JPH07119382A - Automatic measuring method of shield excavator - Google Patents

Abstract

PURPOSE:To facilitate re-shoring and to make it possible to measure positions of both reflected prisms with high degree of accuracy even if they have complicated lines such as a curve, etc. CONSTITUTION:Reflected prisms 1a and 1b are fixed to two positions in a tunnel, a pair of automatic tracking light wave distance and angle measuring devices 2a and 2b are mounted to a shield excavator M, positions of both reflected prisms are measured from known poits, a position and an attitude of the shield excavator M are successively calculated by the distance and angle measuring devices with the positions of the reflected prisms of the known points as the reference points and are obtained, and a position in the case the shield excavator is advanced by a specific distance is stored. Under such a state, the reflected prisms fixed to two position are remounted, and positions of the remounted reflected prisms are measured by the distance and angle measuring devices with the stored position of the shield excavator as the reference point. The value is substituted for reference value and is stored as renewal reference value, and in the case excavation is started again, the position and attitude of the shield excavator are successively measured by the distance and angle measuring devices with the renewal reference value as the reference point.

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 a shield machine.

[0002]

2. Description of the Related Art Recently, in a shield construction method for constructing a tunnel in the ground such as in an urban area, an increase in cross section, underground connection,
Or, due to the complicatedness of the linearity, highly accurate construction, particularly highly accurate linear management is required.

And, such high precision linear control is
Since conventional optical surveying by a worker is unreliable and complicated, an automatic surveying instrument using a laser beam or a gyro compass has recently been developed, and its use record is increasing.

[0004]

However, in the automatic surveying instrument using the above laser beam, due to the straightness of the laser beam, the position of the laser oscillator is frequently moved in the linear shape including the curve (the surveying instrument, Alternatively, moving the surveying target for each predetermined surveying distance is referred to as "refilling." This is not only complicated, but also has a risk of causing an error at the time of refilling. Further, when the laser light wave reaching distance becomes long, there is a problem that the laser light is diffused and the luminous flux spreads, and the luminous flux of the laser light fluctuates due to temperature and humidity, resulting in a large survey error.

A surveying device using a gyro compass uses a sensor indicating the true north, so that the installation location and
It is easily affected by the environment such as vibration, and since this gyro compass measures only the azimuth, it is necessary to convert this measurement value into position data using distance data and use it. There was also a problem that the position could not be calculated if the shield machine had slips or the like.

Further, the automatic surveying instrument using the laser beam and the surveying instrument using the gyrocompass both have a surveying machine installed at a known point P1 behind the shield machine M as shown in FIG. Since the predetermined points Q1 and Q2 of the shield machine M are used as survey targets, the known point P1 is moved forward when the surveying distance becomes long or the predetermined points Q1 and Q2 cannot be collimated at the curved portion. Therefore, it is necessary to move the surveying device to the known point P2 for refilling, which has been newly measured and becomes a new known point, and there is a problem that this refilling work is complicated.

Therefore, the present invention has been made to solve the above-mentioned problems, and an object thereof is to provide an automatic surveying method for a shield machine which is easy to replace and can accurately measure even a complicated linear shape such as a curve. It was done.

[0008]

