JPH0843084A - Multi-function measuring vehicle for tunnel - Google Patents

Abstract

(57) [Summary] [Purpose] To make it possible to easily perform linear surveying of tunnels, measurement of arbitrary cross-sections, measurement of inner air displacement, and measurement of face shape with a single unit. [Structure] A surveying vehicle that can run inside an existing tunnel, and an automatic tracking type rangefinder that measures the distance and angle to a reflecting prism fixed at two or more known positions in the existing tunnel. , Equipped with an inclinometer for measuring the inclination angle of the surveying vehicle, and a computer for calculating the position of the surveying vehicle from the measurement values of the automatic tracking type rangefinder and the inclinometer, and the vertical axis for the surveying vehicle It is equipped with a non-prism range finder that is rotatable about both the horizontal axis and the horizontal axis.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a multi-function measuring vehicle for tunnels, and more particularly to a multi-function measuring vehicle for tunnels suitable for high precision construction and safety construction of mountain tunnels.

[0002]

It is needless to say that there is a need to perform accurate linear control for tunnel excavation, and conventionally, it requires a large amount of labor and time to carry out frequent surveying to achieve highly accurate construction and linear alignment. It manages.

In the past, this surveying was performed by an operator mainly by optical surveying using trash and level. That is, in the conventional tunnel survey, as shown in "FIG. 5", an arbitrary point P2 is measured from the known point P1 such as a wellhead by the trash and the level, and then a new known point P2 is measured.
The arbitrary point P3 is similarly measured from the position, and the measurement points are sequentially moved to finally measure the face. In the curved portion shown in FIG. 5, since the face cannot be directly collimated from the known point P1 as shown by the chain double-dashed line, the moving distance of the above-mentioned measuring points is set short and many measuring point movements are performed. I am trying to do it. Therefore, this surveying work is complicated and unreliable, and it is called a total station these days.
The angle measuring instrument has been developed and its usage record is increasing.

[0004]

However, due to the straightness of the laser beam, the above-mentioned conventional total station is also realigned (moving the surveying device or the surveying target at every predetermined surveying distance) in a line including a curve. This is not only complicated but also has a risk of causing an error during the refilling.

Further, in the above total station, when the laser light wave reaching distance becomes long, the laser light diffuses and the luminous flux spreads, and the luminous flux of the laser light fluctuates due to temperature and humidity, which causes a problem that the surveying error increases. Therefore, there is a problem that frequent reshuffling is required.

Further, there is also a problem that the operator has to move the surveying device each time the above-mentioned refilling is performed, and the work is complicated.

Further, in mountain tunnels, it is necessary to grasp the collapsed state of the cutting face (in other words, the cutting face shape) and the cross-sectional shape immediately after cutting. The cross-sectional shape of the slab serves as a guide for the method of supporting work and plays a major role in safe construction, but at present, these rely on visual sensations.
There was a problem that it was not possible to measure accurately.

However, in order to measure the cross-sectional shape, a cross-section measuring machine is carried in near the face, the rotation axis of the cross-section measuring machine is aligned in the direction orthogonal to the tunnel axis, and then the rotation center position of the cross-section measuring machine is set. There is also a method of manually measuring the measured value by inputting it into the control conulator of the cross-section measuring machine, but this measurement is not only complicated and time-consuming, but the measurement position is a vertical cross section. Cross-sectional shape measurement before lining or support such as spraying was accompanied by great risk due to ground collapse and the like.

Therefore, the present invention has been made in view of the above problems, and is a multifunctional measurement for a tunnel that can easily perform linear survey of a tunnel, measurement of an arbitrary cross-section, measurement of inner air displacement, and measurement of a face shape with one unit. The purpose is to provide a car.

[0010]

In order to solve the above-mentioned problems, the survey vehicle according to the present invention, which is based on the above-mentioned object and has the above-mentioned object, can run in an existing tunnel R. 10, two or more known positions Q1. Reflective prisms A1 and B fixed to Q2
1. An automatic tracking type rangefinder 20 for measuring the distance and angle to 1 and an inclinometer 30 for measuring the tilt angle of the surveying vehicle 10.
And a computer 40 for calculating the position of the surveying vehicle 10 based on the measurement values of the automatic tracking type rangefinder 20 and the inclinometer 30.
In addition, the surveying vehicle 10 is equipped with a non-prism range finder 50 that is rotatable about both the vertical axis and the horizontal axis as rotation center axes. is there.

