JPH08233575A - Method for automatically measuring position of conduct, etc., by using measuring truck - Google Patents

Abstract

PURPOSE: To easily measure the position in a small-diameter conduit or tunnel with obstructed view regardless of its execution method or progress of the execution. CONSTITUTION: A railway and a plurality of targets 16 with a certain interval of distance are prepared in a tunnel 4 and a measuring truck loaded with a measuring device 12 which can measure the distance and angle of horizontal and vertical planes is placed on the railway. The trunk is stopped around the entrance of the tunnel 4, and two reference points A and B on a propulsion base line G set around the entrance of the tunnel 4 and the target 16 most nearest from the entrance are measured in remote control by the device 12, then the positional relation among the obtained three points is obtained. Further, the trunk is moved and stopped between adjoining two targets successively, and two targets 16 on the backsight or the reference points A and B and one target 16 on the foresight are measured in the same manner so as to obtain the positional relation of the three points. Finally, the accumulated data of the positional relations of respective three points obtained in such a way that the base line G is used as a reference are calculated to measure the position of the tunnel or conduit.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of measuring a pipeline or the like, which is a pipeline or a tunnel having a curved line of sight and which enables unmanned surveying.

[0002]

2. Description of the Related Art Conventionally, in curved pipelines and tunnels where visibility is not effective, workers enter the pipelines or pits and sequentially measure along the pipelines or tunnels to determine the positions of these pipelines or tunnels. I'm measuring. However, if these pipes and tunnels have a small diameter, they cannot be put in by workers and cannot be measured by ordinary surveying. Therefore, a non-optical position measuring method has been adopted in which a measuring trolley equipped with a gyro is run in a pipeline or inside a mine, and the distance and angle of the trajectory of the measuring trolley are measured and calculated to measure these positions. As another method, run a trolley equipped with a surveying instrument inside a pipeline, etc., and sequentially stop at each preset relocation point (fixed point) and collimate the target installed in the pipeline. A method of measuring the position of the pipeline by repeating the above is also proposed. This method does not differ from the conventional method in the principle of surveying, but differs from the conventional method in that the surveying instrument is mounted on a carriage and collimated by remote control.

[0003]

However, in the method of using the measuring trolley equipped with the gyro, the measuring trolley must always be run at a fixed position with respect to the pipeline or the axis of the mine, and the measurement by the gyro is a measurement. The dolly must run at a constant speed. Therefore, installation and operation of the device are complicated and require skill, and there is a problem in accuracy, and in addition, the device itself is expensive. In addition, the method of running a bogie equipped with a surveying instrument and collimating it at the refill point (fixed point) requires that the bogie be accurately stopped by remote control at the refill point that has been set in advance. For,
It can be applied only to pipelines after construction that can fix the absolute position as the refill point or pipelines during shield construction. In particular, in the propulsion method, the refill point cannot be fixed because the pipeline moves during construction, and this method cannot be applied.

Therefore, the present invention can measure the position of a pipe or the like in a small-diameter pipe or tunnel which does not have a line-of-sight, which can be easily measured regardless of the construction method or during the construction without an operator entering the pipe or the like. It provides a law to solve the above problems.

[0005]

Therefore, the invention according to claim 1 is to provide one orbit along the duct and a plurality of targets at appropriate intervals in the duct, and to the orbit on a horizontal plane,
Place a measuring carriage equipped with a surveying instrument that has the function of measuring the distance and angle of a vertical plane, stop this measuring carriage before the entrance of the pipeline, and set it on the propulsion base line at the entrance of the pipeline. The target immediately before the illuminating point and the pipe provided in the pipeline is remotely measured by the surveying instrument to obtain the positional relationship between these three points, and the measuring carriage is made to travel on the track so that two adjacent targets are successively located. Stop the measurement carriage for each interval, to obtain the positional relationship of these three points by surveying the target of two points of the backsight or the target of the above-mentioned illuminating point and the one point of the frontsight by the same method as above, The position of the pipeline was measured by accumulating the data of the positional relationship of each of the above three points with the propulsion base line as a reference.

