JPS62106313A - Method and apparatus for measuring position and posture of excavation head - Google Patents

Abstract

PURPOSE:To simply measure the absolute position and azimuth angle of an excavation head only by measuring induced voltage, by calculating the angle of rotation of a magnetic field element generating max. induced voltage by the magnetic field from a magnetic field generating element. CONSTITUTION:A transmitter 4 and a transmitting coil 2 are arranged on the ground at both sides of a tunnel T to be excavated and a pit side transmitted-receiver 8 and a personal computer 9 are further arranged so as to be connected to each other. When a receiving coil 3 is rotated to two directions crossing vertically by a receiving coil driving part, the voltage inducted in the receiving coil 3 changes so as to follow the rotational operation of said coil 3. In this case, the induced voltage changes in a sine wave form according to the change in the angle of rotation of the receiving coil 3 and, when the angle of rotation of the receiving coil is 80.4 deg., the induced voltage becomes max. Therefore, a characteristic drawing of the angle of rotation of the receiving coil showing max. induced voltage and the horizontal distance R and vertical distance Z between the transmitting coil and the receiving coil is preliminarily formed and the receiving coil in an excavation head is rotated on the plane of an advance direction and the plane vertical thereto to induce voltage. Only by measuring the induced voltage at this time, the position and azimuth angle of the excavation head can be simply measured.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention is a method for measuring the position and orientation of an excavation head in a tunnel construction method, which allows continuous, simple and accurate measurement of the position and orientation of the excavation head while the excavation head is being propelled. The present invention relates to a method and apparatus for doing so.

While the prior art and the invention seek to solve the problem, conventional devices of this type include methods using magnetic field sensing elements, such as electromagnetic coils, laser beams, and gyroscopes. A method of using a magnetic field detecting element such as an electromagnetic coil is disclosed in a patent application filed in 1973.
4-049587 and Japanese Patent Application No. 58-27485.

Both of these systems have an electromagnetic coil installed inside the excavation head, and receive the magnetic field emitted from the electromagnetic coil inside the excavation head while scanning another electromagnetic coil on a normal ground road. This is a method of detecting location. However, this scanning of electromagnetic coils on normal roads is dangerous, makes it difficult to ensure safety, and requires a lot of measurement time. In addition, since the electromagnetic coil for transmitting is installed inside the excavation head, there is a limit to the strength of the emitted magnetic field, and as a result, when applying this device, the overlap is
It is small, within rrL.

On the other hand, in those that conveniently use laser light, the laser light is irradiated from the starting shaft toward the drilling head, and the laser light is received by a target consisting of a light-receiving diode attached to the drilling head. It measures the position of the head. However, if the tunnel radius of curvature is small, the laser beam will be blocked by the finished tunnel wall and measurement will be impossible, so this method has the disadvantage that it cannot be applied to tunnel construction with a small radius of curvature.

In addition, those that use a gyroscope calculate the displacement of the excavation head from the attitude angle of the excavation head determined by the gyroscope and the excavation distance at that attitude angle as the excavation progresses, and calculate the position by adding these displacements from the starting point. However, since the device is very expensive and the position is the cumulative value of each displacement, there is a drawback that it takes a long time to measure in order to improve the measurement accuracy.

Means for Solving the Problems The present invention provides a method for measuring the position and orientation of the excavation head of a tunnel machine used in tunnel construction work, in which two or more magnetic field generating elements are installed on the ground, and one magnetic field generating element is installed on the ground. A receiver in which the above magnetic field detection element is attached to a drive part that is rotatable on a plane parallel to and perpendicular to the traveling direction of the tunnel machine in the excavation head is arranged such that a coiler is disposed in the excavation head and An inclinometer capable of measuring the inclination angle of the magnetic field detecting element with respect to the direction of gravity in a plane parallel to and perpendicular to the direction of movement of the machine is attached to the magnetic field detecting element, while a horizontal distance between the magnetic field generating element and the magnetic field detecting element is As a parameter, create a relationship diagram between the vertical distance between the magnetic field generating element and the magnetic field detecting element and the rotation angle of the magnetic field detecting element that generates the maximum induced voltage of the magnetic field detecting element, and calculate the relationship between the magnetic field detecting element and the tunnel machine. ra from the magnetic field generating element from fJ) rotating on a plane parallel and perpendicular to the direction of travel.
! J, ; Determine the rotation angle of the magnetic field detection element that generates the maximum induced voltage, and from the relationship diagram prepared with the rotation angle, calculate the relationship between the angle of inclination of the magnetic field detection element with respect to the direction of gravity and the rotation angle. A method for calculating the position and orientation of an excavation head from the relationship, installing two or more magnetic field generating elements on the ground that implement the method, and using the magnetic field detecting element as one or more spiritual world detecting elements in tunnel construction work. 1 rotating on a plane parallel and perpendicular to the direction of travel of the tunnel machine
A receiving coil device equipped with a moving part is installed in the excavation head of the tunnel machine, and the inclination angle of the magnetic field detection element with respect to the direction of gravity is measured in a plane parallel to and perpendicular to the traveling direction of the tunnel machine. A device configured by attaching an inclinometer to the magnetic field detecting element, and using the horizontal distance between the magnetic field generating element and the magnetic field detecting element as a parameter, the vertical distance between the magnetic field generating element and the magnetic field detecting element, and the maximum induction of the magnetic field detecting element. The apparatus consists of a diagram of the relationship between the rotation angle and the rotation angle of a magnetic field detection element that generates electrons.

