JPH09243365A - Position detecting device, surveying method, and digging-direction control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make accurate surveying possible even in a small-bore tunnel and reduce the amount of labor required for surveying at curved parts of a large-bore tunnel. SOLUTION: Rulers 21 flexibly connected to one another in such a way that their lengths between the connections 22 are known are used in surveying the position of a shield machine 10. A flexing-direction detecting part 22 for detecting the flexing direction of the rulers 21 is provided at each connection 22 to detect the position of the front ruler 21a from the rear ruler 21b. In this case, the rulers 21 between them can be arranged freely. The position of the rear ruler 21b is surveyed by a total station 28 placed on a reference point O. The position of the shield machine 10 with respect to the rulers 21 is measured by a total station 25 placed on the front ruler 21a. Thus even if an obstacle or curve exists between the reference point O and the shield machine 10, the position of the shield machine 10 can be surveyed from the reference point O.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position detecting device capable of detecting a position in a place where it is difficult to measure from the surroundings such as a tip position of a tunnel during excavation, and a surveying method using the position detecting device. And an excavation direction control system in excavation of a shield machine using the position detecting device.

[0002]

2. Description of the Related Art Generally, in constructing a tunnel, surveying is performed within the tunnel during excavation to determine the exact position of the excavated portion of the tunnel, and the route of the tunnel under excavation based on the determined position. Should be approximately aligned with the predesigned path. For example, when excavating a large-diameter tunnel (with a diameter larger than 4 m) with a shield machine, the current position of the shield machine is measured with an optical surveying instrument (for example, a total station), and based on this survey result The excavation direction of the shield machine is controlled.

Further, as a total station, an automatic tracking type has been developed which is capable of tracking a moving target automatically and measuring the direction and distance from the reference point to the target automatically and almost continuously. . By using the automatic tracking type total station, changes in the position of the shield machine can be detected almost continuously in real time, and the excavation direction of the shield machine can be continuously controlled along the route to be excavated. You can Therefore, control of the excavation direction of the shield machine can be easily automated.

Conventionally, by using such an automatic tracking type total station, the position of the shield machine is detected and the attitude of the shield machine is detected by some method, and from these data and the data of the design track, the design track is determined. A system has also been proposed in which the optimum excavation direction of a shield machine for excavating a tunnel is obtained and the excavation direction of the shield machine is controlled by controlling a jack for propelling the shield machine.

However, when excavating a tunnel by a shield method having a small diameter (for example, a diameter smaller than about 4 m), it is difficult to measure with an optical surveying instrument, and surveying with a gyro system is performed. In the rear of the shield machine during excavation, there are trucks for carrying out excavated earth and sand and for supplying segments, and trucks and equipment for supporting the shield machine for supplying electric power and hydraulic pressure. Therefore, in a small-diameter tunnel, it is difficult to secure a line-of-sight (a light wave for distance measurement or a path of a laser beam that serves as a position reference) for surveying by an optical surveying instrument.

In the above gyro system, the attitude (angle) of the shield machine is measured by the gyro, and the excavation distance is estimated based on the stroke of the propulsion jack.
The route of the excavated tunnel and the current position of the shield machine are determined. In the gyro system, since the excavation direction of the shield machine is controlled by the excavation distance estimated as the data of the gyro mounted on the shield machine,
It does not take much time to move the surveying equipment.

[0007]

By the way, when excavating a tunnel by a shield machine, the shield machine may slide sideways and move in parallel due to the difference in the strength of the earth and sand in the excavated portion. In such a case, An error will occur if the position is calculated from the angle (posture) of the shield machine and the excavation distance.

Since the gyro system is used when optical surveying is difficult as described above, the digging distance is repeatedly estimated. Then, the position of the shield machine will be obtained, but when the position at the time of the next measurement is obtained with the previously measured position as a reference, the above error is accumulated and a large error occurs. There is a fear. Therefore, in the excavated portion of the tunnel, it was necessary to perform confirmation survey using the above-mentioned total station and correct the error. That is, in the gyro system, the digging distance, the position, and the like are currently corrected by inputting surveying data by another means.

Further, in the optical survey used for construction of a large diameter tunnel, when the tunnel is straight,
Since it is possible to ensure visibility over a long distance, surveying can be performed easily, but in the curved part of the tunnel, visibility can be ensured only for a short distance, so frequent replacement of the optical survey instrument is possible. Need to do.
Also, in the relocation of the optical surveying instrument, if the installation position of the optical surveying instrument is not accurately measured, an error will occur in the measurement, so it is necessary to accurately measure the installation position,
It requires extremely time-consuming work.

The present invention has been made in view of the above circumstances, enables accurate surveying even in a small diameter tunnel, and saves labor for surveying in a curved portion of the tunnel in a large diameter tunnel. It is an object of the present invention to provide a position detecting device capable of doing, a surveying method using the position detecting device, and an excavation direction control system including the position detecting device.

[0011]

A position detecting device according to claim 1 of the present invention comprises a plurality of rulers which are bendably connected to each other in a line, and the length between the connecting parts is known. Bending direction detecting means for detecting the bending direction of the other ruler body relative to the one ruler body in each connecting portion of each of these ruler bodies, and arranged at the end of the plurality of ruler bodies connected to each other. The rearmost direction detecting means for detecting the direction of the ruler body, the direction of the rearmost ruler body detected by the rearmost direction detecting means, and the connection between the ruler bodies detected by the bending direction detecting means. Based on the bending direction in the portion and the length between the connecting portions of each ruler, it is provided with position calculating means for calculating the position of the ruler at the leading end with respect to the ruler at the end It was taken as a solution.

According to the above construction, when it is difficult to optically measure the target point from the reference point due to an obstacle,
When it is necessary to change the reference points multiple times to avoid obstacles and take measurements, or when it is difficult to change the reference points while avoiding obstacles, use the ruler at the end as the reference point. By arranging and arranging the ruler body at the front part at the target point, the direction of the rearmost ruler body is detected by the rearmost direction detecting means, and each connecting portion between the ruler bodies is detected by the bending direction detecting means. By detecting the bending direction of, the distance between the connecting parts of each ruler is known, so between the reference point and the target point, the distance and direction to each connecting part can be sequentially known. It is possible to obtain the position of the leading-edge ruler with respect to the leading-edge ruler.

Therefore, the relative position of the target point with respect to the reference point can be easily calculated, and if the absolute position of the reference point is known, the absolute position of the target point can be obtained. The above ruler has a known length, and
What is basically what if the other ruler is swingable with respect to one ruler whose connecting part is connected like a ball joint, that is, it can be bent vertically and horizontally. But good.

What is necessary is that the bending direction detecting means of the connecting portion can measure the bending direction of one ruler body between the ruler bodies mechanically, electrically or optically connected to the other ruler body. Any of them may be used, and for example, a well-known rotary encoder or one using a laser emitting device and a screen capable of detecting a laser receiving position may be used as the bending direction detecting means. In the method using the laser emitting device and the screen, a laser emitting device is provided on one of the connected rulers, and the other ruler receives the laser emitted from the laser emitting device and receives the laser. By providing a screen that can detect the position, it is possible to measure the bending direction of the rulers from the change in the irradiation position of the laser on the screen when the connected rulers are bent. .

The rearmost direction detecting means may be any means as long as it can detect the direction of the rearmost ruled body, and for example, a gyro can be used. Further, it is possible to measure two or more points on the rearmost ruled body by a total station or to use the laser irradiation device and a screen or a double screen. Further, the position calculation means is a well-known MPU.
It is possible to use a dedicated circuit using an element capable of arithmetic processing such as (microprocessor unit) or a general-purpose computer system.