Further, according to the invention of claim 2, in a pipeline being excavated in the soil by the tunnel excavator, one track and an appropriate interval are provided in the pipeline behind the excavator along the pipeline. , Each of which is equipped with a plurality of targets, has a measuring carriage equipped with a surveying instrument capable of measuring the distance and angle of the horizontal and vertical planes on the orbit, and stops this measuring carriage near the entrance of the pipe, Remotely measure the two reference points on the propulsion base line provided near the entrance of the road and the target just before the pipe installed in the pipeline to obtain the positional relationship between these three points, Measure the target at two points in the backsight or the target at one of the above-mentioned illuminating point and one in the front in the same manner as above by running on the track and stopping the measurement carriage between two adjacent targets in sequence. Then the positional relationship of these three points Obtained and measured the position of the pipeline from the accumulation of the data of the positional relationship of each of the above three points with the above-mentioned propulsion baseline as a reference, and add it to the position data of the nearest target by using the machine axis attitude data of the excavator etc. Then, an automatic position measuring method for a pipe line or the like for obtaining the above-mentioned position of the excavation tip is adopted.

The pipeline in each of the above claims is not limited to being installed underground or above ground, and also includes a tunnel. The measuring carriage may be self-propelled or towed by a cable.

[0008]

According to the first aspect of the present invention, first, a propulsion base line is set near the entrance of the pipeline, and an arbitrary shining point on the propulsion base line is set. Then, stop the measuring carriage near this entrance, fix it, level the surveying instrument, and look at these two illuminating points and the immediately preceding target in the pipeline. This gives the distance from the surveying instrument to each of the illuminating points and the target, and each included angle between the straight lines connecting these points, and these three points form a triangle with one side connecting the line connecting the two illuminating points. It Then, the relative position between these triangles and the previously defined illuminating point is determined by connecting the triangles with the line connecting the two points of the backsight measured between the next adjacent targets as one side of the next triangle. Relationship is obtained. Here, the shining point is the point where the absolute position on the propulsion baseline is defined,
The positions of the triangles formed in sequence, that is, the positions of the targets are obtained as absolute positions, and the positions of the conduits can be measured if the positions of the respective targets in the transverse cross section of the conduits are determined in advance.

Further, according to the invention of claim 2, the position of the tip of the target of the pipeline obtained by the invention of claim 1 is obtained, and the machine axis attitude data of the excavator or the like with respect to this target is added to the excavator. The most advanced position of can be measured. The machine axis posture data of the excavator or the like can be obtained by obtaining a horizontal angle and a vertical angle by a 3-axis gyro built in the excavator or a combination of a gyro and an inclinometer. Alternatively, since the excavator and the subsequent pipe body are connected to each other, the stroke difference between the plurality of jacks provided along the outer circumference of the butt end can be used for the calculation.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. First, the apparatus and the like used in the method of the present invention will be described. As shown in FIG. 1, a tunnel 4 is formed by an excavator 3 from one side surface of a shaft 2 provided on the ground surface 1. In this tunnel 4, a track 5 is provided along the tunnel 4 as shown in FIGS. The track 5 is supported by appropriate supporting legs 6 on which the measuring carriage 7 travels. This measuring carriage 7 has four wheels 7a, which are inserted into the channel groove of the cross section of the track 5 and are provided with a winch 8 provided in the shaft 2 and a winch 9 provided at the tip of the tunnel 4. The pulling wires 10 each having one end wound around the
By pulling 0, it moves forward or backward on the track 5.
A signal transmission cable is attached to the pulling wire 10 at the rear of the measurement carriage 7, and this is connected to the operation / arithmetic unit 11 provided in the vertical shaft 2.

The measuring carriage 7 is provided with a surveying instrument 12 which is rotatable in vertical and horizontal directions. The surveying instrument 12 has a built-in motor for vertical and horizontal rotation, Further, as shown in FIG. 4, motors for rotating several leveling rotary knobs 13 are respectively incorporated. Further, a motor for rotating the focusing knob 14 of the surveying instrument 12 is built-in, and a TV is provided on the sighting window of the surveying instrument 12.
A camera 15 is provided. Therefore, the worker operates these motors while observing the leveling state of the surveying instrument 12 with a bubble or an inclinometer from a remote location, and collimates them through the TV camera 15.

A large number of survey targets 16 are provided in the tunnel 4 at appropriate intervals as shown in FIGS. The distance between these targets 16 is the above-mentioned surveying instrument 1
2 is placed between two adjacent targets 16, and two targets 16 at the rear and one target 1 at the front are placed.
It suffices if the distance is such that 6 can be collimated. Then, as shown in FIG. 7, the surveying instrument 12 applies the light wave 17 to the front surface or the rear surface of each surveying target 16. Then, the point 1 of each survey target 16 is measured by the measurement described later.
The position of 6a is known.

