JPH0318128B2 - - Google Patents

Description

[Detailed Description of the Invention] "Industrial Application Field" This invention is a surveying device that can alternately manage the position and attitude of a shield tunneling machine with respect to the planned digging direction and the excavation distance survey in real time. Regarding.

"Prior Art" Recently, shield tunneling machines have been frequently used in tunnel construction, and surveying in shield construction is extremely important for construction management, and precision is therefore required.

Pitting and rolling meters were independently developed, and measurements were now possible with considerable accuracy.

In addition, the position and attitude of the excavator is controlled by a combination of a light source installed at an appropriate location in the tunnel that emits parallel light beams in a predetermined direction indicating the planned direction of excavation, and a light receiving plate provided on the excavator. A photoelectric surveying device is one that incorporates a light receiving plate made of an array of photosensitive elements into a servo tracking mechanism to automatically track the balance point due to unbalanced projection of parallel light beams and detect the amount of displacement. , Jitsukō 46-3075
This method has been proposed in Japanese Patent Publication No. 48-37860, Japanese Unexamined Patent Publication No. 147352-1974, and is well known. With these tools, it is possible to know the displacement of the excavator from the reference position (planned excavation direction).

Incidentally, as disclosed in JP-A-50-147352, it is possible to measure the excavation distance by adding a function to the light source to intentionally bend the course of the projected light beam by a predetermined angle. On the other hand, the above-mentioned displacement occurs as a result of the excavator digging in the wrong direction, and if the direction of excavation is properly controlled, displacement can be prevented from occurring at an earlier stage. a first semi-transparent mirror installed on the excavator; a first semi-transparent mirror disposed opposite to the semi-transparent mirror that transmits the laser beam and transmits the laser beam in a normal excavation direction; A second semi-transparent mirror or a recursive reflector configured to reflect the light, and a light spot of the second semi-transparent mirror formed by the reciprocating laser beam is detected and converted into electrical signals. The shield excavator is configured to display the positional deviation and inclination of the excavator on the monitor, and continuously detect the positional deviation and inclination of the shield excavator as the excavation work progresses. A shield excavator that enables accurate and rapid excavation in a predetermined direction was developed by Tokuko Sho.
It has been proposed in No. 47-2910, Special Publication No. 47-18702, etc.

Note that the distance measurement in the direction of movement of the excavator will be done using a transit or the like.

"Problems to be Solved by the Invention" As is clear from the above, there is no single device that can simultaneously manage the position and traveling direction of the shield tunneling machine and the distance measurement of the tunneling machine's position, and it is necessary to manage both. In that case, it would be necessary to install each functional device in parallel or as an additional device.
In No. 18702, the light receiving plate (semi-transparent mirror) is fixed to the shield machine, so the displacement of the excavator must be ±30cm (up, down, left, right). It is difficult to obtain the flatness of such a large reflecting mirror with high accuracy.If a reflecting mirror with a through hole m and a recursive reflector are fixed to an excavator, the laser beam R will penetrate through the hole m. The light receiving plate is made of reflective mirrors, semi-transparent materials, etc., which are expensive materials, and the large surface area further increases the cost. In addition, if you try to use transit to survey the direction of movement of the shield machine, the work may be interrupted, personnel conditions may not be met, or the survey may be interrupted due to rolling of the shield machine. It's getting more and more troublesome.

On the other hand, in the devices disclosed in Japanese Patent Publication No. 48-37860 and Japanese Patent Application Laid-Open No. 50-147352, the light receiving plate can be moved to track the center of the laser beam, so it is possible to move the light receiving plate to track the center of the laser beam. Although the number of surface elements required is small and the cost is low, it does not have a management function in the direction of movement as described above. However, the ability to measure distance in the direction of travel can be easily added.

"Means for Solving Problems" and "Operation" The present invention was made in view of the above circumstances, and its gist is that the central axis of the shield tunneling machine and the axis of the light receiving part are connected to the shield tunneling machine. The current position of the shield excavator is determined by a mechanism consisting of a target equipped with a photoelectric element equipped with a servo tracking mechanism installed in alignment with the target, and a laser projector with the function of bending the course of the projected beam at a predetermined angle. At the same time, a photoelectric element is embedded in the back surface of the target, a laser beam passing hole is drilled in the center of the target, and a laser light reflecting plate is integrally installed in parallel with the back surface of the target at a predetermined distance. The through-hole is obtained by tracking a laser beam emitted toward a target from a reference point at the rear of the aircraft, passing through the through-hole and irradiating it onto the reflector plate, and catching the reflected light with a photoelectric element on the back side. The intersection angle between the laser beam and the center axis of the shield excavator at that point, that is, the excavation angle with respect to the laser beam, is calculated from the interval value from the reflected light irradiation position, and compared with the planned value, based on this. The point is that the position of the excavator, the direction of excavation, and the distance measurement of the excavator position can be managed simultaneously with one device.

"Example" Hereinafter, details of the present invention will be explained based on the drawings.

