JPH0560567A - Method for automatically measuring position of moving object - Google Patents

Abstract

PURPOSE:To automate surveying work by shifting a means for measuring the position of a moving object as the moving object moves as well as changing the position of installation of the means not by hands but automatically. CONSTITUTION:While a shield machine 20 excavating the inside of a tunnel heading 10 is tracked, laser light output from a surveying self-traveling vehicle 40 installed in a predetermined position in the tunnel heading 10 is applied to an index 22 provided on the shield machine 20 to automatically measure the position of the shield machine 20. When the index 22 cannot be tracked from over the surveying self-traveling vehicle 40 as the shield machine 20 excavates the heading, a block-installing self-traveling vehicle 60 is guided and installed in the position of the tunnel heading 10 between the shield machine 20 and the surveying self-traveling vehicle 40. A reference point block 30 is installed in the position of the tunnel heading 10 where the vehicle 60 is installed, and the surveying self-traveling vehicle 40 is shifted and installed in the position of the tunnel heading 10 where the reference point block 30 is installed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for automatically measuring the position of a moving object such as a shield machine in order to control the position of the moving object.

[0002]

2. Description of the Related Art Conventionally, for example, when a tunnel shaft is formed by using a shield machine, the excavation direction of the shield machine is controlled in a predetermined direction (posture control of the shield machine).
Then, in order to form the tunnel tunnel as originally designed, the position of the shield machine is measured. And
As the surveying method, conventionally, a method of mounting a gyro compass on a shield machine, detecting the excavation direction in the XYZ directions of the shield machine by the gyro compass, and measuring the position of the shield machine has been used. .. However, the gyro compass has a variation in accuracy for each device, and if the maximum value of the accuracy is set as an allowable range of error, accurate position recognition cannot be performed, and the shield machine is expensive. There was a problem that the posture could not be controlled with accuracy.

Therefore, in recent years, a surveying instrument which emits a laser beam for surveying is installed at a fixed reference point in a tunnel gallery, and the surveying instrument irradiates the index on the rear end face of the shield machine with the laser beam. , While automatically tracking the index on the surveying instrument side based on the reflected wave, obtain the distance from the reference point to the shield machine by the so-called light wave distance measuring method inside the surveying instrument, and the irradiation position of the laser light Based on the distance from the index and the shield machine from the reference point,
The method of measuring the position of the shield machine has come to be used, and it has a good track record.

[0004]

However, in the survey using the laser beam described above, the survey can be performed with higher accuracy than that of the gyro compass.
When the excavation direction of the shield machine is a curve, etc., the index may not be captured by the surveying instrument, and in this case, a new reference point is manually installed in the tunnel tunnel and the new reference point is set. Since the surveying instrument has to be moved and installed on the reference point, the surveying operation cannot be automated, and the attitude control of the shield machine by the feedback control cannot be performed unattended. The present invention, along with the movement of a moving object that moves in a predetermined area such as the shield machine, when measuring the position of the moving object, the movement of the means for performing the survey, the installation position change,
An object of the present invention is to provide an automatic position measuring method for a moving object, which can be automatically performed without manual labor.

[0005]