Next, the position measuring method of the present invention will be described using the above apparatus. In FIGS. 8 and 9, a propulsion base line G is provided in the vertical shaft 2. Then, the measuring carriage 7 is fixed at an arbitrary point P1 on the track 5 in the shaft 2, and after the surveying instrument 12 is leveled, one of the illuminating points A and B and the tunnel 4 which are appropriately provided on the propulsion base line G. The C1 point of the target 16 before the count is measured, and the A point, the B point, and the C1 point are obtained. In this case, points P1, A, B, and C1 are collimated to obtain distances L1, L2, and L3 from P1 to each point, and included angles θ1 between straight lines connecting each point from P1 to each point, θ2 is obtained. As a result, triangles A, B, and C1 whose sides are lines AB connecting the two points of attraction on the propulsion base line G whose position is known are obtained, and the positional relationship of the point C1 from the point of attraction is obtained. The leveling operation and collimation operation of these surveying instruments 12 and data calculation are performed remotely and automatically.

Next, as shown in FIG. 10, the measuring carriage 7 is moved along the track 5 to an arbitrary position P2 between the target 16 and the next adjacent target 16 in the tunnel 4, and the same as above. Remotely and automatically fix the surveying instrument 12 and, after leveling, measure the points A and C1 which are the backsight and the points C2 which are the frontsight, and share one side AC1 of the above triangles A, B and C1. By obtaining the triangles A, C1, and C2 to be obtained, the positional relationship of the point C2 from the previous focusing point can be obtained. The same procedure is repeated thereafter to obtain the point 16a of each target 16 in the tunnel 4.

Thus, in FIG. 9 and FIG. 10, triangles A, B, and C1 are obtained by sequentially collimating two points of the backsight and one point of the fronts from each Pn point, and one side A of the triangle is obtained. , C1 sharing the same, and triangles C1, C2, C sharing one side C1, C2 of the triangle.
3. Further, triangles C2, C3, C4 sharing one side C2, C3 of this triangle are sequentially obtained. Note that the above measurement principle is explained using a plane for the sake of simplicity, but in reality, the same measurement is also performed on the longitudinal section, and by adding the data, it can be obtained as a triangle existing in the three-dimensional space. is there. In this way, continuous triangles are formed three-dimensionally one after another, and by sequentially sharing the line connecting the two points of backsight, the positional relationship of each triangle can be obtained, and Target 1 to be seen
The positions of the six points 16a (C1 to C4 in FIG. 10) are obtained. So each target 1 in the cross section of the tunnel 4
If the position of 6 is determined in advance, the position of the tunnel 4 can be measured.

Further, the position up to the tip of the tunnel 4 can be measured in this way, but as shown in FIG. 11, the tip of the excavator 3 ahead of this is the pipe body 17 in which the excavator 3 and equipment are installed inside. Since there are 18 and 19, it cannot be measured by the above-mentioned surveying method. Therefore, when there are pipes 17, 18, and 19 in which equipment and the like are installed inside the excavator 3 and the following, a point Cn-1 at the end of the most advanced pipe 20 is obtained by the above method.
And Cn are obtained, the direction of the pipe axis (machine axis) of the pipe body 20 is obtained from this position, and thereafter, the direction of the pipe axis or the machine axis of the pipe bodies 19, 18, 17 and the excavator 3 is obtained. Therefore, the angle θ formed by each pipe 20, 19, 18, 17 and the excavator 3 is
The coordinate points of points D1, D2, D3, D4 of the pipes 19, 18, 17 and the tip of the pipe axis (machine axis) of the excavator 3 are obtained from the dimension data of 11, θ12, θ13, θ14 and the pipes. To be

The direction of the above machine axis or tube axis is mounted on them, and a three-axis gyro capable of measuring deviation of a plane angle and a vertical angle, or a combination of a plane angle gyro and a vertical angle inclinometer (accelerometer). Can be measured. In addition, in order to connect the pipes 17, 18, 19, 20 and the excavator 3 to each other, a method for obtaining the above-mentioned θ11 and the like by the stroke difference of each jack provided in plural along the outer circumference of each butt end. There is also.

In the above embodiment, the measuring carriage 7 is pulled by the pulling wire 10 for traveling, but the measuring carriage is not limited to this and may be a self-propelled type or may be operated wirelessly. Furthermore, stop the measurement carriage 7 on the track,
When collimating the target, the measurement carriage 7 must be fixed on the track, but this fixing method may be any suitable method, for example, by projecting both ends of the shaft of the wheel 7a to the outside, It may be a stabilizer type that is pressed against the outer frames on both sides to be fixed.