A position detecting device according to claim 2 of the present invention is
The position is installed at the reference point whose position is measured in advance, and the rearmost surveying means for optically measuring the position of the rearmost ruler body with respect to the reference point, and the frontmost ruler body are provided,
Target position measuring means for optically measuring the position of an arbitrary target point with respect to the ruler body at the head portion is provided, and the position calculating means is provided for measuring the position of the rearmost portion with respect to the reference point measured by the rearmost portion measuring means. From the position of the ruler body, the position of the ruler body at the beginning with respect to the ruler body at the end calculated as described above, and the position of the target point for the ruler body at the beginning measured by the target position surveying means Calculating the position of the target point with respect to the reference point was used as a means for solving the above problems.

According to the above construction, when there is an obstacle between the reference point and the target point, when the target point is measured from the reference point, the rearmost surveying means is arranged at the reference point and Place the last ruler at a position where optical surveying is possible, and arrange the leading ruler so that the target point can be optically surveyed by the target position surveying means provided on the leading ruler,
By arranging the ruler body between the last ruler body and the first ruler body so as to avoid the obstacle, it becomes possible to measure the target point from the reference point.

That is, when the ruler body is arranged as described above, the rearmost surveying means in which the reference point is arranged causes
The position of the last ruler with respect to the reference point can be measured, the position of the first ruler with respect to the last ruler can be detected as described above, and it is provided on the first ruler. The target position measuring means can measure the position of the target point with respect to the regular body at the leading end. Therefore, even if there is an obstacle between the reference point and the target point, the position of the target point can be measured from the reference point.

For example, when excavating a small-diameter tunnel, even if various carts and equipment are arranged behind the shield machine and a line of sight from the reference point to the shield machine can be optically surveyed, the rear side of the shield machine cannot be secured. Therefore, it is possible to easily measure the position of the shield machine from the reference point by arranging the ruler bodies in succession and arranging the rearmost ruler body behind the carriages and equipment.

Further, by disposing the ruler body in the curved portion of the tunnel, it is possible to measure the position of the shield machine in the curved tunnel from the reference point beyond the curved portion. The position detection device is not limited to the position detection of the shield machine in the tunnel, and can be suitably used for the position measurement and position detection of the part where the line of sight cannot be secured in the optical measurement as described above.

Further, as the rearmost surveying means, for example, a well-known total station can be used, but basically, any means capable of measuring the direction and distance from the reference point to the rearmost ruled body may be used. Further, the rearmost surveying means may be an automatic tracking type total station. In this case, if it is within a range where optical surveying is possible from the rearmost surveying means and within a range where automatic tracking is possible. For example, even if the last ruler moves, the last ruler can be automatically tracked and the position of the last ruler can be continuously detected.

If the rearmost surveying means is an automatic tracking type total station and the rearmost direction detecting means and the bending direction detecting means constantly detect the direction, the ruler body at the rearmost portion is the above-mentioned. Even if the ruler moves within the range, the position of the leading ruler can be calculated almost in real time. Basically, the target position surveying means only needs to be able to measure the distance and direction to the target point from the ruler body at the leading end, and may have the same configuration as the last portion surveying means.

If the target position measuring means is an automatic tracking type total station, even if the target point moves,
The position of the target point can be calculated from the leading ruler in almost real time. Therefore, if the target position surveying means and the rearmost surveying means are automatic tracking type total stations, the position of the target point can be calculated almost in real time even if the ruler body and the target point move with respect to the reference point. You can

A position detecting device according to claim 3 of the present invention is
A plurality of trolleys connected to each other in a row is provided, and each trolley and each ruler body are made to correspond to each other, and the position of the connecting portion between the trolleys and the position of the connecting portion of the ruler body are made to correspond to each other. Is mounted on a trolley as a means for solving the above problems.

According to the above structure, the ruler can be easily moved by the carriage. When the position detection device is used to measure the position of a small-diameter shield machine, that is, the target point is the shield machine, and obstacles are support equipment for the shield machine (excluding trolleys for loading and unloading dirt and segments) In such a case, the supporting equipment arranged at the rear of the shield machine is placed on the carriage on which the ruler is placed, so that the ruler is placed avoiding obstacles.

That is, when the shield machine is used as a target point, a target position measuring means having the shield machine as a target point is provided in the leading part of the ruler, so that the positional relationship from the leading part of the ruler to the shield machine is determined. By grasping the support equipment on the trolley, it is possible to place the ruler at the rearmost part in a position where the line of sight can be seen from the reference point.
As a result, the position of the shield machine can be measured from the reference point even if there is no visibility from the reference point to the shield machine in the already excavated tunnel. In addition, the trolley is not particularly limited, but in the case where a track for the trolley of the support equipment is provided in addition to the track for carrying in the sand and carrying in the segment in the tunnel, It is preferable to use a trolley for traveling.

The surveying method according to claim 4 of the present invention uses the position detecting device according to claim 2 or 3, wherein the rearmost surveying means is arranged at a reference point whose position is measured in advance. , The rearmost ruler body is arranged at a position where the rearmost part surveying means can optically measure, and the leading part ruler body provided with the target position surveying means is measured by the target position surveying means. The target point should be placed in a position where optical surveying is possible, and then the rearmost surveying means measures the position of the rearmost ruler with respect to the reference point, and the rearmost direction detecting means determines the rearmost ruler. Direction, the bending direction detecting means detects the bending direction of each ruler, the target position measuring means measures the position of the target point with respect to the leading ruler, and the position calculating means calculates the reference point. To Calculating a position of the target point which has the means for solving the above-described problem.

According to the above construction, the above-mentioned claim 2 or 3
As in the case of the configuration described in, when the optical measurement from the reference point to the target point is impossible due to obstacles, etc., the obstacle should be circumvented by the above ruler to measure from the reference point to the target point. You can

The excavation direction control system according to claim 5 of the present invention is for excavation by a shield machine using the position detecting device according to claim 3, and has the target position surveying means and the rearmost surveying means. In addition, the excavation direction of the shield machine is controlled by controlling the position detection device having the shield machine as a target point and the drive of the jack for propulsion of the shield machine based on the position of the shield machine detected by the position detection device. And a control means for controlling the shield machine, and a cart on which the ruler of the leading portion is placed is arranged at a position where the shield machine can be optically measured, and a position where the shield machine can be optically measured from the reference point. The trolley on which the rulers connected to each other are placed so that the trolley on which the ruler on the rearmost part is placed is arranged, and the position calculating means of the position detecting device is the rearmost surveying means, Based on the information obtained by the rearmost direction detecting means, the bending direction detecting means, and the target position measuring means, the position of the shield machine as the target point is calculated from the reference point, and the control means calculates the position. Controlling the propulsion jack of the shield machine based on the position of the shield machine, which is the target point obtained by the detection device, and the preset planned route of the shield machine is the means for solving the above problems.

According to the above configuration, in the case of a shield machine having a small diameter as described above, the position of the shield machine can be tracked from the reference point even if the rear support equipment cannot secure the visibility from the reference point. Is, based on the tracked position of the shield machine, even in a small-diameter shield machine, it is possible to control the attitude of the shield machine by the jack for propulsion of the shield machine as in the large-diameter shield machine, In a small-diameter shield machine, the control of the excavation direction can be automated. Also, in a large-diameter shield machine, if the truck on which the ruler is placed is placed in the curved portion of the tunnel, the position of the shield machine can be tracked in the curved portion without repeating the re-adjustment of the reference point. Therefore, it is possible to save the labor of automatic control of the curved portion and the portion beyond the curved portion.