In order to achieve the above object, the present invention is a method for automatically measuring the position of a moving object moving within a predetermined area, wherein an index is set at a predetermined position of the moving object. Then, at a predetermined position in the predetermined area, a surveying self-propelled vehicle capable of self-propelled in the predetermined area is installed, and the indicator is irradiated with laser light from the surveying self-propelled vehicle, and the indicator is displayed. While measuring the position of the moving object while automatically tracking,
With the movement of the moving object, when it becomes impossible to track the index from the surveying self-propelled vehicle installed at the predetermined position, a guidance signal is transmitted from the surveying self-propelled vehicle, Based on the guidance signal from the surveying vehicle, at the predetermined area position between the moving object and the surveying vehicle and within a range in which tracking from the surveying vehicle is possible, A block-installed self-propelled vehicle that is capable of self-propelled in a predetermined area is guided and installed, and a block mounted on the block-installed self-propelled vehicle is located at the predetermined area position of the block-installed self-propelled vehicle. By the installation device, a reference point block that emits an induction signal of a unique frequency different from the induction signal is installed, and based on the induction signal from the reference point block, the surveying vehicle is set to the reference point block. The predetermined area where the Moving to, it was to be installed.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an explanatory diagram showing an embodiment of an automatic position measuring method for a shield machine according to the present invention. First, in FIG. 1, 10 is a tunnel gallery as a predetermined region formed by excavating a shield machine 20 as a moving object,
As shown in FIG. 1, two sets of tracks 11 and 12 are laid in the tunnel shaft 10, while the shield machine 2
As shown in FIG. 2, a rear end face 21 of 0 is attached with an index 22 having vertical and horizontal scale marks.

.. are reference point blocks, and each reference point block 30 is shown in FIG.
As shown in FIG. 2, for example, a base 31 having an adhesive surface 32 to which an adhesive is applied or a magnet is attached, and the base 31
Although not shown in FIG. 3 (a), the reference plate 33 is attached to the above and has a concentric scale, and each reference point is transmitted from a transmitter provided inside the reference plate 33. Each block 30 emits an induction signal of a different frequency, and the adhesive surface 32 is attached to the ceiling or floor surface of the tunnel shaft 10 and fixed thereto. The reference point block 30 shown in FIG. 3 (a) is for mounting on the ceiling of the tunnel shaft 10.
When installing on the floor of the tunnel, see Fig. 3.
As shown in (b), the reference board 33 is exposed so as to be exposed above the sleepers (not shown) of the track 11.
An auxiliary stand 34 for raising the height is provided between the base 31 and the base 31.

In FIG. 1, 40 is a self-propelled vehicle for surveying which is self-propelled on the track 11 and is installed on the reference point block 30, and 60 is a self-propelled vehicle for block installation which is self-propelled on the track 12. The self-propelled vehicle 40 for surveying is
As shown in (a), a receiver 41 is provided for receiving a guide signal (not shown) from the reference point block 30 and a control signal from a centralized monitoring board S described later. On the other hand, as shown in FIG. 4B, the block-installing self-propelled vehicle 60 has a plurality of reference point blocks 30 and the reference point blocks 30 mounted on the ceiling or floor of the tunnel shaft 10. A block installation device B, which includes, for example, a hopper, an arm, a chuck, and the like, and a receiving device 61 that receives the control signal are mounted.

As shown in FIGS. 4A and 4B, the surveying self-propelled vehicle 40 and the block-installed self-propelled vehicle 60 can be moved up and down by vertical movement mechanisms 42 and 62, respectively. The surveying self-propelled vehicle 40 and the block-installed self-propelled vehicle 6 supported
Telescopic arms 43 and 63 that can extend and contract forward of 0, and track 1
Wheels 44 and 64 for traveling 1 and 12 are provided. Leveling platforms 51 and 71 are attached to the ends of the telescopic arms 43 and 63, and centripetal laser light output devices 52 and 72 that emit a centripetal laser beam are provided below the leveling platforms 51 and 71.
And a centering television camera 53, 73 such as a CCD camera, which images the direction of the centering laser light output devices 52, 72.

In addition, on the upper part of the leveling table 51, 71,
As shown in FIGS. 4A and 4B, collimation laser light output devices 54 and 74 and collimation laser light reception devices 55 and 75, which are part of an automatic tracking device and a light wave range finder, which are not shown.
However, the adjustment mechanism 5 that adjusts the orientation of these three-dimensional directions
7 and 77. Further, the surveying self-propelled vehicle 40 is provided with a collimation television camera 56, such as a CCD camera, for imaging the pointing direction of the collimation laser light output device 54. It is attached to the upper part of the leveling table 51 via the adjusting mechanism 57.

