JPS60149915A - Measurement of pipeline plane position - Google Patents

Abstract

PURPOSE:To save time and labor by sequentially integrating a direction output from a gyroscope provided on a tunnel excavator and a propelling distance output from a jack stroke gauge to measure the current position. CONSTITUTION:A plurality of propelling jack 14 are provided between a shield excavator 12 at the excavating tip and a segment 13 and the shield excavator 12 is propelled with the segment 13 as fulcrum to excavate. The shield excavator 12 is equipped with a gyroscope 16 to detect the direction thereof 12 at the current position and inputs the results into an electronic computer 15 as electrical signal. Jack stroke gauges 18 are mounted on a proper number of the propelling jacks 14 and inputs signals of individual moving distances into a jack control panel 17 to calculate the geometrical mean of values of the individual moving distances from the jack stroke gauges 18. The results are inputted into the electronic computer 5 by an electrical signal as average excavating distance and then, integrated sequentially with the direction output from the gyroscope to measure and determine the current position.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for measuring the planar position of a buried pipe in tunnel excavation work.

Generally, in the shield excavation method or propulsion method used for tunnel excavation, etc., it is an important element in tunnel construction to accurately measure the excavation position and accurately install buried pipes. This is an important issue not only for automating the work but also for achieving automatic control of the excavation direction. In order to set the digging direction correctly, (
1) Setting an accurate excavation plan route, (2) Correctly confirming the actual excavation direction and location, (3)
), it is necessary to determine some deviation between the planned excavation route and the actual excavation direction and excavation position, and to use this deviation to control the excavation.

To explain the conventional method of measuring the excavation position according to the excavation plan route, Figure 1 shows an example of surveying in the case of the shield method, where 1 is a vertical shaft, and it is used to measure the planar position of the shield installed in the mine. is first introduced into shaft 1 by coordinate reference measurement on the ground, and the reference point TPO in this mine is determined.
The fixed color. , Q,, 0□...9n-0, and sequentially install underground reference points TPl, TP2... to reach TPn. Next, using the final underground reference point TPn at that point, measure this point. Install the surveying machine at
and θb, and the above! . , No. 1.ノ2...'a
l, ibl and θ. , θ1. θ2...θ8. θb
Learn geometry.

Figure 2 shows an example of surveying using the propulsion method.
In this method, it is not possible to set a reference point in the mine because the propulsion pipe moves as the tunnel progresses. For this purpose, the position A-B of the excavation machine 2 is set at the shaft reference point TPO, at each measurement fixed point P1. P2+P3...Finally installing surveying instruments at 20 points including Pn is distance 'al l no bt+
Angle θ8. The current position and digging direction of the excavation machine 2 are determined by measuring θb.

However, in all of the above measurement methods, the measurement work is carried out underground, so the working space is small, and in the propulsion method, the propulsion pipe moves, so the survey must be repeated each time. However, this measurement method requires time and effort for surveying, and furthermore, the measurement method has the disadvantage that it is likely to be inaccurate due to the accumulation of errors.

The measurement method according to the present invention has been made with the aim of eliminating the inconvenience and labor involved in surveying work in underground mines by using a gyroscope and a stroke meter, and also improving the measurement accuracy. The method is to provide a gyroscope to a tunnel excavating machine such as a shield machine or a semi-shield machine in tunnel excavation work, and also provide a jack stroke meter to the propulsion jack for digging the tunnel excavation machine. Input the direction output from the machine and the propulsion distance output from the jack stroke meter into a computer, and measure and calculate the current position of the tunnel boring machine by sequentially integrating these two inputs, that is, direction input and distance input. This is a planar position measuring method configured as follows.

This measurement method will be explained below with reference to an example. Fig. 3 is a vertical cross-sectional view of the mine in the case of the shield method, 11 is a starting shaft, the shield excavator 12 is excavated from this starting shaft 11, and The segments 13 are sequentially installed and lined at the locations where the tunnel has been completed, and the tunnel is completed. In this construction method, a plurality of propulsion jacks 14 are provided between the shield excavator 12 and the segment 13 at the tip of the excavation, and the shield excavator 12 is propelled using the segment 13 as a fulcrum to advance the excavation. Here, a gyroscope 16 is installed in this shield tunneling machine 12, which detects the direction of the shield tunneling machine 12 at that point in time, converts this into an electrical signal, and uses a separately installed computer 15.
is input. In addition, a jack stroke meter 18 is attached to an appropriate number of the propulsion jacks 14 among the plurality of jacks.
The signals of the individual moving distances are first inputted to the jack control panel 17, where the geometric mean of the values of the individual moving distances of the jack stroke meter 18 is calculated and calculated as the average digging distance of the shield tunneling machine 12. The signal is input to the computer 15. The computer 15 records the above two input signals and sequentially integrates them to measure and grasp the current position of the shield excavator 12.

