JPH0772471B2 - Position measurement method of the shield machine - Google Patents

Description

Detailed Description of the Invention [Industrial applications]

The present invention relates to a method of measuring a position at the time of final excavation such as when joining opposing shield machines.

[Prior art]

Conventionally, when joining shield excavators to each other, horizontal boring is used as a method for detecting the joining position. As shown in FIG. 12, the leading shield excavator A is horizontally boring to the trailing shield excavator B. After penetrating the guide pipe C up to, the laser beam is emitted from the side of the preceding shield machine A into the guide pipe C, and the position and attitude deviation amounts of the two shield machine A and B are measured by laser surveying.

[Problems to be Solved by the Invention]

However, this method has the following problems because it is necessary to make a hole in the trailing shield machine by horizontal boring and to pull out the guide pipe when restarting. There is a problem of boring accuracy (hole bending, etc.) and the surveying accuracy is low. Damages the trailing shield machine. It is necessary to stop the water during boring and pulling out. Ground improvement is required prior to boring, which takes time. An object of the present invention is to eliminate such problems.

[Means for Solving the Problems]

In the first method of the present invention, one wave transmitter is provided in the center of the front face of the cutter of one shield excavator of two facing shield excavators, and the center of the diameter line is provided in front of the cutter of the other shield excavator. The wave receivers are provided at the two positions on both sides,
3 transmitted waves (eg sound waves and electromagnetic waves) from one transmitter
After receiving the wave with one of the above wave receivers and obtaining the relative position of the two shield machines from the arrival time difference, rotate the cutter of the other shield machine on the receiving side by 90 degrees and repeat the same thing. To do. According to the second method of the present invention, one wave transmitter is provided at the center of the front face of the shield machine of one of the two shield machines facing each other, and the same radius as the center of the front face of the cutter machine of the other shield machine is provided. There are wave receivers at four positions with a phase difference of 90 degrees, and the transmitted wave from one wave receiver is received by the five wave receivers. Find the relative position of the shield machine. According to the third method of the present invention, one wave transmitter is provided at the center of the front face of the cutter of one shield excavator of two facing shield excavators, and at least one receiver is provided at the front face of the cutter of the other shield excavator. The wave receiver is installed, the transmitted wave from one wave transmitter is received by the wave receiver, and the relative position of the two shield machines is calculated from the arrival time. The same thing is performed again by advancing the shield shield machine on the receiving side by a predetermined distance.

[Action]

Now, as shown in FIG. 1, a sound wave is transmitted from the transmitting point a at the center of the front surface of the leading shield machine A into the ground, and is separated from the center of the front surface of the trailing shield machine B by a radius d. It is assumed that the signals are received at a total of three receiving points b _c , b ₁ and b ₂ at symmetrical positions. If the center lines of both shield machines A and B are misaligned as shown in FIG. 2, the time until the transmission signal from the transmission point a reaches the reception point b ₁ as shown in FIG. The time t ₂ required for reaching t ₁ and the wave receiving point b ₂ has a propagation time difference of Δt. Therefore, the sound velocity (propagation velocity) in the ground is v _p , the distance between both shield excavators A and B is L, the relative deviation between the center lines of both shield excavators A and B is δ, and each receiving point b _c , B ₁ , b ₂ and the transmission point a are the distances l _c , l ₁ , l ₂ , respectively, and the arrival times (propagation times) of the sound waves at the receiving points b _c , b ₁ , b ₂ are t, respectively. _{If c} , t ₁ and t ₂ ,
The following relationship holds. l ₁ = v _p × t ₁ (1) l ₂ = v _p × t ₂ (2) l _c = v _p × t _c (3) l ₁ ² = (d + δ) ² + L ² … (4) l ₂ ² = (d-δ) ² + L ² (5) 1 _c ² = δ ² + L ² (6) Then, the above equation is converted to obtain the sound velocity v _p . Substituting v _p into equations (1), (2), and (3) yields l ₁ , l ₂ , l _c
Is required. Further, δ and L are obtained as follows. l ₁ ² −l ₂ ² = d ² + 2d × δ + δ ² + L ² − (d ² −2d × δ + δ ² +
L ² ) = 4d × δ = 4dδ δ = (l ₁ ² −l ₂ ² ) / 4d …… (8) From the above, the relative positional relationship between both shield machines A and B can be obtained. By performing the above analysis in the vertical direction and the horizontal direction, the three-dimensional positional relationship can be known.

