JPS58179309A - Detection of position between two shaded positions - Google Patents

Abstract

PURPOSE:To detect the position between the two points which cannot be viewed from each other as in a curved tunnel by installing a laser deflector having a mirror which can be deflected by two horizontal and vertical shafts between a laser range finder and a photodetection plate to be measured. CONSTITUTION:A laser range finder A and a reference photodetection plate D are installed in the place where the ground 1 is relatively stable as in a vertical shaft 2 of a tunnel. A photodetection plate B to be measured is provided in the rear part of a shield excavator 5 and a laser deflector E is installed at the intermediate between the range finder A and the plate B. The distance between the laser deflector and the photodetection plate to be measured is measured by reflecting the laser from the range finder A with the deflector E, conducting the laser to the plate D, measuring the solid angle assumed by the incident optical axis thereof and the reflected optical axis, calculating the position of the deflector E, conducting the laser from the range finder through the laser deflector to the home position of the plate B, calculating the deviation between the indicent light to said photodetection plate and the incident light to the deflector, further reflecting said incident laser on the photodetection plate to be measured and returning this laser through the laser deflector up to the laser range finder.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for detecting a position between two points where there are obstacles and visibility is difficult, such as between two points in a curved tunnel.

For example, when excavating a tunnel underground by shield excavation, etc., it is necessary to accurately propel the excavator along a defined path. In this case, excavation work in the original part of the tunnel is relatively easy, but in curved parts of the tunnel it is very difficult to accurately propel the excavator along the planned line.

Figure 1 is a cross-sectional plan view showing the middle of excavation of a tunnel with a curved part, in which 1 is the ground, 2 is the shaft, 3 is the VtS part of the tunnel, 4 is the curved part of the tunnel, and 5 is shield excavation. .

Figures 8 to 6 show the conventional measuring method used when excavating tunnels such as those mentioned above. When excavating a straight section 8 of a tunnel as shown in Figure S, the laser beam is directly directed to the light receiving plate B from a fixed laser range finder set in a fixed position. Drilling by applying va5
However, when the excavation 1II5 reaches the curved portion 4, the light receiving plate B is displaced to the position B', and the laser beam emitted from the radar rangefinder A is transmitted to the light receiving plate B.
' When the rangefinder starts to deviate from A',
It needs to be reattached to the lid. However, if the laser rangefinder A is moved frequently, errors tend to occur, and
If the ground on which the laser rangefinder is fixed is unstable,
It is often necessary to re-measure the position of the laser range finder A, and if the vibration of the excavator 6 is large and the laser beam from the laser range finder A is out of the tolerance range of the light receiving plate B, position measurement becomes impossible. There was a problem.

In contrast to this fixed laser range finder, if a laser range finder that can deflect the laser emission direction up and down and left and right as shown in FIG. If the excavator moves to the curved part 4, it will be able to follow the position where the laser beam can reach the light receiving plate without being obstructed (
For example, the maximum usable range is 81st position 1 it), so if the excavator 6 advances further than that, the installation position of the laser range finder must be moved.

Figure 4 shows an example in which a prism deflection WO is installed between the laser rangefinder M and the light receiving plate B. In this way, the measurable distance between A and B can be extended, but the prism Since the attenuation rate of the light beam transmitted through the prism of the deflection IC is high, the usable distance between M and B is limited and is not very long.

Also, depending on the type of light wave (electromagnetic wave), the deflection angle of the light that passes through the prism deflector C varies.
Since the deflection angle of the light by this prism deflector O is very small (the deflection angle in the case of 8 prisms is about 4°),
The problem is that the scope of use is naturally limited.

In addition, in this method, the installation positions of the laser rangefinder M and the prism deflector 0 must both be fixed points, and a separate survey is required to measure the distance between A and 0, and the prism deflector O If the installation location of the equipment is changed, there is a problem in that the installation location must be measured by a separate survey each time.