In order to solve the above-mentioned problems, in order to solve the above-mentioned problems, the structure of the present invention, which is based on the above-mentioned claims, has two reflecting prisms 1a, 1b is fixed, the shield machine M is equipped with a pair of automatic tracking type optical rangefinders 2a and 2b, and a computer for calculating output values of both automatic tracking type optical rangefinders 2a and 2b Prepare C and, first, known point P
Measure the positions of the above-mentioned both reflection prisms 1a and 1b from
The values of the positions of the both reflecting prisms 1a and 1b are input to the computer C as a reference value, and then the positions of the both reflecting prisms 1a and 1b which have become known points are used as the reference points, and the automatic tracking type optical distance measuring and angle measuring device 2a is used. , 2b shield machine M
The position and orientation of the shield machine M are sequentially calculated by the computer C, and when the shield machine M advances by a predetermined distance, the shield machine M is stopped, the position of the shield machine M at that time is stored in the computer C, and the position is maintained. In this state, the two reflecting prisms 1a and 1b are reattached to a position ahead of the excavation from the previous fixed position, and the positions of the two reflecting prisms 1a and 1b reattached before resuming the excavation are stored in the computer. The position of the machine M is used as a reference point for measurement by the automatic tracking type rangefinders 2a and 2b, the value is replaced with the reference value and stored as an update reference value, and when the excavation is restarted, the replaced update reference value A technical means is adopted in which the position and the posture of the shield machine M are successively measured by the automatic tracking type optical wave distance measuring and goniographs 2a and 2b with the reference point as the reference point. That.

[0009]

Next, the operation of the present invention will be described. According to the surveying method of the present invention, the reflection prisms 1a and 1b fixed at two points in the existing tunnel T are known from a known point P (a point measured by a conventionally known surveying method such as a lower part of a shaft excavated from the ground). Since the positions are measured, the positions of the reflection prisms 1a and 1b are specified.

The birefringent prism 1 which has become a known point
Using the positions of a and 1b as reference points, in other words, targeting the both reflection prisms 1a and 1b, the reflection prisms 1a and 1b and the automatic tracking light wave are detected by the automatic tracking type optical wave distance measuring and angle measuring devices 2a and 2b. Distance and angle of a straight line connecting the attachment center points of the rangefinders 2a and 2b (X-axis direction,
(Inclination in the Y-axis direction), the two points of the shield machine M, that is, the three-dimensional positions of the center points of the mounting of the automatic tracking type optical wave rangefinders 2a and 2b attached to the shield machine M are determined. Since each can be specified, the position and orientation of the shield machine (three-dimensional inclination of the central axis of the shield machine M) can be known by computing the three-dimensional position of these two points with the computer C.

The error increases as the distance between the reflecting prisms 1a and 1b and the automatic tracking type optical wave distance measuring and angle measuring instruments 2a and 2b increases, and even if this distance is small, the light wave is blocked at the curved portion. Since the reflection prisms 1a and 1b may not reach the reflection prisms 1a and 1b, it is necessary to replace the reflection prisms 1a and 1b at appropriate distances. Conventionally, in this reshuffling, the surveying device has to be moved to the reshuffling known point Pn measured from the known point P, and it is a very complicated work to set the installation position accurately, In the case of the present invention, the reflecting prisms 1a, 1
b is attached, and its attachment position can be calculated and calculated by the computer C by using the position of the shield machine M, which is already known, as a reference point, by the automatic tracking type optical wave rangefinders 2a and 2b. Exerts an action.

Then, the re-attached reflecting prism 1
If the positions of a and 1b are obtained, the same applies to the following.
The automatic tracking type optical wave distance measuring and angle measuring instruments 2a and 2b have an effect of being able to measure the position and the posture of the shield machine M.

[0013]

Embodiments of the present invention will be described below with reference to the accompanying drawings. First, according to the method of the present invention, the reflecting prisms 1a and 1b are fixed at two positions in the existing tunnel T,
The shield machine M is equipped with a pair of automatic tracking type optical distance measuring and ranging instruments 2a and 2b, and a computer C for calculating output values of both automatic tracking type optical distance measuring and observing instruments 2a and 2b is prepared. .

As the reflection prisms 1a and 1b, those which are conventionally known corner cube prisms and the like, which reflect the light waves emitted from the later-described automatic tracking type lightwave distance measuring angle measuring devices 2a and 2b, are used.