Function The present invention includes two transmitting coils 1 and 2 arranged on the ground, and a receiving coil 3 intersecting at right angles in the excavation head of an excavation tunnel, and the receiving coil is connected to a plane parallel to the traveling direction of the tunnel machine. A receiving coil device 3A is installed with a drive unit 1 which rotates on a vertical plane, and an inclinometer for measuring the inclination angle with respect to the direction of gravity is attached to the receiving coil 63A. The plane of the magnetic field of the transmitting coil 2 has angles θ3 and θ with respect to the vertical axis EH of the receiving coil 3A, respectively.
, and so on. When the receiving coil 3 is rotated in the EHMLO plane (a plane rotated by an angle V with respect to the line segment AC), the receiving coil rotation angle that exhibits the maximum induced voltage due to the magnetic field of the transmitting coil 1 is θ, x %Similarly with respect to the transmitting coil 2 is 02X%, similarly in the plane of DKHG (plane EI (perpendicular to ML) θ2y is assumed for θ2y.

On the other hand, using experiments or the finite element method, a relationship diagram between the vertical distance between the transmitting coil and the receiving coil and the rotation angle of the receiving coil that generates the maximum induced voltage in the receiving coil was created using the horizontal distance between the transmitting coils as a parameter. θ1x, θ2
The relationship between θ1 and R,, θ2 and R2 is determined from the relationship diagram with X, θ1 y% θ2y, and from these the coordinates x1J of the transmitting coil and receiving coil are determined, and when x yp is determined, equation (7) is obtained.
(described later), y is found, and the angle V' in the direction of advance of the excavation head between the perpendicular line EB from the intersection of R1 and R to the line connecting the two transmitter coils is tanα - Cα tan'/' = □ 1 +Cj (1tanα) α can be determined by two accelerometers, R1 and perpendicular EE, which can measure the rotation with respect to the direction of gravity both parallel and perpendicular to the advance of the drilling head.

Embodiment FIG. 1 is a block diagram of the drilling head position and attitude measuring method and device (hereinafter referred to as method and device) of the present invention, (a)
The figure is a longitudinal cross-sectional view, the (b) figure is a plan view, and the second figure is a coil 5.
, is shown.

In the figure, T is a tunnel, 20 is a drilling head, 1.2
is the transmitting coil, 3A is the receiving coil, 3 is the receiving coil,
4 is an oscillator, 5 is a bandpass filter, 6 is an amplifier, 7
8 is a shaft-side transceiver, 9 is a personal computer, 10 is an accelerometer which is one of the inclinometers, and 11 is a receiving coil and a driving section.

The structure and operation of the method and apparatus of the present invention will be explained.

A transmitter 4 and a transmitter coil 2 are connected to the ground on both sides of the tunnel T to be excavated, and a shaft-side transmitter/receiver 8 and a personal computer 9 are connected.

Inside the tunnel T, a coil device 3A, a bandpass filter 5,
The add-on 226 and the transmitter/receiver 7 are connected and arranged in order.

A current with a frequency of 220 Hz with good noise characteristics is passed through the transmitter coil 2 by a transmitter 4 to generate an alternating current magnetic field.

The receiving coils 3 of the receiving coil device 3A are rotated by the receiving coil device driving unit 11 in two directions perpendicular to each other, that is, in planes parallel and perpendicular to the traveling direction of the excavation bed. 3-2, and two accelerometers 10 can measure the rotation angle with respect to the direction of gravity in both directions.

The voltage induced in the receiving coil 3 and the measured voltage from the accelerometer 10 are filtered by a bandpass filter 5 to remove noise, and the voltage is amplified by an amplifier 6, and transmitted to the shaft side installed on the ground by a transceiver 7 in the drilling head. Transmission/reception (sent to the A device 8 and stored in the personal computer 9. The personal computer 9 calculates the position and orientation (azimuth angle) of the excavation head using the method for calculating the position of the excavation head, which will be described later.
is calculated, and a driving command to the receiving coil 3 is transmitted to the receiving coil device drive unit through the shaft-side transmitter/receiver 8 and the excavation head internal transmitter/receiver 7.

