JPS62289717A - Position detecting method for shielded drilling machine - Google Patents

Abstract

PURPOSE:To measure the position and direction of a shielded drilling machine directly by measuring the distance and angle to a reflecting device on the basis of a fixed point as a reference point by using reflected light beams and detecting the position of the drilling machine from those data. CONSTITUTION:The fixed point 4 which is measured accurately is provided behind the shield drilling machine 1 and light beams for measurement are emitted by a light wave range finder 25 from the point P1 on the fixed pint 4 to the reflecting device such as plural prisms 26 provided in this drilling machine 1; and the distance and angle to the reflecting device are measured on the basis of the fixed point 4 as the reference point by using the reflected light beams from the target prism reflecting device 26 and a computer computes the positions P2 and P3 of the reflecting device 26 from those measured distance and angle data to calculate the position P4 of the shielded drilling machine 1 from the relation between the previously measured positions P2 and P3, and tip position P4.

Description

[Detailed Description of the Invention] 3. Detailed Description of the Invention "Field of Industrial Application" This invention relates to a method for detecting the position of a shield excavator in the shield construction method, and in particular to a method for detecting the position of a shield excavator. The present invention relates to position detection power of a shield excavator suitable for use in detecting deviation from the position of the shield excavator.

``Conventional technology'' In general, the shield method, which is applied when excavating a tunnel in soft ground, differs from the open excavation method in that it is necessary to appropriately detect and correct the position and direction of the shield excavator during tunnel excavation. . Conventionally, as a method for correcting the position of this shield excavator, as shown in Figs. 5 and 6,
There is a method that measures the position of the segment after assembly and calculates the trajectory correction value for the shield excavator from this measurement value.

FIGS. 5 and 6 are diagrams showing a segment position measuring method for the conventional shield excavator position 11. FIG. In FIGS. 5 and 6, reference numeral 1 denotes a shield excavator, and this shield excavator 1 excavates a tunnel 'l' from a starting shaft 2 to the left in the drawing. code 3
is inside the shield excavator l! It is made up of two segments and is wrapped around the inner circumference of the tunnel. There are several reference points 4 and 11 in the tunnel T that have been accurately surveyed, and a workbench 5 extending in the length direction of the tunnel T. is provided.

To measure the vertical position of the segment 3, as shown in FIG. The worker 8 may hold and fix the box measure 7 at a position separated by the desired length, and measure the levelness in the vertical direction using the level 6 and the box measure 7. Furthermore, in order to measure the position of the segment 3 in the left and right direction, as shown in FIG. It is sufficient to fix it so as to extend in the radial direction of T, and measure f11 degrees in the left and right direction using this transit IO and measuring rod 11.

"Problems that cannot be solved by invention" By the way, the conventional method for correcting the position of a shield excavator is as follows:
Since two workers 8 are required to carry out the measurement, the time and effort required for this measurement increases, and therefore the tunnel T! ii) This was causing a deterioration in the efficiency of the entire excavation work. In addition, since the measurement target of this method is segment 3, it is impossible to confirm the position of the shield excavator 421, and it is not possible to confirm the position of the shield excavator 421.
The result was that equipment modifications were delayed.

This invention was made in view of the problems in Section 7, so
The purpose of this invention is to directly determine the position and direction of the shield excavator fil, as well as to easily perform the 1ill determination, thereby realizing a method for detecting the position of the Uro shield excavator.

``Means for Solving the Problems'' This invention requires a fixed point at the rear of the shield excavator to be accurately energized, as well as a reflective prism or the like installed inside the shield excavator. Measurement light is emitted from the fixed point toward the device, and the reflected light from the reflecting device measures distances and angles to these reflecting devices using the fixed point as a reference point. The above problem is solved by configuring a shield excavator position detection method that detects the position of the shield excavator from data.

Embodiment 2 Embodiments of the present invention will now be described with reference to the drawings.

1 and 2 are diagrams showing a method for detecting the position of a shield excavator according to an embodiment of the present invention. In addition, the fifth
Components corresponding to those shown in the figures through FIG. 6 are given the same reference numerals.

In Figures 71 to 2, reference numeral 1 denotes a mud cutting type shield excavator, and this nodal excavation Kl: cuts a tunnel T from the starting shaft 2 to the left in the paper.

Reference numeral 12 denotes a skin plate which is an outer cylinder of the shield excavator 1, and inside the skin plate, there are provided Nordnoya Soki I3 in the circumferential direction. This shield jack 13 sequentially presses the front end (left end in the figure) of the segment 3 in the excavation direction with the spreader 14, and uses the reaction force to press the front end (left end in the figure) of the segment 3.
Give thrust to excavator 1.