Further, the above-mentioned automatic tracking type light wave distance measuring and angle measuring device 2
For a and 2b, conventionally known ones that radiate a light wave for distance measurement and receive reflected light to calculate the distance to the reflection prisms 1a and 1b can be used, but the light receiving part also has a light receiving part for automatic tracking. Has been done. That is, although not shown, there is a light receiving unit for distance measurement in the center, and a plurality of light receiving units for automatic tracking for receiving the reflections from the reflection prisms 1a and 1b are provided around the light receiving unit (usually left, right, up and down). The four light receiving portions are sometimes referred to as a four-division light receiving element.). The automatic tracking light receiving unit compares the amount of light received by the light receiving units facing each other, such as vertically and horizontally. These light receiving units (actually, the main body of the distance measuring and angle measuring device that holds the light receiving units) use the center point of the central distance measuring light receiving unit as a fulcrum, and use the vertical tilt angle and the horizontal tilt angle as drive sources. Changeable and none,
This drive source is controlled by the comparison value signal of the automatic tracking light receiving unit so that the light receiving amount of the opposing automatic tracking light receiving unit is always the same, that is, the automatic tracking lightwave range finder 2 is always The reflective prisms 1a and 1b, which are survey targets, are automatically tracked so as to collimate them. In the method of the present invention, instead of the four-division light receiving element, scanning irradiation is performed by assuming a certain irradiation plane with point laser light, and the driving source is set to a scanning signal value at the time when reflected light is input during scanning. You may use what controls.

Further, the above-mentioned automatic tracking type light wave distance measuring and angle measuring device 2
As described above, the tilt angle is changed by automatic tracking, but it also has the function of outputting the changed value of the tilt angle as an electric signal value, and has the function of a total station that can measure both distance and angle. To have.

The computer C, as shown in FIG. 2, has a first computing means C1 and a second computing means C2.
A first external inputting means C3, a memory updating means C4, a first judging means C5 for judging the presence or absence of a signal from a second external inputting means (not shown), and a shield excavation when the first judging means C5 operates. It comprises a storage means C6 for storing the position of the machine, a second determination means C7 for determining the presence or absence of a signal from a third external input means (not shown), and a display means C8. Then, each of the above means will be described below along with the measuring method of the present invention.

First, according to the method of the present invention, first, the positions of the reflection prisms 1a and 1b are measured from a known point P, and the value of the positions of the reflection prisms 1a and 1b is input to the computer C as a reference value. However, the known point P is identified by the conventional surveying method such as the lower part of the shaft, and the position of both reflection prisms 1a and 1b is also measured by the conventional method from the known point P.

Then, the positions (XP1, YP1, ZP1) (X) of the two reflecting prisms 1a, 1b measured as described above are measured.
P2, YP2, ZP2) is input to the computer C by the first external input means C3. The first external input means C3 is composed of a keyboard or the like, and the positions of the birefringent prisms 1a and 1b ( XP1, YP1, ZP
1) Memory update means C as (XP2, YP2, ZP2)
Enter in 4.

Then, the memory reverse drive means C4 converts the input value from the first external input means C3 into the second operation means C2 described later.
When there is no signal input, the memory value is updated to the newly input value and the updated value n (XP1, Y) of the positions of both reflection prisms 1a and 1b is updated.
P1, ZP1) and n (XP2, YP2, ZP2) are updated and stored, and the updated value is output to the first computing means C1.

Then, the position and attitude of the shield machine M are successively determined by the automatic tracking type optical distance measuring and angle measuring instruments 2a and 2b with the positions of the both reflection prisms 1a and 1b, which are known points, as reference points. The calculation is performed by C, and this calculation is performed by the first calculation means C1. In addition,
The input signals from the automatic tracking type optical distance measuring and measuring instruments 2a and 2b are distance values (L1, L2) of line segments connecting the both reflecting prisms 1a and 1b and the two automatic tracking type optical distance measuring and measuring instruments 2a and 2b. And the angle values of the line segment (Θx1, Θy1), (Θx2, Θy2)
Is.

