JPH0345769B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for detecting the three-dimensional position of a surveyed object, and particularly to a position detection method suitable for specifying the three-dimensional coordinates of a surveyed object such as a shield excavator or a tunnel boring machine. .

Recently, automation of the operation of tunnel excavating machines such as shield excavators and tunnel boring machines has been promoted, and efforts have been made to improve excavation efficiency.
This is maintained by constantly monitoring the excavation direction of the tunnel excavator and controlling it so that the tunnel excavator moves along the planned route.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a method for detecting the position of a surveyed object, which is suitable for monitoring the traveling direction of the surveyed object.

In the method for detecting the position of a surveyed object according to the present invention, three known points whose three-dimensional coordinates are specified in advance are set, and a reference point is set at a position where both the known points and the surveyed object can be seen. After that, the angle between the line connecting the reference point and each known point and any reference line including the reference point, and the distance between the reference point and each known point are measured, and the distance between the reference point and each known point is measured. The method is characterized in that the three-dimensional coordinate position of the object to be surveyed is determined by measuring the angle formed by a line connecting the object to be surveyed and the reference line, and the distance between the reference point and the object to be surveyed. .

According to the present invention, for example, when the object to be surveyed is a shield excavator, if the planned excavation route is displayed in advance in a coordinate system in which the position of the shield excavator is displayed, the shield excavator can follow the planned route. It is possible to visually confirm whether or not the shield excavator is proceeding along the planned route, and if the display point of the shield excavator displayed on the three-dimensional coordinates is displaced from the display line of the planned route, the amount of displacement can be confirmed. can be easily determined by calculation. Furthermore, the three-dimensional coordinate position of the surveyed object can be determined regardless of whether or not the planned route includes a curved section.

The features of the invention will become clearer from the following description of the illustrated embodiments.

First, as shown in FIG. 1, the object to be surveyed 10,
For example, a reference point O is set at a position that can see through a shield excavator in a tunnel 11, and three known points are set at a position 13 that can be seen from the reference point, for example, a shaft that is the starting point of excavation by the shield excavator. Set points A, B, and C.

At this time, the object to be surveyed 10 and the known point A,
In each of B and C, a reflecting mirror 12 (Fig. 3) is installed facing the reference point O, and a movable mirror 14 (Fig. 3) rotatable around the axes perpendicular to each other is installed at the reference point O. Install the surveying device 1 and point it at the movable mirror.
6 (Fig. 3).

As the reflecting mirror 12, a corner reflector having a prism that reflects light parallel to the incident direction can be used. As shown in FIG. 3, the movable mirror 14 includes a reflecting plate 14a, a pair of horizontal shafts 14b and 14c supporting the reflecting plate 14a, and a shaft connected to one of the pair of horizontal shafts to rotate the reflecting plate 14a. torque motor 14d, and a reflector plate 14 connected to the other side.
Encoder 14 for detecting the rotation angle of a
e, a torque motor 14f for rotating the reflection plate 14a connected to the torque motor and the encoder via the pair of horizontal axes around an axis perpendicular to the pair of horizontal axes, and detecting the rotation angle thereof; A pedestal 15 having an encoder 14g is provided. Furthermore, as shown in FIG. 4, the surveying device 16 includes a light emitter 18 such as a He-Ne laser oscillator, a photodetector 20 such as a semiconductor optical position detector, a four-division optical position detector, and a light waveguide. Distance meter 22
These are combined into a unit together with a switching mirror 24 (described later) (FIG. 3). Furthermore, although not shown, a light emitter 18 and a photodetector 20
The optical distance meter 22 and the movable mirror 14 are each connected to a main computer via a control device.

After installing the reflecting mirror 12, the movable mirror 14, and the surveying device 16, the angle formed by any reference line described below including the reference point O and a straight line connecting each known point A, B, C and the reference point O, and the reference line. Measure the angle formed by the straight line connecting the reference point O and the object to be surveyed 10, the distance between the reference point O and each known point A, B, and C, and the distance between the reference point O and the object to be surveyed 10. do.

First, a laser beam is emitted from the light emitter 18 toward the movable mirror 14 installed at the reference point O. As shown in FIG. 4, the laser beam is guided through a pair of reflection plates 28 to an expander 30 arranged parallel to the light emitter 18, where the diameter of the light beam is adjusted. The optical path 26 is reflected by the reflector 32 disposed in front of the expander 30 and the reflector 34 disposed in front of the photodetector 20 toward the reference point O.
Proceed.