[0031]

BEST MODE FOR CARRYING OUT THE INVENTION The position detecting device of the present invention will be described below.
An example of an embodiment of the surveying method and the excavation direction control system will be described. The excavation direction control system of an example of the embodiment described below is a system for controlling the excavation direction of a shield machine by applying the position detection device and the surveying method of the present invention when constructing a tunnel by the shield construction method. is there.

That is, the excavation direction control system of this example basically forms a part of the tunnel construction equipment by the shield construction method, and as shown in FIG. 1, the shield machine 10 and the shield machine 10 are installed. A position detection device 20 that detects a position, a control unit 30 that controls the shield machine based on data output from the position detection device 20 and the shield machine 10, and a shield machine 10 that is equipped with the position detection device 20. The basic configuration is a plurality of trolleys 40 ... Which are equipped with supporting equipment and are connected to each other.

The shield machine 10 is a known shield machine, but in this example, the earth pressure shield machine 1 shown in FIG.
0 is used. The shield machine 10 is not limited to the earth pressure shield machine 10, and a known shield machine 10 can be used.

As shown in FIG. 2, the shield machine 10 described above is used.
Is, as is well known, a disk-shaped or spoke-shaped cutter 1 having a cylindrical outer plate 11 and a cutter bit.
2 and an erector 14 for assembling the segment 13 ...
A screw conveyor 15 for taking in the earth and sand from the tip of the shield machine 10 to the rear side, a belt conveyor 16 for loading the earth and sand taken in by the screw conveyor 15 on an earth and sand carrier (not shown), and the assembled segment 13
And a hydraulic jack 17 for advancing the shield machine by taking a reaction force from ..., and a sensor such as a face earth pressure sensor (shown in Fig. 5) 18a and a gas detector (shown in Fig. 5) 18b. It has a sensor (not shown) that detects the operation of various devices of the shield machine 10, such as the stroke and speed of the jacks 17 ..., the rotation speed (rotation speed) of the cutter 12, the screw rotation speed of the screw conveyor 15, and the like.

The shield machine 10 also has an operating state output device (shown in FIG. 5) 41a for outputting the measurement result of each sensor to the control unit 30 based on the signals from the various sensors. Further, the shield machine 10 has an operation control device (shown in FIG. 5) 41b for operating the stroke and speed of each jack 17, ..., The rotation speed of the cutter 12, the rotation speed of the screw conveyor 15, and the like.

That is, the shield machine 10 includes an operation control device 41b for operating and controlling various devices of the shield machine 10 in order to drive and operate the shield machine 10, and the shield machine 10.
The operation state output device 41a for displaying and outputting the operating conditions of various devices of the shield machine 10 at the time of the operation. The operation control device 41b and the operation state output device 4
1a is mounted on a trolley 41 for an operation panel (shown in FIG. 1 and the like) as support equipment.

As shown in FIGS. 1, 3 and 4, the position detecting device 20 includes a plurality of ruled bodies 21 connected to each other.
, And a bending direction detecting portion 23 provided in a connecting portion 22 between the rulers 21 and detecting the bending direction of one of the connected rulers 21 and the other, and is attached to the shield machine 10. Of the target 24 and the ruler 21 ... The target position detecting section 26 including the automatic tracking type total station 25 provided on the leading ruler 21a of the ruler 21 ... And the ruler of the last part of the ruler 21 ... Two
1b and a rearmost position detecting unit 29 including an automatic tracking type total station 28 installed at a reference point O whose position has been measured in advance.

The plurality of rulers 21 ...
In this example, it is formed in a cylindrical shape, and the connecting portions 22 of the rulers 21 ... Are ball joints. The distance between the connecting portions 22 of the rulers 21 is known. Further, the distance between the connecting portions 22 of the ruler bodies 21 ...
Corresponding to the distance between the couplers (shown in FIG. 1) 42 ...

Each of the rulers 21 is joined to each of the carriages 40 through a shock absorber (not shown) which is not shown in the drawing, and is movable together with the carriage 40.
When the bogies 40 move, even if there is a shift in the front-rear, left-right and up-down directions or vibrations between the joined bogies 40 ..., the above-mentioned shock absorber disengages the rulers 21 ...
Also, it is designed so that excessive force is not applied to the or connection portion 22. Further, the above-mentioned shock absorbing device is configured to always support the vertical direction of the ruler bodies 21 ... along the vertical direction due to gravity or the like, and to prevent the connecting portions 22 ... from being twisted. .

Further, the connecting portions 22 ... Composed of the ball joints have a ruler 21 within a predetermined allowable range.
The two are connected to each other so that they can be bent in all directions, and the one ruler 21 ...
An insertion hole (not shown) that is inserted into the ... Is formed. Then, in the connected ruler bodies 21 ...
Is provided with a bending direction detection unit 23.

As shown in FIG. 3, the bending direction detecting section 2 is provided.
3 is a well-known one, and the ruler body 21 connected to each other.
A laser irradiation device 23a disposed inside the end of the one ruler 21 on the connecting side, and a screen 2 receiving the laser beam disposed on the end of the other ruler on the connecting side.
3b and the coordinate detection unit 23c. Then, the laser irradiation device 23a irradiates a laser to a reference point (not shown) of the screen 23b through the insertion hole of the pole joint in a state where the ruled bodies 21, 21 connected to each other are aligned. It is like this.

When the connected rulers 21, 21 are bent at the connecting portion 22, their bending direction (angle)
Corresponding to the laser irradiation device 23a on the screen 23b
The irradiation position of the laser due to is shifted from the reference point. Further, the screen 23b receives the laser beam as described above, and the received part becomes a bright spot. The coordinate detection unit 23c is, for example, a CCD
The position of the bright spot on the screen 23b is detected by a light receiving element (imaging device) such as, and the position of the bright spot is converted into, for example, XY coordinates of an XY coordinate system on the screen 23b, and the XY coordinates are output. To do.

The coordinate detection unit 23c may simply output the image of the screen 23b, and the route management system 31 described later may detect the position of the bright spot from the image. Then, the XY coordinates output from the coordinate detection unit 23c of the screen 23b are output to the route management system 31 and converted into data in the bending direction of the one ruler 21 in the connecting unit 22 to the other ruler 21.

Since at least three rulers 21 ... Are connected in the ruler 21 ..., the ruler 21 ... Except for the rulers 21a and 21b at both ends is a ruler. The laser irradiation device 23a is provided inside one end of the body 21 ... And the screen 23b and the coordinate detection unit 23c are provided inside the other end. As described above, since the distance between the connecting portions 22 of each ruler 21 is known and the bending direction of each connecting portion 22 can be detected by the bending direction detecting portion 23, the rearmost portion will be described later. If the direction of the ruler 21b is known, the relative position of the predetermined part of the leading ruler 21a to the predetermined part of the last ruler 21b can be obtained.

Further, if the absolute position of a predetermined portion of the rearmost ruler 21b (including the posture of the rearmost ruler 21b) is known, the absolute position of the leading ruler 21a can be known. The target position detection unit 26 has a well-known automatic tracking type total station 25 and a target 24 of the total station 25. And
In this example, the total station 25
A known lightwave rangefinder 25a for measuring the distance to the target 24 by a lightwave, a laser irradiation device 25b similar to the bending direction detecting section 23, and a lightwave rangefinder 25a based on a signal from the target 24 described later. And a direction control unit 25c for rotating and moving the irradiation direction of the laser irradiation device 25b in a horizontal plane and a vertical plane, respectively.
The theodolite 25d for measuring the horizontal angle and the altitude angle from the total station 25 to the target 24 in response to the movement of c.

