JPH06158982A - Automatic measuring method for shield machine - Google Patents

Abstract

PURPOSE:To make it possible to automatically measure the position of a shield machine along a straight line and curved line of a tunnel, wherein accumulation of measuring errors is not generated and turning work is easily completed, while turning accuracy is not required. CONSTITUTION:Positions of a target 13 placed in a tunnel 1 are measured, following which a direction angle thetag of a shield machine 3 is measured by means of a gyrocompass 7 in the machine 3 which is excavating and distances R1, R2 from the target 13 are measured by means of a light-wave range finders 9, 11 and differences in level between the target 13 and the range finders 9, 11 are measured by means of a level sensor 15 and a rolling meter 12. By using these values, positions of the machine 3 are measured. When the range finders 9, 11 can no longer aim at the target 13, the target 13 and the level sensor are turned. At a given time, the position of the target 13 is remeasured by an ordinary measuring method to correct coordinates of the position of the target.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic surveying method for automatically measuring the position of a shield machine during excavation in shield tunnel construction.

[0002]

2. Description of the Related Art Recently, underground tunnels using shield machines have been actively constructed, but when constructing such underground tunnels, it is necessary to accurately measure the position of the shield machine during excavation operation. is there. The method of measuring the position of the shield machine during the excavation operation is as follows. A method of calculating the relative movement amount based on the measurement value of the meter. (2)
An optical wave rangefinder is installed in the existing tunnel, the optical target installed on the shield machine is measured, the position of the optical target is determined as an absolute position, and the mounting relationship of the optical target to the shield machine and the shield machine are set. A method to calculate the position of the shield machine from the installed gyro compass, inclinometer measurement value, and optical target position. (3)
A method that uses a laser beam attitude angle detector instead of the gyro compass and inclinometer mounted on the shield machine.
(4) There is a method of using the above-mentioned method together. According to such a method, it is possible to measure both the straight line portion and the curved line portion of the tunnel.

[0003]

However, in the method of calculating the relative movement amount of (1), the measurement error is accumulated unless the position of the shield machine as a reference before the start of excavation is actually measured and corrected. There is a problem of doing. In the method (2) or (3) using the light-wave distance-measuring finder, the laser, etc., since the optical path of the light-wave or the laser is interrupted when the tunnel curve is dug, the measuring instrument must be replaced ( The positions must be changed), and this refilling work requires high accuracy, and the refilling work itself is not easy and takes a long time.

The present invention has been made in view of the above problems, and an object thereof is to prevent the accumulation of measurement errors, to easily perform the refilling work in a short time, and to refill it. It is an object of the present invention to provide an automatic surveying method for a shield machine that can automatically measure the position of the shield machine at a straight section and a curved section of a tunnel without requiring accuracy.

[0005]

In order to achieve the above-mentioned object, the present invention measures the position of a shield machine equipped with a first lightwave rangefinder, a second lightwave rangefinder and a gyro compass. In the automatic survey method of the shield machine, (a)
Measuring the position of the target installed in the tunnel; (b) measuring the first distance between the first lightwave distance meter and the target by the first lightwave distance meter; ) Measuring the second distance between the second lightwave distance meter and the target with the second lightwave distance meter; and (d) measuring the azimuth angle of the shield machine with the gyrocompass. , (E) measuring a level difference between the target and the shield machine with a level sensor, and (f) using the first distance, the second distance, the azimuth angle, and the level difference, the shield A step of calculating the position of the machine, re-arranging the target and the level sensor at an arbitrary time, re-measurement of the position of the target, and repeating steps (b) to (f). Features It is an automated surveying method of shield machine.

[0006]

In the present invention, the position of the target installed in the tunnel is measured, the first distance to the target is measured by the first lightwave distance meter, and the second distance from the target is measured by the second lightwave distance meter. The distance is measured, the azimuth angle of the shield machine is measured with a gyro compass, the level difference between the target and the shield machine is calculated by the level sensor, and the first distance, the second distance, the azimuth angle, and the level difference are used. Measure the position of the shield machine. Then, at an arbitrary time point, the target and the level sensor are exchanged, and the position of the target is measured again.

[0007]

Embodiments of the present invention will now be described in detail with reference to the drawings.