Next, the laser beam is applied to the reflection plate 14 of the movable mirror 14.
The reflector 14a is aligned with the horizontal axis 14 so that it is reflected by the photodetector 20 and enters the center of the light receiving surface 20a of the photodetector 20.
b, 14c and an axis perpendicular thereto.

At this time, the movable mirror 14 is controlled by first roughly positioning the reflector 14a so that it faces the surveying device 16 manually or by manual operation using the main computer. At this time, the laser beam is reflected by the reflection plate 14a and enters the light receiving surface 20a of the photodetector 20, and a light reception signal corresponding to the incident position of the laser beam is transmitted from the photodetector 20 to the main computer. Based on this light reception signal, an instruction signal is transmitted from the main computer to the movable mirror 14, and the torque motors 14d,
14f is driven under speed control by a built-in tachogenerator, and the reflecting plate 14a is rotated by a predetermined angle around the axis of the horizontal shaft 14b and an axis perpendicular thereto. The rotation angle of the reflection plate 14a is detected by encoders 14e and 14g,
Each reading is transmitted to the main computer. By repeating the rotation operation of the reflection plate 14a based on the light reception signal, the laser light returning along the optical path 26 is incident on the center of the light reception surface 20a through the condenser lens 36, as shown in FIG. .

Thereafter, a switching mirror 24 is disposed in front of the reflector 34 (FIG. 4) and is movable in the transverse direction of the optical path 16 to block and release the optical path 26.
is positioned on the optical path 26, and then a laser beam is emitted from the optical range finder 22 placed toward the switching mirror 24. The distance Ls( (Fig. 5) is detected.

Next, using a straight line connecting the reference point O and the installation position of the surveying device 16 as a reference line S, the laser beam emitted from the light emitter 18 is reflected by the movable mirror 14 and reflected by the reflecting mirrors 12a, 12b, 12c, 12d. The movable mirror 14 is rotated around the two orthogonal axes so that the laser light that is incident on each of the two and further reflected is again reflected on the movable mirror 14 and incident on the center of the light receiving surface 20a of the photodetector 20. let The movable mirror 14 at this time may be controlled in the same manner as described above.
The rotation angle of a from the reference line S is determined by encoder 1.
This can be determined from the readings of 4e and 14g. In addition, the distances La,
Lb, Lc, and Ld can be determined by subtracting the distance Ls from the distance value measured by the light wave distance meter 22 at the position of the rotation angle of the reflection plate 14a (FIG. 5).

Thereafter, in order to display the position of the surveyed object 10 in a reference orthogonal coordinate system (hereinafter referred to as P coordinate system) in which known points A, B, and C are displayed, each known point is calculated based on the results of the survey. Three angles, that is, included angles α, β, and γ, formed by the line segment from the point to the reference point O and the line segment from the reference point O to the object to be surveyed are determined (FIG. 6).

By the way, the rotation angle obtained by surveying is determined by the rotation angle in an orthogonal coordinate system (hereinafter referred to as R coordinate system), which is composed of a plane including a reference line S and a plane orthogonal to the plane, and has a reference point O as its origin. It is an angle on a plane and on the orthogonal plane from the plane. Therefore, the included angles α, β, and γ are obtained by converting the coordinates of each known point from the P coordinate system to the P coordinate system. For example, when finding the included angle α, the three-dimensional coordinates of the known point A in the R coordinate system are (x, y,
z) (not shown), then from the distance La and the rotation angles a and b (not shown) around the axis of the horizontal axis and the orthogonal axis perpendicular to the axis, x, y
and z are x=La・cos.a・cos.b, respectively.
It can be expressed as y=La・cos.b・sin・a and z=La・sin.b, and then from the distance Ld and each rotation angle around the axis and the orthogonal axis, the three-dimensional After determining the coordinates, it is possible to calculate the included angle α using the relationship between the inner products of two vectors in the three-dimensional space from the reference point O toward the reflecting mirrors 12a and 12d.

Next, by applying the cosine law, the reflecting mirrors 12a, 1
2d, between reflectors 12d and 12d, and between reflectors 1
After calculating each distance between 2c and 12d, consider the signs 4+, - of the P coordinate system by solving the equations of three spheres in the P coordinate system with each distance as the radius and each known point as the center. The three-dimensional coordinate position of the object to be surveyed 10 can be known.