Then, in the total station 25, the moving direction and the moving amount of the target 24 can be obtained by the operation of the laser irradiation device 25b and the target 24 which will be described later.
The irradiation directions of the light wave distance measuring device 25a and the laser irradiation device 25b can be always directed to the target 24.
The distance to the target 24 can be measured by the light wave distance measuring device 25a, and the horizontal angle and the altitude angle of the target 24 can be obtained by the theodolite 25c.

The target 24 is basically a prism reflecting mirror 24a for reflecting the light wave from the light wave distance measuring device 25a in the same direction, dual screens 24b, 24b for receiving the laser beam, and the respective screens 24.
coordinate detection units 24c and 24c for detecting the coordinates of the light receiving positions of the laser beams b and 24b. And the double screens 24b, 24b of the target 24
The coordinate detection units 24c and 24c basically include the screen 23b and the coordinate detection unit 23c of the bending direction detection unit 23.
Is similar to And double screen 24
b and 24b, two screens 24b and 24
b are arranged in parallel, and at least the front screen 24b can transmit the laser beam.

The screens 24b and 24b have coordinate detecting sections 24 similar to the bending direction detecting section 23 described above.
c, 24c are provided, and two screens 24b, 24 are provided.
The positions of the bright spots by the irradiation of the laser beam on the screen b are output as the XY coordinate positions on the screens 24b and 24b. And double screen 2
When the laser beam is radiated at a right angle to 4b and 24b, the XY coordinates indicating the irradiation positions of the front and rear screens 24b and 24b become the same, and when the irradiation direction of the laser beam deviates from the right angle, the irradiation is performed. Based on the direction and the distance between the two screens 24b, 24b, the coordinate position indicating the irradiation position of each screen 24b, 24b is different.

Therefore, due to the deviation of the coordinate position, the irradiation direction of the laser beam to the double screens 24b, 24b, in other words, the target 24 having the double screens 24b, 24b for the laser beam and the moving body in which the target 24 is arranged ( It is possible to obtain the angle (posture) of the shield machine 10). The direction of the laser beam can be measured by the theodolite 25d of the total station 25, and the direction of the target 24 and the shield machine 10 on which the target 24 is arranged with respect to the laser beam can be measured by the double screens 24b and 24b as described above. Therefore, it is possible to calculate the current traveling direction and change in the posture of the shield machine 10 (pitching and yawing).

Further, the coordinate detecting portions 24c and 24c of the double screens 24b and 24b are
It is possible to detect the moving amount and moving direction of the laser irradiation position on b and 24b.
The moving direction and the moving amount of the target 24 with respect to the laser beam can be detected. Therefore, the coordinate detection unit 2
In order to automatically track the target 24 based on the data from 4c and 24c and the data on the distance from the lightwave rangefinder 25a, the lightwave rangefinder 25a and the laser irradiation device 25
It is possible to calculate the movement direction and the movement amount for rotating the irradiation direction of b up, down, left and right.

Then, the direction control unit 25c of the total station 25 moves the irradiation range of the optical distance measuring instrument 25a and the laser irradiation device 25b based on the moving direction and the moving amount of the target 24 obtained by the target 24. It is like this. That is, the target position detection unit 26 including the total station 25 and the target 24 obtains the distance to the target 24, the direction of the target 24, and the attitude (angle with respect to the laser beam) of the target 24, and the target 24 moves. In this case, the distance can be automatically tracked to measure the distance to the target 24, the direction of the target 24, and the attitude of the target 24.

Further, the target 24 of the target position detector 26 is installed at a predetermined position on the rear portion of the shield machine 10, and the total station 25 is connected to the leading ruler 21a of the rulers 21 ... The target position detection unit 26 is installed at a position at a predetermined distance from 22, so that the target position detection unit 26 can measure the distance from the predetermined position of the leading ruler 21a to the shield machine 10, the direction, and the attitude of the shield machine 10. It has become.

The rearmost position detecting section 29 basically has
The target position detection unit 26 has the same configuration as that of the target position detection unit 26, and includes the automatic tracking type total station 28 and the target 27 as shown in FIG. The total station 28 includes the light distance measuring device 28a, the laser irradiation device 28b, and the direction controller 2.
8c and a theodolite 28d, the target 27 includes a prism reflector 27a and a double screen 2
7b and 27b, and coordinate detection units 27c and 27c.

Then, the target 27 of the rearmost position detecting unit 29 is the ruler 21 at the rearmost part of the rulers 21 ...
The total station 28 is installed at a predetermined position of b, and the total station 28 is installed at the reference point O.
It is possible to measure the distance to the predetermined position of 1b, the direction, and the attitude of the rearmost ruler 21b.

As described above, the rearmost position detecting unit 29 can measure the distance from the reference point O to the predetermined position of the rearmost ruler 21b, the direction, and the attitude of the rearmost ruler 21b. Further, based on the distance between the connecting portions 22 of the ruler 21 and the data from each bending direction detecting portion 23 of the connecting portion 22, the leading ruler 21a corresponding to the predetermined portion of the trailing ruler 21b. The relative position of the predetermined part can be calculated, and the distance from the predetermined position of the leading ruler 21a to the shield machine 10 by the target position detection unit 26,
Since it is possible to measure the direction and the attitude of the shield machine 10,
With the position detection device 20, the position of the shield machine 10 with respect to the reference point O and the attitude of the shield machine 10 can be known.

That is, by the position detecting device 20,
It is possible to obtain the same data as in the case where the target of the shield machine 10 is directly measured by the automatic tracking type total station provided at the reference point O, and in the part of the connected rulers 21 ... It is possible to avoid obstacles and cope with curved paths without having to secure the line of sight. Therefore, according to the position detection device 20, even if the line of sight that can be optically surveyed from the reference point O to the shield machine 10 cannot be secured, the position measurement of the shield machine 10 is performed in the same manner as when the line of sight is secured. It can be performed.

As shown in FIG. 4, the carriages 40 move on a first track 44 installed at the bottom of the assembled segments 13 behind the shield machine 10. In addition, the trolley 40 ...
The second track 45 for the carrier is different from the carrier (not shown) used for carrying in and carrying out the earth and sand.
It is adapted to move on a first orbit 44 different from.

That is, the assembled segment 13
At the bottom of ..., a second track 45 for a carrier truck used for carrying in the segments 13 and discharging soil and a first track 44 for a truck 40 equipped with the position detecting device 20.
And two systems of tracks 44 and 45 are laid. In addition, these orbits 44 and 45 are used for the shield machine 10.
.. are sequentially extended in accordance with the segments 13 ...

On the carriage 40, the rulers 21 of the position detecting device 20, the bending direction detecting portion 23, the total station 25 of the target position detecting portion 26 and the target 27 of the rearmost position detecting portion 29 are placed. It is in a state where it has been Further, as shown in FIG. 4, when the carriage 40 runs on a curved first track 44, the connecting portions 22 of the ruler bodies 21 on the carriage 40 are bent. The first orbit 4 in which the rulers 21 ...
4 are arranged substantially along the bogie 40.