【Example】

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 2 shows a state in which two shield excavators A and B have excavated to the vicinity of the joining position. If one of them is the leading shield machine A and the other is the trailing shield machine B,
As shown in FIG. 4, one transmitter 1 for transmitting sound waves is installed in the center of the front of the leading shield machine A as shown in FIG. 4, and as shown in FIG. 5 in front of the cutter of the trailing shield machine B as shown in FIG. The receiver 2 is installed at a total of 5 points in the center and at 4 positions with a phase difference of 90 degrees on the same radius, and the sound wave (several KHz) is transmitted from the transmitter 1.
The sound waves that originate in the P wave or S wave) and propagate in the ground are received by the five wave receivers 2, and the received data is converted into a digital amount by the arithmetic and control unit according to the above formula. Calculate FIG. 6 shows the flow of processing by the arithmetic and control unit. The wave receiver 1 is controlled simultaneously with the transmission of the wave transmitter 1, and the time point of transmission of the wave transmitter 1 is set as the time origin of the received data of the wave receiver 2
Also, the data from the receiver is taken in (step 10). After performing the noise removal processing of the data from the wave receiver 2 (step 11), the cross-correlation of the data from the wave transmitter 1 and the data from the wave receiver 2 is taken (step 12), and a signal with a large correlation is extracted. Yes (step 13). Next, the arrival times of the signals selected for the five receivers 2 are measured (step 14),
Both shield excavators according to the above formula from each arrival time
The relative positional relationship between A and B is obtained (step 15), and the result is displayed on a display device or recorded on a recording medium (step 16). When the wave receiver 2 is installed at five points as shown in FIG. 5, position measurement in the vertical direction and the horizontal direction can be performed simultaneously. When the wave receivers 2 are installed at three points on the same diameter line, the cutter of the trailing shield machine B is rotated by 90 degrees and the measurement is performed in two steps to measure the vertical and horizontal positions. It is possible. Deviation of center line between both shield machines A and B δ and distance L
Shows the wave receiver 2 at two points equidistant from the center of the trailing shield machine B as shown in FIG. 7, or at two points at the center and the eccentric position as shown in FIG. 8, or as shown in FIG. Even if it is installed at only one point, it can be obtained by advancing the preceding shield machine A and measuring before and after that, that is, by moving the transmitting point in the excavation direction and measuring twice. FIG. 10 is an explanatory view of the principle thereof. The leading shield excavator A is excavated, and sound waves are transmitted respectively at the transmitting point O and the transmitting point O ′ advanced by an arbitrary length x from that point, and the trailing shield excavator B is It is assumed that the receiver 2 (receiving points b ₁ and b ₂ ) in the installation relationship as shown in FIG. 7 receives the signal while stopped at the same position.
In this case, the distance between both shield machines A and B is L, the deviation of their center lines is δ, the distance from the center of the trailing shield machine B to each receiver 2 is d, and the sound wave in the ground is Propagation speed