Figure 4 is a longitudinal cross-sectional view of the mine using the propulsion method.
is a starting shaft, and the excavator 22 advances from this shaft 11, and when the excavation is completed, a propulsion pipe 2 is sequentially installed at the rear of the shaft.
3 is inserted, and the excavation proceeds by applying thrust to the excavator 22 via the propulsion pipe 23 by a plurality of pusher jacks 24 whose fulcrums are set in the starting shaft. Also, 1iJl of the excavator 22 and the propulsion pipe 23 located at the tip! VC
When a plurality of direction control jacks 24' of the excavator 22 are installed along the circumference of the tail portion of the excavator 22 and the excavation direction of the excavator 22 is changed, each jack adjusts the elongation according to the excavation direction. to control the direction. Here excavator 2
A gyroscope 16 is installed at 2 to detect the direction of the excavator 22 at the current position, convert this into an electrical signal, and input it to a computer 15 provided separately. In addition, the propulsion jack is the main push jack 24 and the direction control jack 24.
The stroke meter 18 is attached to one or more of the original pusher jacks 24, and the direction control jacks are attached to an appropriate number of the plurality of jacks. Similarly, a stroke meter 18' is provided, and the distance traveled by each jack is inputted into the jack control panel 17', and the geometric mean value of the values of the individual travel distances of this jack stroke meter 18' is determined by the jack control panel 17'. This is calculated and input as an electrical signal to the computer 15. Here, it is superimposed on the value of the stroke meter 18 of the main push jack 24, which is input via the jack control panel 17, and this value is input as an electric signal to the computer 15. The computer 15 records the direction signal from the gyroscope 16 and the average digging distance, and sequentially integrates the signals.
Measure and understand the current position of 2.

-Here, to explain the work flow of this measurement method with reference to Fig. 5, first, each propulsion jack is moved outside (Fig. 5 32).
The gyroscope 16 at that measurement point measures the angle between a certain reference direction and the axial direction of the propulsion device (33), and this value is input to the computer 15 (35). Along with this, the total jack stroke was 18,'
The excavation distance is measured at 18' (34), and this distance is input as a signal to the computer 15 (35). These two values are sequentially added to the previously measured values in the computer. (36J One cycle of measurement is completed. This measurement is carried out at the measurement origin TP installed in the starting shaft, for example.
The measured values are sequentially integrated with O as zero, and the measured values are sequentially input to the computer 15 while repeating the above cycle as the excavation progresses.

FIG. 6 is a vector diagram that graphically represents the above measurement method, where the reference direction of the gyroscope 16 is, for example, the north direction (direction N in the figure), and the minute distances Δ]□, Δi2.Δi
Every time you dig by 3..., the angle you make with the excavator becomes 01. θ
2. Assuming that θ3... changes in a clockwise manner, the respective values at each measurement position P1 + P2, P3... are calculated by the computer 15 as follows: Σ... 10P, (θ, ・Δ)1) 10P2(θ2
・Δ) 2) Ten P3 (θ3・Δ) 3) Ten It is integrated in the form of... Therefore, by setting Δ infinitely small in the above equation, the position of the excavator can be measured extremely accurately. can be displayed.

The above measurement method can be used in the following cases. That is, the planned route on the plane is input into the computer 15 in advance and stored, and then the excavation distance accompanying the excavation of the excavator and the angle between the reference direction and the axis of the excavator are sequentially input into the computer 15 to determine the excavation route. The excavation error can be measured by drawing a trajectory and comparing this trajectory with the planned route.

Also, the direction and distance from the measurement origin to the excavator.

Alternatively, the direction and distance between any two points can be calculated using a computer and displayed.

As described above, this measurement method uses a gyroscope and a stroke meter, so there is no need to take measurements each time during excavation work, and all measurement results are converted into electrical signals and sent to a computer. It is a measurement method that can be memorized and displayed, and can be applied without any problems even in narrow underground mines.It reduces the time and effort required for surveying, improves measurement accuracy, and allows for accurate pipeline installation. be.

[Brief explanation of the drawing]

Figure 1 shows an example of surveying using the shield method.
Figure 2 shows an example of effective surveying for the propulsion method, Figure 3
4 are apparatus diagrams for explaining the measurement method of the present invention, and FIG. FIG. 4 is a vertical cross-sectional view of the tunnel using the Rudo method, FIG. 5 is a measurement work flow diagram, and FIG. 6 is a vector chart for explaining the measurement method. 11.21... Starting shaft 12.22-°° excavator
13... Segment 23... Propulsion tube 14, 2
4, 24'... Propulsion jack 15... Computer 16... Gyroscope 17゜17'... Jacket control panel 18, 18'... Jacket stroke meter Applicant Hazama Co., Ltd. Group Agent People Patent Attorney Yuji Takam::-,-Pa1〔ψ-tan

Claims (1)

[Claims] In tunnel excavation work, a gyroscope is installed on the tunnel excavating machine, and a jack stroke meter is installed on the propulsion jack of the tunnel excavating machine, and the direction output from the gyroscope and the propulsion distance output from the jack stroke meter are measured. A method for measuring the plane position of a pipeline, characterized in that the current position of the tunnel boring machine is measured by inputting the force into a computer and successively integrating the two inputs.