The bogie 40 ...
Various support equipment (not shown) can be installed.
For example, the operation state output device 41a and the operation control device 41b of the shield machine 10 described above are installed in the first carriage (the operation panel carriage 41) 40. Also, the trolley 4 at the top
Each of the bogies 40 sequentially connected to 0 can be equipped with, for example, an underground power receiving and transforming facility (not shown), various pumps (not shown), various consumables storage facilities (not shown), and the like.

Depending on the case, the belt conveyor 16 for carrying out the sand and sand is installed on the carriage 40 ...
It is also possible to install a hopper facility for loading the above-mentioned carrier truck with earth and sand. That is, the shield machine 10
Most of the supporting equipment that needs to be arranged behind the vehicle can be mounted on the carriage 40.

Further, in the example, the carriages 40 ... Are not directly connected to the shield machine 10, and the wirings, pipes, conveyors and the like for the above-mentioned various facilities are shielded by the shield machine 1.
It is arranged between 0 and the trolley 40. Therefore, although the carriages 40 need not always move with the movement of the shield machine 10, they cannot be largely separated from the shield machine 10. Therefore, if the shield machine 10 moves to some extent, the carriage 4
0 ... will also move.

As described above, most of the supporting equipment for the shield machine 10 is mounted on the carriage 40, so that the shield machine 10 is supported between the ruler body 21a at the leading end and the ruler body 21b at the end. Since the equipment is arranged, the support equipment is not arranged between the ruler body 21a at the leading part and the shield machine 10 and between the reference point 0 and the ruler body 21b at the last part. Between the total station 25 of the position detection unit 26 and the target 24 and between the total station 28 of the rearmost detection device 29 and the target 27, the laser beam and the light wave for distance measurement are not blocked by the support equipment. There is.

The control unit 30 is basically composed of three computer systems including a well-known storage device, an arithmetic processing unit, an input device, an output device, etc., which are not shown. That is, as shown in FIG. 1, the control unit 30 controls the operation state output device of the operation panel carriage 41 (shown in FIG. 5).
Data is input from 41a, and the shield machine 1 is checked based on the data from the excavation management system 32 that checks and manages these data and the position detection device 20.
The route control system 31 that calculates the position and attitude of 0 and monitors the deviation from the planned route, and the operation control device of the trolley 41 for the operation panel based on the data from the excavation management system 32 and the route management system 31. (Illustrated in FIG. 5) Excavation control system 33 that outputs an operation signal to 41b
And

As shown in FIG. 5, the excavation management system 32 includes the jack stroke, the jack speed, the total thrust of the jack, the cutter rotation speed, the screw rotation speed of the screw conveyor, which are input from the operation state output device 41a. Data such as face soil pressure, gas detection, and discharge amount are input. The operation status output device 41a includes a jack 17 and a screw conveyor 1.
5. The above data is input from the sensors provided in the cutter 12, the face earth pressure sensor 18a, the gas detector 18b, etc., and the data calculated from the input data and the input data is output to the excavation management system 32. It is supposed to do.

Then, the excavation management system 32 checks whether or not these data are within the preset upper and lower limits, and can be directly operated on the shield machine 10 side (jack stroke, jack). For speed, cutter rotation speed, screw rotation speed of the screw feeder) or data that can be indirectly improved (face earth pressure, discharge amount), this data is output to the excavation control system 33 side, and in the excavation control system 33, By operating the shield machine 10, various data are managed so as to be within an appropriate range.

As shown in FIG. 6, the route management system 31 has a position of the shield machine 10 and a position of the shield machine 10 with respect to the reference point O whose position has been measured in advance, based on the data output from the position detecting device 20. Is obtained and the planned route of the designed tunnel and the current position of the shield machine 10 are compared. In the route management system 31, the storage unit 31a stores the route data of the planned route in advance and is stored, and the target 27 of the final ruler 21b in the plurality of rulers 21 ... The distance from the position where was installed to the first connecting position, the distance between the connecting parts 22 ... After that, and the distance from the last connecting position to the installation position of the total station 25 of the leading ruler 21a are input. Stored. Further, the storage unit 31a stores the coordinate position of the reference point O.

The data input from the position detection device 20 to the route management system 31 is the reference point O input from the total station 28 of the rearmost position detection unit 29.
To the target 27 of the ruler 21b at the rearmost part and the direction (horizontal angle and altitude angle), and the rearmost position detecting part
Dual screen 2 input from 9 targets 27
XY coordinates indicating the laser irradiation position on each of 7b and 27b, XY coordinates indicating the laser irradiation position on the screen 23b of each bending direction detection unit 23 of each connecting portion 22 of the ruler 21, and the target position detection. The distance and direction (horizontal angle and altitude angle) from the total station 25 of the ruler 21a at the leading end to the target 24 of the shield machine 10 input from the total station 25 of the part 26, and the target 24 of the target position detection part 26 input And XY coordinates indicating the laser irradiation position on each of the double screens 24b and 24b.

Then, the route management system 31 uses the data from the total station 28 of the rearmost position detecting unit 29 to determine the ruler 21b at the rearmost part with respect to the reference point O.
The position of the target 27 is obtained. In addition, from the XY coordinates on the screens 27b and 27b of the target 27 of the rearmost position detecting unit 29 and the stored distance from the position where the target 27 of the rearmost ruler 21a is installed to the first connecting position. The first connecting position of the rulers 21 ... With respect to the installation position of the target 27 is obtained.

That is, the double screen 27b,
The rearmost position detection unit 29 from the respective XY coordinates of 27b.
The angle of the target 27 with respect to the laser output from the total station 28, that is, the attitude of the target 27 can be obtained.
From the direction of the target 27 (the direction of the laser beam) measured by 8, the distance to the first connection position stored in advance, and the attitude of the target 27 with respect to the laser beam, the ruler 21b for the position of the target 27 is obtained.
It is possible to determine the position of the first connecting portion 22 of the.

Further, the route management system 31 includes the distances between the connecting portions 22 ... Which are stored in advance and the bending direction detecting portion 23.
The position of the next connecting portion 22 with respect to the position of the first connecting portion 22 is obtained from the XY coordinates of the laser irradiation position on the screen 23b output from the above. That is,
By obtaining the bending direction from the laser irradiation position on the screen 23b, the direction of the other ruled body 21 with respect to the one ruled body 21 that is connected can be obtained. Connection part 22
Can be obtained.

Then, similarly, the position of the next connecting portion 22 with respect to the previous connecting portion 22 is sequentially obtained.
Similarly, from the last connecting portion 22 to the leading ruler 21a
The installation position of the total station 25 is required. Further, the route management system 31 inputs the distance and direction from the total station 25 of the target position detection unit 26 to the target 24 of the shield machine 10, and the target of the shield machine 10 with respect to the installation position of the total station 25 of the leading ruler 21a. The position of 24 is calculated.

Further, the target 2 of the target position detector 26
The position of the target 24 with respect to the laser beam of the total station 25 of the leading ruler 21a, that is, the position of the shield machine 10 is determined from the XY coordinates of the laser irradiation positions of the four double screens 24b, 24b. Then, by sequentially accumulating the above data, the position of the shield machine 10 with respect to the reference point O is obtained, and the attitude of the shield machine 10 (current excavation direction) is obtained. In addition, the storage unit 31
The position of the shield machine 10 with respect to the reference point O is converted into the absolute position of the shield machine 10 based on the coordinate position of the reference point O stored in a.

