JPS62288515A - Position/posture measuring apparatus in shielded excavator - Google Patents
Position/posture measuring apparatus in shielded excavatorInfo
- Publication number
- JPS62288515A JPS62288515A JP13312586A JP13312586A JPS62288515A JP S62288515 A JPS62288515 A JP S62288515A JP 13312586 A JP13312586 A JP 13312586A JP 13312586 A JP13312586 A JP 13312586A JP S62288515 A JPS62288515 A JP S62288515A
- Authority
- JP
- Japan
- Prior art keywords
- shielded excavator
- shield
- excavator
- detecting
- meter
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000005096 rolling process Methods 0.000 claims abstract description 8
- 230000005641 tunneling Effects 0.000 claims description 13
- 238000006243 chemical reaction Methods 0.000 abstract description 4
- 238000004891 communication Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 238000009412 basement excavation Methods 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 238000005259 measurement Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 230000001186 cumulative effect Effects 0.000 description 3
- 238000004804 winding Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Landscapes
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
Description
【発明の詳細な説明】
3、発明の詳細な説明
(産業上の利用分野)
この発明はシールド掘進機の現在位置およびその姿勢を
測定する装置ff k:関するものである。[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.
(従来技術とその問題点)
周知のように、地下鉄、上・下水道管などの坑道の掘削
方法としてシールド掘進機を用いるシールド工法が広く
採用されている。(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.
この種のシールド工法では正確な線形を確保するうえか
らも、近時、特に施工精度の高度化が要求されている。In recent years, this type of shield construction method requires particularly high construction accuracy in order to ensure accurate alignment.
坑道を掘削計画線どうりに形成するためには、シールド
掘進機の三次元の位置と方向を迅速かつ正確に把握する
必要がある。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.
そのため、従来から行なわれていたトランシットなどに
よる坑内側量に代え、レーザービームを利用する手段や
ジャイロコンパスを用いる手段が提案されているが、こ
れらの手段は以下に説明づる問題があった。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.
すなわち、前者のレーザービームを利用する手段では、
レーザービームを一直線状に投射しておぎ、掘進機と計
画線とのズレをレーザービームの偏位として検出するた
め、レーザービームの投射空間を必要とし、特に小断面
用のシールド掘進機ではその空間を確保することが難し
い。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.
また、後者のジャイロコンパスを用いる手段では、シー
ルド掘進機の鉛直方向の変化が測定できないため、便宜
的に加速度計などを用いて計測を行なっているが、この
方法では誤差が累積し易く、また装置が大がかりになり
高価であった。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.
この発明はこのような従来の問題点に鑑みてなされたも
のであって、その目的とするところは、比較的I!!i
里な構成によりシールド掘進機の現在位置およびその姿
勢を検知できる測定装置を提供することにある。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.
(問題点を解決するための手段)
上記目的を達成するために、この発明では、シールド掘
進機の現在位置およびその姿勢を測定する装置において
、シールド掘進機の方位を検知するジャイロコンパスと
、シールド掘進機の基準点からの高さを検知する圧力式
沈下計と、シールド掘進機のローリングおよびピッチン
グを検知する傾斜計とで構成した。(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.
(実施例)
以下、この発明の好適な実施例について添附図面を参照
にして詳細に説明する。(Embodiments) Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.
図はこの発明に係るシールド掘進機における位置・姿勢
の測定装置の一実施例を示している。The figure shows an embodiment of a position/attitude measuring device for a shield tunneling machine according to the present invention.
同図は、発進立植10から出発したシールド掘進機12
が計画線の途中に位置した状態の側断面の概略を示して
おり、シールド掘進112に配設された推進ジヤツキ1
4は、図外のセグメントに反力をとって、シールド掘進
機12を前方に推進させるものであって、その伸長距離
はストローク計16により検知され、スト[1−り計1
6の出力信号は演悼装置18に入力して演専処理を行な
うことにより、例えば発進立植10を基準点とした累計
距離が計測される。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.