The shield excavator 1 excavates earth and sand from other mountains by means of a counter hit 16 attached to a cutter 15 which is rotatably driven at the front end, and the excavated earth and sand is transferred to an erector 18 by a screw conveyor 17. It is transferred to the rear and discharged to the rear of the knoll excavation KI by the belt conveyor 19. A finotail 20 is provided at the tip of the cutter 15. Also,
Reference numeral 21 is a tail knoll that knols between the skin plate 12 and the segment 3.

A reference point 22 for tunnel surveying is installed at the above-ground opening of the starting shaft 2, and a reference point (where the device is accurately surveyed) from this reference point 22 is installed in the shaft 2. 2
3 is installed. Then, in the tunnel '1', there is a base Q whose position from this reference point 23 has been accurately surveyed.
4,141.・Several points 1-1 have been installed, and polling holes 2.1 have also been drilled along the way for checking. Further, the tunnel T is provided with a few workbenches 5 extending in the length direction thereof.

C) Position 1') On the workbench 5 located on the road of Motoya 1 of the tunnel T, the distance to the measurement point and IJ12
A light wave distance meter 25 is placed on the base line 9, and inside the shield excavator I there are positions Pt and 25 where the distance and angle can be measured by the light wave distance meter 25.
Two target prisms 26 and 26 are installed at P3. Here, this P.

In order to improve measurement accuracy, the positions of P3 and P3 should be located as far away from each other as possible, but they must be located so that the positional relationship from the tip of shield excavation 1f21 is clearly limited. . A computer 27 is installed behind the light wave distance meter 25. This light wave distance meter 2
Data may be transferred between the computer 27 and the computer 27 manually, or by using a cable or the like.

In addition, the shield excavator I is equipped with a pitching detector and a pitching detector that can detect the pitching amount (the vertical inclination of the front and rear ends of the shield excavator I) and the rolling amount (the amount of rotation in the circumferential direction of the shield excavator I). A rolling detector (both not shown) is installed.

Next, a method for detecting the position of a shield excavator, which is an embodiment of the present invention, will be described with reference to FIGS. 1 to 4.

First, the positional relationship between the point P1 where the light wave distance meter 25 is located and the base electric point 4 is measured in advance, and after the start of operation, the worker positions the light wave distance meter 25 at P 2 and P 3. Measurement light is emitted toward the target prisms 26 and 26, and the distances to predetermined positions P2 and P3 in the shield excavator 1 and the angle O from the normal line are determined by the reflected light from the prisms 26, respectively. Measure. At the same time, the pitching amount and rolling amount of the shield excavator 1 are measured by the pitching detector and rolling detector.

Furthermore, the target prism 26 is similarly placed at any point on the segment 3, and the distance [7] and the angular deviation 0 from the base line are measured as described above. Then, input these data into the computer 27 (step SPI, SF3).
). Next, in step SP3, it is determined whether there is a data defect, and if the data is checked, the process goes to step SP4; if not, the process goes to step SI)5. In step SP-1, the input data is displayed once on an output device such as a CRT attached to the computer, and the displayed data is checked by the worker.
Re-enter. Then, in step SP5, the data after the check is outputted by a printer attached to the computer 27 or the like. Next, in step SP6,
Determine whether the input;11+11"] data is positive or negative. In other words, the right side and the upper side in the direction of movement of the shield excavator I are determined to be positive, and the left side and downward side are determined to be negative.Furthermore,
In step S1) 7, the mechanical height of the optical distance meter 25 is calculated. That is, the light wave distance meter 25th position 1 rubbing point 1
), and the positional relationship with the claw 4, the mechanical height of the optical distance meter 25 is calculated. Furthermore, step SP
In step 8, the data corrected for rolling in the circumferential direction of the shield excavator I is calculated according to the data obtained from the rolling detector. Then, in step SP9, P2 is corrected by hli by the rolling h11 positive value.
, calculate the i r=value of P3. That is, as shown in Fig. 3, the X-axis is positive to the right, and the Y-axis is positive upward, facing the direction of movement of the shield excavator.
A Z-axis is provided on this base line 9 so that it is positive in the direction of travel. Then, the origin < 0 at Pl where the optical distance meter 25 is located.
．． 0.0> is set.