As shown in FIG. 7, the excavation control system 33 ensures that each data falls within a predetermined range based on each data input from the excavation management system 32 and indicating the operating condition of the shield machine 10. A control signal to the operation control device 41b of the shield machine 10, and a tunnel in the middle of excavation based on the current position of the shield machine 10 and the current excavation direction (posture of the shield machine 10) output from the route management system 31. To find the optimum excavation direction of the shield machine 10 to match the route of the planned route, and to match the excavation direction of the shield machine 10 to the obtained excavation direction, the operation control device 41b of the shield machine 10
A control signal is output to.

Further, the excavation control system 33 is adapted to perform the well-known fuzzy control as its control method.
It has a fuzzy controller 33a. Then, the excavation control system 33, on the basis of the input data from the excavation management system 32 and the route management system 31, the jack stroke and jack speed of each jack 17 for propelling the shield machine 10, the torque of the cutter 12, the screw conveyor. The number of rotations of the 15 screws is controlled.

As described above, a large number of jacks 17 are arranged in the cylindrical rear end portion of the shield machine 10 along the circumference at predetermined intervals, and some of these jacks are arranged. By changing the jack stroke,
The direction of the shield machine 10 can be changed. Therefore, the excavation control system 33 determines the optimum excavation direction of the shield machine 10 based on the data from the route management system 31 and then changes the jack stroke to change the excavation direction of the shield machine 10. 17 is selected, and the stroke of the selected jack 17 is changed.

Next, a method of measuring the position of the shield machine 10 in the excavation direction control system having the above position detecting device 20 and a method of controlling the excavation direction based on the method will be described. In the tunnel in the middle of excavation, the shield machine 10 excavates and segments 13
You will move forward while performing the primary lining by.
Then, in the tunnel behind the shield machine 10, a second track 45 is provided for a carrier truck for carrying out earth and sand and carrying in materials such as segments, and the ruler body 21 to which the position detecting device 20 is connected is provided. , And a first track 44 for a trolley 40 carrying the support equipment for the shield machine 10.

In the measurement of the position of the shield machine 10 using the position detection device 20 in the tunnel during excavation, the reference point O whose position has been measured in advance as described above is used.
Is required. Then, the total station 28 of the rearmost position detection unit 29 is arranged at the reference point O. The total station 28 at the reference point O indicates the direction (horizontal angle and altitude angle) and the distance from the reference point of the target 27 installed on the rearmost ruler 21b on the rearmost carriage 40 as described above. Measure and output to the route management system 31.

Since the total station 29 automatically tracks the target 27 as described above, it is possible to carry out surveying at all times, and the survey result is almost always output to the route management system 31. Therefore, in the route management system 31, even if the trolleys 40 for the position detecting device 20 move, the position of the ruler body 21b at the rearmost portion can always be obtained.

Further, as described above, since the support equipment for the shield machine 10 is mounted on the trolley 40 for the position detecting device 20, the reference point O and the target 27 of the ruler 21b at the rearmost portion are arranged. Since the support equipment of the shield machine 10 is not arranged in the tunnel portion between the reference points O
There is no obstacle between the total station 28 and the target 27 of the ruler 21b at the rearmost part, and it is disturbed by the support equipment and the carrier when excavating a small diameter tunnel. Instead, the position of the target 27 of the ruler body 21b at the rearmost part can be measured by the total station 28.

Although the carrier truck moves back and forth through the tunnel portion, since the carrier truck travels along one of the tracks 45 of two tracks 44, 45 provided in the tunnel behind the shield machine 10, The other track 44 side is in an open state, and in this part, the total station 28 at the reference point and the target 2 of the ruler body 21b at the rearmost part.
It is possible to secure a perspective with the 7. That is,
Even if the diameter of the tunnel to be excavated is small and the line of sight from the reference point O to the shield machine 10 cannot be secured due to the carrier truck and support equipment, the last part of the carriage 40 equipped with the support equipment from the reference point. It is possible to secure the line of sight up to the trolley 40.

Then, in the target 27 of the ruler 21b at the rearmost part, XY coordinates indicating the irradiation position of the laser irradiated from the total station 28 on the screens 27b and 27b are output to the route management system 31. Then, in the route management system 31, as described above, the two XY coordinate values on the double screens 27b, 27b and the direction of the target 27 output from the total station 28 (the direction of the laser beam).
The posture of the ruler body 21b at the rearmost part, that is, from the installation position of the target 27 on the ruler body 21b to the ruler body 21b.
The direction towards the first connecting part 22 of can be determined.

Further, in the route management system 31,
Since the distance from the installation position of the target 27 of the final ruler 21b to the center point of the first connecting portion 22 is known, the direction and distance from the installation position of the target 27 indicates the first connecting portion 22. The position can be calculated. Then, in each of the connecting parts 22 of the ruler 21, the XY coordinates are output from the coordinate detecting parts 23c of the bending direction detecting parts 23 and are input to the route management system 31.

The XY coordinates are the laser irradiation device 23a provided on one of the rulers 21 connected by the connecting portion 22.
3 shows the irradiation position on the screen 23b when the laser beam passing through the central axis of the ruler 21 is irradiated on the screen 23b provided in the other ruler 21. Therefore, the rulers 21, 21 connected by the connecting portion 22
When they are arranged on a straight line, the laser beam is applied to the reference point of the screen 23b, and the connecting portion 22
Therefore, when the rulers 21, 21 are bent, the irradiation position of the laser beam is displaced.

In the route management system 31, the bending angle is calculated from the distance from the central position of the connecting portion 22 to the screen 23b, the XY coordinates of the reference point, and the XY coordinates of the irradiation position deviated from the reference point. Can be asked. Further, in this case, if the bending angle is divided into the X direction (horizontal direction) and the Y axis direction (vertical direction), a direction composed of a horizontal angle and an altitude angle can be obtained. Further, in the route management system 31, since the distance between the connecting portions 22 is known, that is, the distance from the connecting portion 22 for which the bending direction is obtained to the next connecting portion 22 is known, the first The distance and the direction from the connecting portion 22 to the next connecting portion 22 are obtained, and the position of the next connecting portion 22 is obtained.

Then, in the route management system 31, similarly, the bending direction of the connecting portion 22 from the front connecting portion 22 is sequentially obtained, and between the obtained direction and the known connecting portion 22 ... From the distance, the position of the above-mentioned connecting portions 22 ... Is obtained. Further, in the last connecting portion 22, the direction of the last (leading portion) ruler body 21a is obtained as in the case described above. Further, since the distance from the last connecting portion 22 to the installation position of the total station 25 of the leading edge ruler 21 is known, similarly, the leading edge ruler 2 is also provided.
The installation position of the total station 25 of 1a is obtained.

Further, the position measurement based on the bending direction between the connecting portions 22 of the ruler body 21 as described above can be summarized as follows. As shown in FIG. 8, it is assumed that the distance from the installation position A of the target 27 of the ruler body 21b at the rearmost position to the first connecting portion 22 is l0. Further, the distance between the connecting portions 22 ... From the first connecting portion 22 to the last connecting portion 22 is set to l1 to ln-1, and the installation position B of the total station 25 of the ruler body 21a from the last connecting portion 22 to the leading portion is set.
Let ln be the distance to.

Further, the ruler bodies 21 obtained from the XY coordinates on the screens 23b ... In the connecting portions 22 ...
… Of the relative angles of each other, the horizontal angle is θx1 to θ
In addition to xn, the horizontal angle of the rearmost ruler 21b obtained by the target 27 of the rearmost ruler 21b is θx0. Similarly, the vertical angle of the relative angles between the rulers 21 ... Is changed from θy1 to θyn, and the target 27 of the ruler 21b at the rearmost portion is used.
The angle in the vertical direction of the ruler body 21b at the rearmost portion obtained by the above is defined as θy0.