また、シールド掘進機12には、シールド掘進機12の
方位を検知するジャイロコンパス20と、シールド掘進
112のローリングおよびピッチングを検知する傾斜h
]22と、シールド掘進機12の基準点、例えば発進立
植10の底面の高度を基準として、現在の高度を検知す
る圧力式沈下計24とを備えている。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.
上記ジャイロコンパス20は、慣性モーメントの大きな
モータを高速回転させた時の1回転体の慣性とプレッシ
ョン作用とを利用して、方位角を測定するものであって
、シールド掘進機12に搭載すると、その平面上の方向
が検知でき、ジャイロコンパス20はジャイロコントロ
ーラ26によって駆動制御が行なわれるとともに、検出
された方位角は上記演算装置18に入力される。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.
上記圧力式沈下計24は、発進立植10内に設置された
基準水槽24aおよび基準沈下計24bと、シールド掘
進機12内に設置されたシールド側沈下計24cとをυ
hえ、これらはそれぞれ連通管2ndで接続されるとと
もに、シールド側沈下計240に接続された連通管24
dの途中には、連通管24dが連通接続を保ったままで
シールド掘進112の掘進に追随できるように連通管巻
取装置r? 24 eが設けである。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.
この圧力式沈下計24では、基準水槽24aによってシ
ールド側沈下計240に加えられている水圧が、シール
ド掘進機12が計画線に対して上下方向にズレると、そ
のズレに対応して変化Jるので、シールド側沈下計24
cの圧力値と基準沈下計248の圧力値とを対比するこ
とにより、シールド掘進機12の時々刻々の基準位置に
対する絶対的な高度が測定でき、累積誤差を含まない値
が求められる。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.
圧力変化は例えば圧電センサにより電気信号に変換され
て、上記演算装置18に入力される。The pressure change is converted into an electrical signal by, for example, a piezoelectric sensor, and is input to the arithmetic unit 18 .
ここで、上述した如き/i力式沈下計24による高度測
定では、連通管24dが長距離となるため、沈下計24
の応答性に対Jる問題が懸念されるが、本発明者らの実
験によると連通管24dの長さが5001になっても、
正常値に収束するまでの時間は約35秒程瓜であって(
レベル変動30m1)、実際のシールド工事でのレベル
変動の大きさは僅かで、しかもかなり長時間に亘って徐
々に変動するため、収束時開の影響は無視できる。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.
また、連通管24dに、例えばシールド掘進機12の掘
進により、これが巻取装置24eから離脱する際に振動
による加速度が加わる慣れがあるので、基準ないしはシ
ールド側沈下計24b、24Cはダンパー例きのものが
望ましい。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.
さらに、シールド側沈下計24cは、シールド掘進機1
2にローリングJメよびピッチングが生じた場合、鉛直
軸に対し傾斜した状態になるので、以下の計算式により
補正を行なう。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:
補正後の高さ
h′:計測データ
に1 :計測データの変換係数
に2 :重りの変換係数
W :沈下計の受圧部に作用する部品の重化θ :沈下
計の傾き
なお、沈下計の傾ぎ角θは上記傾斜計22によって求め
、補正後の高ざhは演算装置18によって計算される。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.
以上のストローク計16.ジャイロコンパス20、傾斜
Xt 22 、圧力式沈下計24によって、シールド拙
進112の現在の累計距離、方位、高さローリングおよ
びピッチングが検知され、その三次元の状態が把握され
る。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.
求められたシールド掘進機12の現在の状態は、演算装
置18から光ファイバなどの伝送ケーブル28を介して
、地上に設置されたコンピュータシステム30に送られ
、演算処理を行なってCRT上に表示される。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.
なお、図中に符号32で示したものは伝送ケーブル28
の巻取装置である。In addition, the one indicated by the symbol 32 in the figure is the transmission cable 28.
This is a winding device.
また、上記実施例で示した圧力式沈下計24の基準水槽
24aと基準沈下at 24 bとは、シールド坑内に
設置しても勿論よい。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.