If the distance to the measurement point P and the jfl view from the base line (Z sleeve) have been measured, the coordinates (x, y, z) of this ff1ll fixed point P can be calculated by the following equation.

x=Lcosαsinγ y=LcosδSoutput β z=Lccsδcosβ Here, α, β, γ, and δ are each components of the angle θ, and are angles as shown in FIG. Therefore, from the above formula, P,
, it becomes possible to calculate the coordinate values of PJ. Next, in step 5PIO, the X coordinate value X2 of l)2 is supported by I)3
X! The degree of water vomiting of the shielded one-cutting machine 1 is determined from the difference X2-X3 of the weak point 15 value X3. Next, Ste Tsubu S
r'll is determined in step SI) l O from the levelness of the two-nord excavation ← and the amount of pitching by the pitching detection 2x, the horizontal direction of the redo oil drill l, f(, H sentence is calculated.Furthermore, in step 5P12, P t calculated in step 9 above
From the coordinate values of ,P, the tip P of the shield excavator l,
Calculate the coordinates of. That is, P2, P.

Since the positional relationship between P and the tip P4 of the shield excavator I can be measured in advance, once the coordinate values of P t and P 3 are determined, the coordinate value of P4 can be determined. and,
In step 5P13, the error from the planned value is calculated from the coordinate values of the tip P4 of shield excavation I4I calculated in step St''12.

Next, in step SI, the number of segments 3 whose positions have been surveyed as described above is input, and in step 5PI5, the coordinate values of this segment 3 are calculated in the same way as for the shield excavator I.

Nord excavator! After position detection, this shield excavator
The trajectory of Segment 3 and the trajectory of Segment 3 are plotted on the planned trip line, and with reference to the pitching amount of the shield excavator L and the difference in the jacking stroke of the Noordjasokki 13 at the time of measuring the distance and angle measurement data, The subsequent direction of excavation of the shield excavator 1 may be determined while examining external conditions such as the soil quality and the injection of backfill material into the segment 3. Thereafter, the measurement operation is repeated for each measurement, and the direction of excavation of the shield excavator I is corrected each time.

By the method described above, the position and direction of the tip of the shield excavator I are detected. Here, the position detecting means of the shield excavator 1 is composed of a light wave distance meter 25 whose position is accurately measured and a target prism 26 installed inside the shield excavator I, so it has a simple configuration. In addition, the manpower required for measurement is a light wave distance meter 25
and a worker to operate the computer 27 is sufficient. In addition, the position detection calculation of the shield excavator 1 is as follows.
Since this is automatically performed by a program in the computer 27, it is possible to save labor and improve efficiency. Furthermore, by attaching the target prism 26 inside the shield excavator 1, it is possible to directly measure the position and direction of the shield excavator 1 itself. Therefore, shield drilling 1! It is possible to directly measure the position and direction of + and to realize a method for detecting the position of a shield excavator that can easily perform the measurement.

Note that the method for detecting the position of a shield excavator according to the present invention is not limited to the above embodiment. For example, the light wave distance meter 25
It is possible to construct a fully automated system by controlling +fil measurement by the computer 27, and the means for measuring the distance #EL and the angle 0 to the target prism 26 is not limited to the light wave distance meter 25. It would be nice to have a rangefinder that uses a laser beam. The same applies to the target prism 26.

"Effects of the Invention" As explained in detail above, according to the present invention, a position is provided at the rear of the shield excavator whose position is accurately surveyed, and a position is installed inside the shield excavator. Measurement light is emitted from the fixed point toward a plurality of reflecting devices such as prisms, and the reflected light from the reflecting device is used to determine the distance from the enemy to the reflecting device. The method for detecting the position of the shield excavator is configured such that the position of the shield excavator is detected from the measured distance and angle data by f(+). As for the manpower, a worker to operate the distance measuring and angle measuring device is sufficient.

Furthermore, by installing the reflecting device inside the shield excavator, it is possible to directly measure the direction of the support of the shield excavator itself. Therefore, it is possible to realize a method for detecting the position of a shield excavator that can easily measure the position and direction of the shield excavator as well as directly measure the deviation.

[Brief explanation of drawings]

FIG. 1 is a schematic diagram showing a shield excavator to which a position detection method for a shield excavator according to an embodiment of the present invention is applied;
Fig. 2 is a schematic diagram showing a tunnel being excavated to which the method is applied, Fig. 3 is a diagram for explaining the method, Fig. 4 is a flowchart explaining the operation of the method, and Fig. 5 is a diagram for explaining the method. Conventional shield excavator (schematic diagram showing equipment detection method, No. 6
The figure is the same as Fig. 5. 1... Shield excavator, 4... Base point (fixed point), 26... Target prism (reflector)
.

Claims (1)

[Claims] A fixed point whose position has been accurately surveyed is provided behind the shield excavator, and measurement light is emitted from the fixed point toward a plurality of reflecting devices such as prisms provided inside the shield excavator. Shield excavation characterized in that distance and angle measurements to these reflectors are performed using the fixed point as a reference point using reflected light from the reflectors, and the position of the shield excavator is detected from these distance and angle measurement data. How to detect the position of the machine.