Then, the first computing means C1 updates the update values n (XP1, YY1, ZP1), n of the memory updating means C4.
(XP2, YP2, ZP2) and the surveyed values (L1, Θx1, Θy1) of both automatic tracking type optical distance measuring and angle measuring instruments 2a, 2b,
From (L2, Θx2, Θy2) and two positions of the shield machine M (X3, Y3, Z3), (X4, Y4, Z4)
And the tilt angle Θ of the central axis of the shield machine M is calculated. The values of the positions of the respective parts, including the current positions (X3, Y3, Z3) and (X4, Y4, Z4) of the two points of the shield machine M, are the coordinate origin from the first known point P. It is shown by the three-dimensional value. Further, in the present embodiment, the position of the shield machine M is set to be both automatic tracking type optical wave distance measuring and angle measuring instruments 2a and 2b.
It is assumed that it corresponds to the mounting position of the shield excavator M and the both automatic tracking type optical wave range finder 2 from this value.
Since it is easy to obtain the intersection with the plane including the attachment reference points a and 2b (the central point of the central distance measuring light receiving portion), it is of course possible to calculate up to this value.

The results (X3, Y3, Z3), (X4, Y4, Z4), calculated by the first calculating means C1,
Θ is sequentially displayed on the display means C8, and although not shown in the figure, it may be output to a hard copy output device or the like as necessary.

When the shield machine M advances by a predetermined distance, the shield machine M is stopped, the position of the shield machine M at that time is stored in the computer C, and the reflection prisms at the above two positions are kept as they are. 1a and 1b are reattached to a position ahead of the excavation from the previously fixed position (this reattachment means moving the reflecting prisms 1a and 1b, but leaving the reflecting prisms 1a and 1b as they are, Another pair of reflecting prisms 1a and 1b may be attached to the above), and the positions of the two reflecting prisms 1a and 1b reattached before resuming the excavation are set with the position of the shield excavator M already stored in the computer C as a reference point. The distance is measured by the automatic tracking type rangefinders 2a and 2b, and the value is replaced with the reference value and stored as the updated reference value.

That is, the second calculation means C2 calculates the above-mentioned update reference value, and when the operation of the shield machine M is stopped, the second external input device (switch or the like) is operated,
The first determination means C5 is activated. When the first determining means C5 operates, the shield machine M at that time
The position (X3, Y3, Z3) (X4, Y4, Z4) is stored in the storage means C6. The second calculation means is C2
Is the position of this shield machine M (X3, Y3, Z3)
(X4, Y4, Z4) and the measurement values (L1, Θx1, Θy1), (L1, Θx1, Θy1) of both automatic tracking type optical distance measuring and angle measuring instruments 2a, 2b.
2, Θx2, Θy2), the positions of the re-attached birefringent prisms 1a and 1b are (n + 1) (XP1, YP
1, ZP1), (n + 1) (XP2, YP2, ZP2)
To measure.

The value (n + 1) (XP1, YP) of the position of the re-attached both reflection prisms 1a, 1b.
1) and (n + 1) (XP2, YP2) are not stable because the reflecting prisms 1a and 1b are moving during the refilling work, and the refilling is completed and the automatic tracking type optical wave measuring and angular range 2
When the automatic tracking of a and 2b is completed, it becomes stable. Therefore, by visually observing the display means C8 and manually operating the third external input means C7 (switch etc.), the birefringent prism 1 at that time is displayed.
Value at position a, 1b (n + 1) (XP1, YP1, ZP
1) and (n + 1) (XP2, YP2, ZP2) are output to the memory updating means C4 and the position values n (XP1, YP1, ZP1), n (XP2, Y) of the conventional reflecting prisms 1a, 1b are output.
P2, ZP2) as a new value (n + 1) (XP1, YP
1, ZP1), (n + 1) (XP2, YP2, ZP2)
It is designed to be updated to. ,

Then, the re-attached birefringent prism 1
The value (n + 1) at position a, 1b (XP1, YP1),
When (n + 2) (XP2, YP2) is updated, that is, (n + 1) (XP1, YP1, ZP1), (n +
1) The value of (XP2, YP2, ZP2) is set to a new stored value n
(XP1, YP1, ZP1), n (XP2, YP2, Z
After updating to the memory updating means C4 as P2), the operation of the shield machine M is restarted. Then, when the excavation is resumed, the replaced update reference value n (XP1, YP1, Z
P1) and n (XP2, YP2, ZP2) are used as reference points to automatically measure the position and orientation of the shield machine M again by the automatic tracking type optical wave distance measuring and angle measuring instruments 2a and 2b.