(発明の効果)
以上実施例で説明したように、本発明に係るシールド掘
進機における位置・姿勢の測定装置にあっては、ジャイ
ロコンパスによりシールド掘進機の方位が、また、圧力
式沈下計と傾斜計とによってシールド掘進機の高度およ
びローリング、ピッチングがそれぞれ検知されるので、
シールド掘進機の計画線に対する三次元情報が、レーク
“−ビームを用いる場合のように直線状空間を設けるこ
となく得られる。(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.
図は本発明装置の一実施例を示す全体構成図である。
10・・・・・・発進立植 12・・・・・・シー
ルド掘進機14・・・・・・推進ジ11ツキ 16・・
・・・・ストローク計18・・・・・・演算装置
2o・・・・・・ジャイロコンパス
22・・・・・・傾斜計 24・・・・・・圧力
式沈下計26・・・・・・ジャイロコントローラ28・
・・・・・伝送ケーブル
30・・・・・・コンピュータシステム32・・・・・
・巻取Vt置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)
置において、該シールド掘進機の方位を検知するジャイ
ロコンパスと、該シールド掘進機の基準点からの高さを
検知する圧力式沈下計と、該シールド掘進機のローリン
グおよびピッチングを検知する傾斜計とからなることを
特徴とするシールド掘進機における位置・姿勢の測定装
置。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.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP61133125A JPH0726848B2 (en) | 1986-06-09 | 1986-06-09 | Position and posture measuring device for shield machine |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP61133125A JPH0726848B2 (en) | 1986-06-09 | 1986-06-09 | Position and posture measuring device for shield machine |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS62288515A true JPS62288515A (en) | 1987-12-15 |
JPH0726848B2 JPH0726848B2 (en) | 1995-03-29 |
Family
ID=15097369
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP61133125A Expired - Lifetime JPH0726848B2 (en) | 1986-06-09 | 1986-06-09 | Position and posture measuring device for shield machine |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH0726848B2 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0412219A (en) * | 1990-05-02 | 1992-01-16 | Nippon Telegr & Teleph Corp <Ntt> | Position/attitude measuring method for underground excavator |
CN114894154A (en) * | 2019-09-06 | 2022-08-12 | 北京住总集团有限责任公司 | Method and device for judging stability of shield construction section |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5449587A (en) * | 1977-09-28 | 1979-04-18 | Furukawa Electric Co Ltd:The | Method of inserting insulating reinforcement at cable connecting part or terminal part |
JPS55142898A (en) * | 1979-04-21 | 1980-11-07 | Nippon Telegraph & Telephone | Device for measuring position and attitude of underground drill |
JPS57136101A (en) * | 1981-01-13 | 1982-08-23 | Sundstrand Data Control | Bored hole surveying apparatus |
JPS5868610A (en) * | 1981-10-20 | 1983-04-23 | Komatsu Ltd | Device for measuring vertical position of propulsion machine |
-
1986
- 1986-06-09 JP JP61133125A patent/JPH0726848B2/en not_active Expired - Lifetime
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5449587A (en) * | 1977-09-28 | 1979-04-18 | Furukawa Electric Co Ltd:The | Method of inserting insulating reinforcement at cable connecting part or terminal part |
JPS55142898A (en) * | 1979-04-21 | 1980-11-07 | Nippon Telegraph & Telephone | Device for measuring position and attitude of underground drill |
JPS57136101A (en) * | 1981-01-13 | 1982-08-23 | Sundstrand Data Control | Bored hole surveying apparatus |
JPS5868610A (en) * | 1981-10-20 | 1983-04-23 | Komatsu Ltd | Device for measuring vertical position of propulsion machine |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0412219A (en) * | 1990-05-02 | 1992-01-16 | Nippon Telegr & Teleph Corp <Ntt> | Position/attitude measuring method for underground excavator |
CN114894154A (en) * | 2019-09-06 | 2022-08-12 | 北京住总集团有限责任公司 | Method and device for judging stability of shield construction section |
CN114894154B (en) * | 2019-09-06 | 2024-01-02 | 北京住总集团有限责任公司 | Method and equipment for judging stability of shield construction section |
Also Published As
Publication number | Publication date |
---|---|
JPH0726848B2 (en) | 1995-03-29 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
EXPY | Cancellation because of completion of term |