FIG. 1 is a schematic plan view of a tunnel. In the figure, reference numeral 1 is a tunnel, 3 is a shield machine, and 5 is a trailing carriage. A gyro compass 7 and lightwave rangefinders 9 and 11 are installed in the shield machine 3. The gyro compass 7 measures the azimuth θg of the shield machine 3, the lightwave rangefinder 9 measures the distance between the lightwave rangefinder 9 and the target 13, and the lightwave rangefinder 11 measures the lightwave rangefinder 11 and the target 13.
Measure the distance to. Reference numeral 13 is a target including an LED, a mirror, etc., and a level sensor 15 for measuring the level difference between the target 13 and the shield machine 3 and a rolling meter 12 for calculating the level difference between the lightwave rangefinders 9 and 11 are installed. It FIG. 2 is a diagram showing the level sensor 15.
The level sensor 15 includes a pipe 18a having a vertical portion 16a and a horizontal portion 17a, a pipe 18b having a vertical portion 16b and a horizontal portion 17b, and a differential pressure gauge 19. Water is loaded in the tubes 18a and 18b.

The water head h1 of the vertical portion 16a is set as the target 13
And the head h2 of the vertical portion 16b is adjusted to the height of the shield machine 3. As the height of the shield machine 3,
The height of the midpoint of the lightwave rangefinder 9 and the lightwave rangefinder 11 is used. A pressure p1 according to the head h1 is applied to the target 13 side of the differential pressure gauge 19, and a pressure p2 according to the head h2 is applied to the shield machine 3 side of the differential pressure gauge 19. Differential pressure gauge 19
Calculates the differential pressure p1-p2. This differential pressure p1-p2
Is the head difference h1-h between the target 13 and the shield machine 3.
Since it corresponds to 2, the level difference between the shield machine 3 and the target 13 can be measured by the differential pressure gauge 15.

Next, an automatic surveying method of the shield machine 3 will be described. In FIG. 1, a target 13 is installed in the tunnel 1 and the position of this target 13 is measured by a general surveying method. Next, the target 13 is collimated by the lightwave rangefinder 9 installed in the shield machine 3 during the excavation, and the distance R1 between the lightwave rangefinder 9 and the target 13 is measured. Similarly, the target 13 is collimated by the light distance meter 11 and the distance R2 between the light distance meter 11 and the target 13 is measured.
Further, the azimuth θg of the shield machine 3 is measured by the gyro compass 7, and the level difference between the target 13 and the optical distance meters 9, 11 is measured by the level sensor 15 and the rolling meter 16.

Here, the angle θ measured by the rolling meter 12
When _R, the level difference between the distance measuring instrument 9 h3, if the level difference between the distance measuring instrument 10 and h4, the _{h3 = h2-1 / 2tanθ R h4 =} h2 + 1 / 2tanθ R.

In this way, the position coordinates of the shield machine 3 are obtained by using the measured values and following the procedure described below. 3 to 4 are diagrams for explaining this procedure. Since the distance R1 between the lightwave range finder 9 and the target 13 and the distance R2 between the lightwave rangefinder 11 and the target 13 are measured, as shown in FIG. Draw a sphere 23 of R2.

An optical distance meter 9 is present on the sphere 21, and the sphere 23
There is a lightwave rangefinder 11 above. The distance between the lightwave rangefinder 9 and the lightwave rangefinder 11 is a constant length L. There are innumerable straight lines each having both ends on the sphere 21 and the sphere 23 and having a length L. In such a myriad of straight lines, as shown in FIG. 3 and FIG.
The azimuth angle of the orthogonal projection of the straight line connecting the lightwave rangefinder 9 and the lightwave rangefinder 11 on the cutting planes 33 and 35 obtained by cutting 1 and 23 with the plane including the target 13 is θg, and the height of the lightwave rangefinder 9 is high. A straight line having a height h1-h3 and a height h1-h4 of the lightwave rangefinder 11 is specified as one.

Therefore, the coordinates of the lightwave rangefinders 9 and 11 are specified. That is, the position of the shield machine 3 during the excavation is measured. By repeating the above procedure, the position of the shield machine 3 during the excavation can be continuously measured.

When the shield machine 3 is advanced and the target 13 cannot be measured by the lightwave rangefinders 9 and 11, the target 13 and the level sensor 15 are replaced.
At this time, the shield machine 3 is stopped, the target 13 and the level sensor 15 are moved, and the retargeted target 1
The position coordinates of 3 are calculated.