The sum of these relative angles is Σθxn = θXn Σθyn = θYn. The position of point A on the three-dimensional XYZ coordinates is A
Let x, Ay, and Az. In this case, the position of point B on the XYZ coordinates can be obtained by the following formula. Bx = Ax + Σln Sin θxn By = Ay + Σln Sin θyn Bz = Az + Σln Cos θxn.

As described above, the ruler body 21 connected as described above.
..., each bending direction detection unit 23, and the posture determined by the target 27 of the rearmost ruler 21b, the total station 25 of the leading ruler 21a with respect to the installation position A of the target 27 of the rearmost ruler 21b. The position of the installation position B can be obtained. Further, when the position of the point A is determined from the point B, any connecting portion 22 may be bent as long as it is bendable and the angle can be detected. The position can be measured also in.

Further, as described above, in excavation of a small-diameter tunnel, various support equipment, a carriage, etc. are arranged between the shield machine 10 and the reference point O, and a light wave for distance measurement and a laser beam for positioning are provided. Even when it is difficult to always secure the prospect of passing, by arranging the ruler bodies 21 ... which are connected to each other so as to avoid the supporting equipment and the carrier, the point B arranged behind the supporting equipment. It is possible to measure the position of the point A arranged in front of the support equipment.

Then, in the route management system 31, the total station 25 of the leading ruler 21 is measured by measuring the target 24 installed on the shield machine 10 from the total station 25 arranged on the leading ruler 21a. From the installation position of the shield machine 1
The distance to 0 and the direction are input. Then, in the route management system 31, the total station 2
The position of the shield machine 10 with respect to the installation position of 5 is obtained.

Further, as described above, the installation position of the target 27 of the ruler 21b at the rearmost part from the reference point 0 is measured,
Further, the positions of the respective connecting portions 22 are sequentially measured from the rearmost ruler 21b, and the ruler 2 at the tip from the last connecting portion 22 is measured.
Since the installation position of the total station 25 of 1a is measured and the position of the target 24 of the shield machine 10 can be measured from the installation position of the total station 25, the position of the shield machine 10 can be measured from the reference point O.

Further, in the route management system 31,
The attitude of the shield machine 10, that is, the current excavation direction of the shield machine 10 can be obtained from the two XY coordinates indicating the laser irradiation positions of the double screens 24b and 24b output from the target 24 of the shield machine 10. it can. Then, the route management system 31 uses the position detection device 2
By constantly monitoring the position of the shield machine 10 based on the data from 0, the route of the tunnel actually excavated, the current position of the shield machine 10 and the excavation direction of the shield machine,
The route of the planned route input in advance is compared, and the deviation is calculated.

Further, the route management system 31 notifies the excavation control system 33 of the route of the tunnel actually excavated, the current position of the shield machine 10, the excavation direction of the shield machine 10, and the planned route. The current positional deviation of the shield machine 10 with respect to the planned route is output. Further, from each sensor of the shield machine 10 to the excavation management system 32 via the operation state output device 41a, the jack stroke, the jack speed, the thrust, the cutter torque, the rotation speed of the screw of the screw conveyor 15, the earth pressure of the cutting face, Data such as gas detection and emission amount are input. Then, in the excavation management system 32, the upper limit value and the lower limit value indicating the optimum range of each data,
The upper limit and lower limit indicating the allowable limit are managed.

In the excavation control system 33, as described above, the current position of the shield machine 10 from the route management system 31, the excavation direction (posture) of the shield machine 10, and the excavation route of the shield machine 10 up to the present (excavation). The actual route of the inside tunnel) etc. is input. Then, in the excavation control system 33, the attitude of the shield machine 10 is controlled so that the actual excavation route of the shield machine 10 is matched with the route of the tunnel of the planned route input in advance.

That is, the jack stroke and the jack speed of each jack of the shield machine 10 are controlled to control the posture of the shield machine 10, and the shield machine 1 is controlled.
0 will be advanced along the planned route. In addition,
When attempting to advance the excavation direction of the shield machine 10 along the planned route by automatic control, for example, when the position of the shield machine 10 deviates from the planned route, the shield machine 1
When the attitude of 0 is changed greatly and the attempt is made to return to the planned route, the excavation direction of the shield machine 10 may become zigzag, and when the attitude of the shield machine 10 is small, the shield machine 10 is excavated. There is a possibility that the tunnel will be kept away from the planned route.

Therefore, in this example, the well-known fuzzy controller 33a is used for the excavation control system 33, and each jack 17 for the input data is selected by an optimum control method based on the data obtained by simulation or trial. It is designed to determine the jack stroke and jack speed of the shield machine 10.
The deviation from the planned route is made small, and the actual excavation route of the shield machine 10 is economical and suitable for a tunnel.

The parts other than the surveying method using the position detecting device 20 can be dealt with by well-known techniques.
That is, the control of the excavation direction of the shield machine 10 of the present invention is performed for the portion excluding the measurement of the position of the shield machine
For example, a method similar to the control of the excavation direction of the shield machine in a large-diameter tunnel that can easily secure a line-of-sight that allows optical surveying between the shield machine 10 and the reference point O can be used.

In this example, the rolling of the shield machine 10 was not touched, but the rolling state of the shield machine 10 was measured by a measuring device such as a spirit level or a gyro, and the positions of the jacks 17 ... By making it possible to accurately grasp, the excavation accuracy of the tunnel can be further improved. Further, in excavation of a large-diameter tunnel, there is a curved portion of the tunnel between the reference point O and the shield machine 10, and it is ensured that an optical survey is possible between the reference point O of the tunnel and the shield machine 10. If this is not possible, by arranging the position detection device 20 in the curved portion of the tunnel, it is possible to automatically control the shield machine 10 without changing the reference point O in the curved portion.

In this case, the position detecting device 2 is not always required.
It is not necessary to mount 0 on the trolley 40 for supporting equipment, and the trolley 40 dedicated to the position detecting device 20 may be used, or the position detecting device may be directly installed in the tunnel.
Further, the position detecting device 20 and the position detecting device 20 of the present invention
The surveying method using is not only used for surveying in the excavation of the above-mentioned tunnel, but basically, it can be used when it is not possible to secure the prospect that optical surveying is possible between the reference point and the target point. .

The bending direction detecting section 23 of the position detecting device 20 is not limited to the one using the above laser beam, and for example, the horizontal angle and the altitude angle are obtained by the rotary encoder used for the theodolite. Good as a thing. Further, the postures of the shield machine 10 and the ruler body 21b at the rearmost portion are not always the targets 24,
27 dual screens 24b, 24b, 27b, 27
The position of the shield machine 10 and the ruler body 21b at the rearmost part may be measured by using a device such as a gyro or a gyro and a spirit level instead of the above.

[0103]

According to the position detecting device of the first aspect of the present invention, when it is difficult to optically measure a target point from a reference point due to an obstacle, in particular, avoiding the obstacle is used for surveying. If it is necessary to change the reference point multiple times in step 1, or if it is difficult to change the reference point while avoiding obstacles, place the last ruler at the reference point and If the ruler body is placed at the target point, the direction of the rearmost ruler body is detected by the rearmost direction detecting means, no matter how the rest of the ruler body that connects the front end portion and the rearmost portion is arranged. Along with, by detecting the bending direction of each connecting portion between the ruler bodies by the bending direction detecting means, since the distance between the connecting portions of each ruler body is known, between the reference point and the target point, sequentially. , Since the distance and direction to each connecting part can be known, It can determine the position of the ruler of the top portion relative Tadashikarada.