In the survey for detecting the position of the object to be surveyed 10, instead of using the movable mirror 14, as shown in FIG. However, this may be performed by rotating around the orthogonal axis. In this case, the surveying device 16 is installed at the reference point O. The reference line may be a line connecting known point A and reference point O, for example. In this latter example, since the movable mirror 14 is not interposed as in the former example, the attenuation of the optical energy is small and it is easy to control minute rotations of the surveying device 16 about the two axes. On the other hand, in the former example, the frame 1
Since the weight of the reflector 14a mounted on the unit 5 is smaller than that of the unit, the reflector 14a can be rotated with a small driving force, and wiring of control and data transmission cables is easy.

By the way, when the object to be surveyed 10 changes its position over time like the shield excavator, the distance between the object to be surveyed 10 and the reference point O where the surveying device 16 or the movable mirror 14 is installed. As the distance increases, the aperture of the laser beam increases and the energy density of the laser beam decreases, making it difficult to ensure accurate surveying or making it impossible to see through the object 10 from the reference point O. For this purpose, as shown in FIG. 2, three known points A, B, and C and a reference point O are set as
Known point A-1-B-1-C-1 (or known point A
-2, B-2, C-2) and the reference point O-1, and perform the above-mentioned survey. Known point A after relocation
The coordinate positions of -1, B-1, and C-1 can be determined when these known points are installed or by surveying by emitting a laser beam from the surveying device 16 as described above.

Note that the movable mirror 14 or the surveying device 16 installed at the reference point O does not necessarily have to be placed horizontally. That is, when it is necessary to determine a horizontal plane, by solving the equations of three spheres whose radii are the distances La, Lb, and Lc and centered at the known points A, B, and C, it is possible to determine the horizontal plane in the P coordinate system. A reference point O can be expressed, and a horizontal plane can be specified thereby. This also eliminates the complexity of leveling the movable mirror 14 or the surveying device 16 when placing it.

Furthermore, by displaying in advance the route that the shield excavator should excavate, that is, the planned route, in the P coordinate system, the displacement angle and displacement distance of the shield excavator from the planned route can be easily determined in the P coordinate system. The above calculations, including this calculation, are performed via the main computer.

According to the present invention, even if the position of the object to be surveyed changes over time, such as a tunnel excavation machine, its current position can be continuously detected, and the planned route can be traced in the same coordinate system. If you display it in
It is possible to visually confirm the amount of displacement when the tunnel excavator deviates from the planned route, and it is also possible to quickly correct the excavation direction of the tunnel excavator. Furthermore, the position of the tunnel excavator, which is the object to be surveyed, can be detected regardless of whether it is inside a straight tunnel or a tunnel that has not only a straight section but also one or more curved sections.

The method for detecting the position of a surveyed object according to the present invention is also suitable for outdoor construction such as dam construction, marine construction such as positioning of barges, and the like.

[Brief explanation of drawings]

Figures 1, 2, 5 and 6 are explanatory diagrams showing an outline of the method for detecting the position of a surveyed object according to the present invention, Figure 3 is a schematic diagram of a movable mirror, and Figure 4 is a surveying device. FIG. 7 is a schematic diagram of a surveying device supported on a pedestal. 10...Object to be surveyed, 12, 12a, 12b, 1
2c, 12d...Reflecting mirror, 14...Movable mirror, 16...Surveying device, 18...Light emitter, 20...Photodetector, 22...
Optical distance meter, O...Reference point, A, B, C...Known point,
S...Reference line.

Claims (1)

[Claims] 1. A method for detecting the position of a surveyed object, comprising:
A reference point is set at a position where the object to be surveyed can be seen, and three known points are set at positions where the object to be surveyed can be seen, and then a line connecting the reference point and each of the known points and the reference point are set. An angle between the reference line and any reference line including the point, an angle between the reference line and a line connecting the reference point and the object to be surveyed, a distance between the reference point and each known point, and an angle between the reference point and the object to be surveyed. A method for detecting the position of a surveyed object, wherein the position of the surveyed object is determined by measuring the distance between the surveyed object and the surveyed object. 2. The measurement of the angle and the distance is carried out by equipping the reference point with a movable mirror rotatable around two orthogonal axes, and a light emitter, a photodetector, and a light distance meter pointing toward the reference point. 2. The method according to claim 1, wherein the method is carried out by installing an apparatus and reflecting mirrors at the known point and the object to be surveyed so as to face the reference point. 3 The measurement of the angle and the distance is carried out by installing a surveying device rotatable around two orthogonal axes and equipped with a light emitter, a photodetector, and a light wave distance meter at the reference point, and placing a reflecting mirror at the reference point. 2. The method according to claim 1, wherein the method is carried out by installing at each of the known point and the object to be surveyed.