The traveling of the surveying vehicle 40 and the block-installing vehicle 60, the direction adjustment by the adjusting mechanisms 57 and 77, and the operation of the block installing device B are shown in FIG.
As shown in FIG. 3, the centralized monitoring board S installed outside the tunnel shaft 10 can be remotely operated by a control signal (not shown). The image pickup signals from the centripetal and collimation television cameras 53, 56, 73 are sent to the central control board S by wire or wirelessly.
The image pickup screen by the centripetal television cameras 53, 73 is
On the display S1 provided on the central monitoring board S,
For example, the image is displayed as shown in FIG. 5A, while the image pickup screen of the collimation television camera 56 is displayed on the display S2 provided on the central monitoring board S, for example, as shown in FIG.
It is designed to be displayed as shown in (b).

The centralized monitoring board S performs image processing on the image pickup screens of the centripetal television cameras 53 and 73 to the reference point block 30 of the laser light output from the centripetal laser light output devices 52 and 72. The irradiation position of the surveying self-propelled vehicle 40 and the block so that the self-propelled vehicle 40 for surveying and the block-equipped self-propelled vehicle 60 are located immediately above the reference point block 30 based on the detected irradiation position. The position of the self-propelled vehicle 60 for installation is controlled. Further, the centralized monitoring board S performs image processing on an image pickup screen of the collimation television camera 56,
The irradiation position of the laser light output from the collimating laser light output device 54 to the index 22 is detected, and the vertical and horizontal displacements of the shield machine 20 are calculated based on the detected position.

On the other hand, an optical wave range finder (not shown) provided in the surveying self-propelled vehicle 40 uses a laser beam receiving device for collimating the reflected light of the laser beam output from the collimating laser beam output device 54. Based on the result received by 55, the distance from the surveying vehicle 40 to the shield machine 20 is measured, and the centralized monitoring board S detects the distance measurement result and the vertical and horizontal displacement of the shield machine 20. The position coordinates of the shield machine 20 are detected based on

Further, an optical wave range finder (not shown) provided on each of the surveying vehicle 40 and the block-installing vehicle 60 is the surveying vehicle 40 or the block-installing vehicle 60. From the collimating laser light output devices 54 and 74, laser light is output toward the block-installing self-propelled vehicle 60 or the surveying self-propelled vehicle 40, and the reflected light is reflected by the collimating laser light receiving devices 55 and 75. The mutual position coordinates are detected based on the received light. And the self-propelled vehicle 4 for surveying
0 and an automatic tracking device (not shown) provided in each of the block-installed self-propelled vehicles 60, based on the mutual position coordinates detected by the lightwave rangefinder, The self-propelled vehicles 60 automatically track each other and guide the opponent to a predetermined position.

Next, the case where the position measurement of the shield machine 20 is performed using the above-mentioned elements will be described. First, a reference point block 30 is installed on a ceiling or floor surface at a predetermined position of the tunnel shaft 10, and a guidance signal transmitted from the reference point block 30 is received by a receiving device 41 of the surveying vehicle 40. Then, based on this received signal, the surveying vehicle 40 is guided and installed at the position of the tunnel gallery 10 where the reference point block 30 is installed by the control of the centralized monitoring board S.

When installing the self-propelled vehicle 40 for surveying,
The reference plate 33 of the reference point block 30 is irradiated with the laser light from the centering laser light output device 52 of the surveying self-propelled vehicle 40, and the irradiation position is imaged by the centering TV camera 53, and this imaging screen is displayed. By performing image processing on the centralized monitoring board S, the centralized monitoring board S guides and installs the surveying vehicle 40 so that the laser light is irradiated to the central position of the reference panel 33. The position coordinates of the surveying vehicle 40 at this point are grasped by the central monitoring board S side.