Further, in the invention of "Claim 2", a window hole 12 which can be opened and closed is provided in the ceiling 11 of the surveying vehicle 10, and an elevating table 13 which can be put in and out of the surveying vehicle 10 through the window hole 12 is provided.
An automatic tracking type rangefinder and angle finder 2 is provided on the lifting table 13
0 and the non-prism range finder 50 are attached to provide technical means.

[0012]

Therefore, the present invention allows the surveying vehicle 10 to enter an arbitrary position within the existing tunnel R and to automatically detect the distance by using the automatic tracking type rangefinder 2
The reflection prisms A1 and B1 fixed at two or more known positions of the existing tunnel R at 0 ("Fig. 2" is an initial stage of excavation, and the excavation progresses further, and the reflection prism A
In the case where the number is changed to n and Bn, the distance and angle to the reflecting prisms An and Bn) are measured.

The surveying of the reflecting prisms A1 and B1 is as follows.
As shown in "Fig. 5", reflections fixed at two points inside the existing tunnel R from a known rear point P1 (a point measured by a conventionally known surveying method at a lower portion of a shaft excavated from the ground, etc.) It is specified by measuring the positions of the prisms A1 and B1. In FIG. 2, the surveying vehicle 10 is approaching the face F side of the reflecting prisms A1 and B1 and stopped, so that the automatic tracking type rangefinder 20 faces rearward to reflect the reflecting prisms A1 and B1. The position will be measured.

Then, by this measurement, the position of the surveying vehicle 10 (accurately, the position of the measuring point of the automatic tracking type rangefinder 20)
Has the effect of being specified. Although the position of the surveying vehicle 10 is normally specified by measuring the reflecting prisms A1 and B1 at two known positions, the vertical axis or the horizontal axis of the automatic tracking type rangefinder 20 If is inclined, some errors will occur. Therefore, although this error is corrected by the tilt angle value detected by the inclinometer 30, the reflection prisms A1, B1
In addition to the above, a third reflecting prism C1 (not shown) is prepared, and the reflecting prisms A1, B1, and C whose three positions are known are provided.
If 3 is measured, the measured value of the inclinometer 30 may not be used in some cases.

The reflecting prisms A1, B1 and C1
.. may be sequentially measured one by one by the search function described later. However, when the surveying vehicle 10 is equipped with an azimuth meter and a range finder, the values of the reflecting prisms A1, B1, C1
Since the approximate direction of ... Can be calculated, it is also possible to automatically collimate the reflecting prisms A1, B1, C1, ... Without using the search function.

When the position of the surveying vehicle 10 can be measured, the following measurement is then performed according to the purpose.

"Linear Survey of Tunnel" To measure the linear shape of a tunnel, it is sufficient to measure the positions of a plurality of points on one section, and this measurement is carried out sequentially as the tunnel is dug. 2 ", the new reflection prisms A2 and B2 are fixed at arbitrary positions on the face side of the reflection prisms A1 and B1, and the surveying vehicle 10 is stopped and the automatic tracking type rangefinder 20 is moved in the opposite direction. (Face face F direction)
The position of the new reflecting prisms A2 and B2 may be measured by the automatic tracking type distance measuring and measuring rig 20 toward this direction, and this measurement may be sequentially performed as the excavation of the existing tunnel R progresses.

[Measurement of Cross Section] The cross section is measured by rotating the non-prism range finder 50 in the circumferential direction of the tunnel cross section. In addition, as shown in FIG. 4, the non-prism range finder 50 is rotated by a predetermined angle Θ with the tunnel axis direction with the vertical axis as the rotation center axis, and the horizontal axis as the rotation center axis at this rotation position. By rotating, the cross section of the broken line portion with arrows at both ends in the figure can be measured, and the cross sectional shape of an arbitrary portion can be measured by appropriately selecting the angle Θ. Unlike this method, if the vertical rotation and the horizontal rotation of the non-prism range finder 50 are appropriately combined and controlled, the measurement of the vertical cross section of the portion indicated by the one-dot chain line S in FIG. It exhibits the action that can be performed. It should be noted that by measuring the cross-sectional shape over time, it is possible to measure the inner air displacement.