Next, the principle of position and orientation measurement according to the present invention will be explained.

When the receiving coil drive unit 11 rotates the receiving coil 3 in two directions that intersect perpendicularly, this operation causes the receiving coil 3 to rotate.
The induced voltage changes.

FIG. 3 shows an example of measuring the induced voltage with respect to the rotation angle of the receiving coil 3, and FIG. 4 is a diagram illustrating the positional relationship between the receiving coil 3 and the transmitting coils 1 and 2 in the measurement example. Third
In the measurement example shown in the figure, the values of the horizontal distance R1 and the vertical distance 2 between the transmitting coils 1 and 2 and the receiving coil 3 in Figure 4 are 3 or 3, respectively.
．． 5 m % 2.77yyi, the induced voltage changes in a sinusoidal manner as the rotation angle of the receiving coil 3 changes, and the induced voltage reaches its maximum when the receiving coil rotation angle is 80.4 degrees. . When the receiving coil rotation angle θ, which indicates the maximum value of the induced voltage, is examined at various R and Z values, the results are as shown in FIG. FIG. 5 is a relationship diagram between 2 and θ with R as a parameter. The * mark on the figure is an experimental value, and the 0 mark is a value obtained by the finite element method. Magnetic field analysis by the finite element method agrees well with the experimental value and is reproducible.

In this way, by using the characteristic data representing the relationship between the receiving coil rotation angle θ indicating the maximum induced voltage and R, Z obtained through experiments or analysis using the finite element method, it is possible to determine the receiving coil rotation indicating the maximum induced voltage. R and Z can be determined from the angle θ.

FIG. 6 is a diagram illustrating a method of calculating the position and orientation of the excavation head.

Install the transmitting coil 1 at A, the transmitting coil 2 at C, and the receiving coil 3 at H, and let the interval AC between the two transmitting coils be a value indicating the position of the L1 transmitting coil and the receiving coil, B K =
Let x, A B = y, and EH = 7.

If the drilling head is rotated by an angle of 1 with respect to the line segment AC connecting the two transmitter coils, then the receiver coil 3 is DE
The surfaces of F engineering HG and KHML will be rotated. DKF
is perpendicular to BE, DG and F are perpendicular to DKF, G
H construction is parallel to DKF and perpendicular to DG and F construction. The magnetic field from the transmitter coil 1 at H is on the plane 11CHON, the magnetic field from the transmitter coil 2 is on the plane KHKJ, and the angles they make with the vertical axis FliH at H are θ7. Let θ be. Also, when the receiving coil 3 is rotated in the FiHML plane, the receiving coil 3 exhibits the maximum induced voltage due to the magnetic field of the transmitting coil 1.
-1 rotation angle (with respect to the vertical axis KH) θIX1 The receiving coil 3 exhibits the maximum induced voltage due to the magnetic field of the transmitting coil 2
-1 rotation angle is θ2x. Receive fill DKH,G
The rotation angle of the receiving coil 3-2 that exhibits the maximum induced voltage due to the magnetic field of the transmitting coil 2 when rotated in the plane of is θ17%, and the rotation angle of the receiving coil 3-2 that exhibits the maximum induced voltage due to the magnetic field of the transmitting coil 2 is θ2y. do.

θ, and 02 are the measured values θ, X, θ2X, θ1 from the following formulas.
It can be determined from y and θ2y.

The distance between transmitting coil 1 and transmitting coil 2 is Lz. The angle of line segment AC of the tunnel machine with respect to the vertical line BE is 11. The horizontal distance of AE between transmitting coil l and receiving coil 3 is R3. The horizontal distance between transmitting coil 1 and receiving coil 3 is R3. Let the horizontal distance of CE be R2.

Also, in triangle ACE, perpendiculars KB and Am.

Letting the angles formed by CV be α and β, respectively, the following equation holds true.

j FLn U 2 X tanσ2y
tan θ2 ”'+21 (11, +21 (41, (51 θ, = tan-” (n tan O, x ) Similarly, θ2 = tan ' (m tan θ2x) (4) (Substitute 4Y into (5) (C(L+ OB) (tanαtanβ-1) +
(1-CaCjβ) (tanα+tanβ)=0 Ca+Cβ=C71~ccLcβ=c2 then 0
, (tanαtanβ-1)+c2(tanα+tan
β) = O-... (6) Substitute (3) into (6) C, y2-0. Ly+C, x2-0. ,xL =0(7
), ((decoding is +: y≧i −:y(H)).

Therefore, the relationships between θ1 and R3, and θ2 and R2 are determined by, for example, the rotation angle of the receiving coil indicating the maximum induced voltage obtained by experiment or analysis using the finite element method as shown in Fig. 5, and the horizontal distance between the transmitting coil and the transmitting coil. By substituting the characteristics of distance R1 and vertical distance 2 on the condition that 2 is equal for both θ8.02, X and l can be found. However, in the above method, J starts from the initial value and uses pupils near the value that is sequentially stored each time it is calculated. When the y is determined in this way, y is determined from equation (7).