v _p , the distance between the wave transmitter 1 and each wave receiver 2 is l ₁ and l ₂ , and the propagation time of the sound wave received by each wave receiver 2 is t ₁ and t ₂ . l ₁ = v _p × t ₁ (10) l ₂ = v _p × t ₂ (11) l ₁ ² = L ² + (d + δ) ² (12) l ₂ ² = L ² + ( d-δ) ² (13) Adding equations (12) and (13), l ₁ ² + l ₂ ² = 2L ² + 2d ² + 2δ ² (14) Equation (13) to (13) If is subtracted, l ₁ ² −l ₂ ² = 4dδ ………… (15) In order to eliminate δ, Eq. (15) is modified and substituted into Eq. (14). δ = (l ₁ ² -l ₂ ² ) / 4d …… (15) ′ l ₁ ² ＋ l ₂ ² ＝ 2L ² ＋ 2d ² ＋ (l ₁ ² -l ₂ ² ) ² / 8d ² …… (14) ′ Substituting equations (10) and (11) into equation (14) ′, (t ₁ ² + t ₂ ² ) V _p ² = 2L ² + 2d ² + (t ₁ ² -t ₂ ² ) ² V _p ² / 8d ² Therefore, if T ₁ = t ₁ ² + t ₂ ² T ₂ = (t ₁ ² -t ₂ ² ) ² V = v _p ² D = d ² , then T ₁ V = 2L ² + 2D + (T ₂ (V / 8D) …… (16) When the leading shield machine A digs x, there are naturally small errors in the digging direction and the joining axis direction.
There is only a difference of 0.02% in terms of °, and there is no problem even if the distance x ′ = x between the transmitting points O and O ′. _{Therefore, T 1 'V = 2L'} 2 + 2D + (T 2 'V / 8D) = 2 (Lx) 2 + 2D + (T 2' V / 8D) ...... (17) _{herein, T 1 '= t 1'} 2 ＋ t ₂ ′ ² T ₂ ′ ＝ (t ₁ ′ ² −t ₂ ′ ² ) ^{2 From the} equation (16), T ₁ V− (T ₂ V / 8D) ＝ 2L ² ＋ 2D (T ₁ −T ₂ / 8D) V = 2L ² + 2D V = (2L ² + 2D) / {T _1- (T ₂ / 8D)} …… (16) ′ (16) ′ Substituting equation (17) into T ₁ ′ (2L ² + 2D) / {T _1- (T ₂ / 8D)} = 2 (Lx) ² ＋ 2D + T ₂ ′ (2L
² + 2D) / 8D {T ₁ − (T ₂ / 8D)} T ₁ ′ (2L ² + 2D) = 2 (Lx) ² {T _1- (T ₂ / 8D)} + 2D {T _1- (T ₂
/ 8D)} + T ₂ ′ (2L ² + 2D) / 8D T ₃ ＝ T ₁ − (T ₂ / 8D), T ₁ ′ L ² ＋ T ₁ ′ D = (L ² -2xL + x ² ) T ₃ + DT ₃ + (T ₂ '/ 8D) L ²
+ (T ₂ ′ / 8) {T ₁ ′ −T ₃ − (T ₂ ′ / 8D)} L ² ＋ 2T ₃ xL + T ₁ ′ D−T ₃ X ² −
DT ₃ − (T ₂ ′ / 8) = 0 ∴αL ² + βL + γ = 0 (18) Therefore, L can be obtained from the quadratic equation (18), and another value can be obtained. That is, from equation (16) ′, From equation (15) ′, δ = (t ₁ ² + t ₂ ² ) v _p ² / 4d where α = T ₁ ′ −T ₃ − (T ₂ ′ / 8D) = (T ₁ ′ −T ₁ ) − (T ₂ ′ −T
₂ ) / 8d ² β = 2T ₃ x = 2x {T _1- (T ₂ / 8d ² )} γ = T ₁ ′ D− (x ² + D) T ₃ − (T ₂ ′ / 8) = T ₁ ′ D ² − (x ² + d ² )
{T ₁ − (T ₂ / 8d ² )} − (T ₂ ′ / 8) In the case of FIG. 8, it can be basically obtained in the same manner. In the case of FIG. 9, if the cutter is rotated 180 degrees after the first measurement and the second measurement is performed, the same measurement as in the case of FIG. 7 can be performed. FIG. 11 shows another embodiment of the present invention, in which a boring rod 3 having a wave transmitter 1 attached at its tip is horizontally penetrated from the side of the leading shield excavator A, for example, to the middle of both shield excavators A and B.
The sound wave is emitted from the middle of the above, and is received by the wave receiver 2 on the trailing shield machine B side. In this case, if the wave receiver 2a is also installed and received on the side of the leading shield machine A, the propagation velocity of the sound wave in the ground can be easily measured. According to this embodiment, the position measurable distance can be increased by the penetration length of the boring rod 3. According to the present invention, the posture of the shield machine such as pitch and roll can be detected. General posture detection accuracy is 0.05 to 0.1 °
According to the present invention, this can be made highly accurate up to about 0.01 °. The present invention can also be applied to detection of the arrival position when one shield machine reaches an existing vertical shaft.