"Measurement of cutting face shape" In order to measure the cutting face shape, the non-prism range finder 50 is directed to the cutting face F, and the face of the cutting face F is scanned as shown by arrow S2 in FIG. It exhibits the action of measuring the shape.

[0020]

EXAMPLES Next, examples of the present invention will be described in detail.
In the figure, R is an existing tunnel under excavation, and 10 is a surveying vehicle that can run in the existing tunnel R.

Although the survey vehicle 10 used an electric vehicle driven by a driver in this embodiment, it is of course desirable to use an unmanned vehicle from the viewpoint of labor saving, and the existing tunnel. A rail may be laid on the R to travel on the rail.

Then, in the surveying vehicle 10 capable of traveling in the existing tunnel R, the reflecting prisms A1 and B1 fixed at two or more known positions of the existing tunnel R are provided.
Tracking type rangefinder and angle measuring device 2 that measures the distance and angle to
0 and an inclinometer 30 that measures the inclination angle of the survey vehicle 10.
And a computer 40 for calculating the position of the surveying vehicle 10 based on the measurement values of the automatic tracking type rangefinder 20 and the inclinometer 30.
And are installed.

As the reflection prisms A1 and B1, those which are conventionally well-known corner cube prisms and the like, which reflect waves of a laser beam or the like emitted from an automatic tracking type rangefinder 20 described later in the incident direction, are used.

The positions of the reflecting prisms A1 and B1 are measured beforehand. This measurement may be performed by the conventional method, and is obtained by measuring from the rear known point P measured by the conventional method such as on the ground.
2, B2 to the reflecting prisms An and Bn are measured in advance by the method of "linear measurement of tunnel" described above.

Further, the above-mentioned automatic tracking type range finder 20 has
A conventionally known device that irradiates a light wave for distance measurement and receives the reflected light to measure the distance and angle to the reflecting prisms A1 and B1 can be used, but the light receiving unit also has a light receiving unit for automatic tracking. Has been done.

That is, although not shown, the automatic tracking light receiving section has a distance measuring light receiving section in the center thereof, and an automatic tracking light receiving section for receiving the reflections from the reflecting prisms A1 and B1 is provided around the light receiving section. Multiple light-receiving parts (usually four on the left, right, top and bottom,
The four light receiving portions may be referred to as a four-divided light receiving element. ) It is provided. The automatic tracking light receiving unit compares the amount of light received by the light receiving units facing each other, such as vertically and horizontally. These light receiving parts (actually, the main body of the distance measuring and angle measuring device that holds the light receiving parts) use the center point of the central distance measuring light receiving part as a fulcrum (measuring point), and tilt angles in the vertical direction and the horizontal direction. The drive source can be changed by the drive source, and the drive source is controlled by the comparison value signal of the automatic tracking light receiving unit so that the light receiving amount of the opposing automatic tracking light receiving unit is always the same, that is, the automatic tracking type. The distance-measuring finder 20 is adapted to automatically track the reflecting prisms A1 and B1 which are surveying targets at all times.

The collimation of the reflecting prisms A1 and B1 is not performed by collimating a plurality of the prisms at the same time. After collimating one of the reflecting prisms A1 and outputting the measured value, the reflecting prisms A1 and B1 are rotated by a predetermined amount and the other reflecting prism is collimated. B1 is collimated.

As the automatic tracking, instead of the four-division light receiving element, scanning irradiation is performed with a point laser beam assuming a certain irradiation plane, and a scanning signal value at the time when reflected light is input during scanning. A device that controls the drive source may be used.

The automatic tracking type distance measuring and angle measuring device 2 of the present embodiment
In No. 0, a search function is further mounted, and this search mechanism may be performed by scanning irradiation of the point laser light similar to the above.

Then, with the reflecting prisms A1 and B1 collimated by automatic tracking, the angle of the collimating line, that is, the angle of the collimating line connecting the reflecting prisms A1 and B1 from the measuring point is detected. is there. Since the angle of this line of sight may be the angle Θ2 formed by the two lines of sight S3 and S4 in FIG. 2, the approaching direction of the surveying vehicle 10 can be ignored, but the surveying vehicle 10 may have a compass such as a gyro compass. May be mounted, and the angle between the reference azimuth indicated by the azimuth meter and the collimation lines S3, S4 may be measured and used. The angle of the line of sight may be set so that the amount of rotation of the automatic tracking type rangefinder finder 20 for automatic tracking is output as an electric signal by an encoder or the like.