[0019]

According to the present invention, in measuring the position of a tunnel, a ground, or a pipeline installed on the ground, a track and a plurality of targets are provided in the pipeline or the tunnel, and a surveying instrument is provided along the track. May be moved for measurement, and the orbit does not have to be provided at a fixed position. In addition, since it is not necessary to previously set the exchanging point at which the surveying instrument should be stopped and the surveying instrument need not be accurately stopped at that position, the position can be easily measured. In addition, measurement can be performed by remote automatic operation, and the measurement work becomes easy and safe. Furthermore, it is convenient for measuring the positions of small diameter pipes and tunnels that do not allow workers, and winding pipes and tunnels. Moreover, in these pipes and tunnels, it is possible to easily measure regardless of the construction method or the construction process.

In addition to the effect of the invention of claim 1, it is not easy to measure the tip position of the excavator or the like in the pipeline or tunnel during excavation by the conventional surveying method. However, according to the present invention, it is possible to easily measure even in such a place where the line of sight cannot be seen.

[Brief description of drawings]

FIG. 1 is a cross-sectional side view schematically showing a tunnel and equipment in a shaft used in the method of the present invention.

FIG. 2 is a sectional side view showing a track and a measurement carriage in a tunnel used in the method of the present invention.

FIG. 3 is a sectional front view showing a track and a measurement carriage in a tunnel used in the method of the present invention.

FIG. 4 is a schematic side view of a surveying instrument used in the method of the present invention.

FIG. 5 is a side view showing an installed state of a target used in the method of the present invention.

FIG. 6 is a front view showing an installed state of a target used in the method of the present invention.

FIG. 7 is an enlarged side view of a target used in the method of the present invention.

FIG. 8 is a side view showing the first collimation by the surveying instrument in the method of the present invention.

FIG. 9 is a plan view showing the first collimation by the surveying instrument in the method of the present invention.

FIG. 10 is a schematic plan view showing a surveying principle in the method of the present invention.

FIG. 11 is a schematic plan view showing the principle of measuring the tip positions of the excavator and the subsequent pipe body in the method of the present invention.

[Explanation of symbols]

2 Vertical shaft 3 Excavator 4 Tunnel 5 Orbit 7 Measuring carriage 10 Traction wire 12 Surveyor 16 Target 17 Pipe G Propulsion baseline

Claims (2)

[Claims] 1. A function capable of measuring a distance and an angle between a horizontal plane and a vertical plane on the track by providing a single track and a plurality of targets at appropriate intervals along the line in the pipeline or the tunnel. Place a measurement trolley equipped with a surveying instrument with, and stop this measurement trolley near the entrance of a pipeline,
The two reference points on the propulsion base line provided near the entrance of the pipeline, etc. and the target just before the pipeline provided in the pipeline etc. were measured remotely by the above surveying instrument to obtain the positional relationship between these three points. The measurement carriage is run on the track, and the measurement carriage is stopped for each interval between two adjacent targets, and two targets in the backsight or one point in the foresight and the foresight are targeted in the same manner as above. Measuring the positional relationship between these three points by measuring, and measuring the position of the pipeline etc. from the accumulation of the positional relationship data of each of the above three points with the above-mentioned propulsion base line as a reference Automatic position measurement method. 2. In a pipeline or tunnel which is being dug into the soil by a tunnel excavator, one track and a plurality of suitable intervals are provided in the pipeline or the like behind the excavator along the pipeline. Each target is provided with a measuring carriage equipped with a surveying instrument capable of measuring the distance and angle of the horizontal plane and the vertical plane on the track, and the measuring carriage is stopped near the entrance of the pipeline, etc. The two illuminating points on the propulsion base line near the entrance of the car and the target just before it installed in the pipeline etc. were remotely measured by the survey instrument to obtain the positional relationship of these three points, and Stop the measurement carriage between each of the two adjacent targets that are run on the track in sequence, and measure the two-point target of the backsight or the target of the above-mentioned illuminating point and one point of the frontsight in the same manner as above. Find the positional relationship of these three points, While measuring the position of the pipeline and the like from the accumulation of the positional relationship data of each of the three points with the propulsion base line as a reference, using the machine axis attitude data of the excavator and the like,
An automatic position measuring method for a pipeline or the like by a measuring and measuring cart, which is characterized by adding the position data of the nearest target to obtain the above-mentioned excavation tip position.