The present invention was made in order to solve the problems of the conventional method as described above, and includes a laser deflection device having a mirror capable of deflecting along two axes, horizontal and vertical, between a laser range finder and a light receiving plate for measurement. The main feature is that the laser deflector can be installed easily, which eliminates the need to frequently reinstall the laser range finder as in conventional methods, and also allows the laser deflector to be reinstalled even if it is slightly displaced. Measurement can be continued without any trouble, and errors caused when moving the laser distance measurement board and errors caused by displacement of segments and ground can be easily removed.
The purpose is to significantly improve the efficiency of this type of work, as well as to improve measurement accuracy.

Embodiments of the present invention will be described below with reference to FIGS. 5 to 10 regarding tunnel excavation using a shield excavator. In the figure, the same symbols as the above-mentioned symbols are equivalent.

In this embodiment, as shown in FIGS. 6 and 7, a laser range finder A is first installed at a relatively stable location on the ground 1, such as a shaft B of a tunnel, and the laser range finder A is A light-receiving board for kneeling is installed at a certain distance from A in the horizontal and vertical directions. Although the radar rangefinder has been described as having the functions of a laser sight (laser oscillator) and a rangefinder, it is also possible to install the laser oscillator and rangefinder separately, or to measure distance. You may use other methods.

On the other hand, the rear part of the shield excavator 5 is provided with a light receiving plate B to be measured, and a position where the radar rangefinder and the light receiving plate B to be measured can be seen between the laser rangefinder A and the light receiving plate B to be measured. A laser deflector E having two wheels perpendicular to each other, for example, a mirror that can be deflected by two horizontal and vertical axes, is installed.

FIG. 8 shows an example of this laser deflection III, in which 6 is a Radhe beam, F is an entrance window provided in the case (not shown) of the laser deflector E, 8.9 is a fixed mirror, and 10.
11 is a rotating mirror, and 12 is an exit window. Further, 18 is a horizontal axis that supports the rotating mirror IO, and 14 is the rotating mirror 11.
15 are the rotating mirrors 10.11
16 is a reduction gear device, 17 is an encoder, and 18 is a direction change gear device.

FIG. 9 shows an example of the light-receiving plate B for measurement provided at the rear of the shield excavation s5, where 19 is a case, 80 is a frame-shaped outer light-receiving plate, and ! 1 is the light receiving plate in the center, light receiving plates go, g
x has a large number of light receiving elements e distributed on its surface. Note that a large number of light receiving elements are distributed in the same manner on the surface of the reference light receiving plate so that the light receiving position can be corrected to the center point.

Further, 22 is a reflecting prism, 2δ is a transmission cable connecting this prism 22 and the light receiving plate 21 in the center, and 2-8
is a motor for moving this cable 28. That is, when the light is received by the light receiving plate 21, the motor 24 is driven to generate the purple light 28.
By moving the prism la2 in the direction of arrow F through the prism 22, the incident light can be reflected by the prism 22.

! :10. The figure is an explanatory diagram showing a control system for electrically controlling a tunnel excavation method using a shield excavator using the method of the present invention.

Next, the procedure of the method of the present invention using a computer will be explained. The positional relationship between the laser rangefinder A and the reference light receiving plate in FIG. 6, that is, the horizontal distance m and the vertical distance n
Measure in advance.