Then, the collimation laser light output device 54 of the surveying self-propelled vehicle 40 irradiates the index of the shield machine 20 with laser light, and the irradiation position is imaged by the collimation television camera 56. By subjecting the screen to image processing by the centralized monitoring board S, the displacement of the shield machine 20 in the vertical and horizontal directions seen from the surveying vehicle 40 is determined. In parallel with this, the collimated laser light receiving device 55 receives the reflected wave of the laser light emitted from the collimated laser light output device 54 to the index of the shield machine 20, and based on this, the surveying self-propelled light is received. The distance from the vehicle 40 to the shield machine 20 is measured, and the centralized monitoring board S detects the position coordinate of the shield machine 20 based on the distance measurement result and the vertical and horizontal displacement of the shield machine 20. To do.

In the case where the laser light output from the collimation laser light output device 54 cannot be applied to the index 22 due to the excavation of the shield machine 20, the collimation television camera 56 is used. The centralized monitoring board S that has image-processed the imaged imaged screen detects this, and outputs a control signal at this point to allow the block-installed vehicle 60 to stand by at a predetermined position outside the tunnel shaft 10, The vehicle is guided to the coordinate position of the surveying vehicle 40. When the block-installing self-propelled vehicle 60 reaches the vicinity of the surveying self-propelled vehicle 40, laser light is guided from the collimation laser light output device 54 based on a control signal from the centralized monitoring board S. A signal is transmitted to the block-installing self-propelled vehicle 60, and this laser light is received by the collimating laser light receiving device 75 of the block-installing self-propelled vehicle 60, while the sighting of the surveying self-propelled vehicle 40 is performed. The direction of the laser beam output from the compliant laser beam output device 54 is changed.

Along with this, the automatic tracking device (not shown) of the block-installed self-propelled vehicle 60 is operated by the survey self-propelled vehicle 40.
Self-propelled vehicle 6 for block installation by tracking laser light from the side
0 to move the self-propelled vehicle 60 for installing the block.
Is a range on the track 12 between the shield machine 20 and the surveying self-propelled vehicle 40 and capable of receiving the laser light output from the collimation laser light output device 54 of the surveying self-propelled vehicle 40. It is guided and installed at the position of the tunnel tunnel 10 inside.

At the position of the tunnel shaft 10, the block-installing vehicle 60 is operated by the block-installing device B mounted on the block-installing vehicle 60 to generate a guide signal having a frequency different from the guide signal transmitted from the reference point block 30. A new reference point block 30 for transmitting is installed on the ceiling or floor surface of the tunnel tunnel 10 on the vertical line of the track 11, and after installation, it exits the tunnel tunnel 10. After that, the surveying vehicle 40 receives the guidance signal from the new reference point block 30 with the receiving device 41, and, for example, based on the received intensity, the tunnel in which the new reference point block 30 is installed. Move to mine position 10.

After the movement, the position where the laser beam from the centripetal laser beam output device 52 as described above is applied to the reference plate 33 of the new reference point block 30 is set to the central monitoring panel. The central monitoring board S guides the surveying vehicle 40 so that the laser light is irradiated to the central position of the reference board 33 based on the detection result detected by the image processing performed on the S side. , Install.

The collimating laser light output device 54 of the surveying self-propelled vehicle 40 is directed toward the index 22 based on the position of the shield machine 20 detected by the centralized monitoring board S before the movement. Output and irradiate laser light,
The position measurement of the shield machine 20 is performed by the same operation as described above.

In the present embodiment, the case of measuring the position of the shield machine 20 that travels in the tunnel gallery 10 has been described. However, the present invention is applicable to, for example, a heavy construction machine that performs construction work on a predetermined construction site. It is also applicable to the case of measuring the position, and in this case, as shown in FIGS. 6 (a) and 6 (b), the self-propelled vehicle 40 for surveying and the self-propelled vehicle 60 for block installation are respectively provided. Alternatively, endless belts 45 and 65 may be provided instead of the wheels 44 and 64 for orbital traveling so as to freely travel on the above-mentioned construction ground (not shown).