Once y is determined, R1 and R are determined from equation (8), and 1 is obtained from equation (4)'.

As described above, the position of the receiving coil, that is, the position and attitude (azimuth angle) of the excavation head can be determined.

Effects of the Invention As explained above, the present invention installs two transmitter coils on the ground, and determines in advance the rotation angle of the receiver coil that indicates the maximum induced voltage, the horizontal pressure between the transmitter coil and the receiver coil! By simply creating a characteristic diagram of R and vertical distance, rotating the receiving coil in the drilling head in the plane of the traveling direction and a plane perpendicular to it, and measuring the induced voltage at that time, the drilling head can be easily adjusted based on the characteristic diagram. The absolute position and azimuth can be measured.

In the past, position and orientation measurement work can be unmanned and position measurement can be performed with high accuracy. Since the transmitter is external, the output can be easily increased depending on the depth of the excavated tunnel, and the measurement equipment can be made cheaper instead of being expensive like conventional internal transmitters. .

[Brief explanation of drawings]

Fig. 1 is a configuration diagram of one embodiment of the excavation head position and orientation measuring device of the present invention, Fig. 3 is a cross-sectional view of an excavation tunnel, Fig. 3 is an example of measurement of induced voltage with respect to receiving coil rotation angle, and Fig. 4 is a diagram of the positional relationship between the receiving coil and the transmitting coil in the measurement example shown in Fig. 3, and Fig. 5 is the receiving coil rotation angle showing the maximum induced voltage of the transmitting and receiving coil with the horizontal distance between the receiving coil and the transmitting coil as a parameter. and perpendicular distance, 6th
The figure shows the position i of the excavation head and an explanatory diagram of a method for calculating the posture. T: Tunnel 9! D: Drilling head 1.2: Transmitting coil 3A: Receiving coil device 3: Receiving coil 4: Transmitting us: Band pass filter 6: Amplifier 7
: Transmitter/receiver inside the drilling head 8: Transmitter/receiver on the shaft side 9: Personal computer [0: Accelerometer 11 = Receiving coil drive unit Patent applicant Nippon Telegraph and Telephone Corporation Representative Patent Attorney Isao Abe 10''/' A
'h7)-t2: Bzii"'jO:
# Believe y()shi 4 °yr=2, ri;/＼゛doha9zufiIshi7 Teikōkaku V) -1-N-j Figure 5

Claims (2)

[Claims] (1) In a method for measuring the position and orientation of the excavation head of a tunnel machine used in tunnel construction work, two or more magnetic field generating elements are installed on the ground, and one or more magnetic field detection elements are attached to the excavation head of the excavation head. A receiving coil device attached to a drive unit rotatable on a plane parallel to and perpendicular to the traveling direction of the tunnel machine is disposed inside the excavation head, and An inclinometer capable of measuring the inclination angle of the magnetic field detecting element with respect to the direction of gravity in a plane is attached to the magnetic field detecting element, and the horizontal distance between the magnetic field generating element and the magnetic field detecting element is used as a parameter, A relationship diagram between the vertical distance between the elements and the rotation angle of the magnetic field detection element that generates the maximum induced voltage of the magnetic field detection element is created, and a plane parallel to and perpendicular to the traveling direction of the magnetic field detection element and the tunnel machine is created. Determine the rotation angle of the magnetic field detection element that generates the maximum induced voltage due to the magnetic field from the magnetic field generation element while rotating above the magnetic field generation element,
Excavation head position and orientation measurement characterized in that the position and orientation of the excavation head are calculated from the rotation angle and the created relationship diagram, and from the relationship between the tilt angle of the magnetic field detection element with respect to the direction of gravity and the rotation angle. Method. (2) Two or more magnetic field generating elements are installed on the ground, and one or more magnetic field detecting elements are installed on a plane parallel to and perpendicular to the traveling direction of the tunnel machine used in tunnel construction work. A receiving coil device equipped with a rotating drive unit is installed in the excavation head of the tunnel machine, and can measure the inclination angle of the magnetic field detection element with respect to the direction of gravity in a plane parallel to and perpendicular to the traveling direction of the tunnel machine. A device configured by attaching an inclinometer to the magnetic field detecting element, with the horizontal distance between the magnetic field generating element and the magnetic field detecting element as a parameter, the vertical distance between the magnetic field generating element and the magnetic field detecting element, and the maximum induction of the magnetic field detecting element. An excavation head position and orientation measuring device consisting of a diagram of the relationship between the rotation angle and the magnetic field detection element that generates the voltage.