In Figure 1, 1 is a shield tunneling machine, 2 is a shield jack, 3 is a segment, and 4 is a
- A laser emitting unit which has the ability to bend the course of the projected light beam by interposing a wedge prism with various refraction angles in the middle of the light beam as disclosed in No. 147352, 5 is a laser beam, 6 is the above-mentioned shield excavator 1 and the axis of the light receiving section thereof, and FIGS. 2 to 5 show the configuration of the laser receiving section 6 in detail. 8 is a light-receiving case, 8 is a target, 9 is a group of photoelectric elements in which symmetrical photosensitive elements built into the surface of the target are electrically and differentially connected to each other, and 10 is a photosensitive element embedded on the back side. A group of photoelectric elements that electrically display light sensitivity, 1
1 is a laser beam reflecting plate that is integrally arranged in parallel with the back surface of the target 8 at a predetermined distance l; 12 is a through hole drilled in the center of the target 8 for passing the laser beam;
13 and 14 each indicate a feed screw rod driven by a drive servo motor.

The deviation from the center of the irradiation position of the irradiation light in the photoelectric element group 9 is detected as a differential voltage of the electromotive force generated in the axial direction of each feed screw rod 13, 14, and the servo motor is instructed to move the target 8 to the feed screw. The servo tracking mechanism device that moves along the rods 13 and 14 and aligns the center of the target 8 with the irradiation position of the irradiation beam is disclosed in Japanese Patent Application Laid-open No. 1986-1999, as mentioned above.
This is disclosed in No. 147352, etc.
The novel features of the device of the present invention include the through hole 12 for passing the laser beam as described above, and the photoelectric element group 1 in which a photosensitive element embedded in the back side of the target 8 electrically displays the exposure.
0 (its vertical width is formed to have an appropriate predetermined length in order to cause pitching and rolling of the shield excavator 1), and the laser beam reflecting plate 11 is newly installed.

FIG. 6 is a schematic perspective view showing an example of such a light-receiving unit case 7, in which a target 8 formed by arranging photoelectric elements is incorporated in a servo tracking mechanism 20, 20', and a target 8, which is formed by arranging photoelectric elements, is incorporated in a servo tracking mechanism 20, 20'. The system tracks the balance point and detects the amount of displacement.

The measurement method using this device is as follows.

That is, when the laser beam 5 with a bundle diameter larger than at least the diameter of the through hole 12 is irradiated from the laser emitting unit 4 toward the photoelectric element group 9, the servo tracking mechanism is activated as described above, and the laser beam is 5 at the center of the target 8, and the amount of displacement of the excavator is detected.As a result of this operation, the laser beam 5 automatically passes through the through hole 12 and irradiates the reflector plate 11, causing the direction of excavation to tilt. When the light is shining, it is reflected and irradiates the photoelectric element group 10 (FIGS. 3 and 4).

As shown in FIG. 4, the photoelectric element group 10 at the irradiation position electrically displays the photosensitive information on the display section, so that the distance value d from the through hole 12 in the horizontal direction is displayed.

Based on this interval value d, the laser light 5
The excavation angle θ with respect to the angle θ is calculated.

That is, tanθ=d//l.

The calculated value θ and the laser beam 5 at that point
The excavation direction is corrected by comparing the planned excavation angle with the planned excavation angle.

A feature of the present invention as described above is that the distance value d is reflected and shown enlarged twice, thereby doubling the accuracy of the collected measured value compared to the case without reflection.

The distance measurement in the direction of movement of the excavator is as follows.
In other words, the path of the laser beam 5 is intentionally bent at a predetermined angle, and the distance is measured by triangulation from the amount of displacement of the irradiation point based on this. The laser beam 5 that has passed through the collimator lens 21 travels straight and is projected onto the target 8, but when the wedge prism 22 is interposed, it is refracted and the projection point is projected at a different position with a displacement D.

Now, if the refraction angle of this wedge prism 22 is θ', the distance L between the wedge prism 22 and the target 8 is calculated as L=D cotθ'. However, if the apex angle of the wedge prism is △, then θ' = (n-1) x △ (n is the refractive index of glass) "Effects of the Invention" Therefore, according to the present invention, a small amount of expensive photoelectric elements can be used. This means that the position of the excavator, the direction of excavation, and the distance of excavation can be managed using one low-cost device.

[Brief explanation of the drawing]

FIG. 1 is a simplified plan view of the shield, FIG. 2 is a front view of the special light receiving device of the present invention, and FIG. 3 is a plan view of the same.
FIG. 4 is an enlarged view of the main part on the same plane, FIG. 5 is an enlarged view of the back surface of the target, FIG. 6 is a schematic perspective view of the light receiving unit case, and FIG. 7 is a diagram illustrating the principle of distance measurement. 1... Shield excavator, 2... Shield jack, 3... Segment, 4... Laser emitting unit,
5... Laser light, 6... Laser receiver, 7...
...Light receiving unit case, 8...Target, 9...Photoelectric element group, 10...Photoelectric element group, 11...Laser light reflecting plate, l... Distance between target 8 and laser light reflecting plate 11, 12... Through hole, 13, 14...
Feed screw rod, d...Horizontal interval value between the through hole 12 and the irradiation position of the reflected light of the laser beam 5 on the back surface of the target 8.

Claims (1)

[Claims] 1. A target with a built-in photoelectric element equipped with a servo tracking mechanism installed in a shield tunneling machine so that its central axis and the axis of the light receiving part coincide with each other, and a laser projection device with an added function of bending the path of the projected beam at a predetermined angle. In the mechanism consisting of a light part, a photoelectric element is embedded in the back surface of the target, a through hole for passing laser light is bored in the center of the target, and a laser light reflecting plate is integrally installed at a predetermined distance from the back surface of the target. A surveying device for a shield excavator, characterized in that it can be installed in parallel.