【The invention's effect】

According to the present invention, the transmitted wave from one transmitter provided on the front surface of the cutter of the shield machine on the transmission side is received by at least one received on the front surface of the cutter of the shield machine on the reception side. It is possible to easily and three-dimensionally measure the relative position between the deviation of the axes of both shield machines and the distance by calculating the difference between the arrival times of the transmitted waves by the receiver. Also, for the shield machine on the transmission side, only one transmitter needs to be provided in the center of the front surface of the cutter, which simplifies the configuration on the transmission side. There is no need to make a correction calculation due to the positional deviation from the vessel, and the calculation becomes easy. Further, according to the invention of claim 1, three-dimensional relative position measurement can be accurately performed by rotating the cutter of the shield machine on the receiving side by 90 degrees and measuring twice, and according to the invention of claim 2, Accurately perform three-dimensional relative position measurement with one measurement,
According to the invention of claim 3, even if the number of receivers of the shield machine on the receiving side is small, the shield machine on the transmitting side is excavated and two times of measurement is performed to measure the three-dimensional relative position. You can do it.

[Brief description of drawings]

1 is an explanatory view of the principle of the method of the present invention, FIG. 2 is a side view of an embodiment thereof, FIG. 3 is a timing chart of a transmission signal from a wave transmitter and a reception signal of a wave receiver, and FIG. The figure shows the front view of the installation position of the wave transmitter in the leading shield machine,
The figure is a front view showing the installation position of the wave receiver in the trailing shield machine, FIG. 6 is a flowchart showing the flow of processing by the arithmetic and control unit, and FIGS. 7, 8, and 9 are wave receivers, respectively. FIG. 10 is an explanatory view showing another example of installation, FIG. 10 is an explanatory view of the principle of position measurement in the case of the installation example of FIG. 7, FIG. 11 is a side view of another embodiment of the present invention, and FIG. It is a side view of an example. A ... Leading shield machine, B ... Trailing shield machine, 1 ... Wave transmitter, 2 ... Wave receiver.

Claims (3)

[Claims] Claim: What is claimed is: 1. One wave transmitter in the center of the front of the cutter of one of the two shield machines facing each other, and two transmitters in the center of the diameter of the front of the cutter of the other shield machine and on both sides thereof. A wave receiver is provided at each position, and the transmitted waves from the one wave receiver are received by the three wave receivers, and the relative positions of the two shield machines are obtained from the difference in the arrival times. The shield shield machine on the receiving side,
A method for measuring the final position of a shield machine, which is characterized in that the same operation is performed again by rotating the machine once. 2. One wave transmitter in the center of the front of the cutter of one of the two shield machines facing each other, and 90 on the same radius as the center of the front of the cutter of the other shield machine.
The wave receivers are provided at four positions each having a phase difference of 5 degrees, and the transmission wave from the one wave transmitter is received by the five wave receivers, and the two shields are received from the difference in arrival time. A method for measuring the final position of a shield machine, which is characterized in that the relative position of the machine is obtained. 3. One wave transmitter is provided in the center of the front face of the shield machine of one of the two shield machines facing each other, and at least one wave receiver is provided on the front face of the cutter of the other shield machine. , The wave received from the one wave transmitter is received by the wave receiver, the relative position of the two shield machines is obtained from the arrival time, and then the one shield machine on the transmission side is received. A method for measuring a final position of a shield machine, which is characterized in that the shield machine is moved forward by a predetermined distance with respect to the other shield machine on the side and the same operation is performed again.