First, the computer is turned on as shown at 25 in FIG. 10, and thereby the laser oscillator of the laser rangefinder A is turned on as shown at 26 to project the radar beam 6. Next, as shown at 87, the motor 15 of the sea 4f deflector E is activated by a signal from the computer, thereby rotating the two rotating mirrors 10 and 11, respectively, and directing the laser beam 6 to the distance needle of the laser rangefinder. reflect,
As shown at 28, the distance between the laser deflection aX and the laser rangefinder A is 11!7. , and send this measured value to the computer as shown at 29, as well as the measured distances ll and m.
, H, and calculate α and β from the two rotating mirrors 10.1 for reflecting the Radhe beam 6 in the direction of the reference light receiving plate.
1 is calculated, and this laser beam is sent to the laser deflector E, which rotates the two rotating mirrors 10 and 11 to reflect the laser beam 6 onto the light receiving plate for JII 11g as shown by δ0. The reference light receiving plate receives the projected laser beam 6 and sends the position of the laser beam 6 on the light receiving plate to the computer as a signal, and the computer receives this signal and moves it to the center of the light receiving plate. Calculations are performed to project the Radhe beam 6, the laser deflector E is corrected, and the Radhe beam 6 is projected onto the center of the light receiving plate.

By repeating this operation, the angles of the two rotating mirrors 10° and 11 of the laser deflector E when the laser beam 6 is incident on the center of the light receiving plate for the light beam are input to the computer via the encoder 17 as shown in the figure. Make me remember. In this way, the solid angles α and β formed by the incident optical axis and the reflected optical axis of the laser beam 6 are measured, and the position of the Radhe deflector E is calculated. The laser deflector E performs calculations for deflecting the radar beam 6 onto the light-receiving plate °B for measurement provided in the machine 5, and sends this signal to the laser beam E as shown at 83, and the motor 1
By rotating the rotary mirror 10.11 via the mirror 5, the lep beam 6 is projected onto the light receiving plate B to be measured. In this case, when the light receiving plate B of the excavator 5 deviates greatly from the planned line and as a result, the laser beam 6 does not hit the light receiving plate B, the rotating mirror 1 of the Rade deflector E is activated by a signal from the computer.
The laser beam 6 is swung three-dimensionally by rotating the laser beam 0.11, and this operation is repeated until the light receiving plate B sends the incident number 1 to the computer. When receiving the incident signal from light receiving plate B, the computer stops the above operation and
Detecting the position of the government office from the center, a circular signal is sent to the laser 1 direction 11NC so that the radar beam 6 is projected onto the center of the light receiving plate B, and the rotating mirror 10.11 is rotated.

In this way, when the radar beam 6 is incident on the center of the light receiving plate B as shown at δ8, the combiator memorizes the angle of the rotating mirror 10°11 of the laser deflection IHG at that time via the encoder 17, as shown at 84. Then, as shown at 85, a signal is issued to switch the central light receiving plate 81 shown in FIG. 9 to the reflecting prism S12 so that distance measurement can be performed.

That is, by rotating the motor g4, the reflective prism 28 is moved in the direction of arrow F via the cable 28.

In this way, the radar beam 6 is reflected by the reflecting prism 82 and enters the rangefinder of the radar rangefinder via the laser deflection 11C, making it possible to measure the distance as shown in the wall 86. In other words, the distance shown in Figure 6! , I understand. Then 8
Distance as shown in 7! , +7. is sent to the computer as a round number, and the angle fl stored at the time of incidence at the center of light receiving plate B is
r.

θ and distance! , and calculates the position of the shield excavation II5. And excavation 1 proud of this measurement position and planned line! The computer calculates the deviation from the desired position of A5, and if 111ij, which causes the excavator to dig in the direction that eliminates the deviation as shown in 88, is included in Excavation@5, the position of the excavator can be automatically corrected. can. It goes without saying that this modification can also be done manually.

The above is the procedure up to making the first correction to the excavator 5, and next, the operations to be performed after this will be explained.

After measuring the position of excavation II 5, when measuring the subsequent excavation 1115 that has been excavated deeply, the laser deflection iE
If the installation position of the laser deflector E is stable,
There is no need to check the position of the point @ in Figure 1O.
As shown at 89, 8 is a correction operation for the laser direction WE.
All you have to do is repeat the operations after z.

