JPS62288515A - Position/posture measuring apparatus in shielded excavator - Google Patents

Abstract

PURPOSE:To detect the present position and posture of a shielded excavator, by relatively simple constitution providing a gyrocompass for detecting the azimuth of the shielded excavator, a pressure type settlement meter for detecting the height from a reference point and a clinometer. CONSTITUTION:A gyrocompass 20 for detecting the azimuth of a shielded excavator 12, a clinometer 22 for detecting the rolling and pitching of the shielded excavator 12 and a pressure type settlement meter 24 for detecting the present altitude of the shielded excavator 12 on the basis of the reference point of the shielded excavator 12, for example, the altitude of the bottom surface of a departure pit 10 are mounted. The propelling jack 14 arranged to the shielded excavator 12 takes reaction force in a segment to propel the shielded excavator 12 forwardly and the extending distance thereof is detected by a stroke meter 16, and the present total distance, azimuth, height, rolling and pitching of the shielded excavator 12 are detected by the stroke meter 16, the gyrocompass 20, the clinometer 22 and the pressure type settlement meter 24 and the three- dimensional state of the shielded excavator is determined.

Description

[Detailed Description of the Invention] 3. Detailed Description of the Invention (Field of Industrial Application) This invention relates to a device for measuring the current position and attitude of a shield tunneling machine.

(Prior art and its problems) As is well known, the shield method using a shield excavator is widely used as a method for excavating tunnels for subways, water and sewer pipes, etc.

In recent years, this type of shield construction method requires particularly high construction accuracy in order to ensure accurate alignment.

In order to form a tunnel according to the excavation plan line, it is necessary to quickly and accurately grasp the three-dimensional position and direction of the shield tunneling machine.

Therefore, in place of the conventional method of measuring inside the mine using a transit or the like, methods using a laser beam or a gyro compass have been proposed, but these methods have the following problems.

In other words, in the former method using a laser beam,
Since the laser beam is projected in a straight line and any deviation between the excavator and the planned line is detected as a deviation of the laser beam, a space for laser beam projection is required, especially for shield excavators for small cross sections. difficult to secure.

Furthermore, since the latter method of using a gyro compass cannot measure changes in the vertical direction of the shield tunneling machine, measurements are conveniently made using accelerometers, etc., but this method tends to accumulate errors, and The equipment was large-scale and expensive.

This invention has been made in view of these conventional problems, and its purpose is to achieve relatively high I! ! i
An object of the present invention is to provide a measuring device capable of detecting the current position and attitude of a shield excavator with a simple configuration.

(Means for Solving the Problems) In order to achieve the above object, the present invention provides a device for measuring the current position and attitude of a shield tunneling machine, which includes a gyro compass for detecting the direction of the shield tunneling machine, and a shield It consists of a pressure-type subsidence meter that detects the height of the excavator from the reference point, and an inclinometer that detects rolling and pitching of the shield excavator.

(Embodiments) Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

The figure shows an embodiment of a position/attitude measuring device for a shield tunneling machine according to the present invention.

The figure shows the shield excavator 12 starting from the starting planting site 10.
shows an outline of the side cross section in a state where it is located in the middle of the planned line, and the propulsion jack 1 installed in the shield excavation 112 is shown.
4 is a device that propels the shield excavator 12 forward by taking a reaction force in a segment (not shown), and its extended distance is detected by a stroke meter 16, and the stroke [1 - total 1
The output signal 6 is input to the performance device 18 and subjected to performance processing, thereby measuring the cumulative distance using, for example, the starting stand 10 as a reference point.

The shield excavator 12 also includes a gyro compass 20 that detects the direction of the shield excavator 12, and an inclination h that detects rolling and pitching of the shield excavator 112.
] 22, and a pressure type subsidence gauge 24 that detects the current altitude based on a reference point of the shield excavator 12, for example, the altitude of the bottom of the starting standing planting 10.

The gyro compass 20 measures the azimuth using the inertia of a rotating body and the pressure effect when a motor with a large moment of inertia rotates at high speed, and when mounted on the shield excavator 12, The direction on the plane can be detected, and the gyro compass 20 is driven and controlled by the gyro controller 26, and the detected azimuth angle is input to the arithmetic unit 18.