Further, as the inclinometer 30, a conventionally known one such as an operating transformer type or a servo type can be used, and one which outputs an inclination angle in two directions of the X-axis direction and the Y-axis direction as an electric signal value is used. To be done.

Further, the computer 40 uses the measurement signals of the automatic tracking type rangefinder and anglemeter 20 and the inclinometer 30 as input signals, and the position of the surveying vehicle 10 (to be exact, the automatic tracking type rangefinder and anglefinder). 20 measurement points) are calculated. In principle, this calculation can be obtained by measuring the distance and angle to the reflecting prisms A1 and B1 located at two known points from the automatic tracking type distance measuring and angle measuring device. If the X-axis and the Y-axis of the mount 20 are tilted (the vertical axis and the horizontal axis on which the automatic tracking type distance-measuring gantry 20 rotates for collimation), an error occurs.

In order to correct the above error, one method is to measure the tilt angle between the X axis and the Y axis of the automatic tracking type rangefinder 20 and use it as a corrected value. However, as another method, it depends on the mechanism of the automatic tracking type range finder 20 but three known positions Q1. Q2 and Q3 may be measured. Therefore, it is not essential to use the measured value of the inclinometer 30 for position calculation of the surveying vehicle 10, but the inclinometer 30 uses the measured value other than the position calculation of the surveying vehicle 10 as will be described later. It is essential because it is used.

The inclinometer 30 is attached to the surveying vehicle 10, but the inclining angle between the X-axis and the Y-axis of the automatic tracking type rangefinder 20 and the non-prism rangefinder 50 described later is obtained. Therefore, it is needless to say that it may be attached to the lifting table 13 described later.

The surveying vehicle 10 is equipped with a non-prism range finder 50 which is rotatable about both the vertical axis and the horizontal axis.

As the non-prism range finder 50, a conventionally known light wave range finder or the like can be used, and the distance is measured by reflecting and returning the light wave radiated toward the inner surface of the tunnel.

Then, the measured values measured by the non-prism range finder 50 are stored as data in the computer 40 and the data are processed according to the purpose.

The surveying vehicle 10 is provided with a window hole 12 that can be opened and closed in the ceiling 11, and an elevator platform 13 that can be accessed through the window hole 12 is provided in the surveying vehicle 10.
3, the automatic tracking type rangefinder and anglefinder 20 and the non-prism rangefinder 50 are attached.

That is, as shown in FIG. 1, a lifting device 13a such as a hydraulic cylinder is fixed below the window 12 in the surveying vehicle 10, and the lifting platform 13 is mounted on the upper end of the lifting device 13a. It is attached. The lifting device 13a
The level adjusting screw 13 is provided between the upper end of the
b, 13b, 13b, and so on, and it is desirable for the lift 13 to be adjustable so as to keep it horizontal for a more accurate survey (one in which the correction value of the inclinometer 30 is not too large). The accuracy of the calculation result is maintained.)

A horizontal swivel base 13c, which is rotated by a servomotor (not shown), is provided on the elevating base 13 and has a vertical vertical axis as a rotation center axis. The horizontal swivel base 13c is mounted on the horizontal swivel base 13c. A lateral axis 13d orthogonal to the extension of the rotation center axis of 13c is attached, and this lateral axis 13d can also be rotated by a servomotor or the like (not shown).

The automatic tracking type range finder 20 is attached to the horizontal axis 13d, and the measuring points of the automatic tracking range finder 20 are the horizontal axis 13d and the horizontal swivel base 13c.
It is desirable to set so as to match the intersection with the rotation center axis of. However, in the illustrated embodiment, the automatic tracking type range finder 2
0 is installed at a position where the measured point is displaced in the horizontal direction by a certain distance from the intersection. Since this displacement is constant,
The calculation point can be grasped as one point.

Further, a non-prism range finder 50 is attached to the horizontal swivel base 13c, and the non-prism range finder 50 may be attached to the lateral shaft 13d, but in the present embodiment, the drive shaft is used. Is rotatably attached by a servo motor 13e in the horizontal direction, and can be rotated by a horizontal swivel base 13c with the vertical axis as the rotation axis and the drive shaft of the servo motor 13e as the horizontal axis as the rotation axis.