Therefore, the relative position of the target point with respect to the reference point can be easily calculated, and if the absolute position of the reference point is known, the absolute position of the target point can be obtained. Also, when detecting the position of the shield machine in excavating the tunnel, if the tunnel is curved,
Applying the above position detection device effective when the tunnel has a small diameter and support equipment etc. is placed behind the shield machine and an optically measurable line of sight cannot be secured between the reference point and the shield machine. You can

According to the position detecting device of the second aspect of the present invention, when there is an obstacle between the reference point and the target point, when the target point is measured from the reference point, the rearmost part of the reference point is used. Arrange the surveying means, place the last ruler at a position where optical measurement is possible from the reference point, and make the target point optically surveyable by the target position surveying means provided on the first ruler. By arranging the ruler at the beginning and the ruler between the ruler at the end and the ruler at the beginning so as to avoid the obstacles above, it is possible to measure the target point from the reference point. Become.

Therefore, even if there is an obstacle between the reference point and the target point, the position of the target point can be measured from the reference point, and the reference point, the ruler body connected to each other,
Surveying is possible even if the target points are far from each other.

According to the position detecting device of the third aspect of the present invention, it becomes possible to easily move the ruler by the carriage. When the position detection device is used to measure the position of a small-diameter shield machine, that is, the target point is the shield machine, and obstacles are support equipment for the shield machine (excluding trolleys for loading and unloading dirt and segments) In such a case, the supporting equipment arranged at the rear of the shield machine is placed on the carriage on which the ruler is placed, so that the ruler is placed avoiding obstacles.

That is, when the shield machine is used as a target point, a target position measuring means having the shield machine as a target point is provided in the leading part of the ruler, so that the positional relationship from the leading part of the ruler to the shield machine is determined. By grasping the support equipment on the trolley, it is possible to place the ruler at the rearmost part in a position where the line of sight can be seen from the reference point.
As a result, the position of the shield machine can be measured from the reference point even if there is no visibility from the reference point to the shield machine in the already excavated tunnel.

According to the surveying method of the fourth aspect of the present invention, it is possible to obtain the same excellent effect as that of the configuration of the second or third aspect.

According to the excavation direction control system of the fifth aspect of the present invention, in the case of a shield machine having a small diameter as described above, even if the view from the reference point cannot be secured by the support equipment at the rear, It is possible to track the position of the shield machine, and based on the tracked position of the shield machine, even in a small-diameter shield machine, the shield machine is driven by the jack for propulsion of the shield machine as in the large-diameter shield machine. It is possible to control the posture of the machine, and it is possible to automate the control of the excavation direction in a small-diameter shield machine. Also, in a large-diameter shield machine, if the truck on which the ruler is placed is placed in the curved part of the tunnel, the position of the shield machine can be tracked in the curved part without repeating the re-adjustment of the reference point. Therefore, it is possible to save the labor of automatic control of the curved portion and the portion beyond the curved portion.

[Brief description of drawings]

FIG. 1 is a block diagram for explaining an excavation direction control system according to an example of an embodiment of the present invention.

FIG. 2 is a front view, a side sectional view, and a rear view showing a shield machine used in the excavation direction control system of the above example.

FIG. 3 is a schematic diagram for explaining a position detection device of the excavation direction control system of the above example.

FIG. 4 is a schematic plan view showing a position detection device and a carriage of the excavation direction control system of the above example.

FIG. 5 is a block diagram for explaining an excavation management system of a control unit of the excavation direction control system of the above example.

FIG. 6 is a block diagram for explaining a route management system of a control unit of the excavation direction control system of the above example.

FIG. 7 is a block diagram for explaining an excavation control system of a control unit of the excavation direction control system of the above example.

FIG. 8 is a diagram for explaining a surveying method in the position detecting device.

[Explanation of symbols]

 O Reference point 10 Shielding machine 17 Jack 20 Position detecting device 21 Ruler 22 Connecting part 23 Bending direction detecting part (bending direction detecting means) 26 Target position detecting part (target position measuring means) 27 Target (last part direction detecting means) 29 Last position detection unit (last surveying means) 30 Control unit (control means) 31 Route management system (position calculation means) 40 Cart

Claims (5)

[Claims] 1. A plurality of rulers that are bendably connected to each other in a line and have a known length between the connecting parts, and one of the rulers at each connecting part of these rulers to the other ruler. Bending direction detecting means for detecting each bending direction of the ruler body, rearmost direction detecting means for detecting the direction of the ruler body arranged at the rearmost part of the plurality of ruler bodies connected to each other, and The direction of the rearmost ruler body detected by the rearmost direction detecting means, the bending direction at the connecting portion between the respective ruler bodies detected by the bending direction detecting means, and the length between the connecting portions of the respective ruler bodies. A position detecting device for calculating the position of the leading-edge ruler with respect to the trailing-edge ruler based on the position detection means. 2. A rearmost surveying means which is installed at a reference point whose position has been measured in advance, and which optically surveys the position of the rearmost ruler with respect to the reference point, and a leading ruler. And a target position measuring means for optically measuring the position of an arbitrary target point with respect to the ruler body at the leading end, and the position calculating means for the reference point measured by the last measuring means. The position of the ruler at the end, the position of the ruler at the beginning with respect to the ruler at the end calculated as described above, and the target point for the ruler at the beginning measured by the target position surveying means. The position detecting device according to claim 1, wherein the position of the target point with respect to the reference point is calculated from the position. 3. A plurality of trolleys connected to each other in a row are provided, and each trolley and each ruler are made to correspond to each other, and a position of a connecting portion between the dollies and a position of a connecting portion of the ruler are made to correspond to each other. The position detecting device according to claim 1 or 2, wherein the ruler is mounted on a carriage. 4. A surveying method using the position detecting device according to claim 2 or 3, wherein a rearmost surveying means is arranged at a reference point whose position has been measured in advance, and the rearmost ruler body is provided. Is placed at a position where optical measurement can be performed by the rearmost surveying means, and the ruler body at the head portion provided with the target position surveying means is optically surveyed by the target position surveying means. Then, the rearmost surveying means measures the position of the rearmost ruler with respect to the reference point, and the rearmost direction detecting means detects the direction of the rearmost ruler, and the bending is performed. The direction detecting means detects the bending direction of each standard body, the target position measuring means measures the position of the target point with respect to the leading standard body, and the position calculating means measures the position of the target point with respect to the reference point. Surveying method and calculating. 5. An excavation direction control system for tunnel excavation by a shield machine using the position detecting device according to claim 3, comprising the target position surveying means and the rearmost surveying means, and the shield machine comprising: A position detecting device serving as a target point, and a control means for controlling the driving of the propulsion jack of the shield machine based on the position of the shield machine detected by the position detecting apparatus to control the excavation direction of the shield machine. The trolley with the ruler at the beginning is placed at a position where the shield machine can be optically measured, and the ruler at the rear is placed at a position where it can be optically measured from the reference point. The carriage on which the ruled bodies connected to each other are mounted is arranged so that the mounted carriage is arranged, and the position calculating means of the position detecting device is configured to detect the rearmost part measuring means and the rearmost direction. Stage, the bending direction detecting means,
Based on the information obtained by the target position measuring means, the position of the shield machine that is the target point is calculated from the reference point, and the control means is the shield machine that is the target point obtained by the position detecting device. An excavation direction control system for controlling the jack for propulsion of the shield machine based on the position of the shield machine and a preset route of the shield machine.