Incidentally, in the above, the reflecting prisms 1a, 1
Although b may be left without moving, and new reflecting prisms 1a and 1b may be separately attached to new positions, the remaining reflecting prisms 1a and 1b are such that the tunnel T does not change the properties of the surrounding ground. It can be used to check if there is a change in the cause. However, in this case, the automatic tracking type optical distance measuring and angle measuring rigs 2a and 2b continue to track the remaining reflecting prisms 1a and 1b, and thus the remaining reflecting prisms 1a and 1b.
b has a need to temporarily block tracking by temporarily blocking it.

[0029]

Since the present invention is as described above, accurate re-measurement can be performed by setting the re-positioning of the reflecting prisms 1a and 1b at an appropriate position, not at the precisely measured position. It is possible to provide an automatic surveying method for a shield machine that can simplify the re-sampling of required surveys.

In the present invention, the reflecting prisms 1a, 1
It is possible to provide an automatic surveying method for a shield machine that can ensure highly reliable surveying, since it is possible to automatically perform surveying except for mounting b, and it is not necessary to manually change the surveying points.

[Brief description of drawings]

FIG. 1 is a perspective view of a tunnel in which an automatic surveying method for a shield machine according to the present invention is being performed.

FIG. 2 is a block circuit diagram of a computer used in the method of the present invention.

FIG. 3 is a plan view of a tunnel in which a conventional surveying method is being performed.

[Explanation of symbols]

 1a Reflective prism 1b Reflective prism 2a Automatic tracking type lightwave distance measuring gonio 2b Automatic tracking type lightwave distance measuring gonio C Computer M Shield excavator T tunnel

Front page continuation (72) Inventor Tachibana ▲ Taka ▼ Koji Osaka Prefecture, Osaka City Higashiyodogawa-ku 1-3-36 Nishi-Awaji Co., Ltd. Tachibana ▲ Taka ▼ Engineering Research Institute (72) Inventor Hiromi Tsuboi Shimotsuruma, Kanagawa 2570-4 Nishimatsu Construction Co., Ltd. Technical Research Laboratory (72) Inventor Masanori Ishii 1-20-10 Toranomon, Minato-ku, Tokyo Nishimatsu Construction Co., Ltd.

Claims (1)

[Claims] 1. A reflection prism is fixed at two places in an existing tunnel, a pair of automatic tracking type optical wave rangefinders are attached to the shield machine, and further both automatic tracking type optical rangefinders are installed. Prepare a computer that calculates the output value of, and first measure the positions of the above two reflection prisms from known points, input the values of the positions of both reflection prisms into the computer as reference values, and then The position and orientation of the shield machine are sequentially calculated by the computer by the automatic tracking type optical wave distance and angle measuring instrument with the position of the both reflection prisms as the reference point, and when the shield machine advances a predetermined distance, the shield machine Stop the excavator, store the shield excavator's position at that time in the computer, and reattach the above two reflection prisms to the excavation forward position from the previous fixed position in that state. The position of the double-reflection prism that was reattached before resuming the excavation was measured with the automatic tracking type rangefinder using the position of the shield machine, which was already stored in the computer, as a reference point, and the value was replaced with the reference value and updated. When the shield excavator is stored as a reference value and the excavation is resumed, the position and orientation of the shield excavator are sequentially measured by the automatic tracking type optical wave rangefinder using the replaced updated reference value as a reference point. Automatic survey method.