As described above, the automatic tracking type distance measuring and measuring device 20
The reason why the above is attached to the elevating table 13c is to protect the precision equipment from dust by accommodating it inside the surveying vehicle 10 when it is not in use because there is a lot of dust in the existing tunnel R.

As described above, the non-prism range finder 50 can measure the cross-sectional shape and the face surface, but the non-prism range finder 50 is used for these measurements and the vertical axis or the horizontal axis is rotated. When the axis is tilted when it is rotated as the central axis, an error occurs in the measurement result. Therefore, this error uses the measured value of the inclinometer 30 as a correction value,
It suffices for the computer 40 to perform the calculation.

In this embodiment, a marking function by a laser beam is also provided. That is, if the approach position of the surveying vehicle 10 and the distance to the face F are determined, the excavation line of the face F can be calculated. This excavation line is automatically tracked by a rangefinder
Irradiation may be performed with the above laser beam or a separately provided laser beam irradiation device.

The automatic tracking type distance measuring and angle measuring device 20, the non-prism distance measuring device 50, and the like may be controlled by the computer 40, and the computer 40 displays various measured values on the screen. Of course it is not necessary to display or print it on the form, but various measurement values are accumulated and the face width F
Alternatively, a three-dimensional graphic of a cross section or a cross section may be displayed, and this three-dimensional graphic is particularly useful for calculating the overburden amount and the hit amount.

In the figure, 14 is an opening / closing door 15 for the window hole 12.
Reference numeral 17 denotes a drive source for opening and closing the vehicle, 17 denotes an outrigger for preventing the stop position of the surveying vehicle 10 from being displaced, and 51 denotes an up-down angle detecting encoder.

[0048]

As described above, the present invention can provide a multifunction vehicle for a tunnel capable of performing various surveys associated with tunnel excavation by itself.

Further, since the present invention adopts the vehicle-mounted system, it is easy to carry in and carry the surveying instrument, and the surveying vehicle 10
Since it is possible to automatically measure the approach position of the tunnel, it is possible to easily perform frequent survey relocation work, and as a result, it is possible to ensure the accuracy of the measurement by shortening the measurement distance and recalibrating frequently. It is possible to provide a multifunctional measurement vehicle.

Further, the present invention can provide a multifunction vehicle for a tunnel, which can easily and accurately and promptly measure the tunnel cross-sectional shape and the face shape, and can greatly contribute to proper excavation and support.

[Brief description of drawings]

FIG. 1 is a vertical sectional view showing an embodiment of a multifunction measuring vehicle for a tunnel of the present invention.

FIG. 2 is a plan view of an example of survey using the multifunction vehicle for tunnel according to the present invention.

FIG. 3 is a front view of another surveying example using the multifunction vehicle for tunneling of the present invention.

FIG. 4 is a plan view of still another surveying example using the multifunction measuring vehicle for tunnel according to the invention.

FIG. 5 is a plan view of a conventional surveying example.

[Explanation of symbols]

 R Existing tunnel 10 Surveying vehicle A1 Reflective prism B1 Reflective prism 20 Automatic tracking type rangefinder 30 Inclinometer 40 Computer 50 Non-prism rangefinder 11 Ceiling 12 Window hole 13 Lift

Claims (2)

[Claims] 1. A surveying vehicle (10) capable of traveling in an existing tunnel (R), and a reflection prism (A1, fixed to two or more known positions of the existing tunnel (R).
B1) An automatic tracking type rangefinder and anglefinder (20) for measuring a distance and an angle to B1), an inclinometer (30) for measuring an inclination angle of a survey vehicle (10), and the automatic tracking type rangefinder angle measuring device. Ceremony (20)
And a computer (40) for calculating the position of the surveying vehicle (10) from the measured values of the inclinometer (30), and further rotating both the vertical axis and the horizontal axis in the surveying vehicle (10). A multi-purpose tunnel measurement vehicle equipped with a non-prism range finder (50) that can rotate as a central axis. 2. A surveying vehicle (10) is provided with a window hole (12) that can be opened and closed in a ceiling (11), and a lifting platform () that can be accessed through the window hole (12) in the surveying vehicle (10). 13) The tunnel multi-function measurement according to claim 1, further comprising: an elevator (13), to which the automatic tracking type rangefinder (20) and the non-prism rangefinder (50) are attached. car.