[0024]

As described above, according to the method for automatically measuring the position of a moving object of the present invention, an index is provided on a moving object that moves within a predetermined area, and the mobile object can be self-propelled installed at a predetermined position within the predetermined area. Laser light output from the self-propelled vehicle for surveying, irradiating the index while automatically tracking the index, when automatically measuring the position of the moving object, along with the movement of the moving object, When the tracking of the index from the surveying self-propelled vehicle becomes impossible, it is between the moving object and the surveying self-propelled vehicle and within a range in which tracking from the surveying self-propelled vehicle is possible. A reference point block that guides and installs a block-installing self-propelled vehicle capable of self-propelling in the predetermined area at the predetermined area position, and transmits a guidance signal of a unique frequency to the predetermined area position at the installation position. , The block installation device on the self-propelled vehicle for installing the block Ri is established, moving the surveying self-propelled vehicle in the predetermined area position where the reference point blocks are assembled and to be installed. For this reason, the movement of the surveying means for measuring the position of the moving object and the change of the installation position can be automatically performed without the need of manpower, which accompanies the movement of the moving object moving in the predetermined area. It is possible to automate the work of measuring the position, and consequently to perform the posture control of the moving object by feedback control unattended.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing an embodiment of an automatic position measuring method for a moving object of the present invention.

FIG. 2 is an explanatory diagram showing a schematic configuration of the index of FIG.

3 shows a schematic configuration of the reference point block of FIG. 1, FIG. 3 (a) is an explanatory view showing a reference point block for ceiling mounting, and FIG. 3 (b) is a reference point block for floor mounting. FIG.

4 (a) is an explanatory diagram showing an example of a schematic configuration of the surveying vehicle as shown in FIG. 1, and FIG. 4 (b) is an example of a schematic configuration of the block-installing vehicle as shown in FIG. FIG.

5 shows the contents of the screen displayed on the display of the centralized monitoring board of FIG. 1, FIG. 5 (a) is an explanatory view showing an image pickup screen by a centripetal television camera, and FIG. 5 (b) is for collimation. It is explanatory drawing which shows the imaging screen by a television camera.

FIG. 6 shows another example of the surveying vehicle and the block-installing vehicle shown in FIGS. 4 (a) and 4 (b).
FIG. 6 is an explanatory diagram showing another example of the surveying vehicle, and FIG. 6B is an explanatory diagram showing another example of the block-installing vehicle.

[Explanation of symbols]

 10 tunnel shaft (predetermined area) 20 shield machine (moving object) 22 index 30 reference point block 40 self-propelled vehicle for surveying 54 laser light output device for collimation 60 self-propelled vehicle for block installation B block installation device

Claims (1)

[Claims] 1. A method for automatically measuring the position of a moving object moving in a predetermined area, wherein an index is set at a predetermined position of the moving object, and the index is set at a predetermined position in the predetermined area. A self-propelled surveying self-propelled vehicle is installed, the index is irradiated with laser light from the surveying self-propelled vehicle, and the position of the moving object is measured while automatically tracking the index, With the movement of the moving object, when it becomes impossible to track the index from the surveying self-propelled vehicle installed at the predetermined position, a guidance signal is transmitted from the surveying self-propelled vehicle, Based on the guidance signal from the surveying self-propelled vehicle, at the predetermined area position between the moving object and the surveying self-propelled vehicle and within a range where tracking from the surveying self-propelled vehicle is possible, Guide and install a self-propelled vehicle for block installation that can be self-propelled in the area. A standard for transmitting an induction signal of a unique frequency different from the induction signal by the block installation device mounted on the block installation vehicle at the predetermined area position in the installation position of the vehicle installation vehicle for installation A point block is installed, and based on a guidance signal from the reference point block, the surveying vehicle is moved to and installed in the predetermined area position where the reference point block is installed. A method for automatically measuring the position of a moving object.