On the other hand, the installation position of the laser deflection ME is unstable, and the laser deflection am, which was initially installed on the standard line S in Fig. 6, has shifted from the standard line S as shown in Fig. 7. ′ position,
As shown by the dashed line 40 in FIG. 10, it is necessary to repeat the operation from Step 8 described above. That is, after the previous measurement,
The laser beam 6 from the radar range finder K is directed to the radar deflector K.
If the projected light is projected onto the reference light receiving plate and the projected light enters the center of the light receiving plate, it can be seen that the radar deflection -E is not displaced. If the laser beam 6' is displaced to the ``extreme'' position, repeat the operations from 87 onwards again to determine the three-dimensional displacement angles X @ 7 s and α of the laser beam 6' with respect to the standard line S.
'·β', θ e r' +1□l, 1.1 are newly measured.

In the above embodiment, an example was explained in which the Rade deflector E was installed only in one place, but if two or more Rade deflectors 11
It is also possible to use 11iE. In particular, since the laser deflection ME used in the present invention uses a mirror, the transmitted light does not attenuate unlike the conventionally used reflecting prism, so the distance between the radar rangefinder and the light receiver 6B to be measured can be greatly increased. can be increased to Therefore, according to the present invention, unlike the conventional method, there is no need to frequently move the installation position of the laser range finder A, and even when changing the installation position, it is possible to select a place with stable ground and install it. can.

Since the present invention is as described above, it eliminates the need for frequent reinstallation of a laser rangefinder as in the past, and also eliminates the need for frequent reinstallation of a laser rangefinder, and allows for easy installation even if the laser deflector is slightly folded. By allowing measurements to continue without making any corrections and reducing errors caused by the movement of the laser rangefinder, it is possible to significantly improve the efficiency of this type of work, as well as improve measurement accuracy.

You can get a great effect.

[Brief explanation of the drawing]

FIG. 1 is a cross-sectional plan view of a tunnel having a curved portion; FIGS. 2 to 4 are explanatory diagrams of the conventional method; FIG. 6 is a plan view showing the tunnel shown in FIG. 1 in which the present invention is applied; 6 and 7 are explanatory diagrams of the method of the present invention, FIG. 8 is a perspective view showing an example of a Rade deflector, and FIG. 9 (a) G:!
A front view showing an example of a light receiving plate to be measured, v! J(b) is a vertical side view of the same, and Fig. 10 is a block diagram for explaining the method of the present invention. Curved portion 6...Shield drilling-mu...Laser range finder B...
Light receiving plate for measurement D...Reference light receiving plate 6...Leede beam x...Leede deflector 7...Incidence window
8.9...Fixed mirror 10.11...Rotating mirror 18...Emission chamber 18...Horizontal axis
1-...Vertical axis 16...Motor 1
6...Reduction gear device 1f...Encoder 1B
. . . Direction conversion gear device 19 . . . Case 20 of light receiving plate B to be measured . . . Outer light receiving plate 21 . . Center light receiving plate 22 .・
・Motor patent applicant Aoki Construction Co., Ltd. Figure 6-50- Figure 8 ・a) Figure 9 <b>

Claims (1)

[Claims] 1 Install a laser rangefinder and a light receiving plate for leveling at one of two points where there is an obstacle in the way and have no visibility, and install a light receiving plate for the object to be measured on the other side. A laser deflector with a mirror that can be deflected by two mutually orthogonal axes is installed at a position between the laser rangefinder and the light receiver to be measured so that the laser rangefinder and the light receiver to be measured can be seen. It is reflected by a deflector and guided to a reference light receiving plate, and the solid angle formed between the incident optical axis and the reflected optical axis is measured to calculate the position of the Rade deflector. to the fixed position of the light receiving plate to be measured, calculate the deviation between the incident light to this light receiving plate and the incident light to the laser fFF[ft, and further reflect the incident laser on the light receiving plate to be measured. The laser is then returned to the laser range finder via a laser deflector to measure the distance between the laser scratch direction and the light receiving plate to be measured. A method for detecting the position between