FIG. 6 is an explanatory diagram for calculating the position of the target 13 after refilling. In FIG. 6, L1
(X1, y1, z1) is the position of the lightwave rangefinder 9, L2 (x
2, y2, z2) is the position of the lightwave rangefinder 11, T1 (x
3, y3, z3) is the position of the target 13 before the rearrangement, T2 (x4, y4, z4) is the position of the target 13 after the rearrangement, and L1 '(x1, y1, 0), L2
′ (X2, y2,0), T1 ′ (x3, y3,0), T
2 '(x4, y4, 0) are L1, L2, and T, respectively.
It is a point that represents an orthogonal projection of the plane of z = 0 of T1 and T2. Since the shield machine 3 is stopped before and after the refilling, the positions of L1 and L2 are unchanged.

As described above, the T
The coordinates of 1, L1 and L2 have been obtained. Therefore, the coordinates of the orthographic projections T1 ', L1', L2 'are also obtained. That is, x1, y1, z1, x2, y2, z2, x3,
y3 and z3 are known, and x4, y4 and z4 are unknown.

After refilling, the lightwave rangefinders 9 and 11
Then, the target 13 is collimated and the distances R1 ′ and R2 ′ between the lightwave rangefinders 9 and 11 and the target 13 are obtained. In addition, the level sensor 15 allows the target 13 after refilling.
And the level difference between the lightwave rangefinders 9 and 11 are obtained, the position z4 of the target 13 in the z-axis direction after the refilling is obtained.

Next, the length R of T2'L1 'and T2'L2'
3, When R4, R3, R4 is R3 = determined by - - {(z4-z1) 2 R2' 2} 1/2 {R1' 2 (z4-z1) 2} 1/2 R4 =.

Since the coordinates of L1 'and L2' are specified on the plane of z = 0, when R3 and R4 are obtained, the triangle L1'L2'T2 'is determined and the position of T2' is calculated. It That is, x4 and y4 are obtained.
Since the z-axis coordinate z4 of the retargeted target 13 is obtained by the level sensor 15 and the rolling meter 12, the coordinates (x4, y4, z4) of the position T2 of the retargeted target 13 are obtained.

In this way, the position of the target 13 after the refilling is obtained, so that the shield machine 3 is advanced again and the position of the shield machine 3 is measured in the same manner as the above-mentioned procedure. Then, the position of the target 13 is measured at an arbitrary time point by a general surveying method to correct the position coordinates of the target 13.

Thus, in the present embodiment, the accumulation of measurement errors does not occur, the refilling work is completed in a short time, the refilling accuracy is not required, and the shield machine is used in the straight and curved portions of the tunnel. The position of can be measured automatically.

[0023]

As described above in detail, according to the present invention, the accumulation of measurement errors does not occur, the refilling work is completed in a short time, the refilling accuracy is not required, and the tunneling is not required. The position of the shield machine can be automatically measured at the straight and curved parts of.

[Brief description of drawings]

FIG. 1 is a schematic plan view of tunnel 1.

FIG. 2 is a diagram showing a configuration of a level sensor 15.

FIG. 3 is a view showing spheres 21 and 23 having a target 13 as a center.

FIG. 4 is a diagram showing a straight line having an azimuth angle θg on the planes 33 and 35.

FIG. 5 is an explanatory diagram for obtaining the position of the target 13 after refilling.

[Explanation of symbols]

 1 ………… Tunnel 3 ………… Shielding machine 7 ………… Gyro compass 9, 11 ………… Lightwave rangefinder 12 ………… Rolling meter 13 ………… Target 15 ………… Level sensor

Claims (1)

[Claims] 1. An automatic surveying method for a shield machine for measuring the position of a shield machine equipped with a first lightwave rangefinder, a second lightwave rangefinder, and a gyro compass, wherein: Measuring the position of the target; (b) measuring the first distance between the first lightwave rangefinder and the target by the first lightwave rangefinder; and (c) the second range. A step of measuring a second distance between the second light wave distance meter and the target by a light wave distance meter; (d) a step of measuring an azimuth angle of the shield machine with the gyro compass; (e) a level Measuring a level difference between the target and the shield machine with a sensor; (f) the first distance, the second distance, the azimuth angle,
Calculating the position of the shield machine using the level difference, re-arranging the target and the level sensor at any time, and measuring the position of the target again. An automatic surveying method for a shield machine, characterized by repeating the step (f).