front trolley 5 Laser light emitting / receiving device (first imaging device) 6,8 Target 7 TV camera (second imaging device) 9 Flexible joint 10 Measurement Pipe 11 Hole bend measuring instrument 12 Arithmetic processing unit (arithmetic means)

Claims (1)

[Claims] 1. A first imaging device arranged at a fixed point position of a tunnel excavation hole, and the first imaging device arranged on a trailing bogie of a plurality of connecting carriages traveling on a rail laid in the tunnel excavation hole. A target of the device, a second imaging device arranged on the front carriage of the connecting carriage to monitor the fixed position of the tunnel excavator, and provided on each connecting carriage, and connected to each other via a flexible joint. Measuring tube,
A hole bend measuring instrument that is inserted into the measuring pipe to detect the bending degree of the measuring pipe, a distance and an angle between the first imaging device and the target, and a distance and an angle of the measuring pipe measured by the hole bending measuring instrument. And a calculation means for calculating the coordinates of each part based on the distance and angle between the second image pickup device and the tunnel machine and adding the coordinates of each part to the fixed point coordinates to determine the position coordinates of the tunnel machine. Position measuring device for tunnel machine.