The pressure-type settlement gauge 24 has a reference water tank 24a and a reference settlement gauge 24b installed in the starting standing planting 10, and a shield-side settlement gauge 24c installed in the shield excavator 12.
Heh, these are each connected by a communication pipe 2nd, and a communication pipe 24 connected to the shield side subsidence gauge 240.
In the middle of d, a communication pipe winding device r? is installed so that the communication pipe 24d can follow the excavation of the shield excavation 112 while maintaining the communication connection. 24e is provided.

In this pressure-type subsidence gauge 24, when the shield tunneling machine 12 deviates vertically from the planned line, the water pressure applied to the shield-side subsidence gauge 240 by the reference water tank 24a changes in response to the deviation. Therefore, the shield side sinkage meter 24
By comparing the pressure value of c and the pressure value of the reference subsidence meter 248, the absolute altitude of the shield excavator 12 relative to the reference position at any moment can be measured, and a value that does not include cumulative errors can be determined.

The pressure change is converted into an electrical signal by, for example, a piezoelectric sensor, and is input to the arithmetic unit 18 .

Here, in the altitude measurement using the /i force type sinkage meter 24 as described above, since the communication pipe 24d is a long distance, the sinkagemeter 24
However, according to the experiments conducted by the present inventors, even if the length of the communication pipe 24d is 500 mm,
It takes about 35 seconds to converge to the normal value (
Level fluctuation (30 m1), the magnitude of level fluctuation in actual shield construction is small, and it fluctuates gradually over a fairly long period of time, so the influence of opening when convergence can be ignored.

In addition, since the communication pipe 24d is accustomed to being subjected to acceleration due to vibration when it is separated from the winding device 24e due to the excavation of the shield excavator 12, for example, the standard or shield side settlement gauges 24b and 24C are used as dampers. Something is desirable.

Furthermore, the shield side subsidence meter 24c is connected to the shield excavator 1.
If rolling J-me or pitching occurs in 2, it will be in a state of inclination with respect to the vertical axis, so correction is performed using the following calculation formula.

h = h -XK+ +w (1-CO3θ)K2h:
Height after correction h': 1 for the measurement data: 2 for the conversion coefficient of the measurement data: Conversion coefficient for the weight W: Weight of the parts acting on the pressure receiving part of the subsidence gauge θ: Inclination of the subsidence gauge The inclination angle θ is determined by the inclinometer 22, and the corrected height h is calculated by the arithmetic unit 18.

The above stroke total 16. The current cumulative distance, direction, height, rolling, and pitching of the shield evacuation 112 are detected by the gyro compass 20, the inclination Xt 22, and the pressure type subsidence gauge 24, and its three-dimensional state is grasped.

The obtained current state of the shield tunneling machine 12 is sent from the calculation device 18 via a transmission cable 28 such as an optical fiber to a computer system 30 installed on the ground, where it is processed and displayed on a CRT. Ru.

In addition, the one indicated by the symbol 32 in the figure is the transmission cable 28.
This is a winding device.

Further, the reference water tank 24a and the reference sink at 24b of the pressure type sinkage meter 24 shown in the above embodiments may of course be installed inside the shield mine.

(Effects of the Invention) As explained in the embodiments above, in the position/attitude measuring device for a shield tunneling machine according to the present invention, the azimuth of the shield tunneling machine can be determined by a gyro compass, and by a pressure type subsidence meter. Since the altitude, rolling, and pitching of the shield machine are detected by the inclinometer,
Three-dimensional information for the planned line of the shield machine is obtained without providing a linear space as is the case with rake beams.

[Brief explanation of the drawing]

The figure is an overall configuration diagram showing an embodiment of the apparatus of the present invention. 10...Start planting 12...Shield excavator 14...Propulsion gear 11 16...
... Stroke meter 18 ... Arithmetic device 2o ... Gyro compass 22 ... Inclinometer 24 ... Pressure type sinkage meter 26 ...・Gyro controller 28・
...Transmission cable 30 ...Computer system 32 ...
・Take-up Vt setting

Claims (1)

[Claims] A device for measuring the current position and attitude of a shield tunneling machine, comprising a gyro compass for detecting the direction of the shield tunneling machine, a pressure-type subsidence gauge for detecting the height of the shield tunneling machine from a reference point, and the shield. A device for measuring the position and orientation of a shield excavator, characterized by comprising an inclinometer that detects rolling and pitching of the excavator.