JPH0933246A - Apparatus for measuring position in tunnel and tubular body driving apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a position measuring apparatus in tunnel, which can accurately measure the specified position simply at a low cost in a tunnel avoiding the human entering at the utmost even in a blind curved tunnel. SOLUTION: A turning means 5 or the like for a total station 3, a first reflector 7 and an intermediate reflector 8 is operated, and an optical part 4 of the total station 3 and mirror parts 9 of the first reflector 7 and the intermediate reflector 8 are directed in a specified directions. The optical wave emitted from a light emitting part 4a of the total station 3 is reflected to the mirror part 9 of the first reflector 7 through the mirror part 9 of the intermediate reflector 8 and sent back to a light receiving part 4b of the total station again through the mirror part 9 of the intermediate reflector 8. Thus, the two-dimensional or three-dimensional position of a measuring point, where the leading reflector 7 is arranged with respect to the total station 3, is measured.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position measuring device for measuring a predetermined position of a curved tunnel using light waves, and to automatically move a pipe along a planned trajectory using the position measuring device. And a pipe propulsion device that can be laid in a curved shape.

[0002]

Conventionally, the position of a predetermined point on a tunnel is measured by measuring the distance with a lightwave distance meter using light waves such as infrared rays or visible light, and measuring the angle with a transit. Was to be measured. In some cases, the position is measured by a total station having the two functions of the lightwave distance meter and the transit.

However, even if these devices are used, since the light travels straight, it is limited to the measurement of the visibility range of the tunnel, and in a curved portion where the visibility cannot be seen, a person can enter the tunnel and see it. It was supposed to measure while moving the equipment for each straight line, and to measure the position as a plurality of broken lines.

[0004] For this reason, the position measurement requires a great amount of time, and there is room for improvement in safety due to the fact that a person enters a tunnel and measures.

[0005] In order to solve these problems, Japanese Patent Application Laid-Open No. 61-21 / 1986 discloses a technique capable of measuring a position without entering a tunnel.
Japanese Patent Publication No. 9872 discloses a technique in which a laser beam emitting unit and a light receiving unit are guided by a guide so that the laser beam emitting unit and the light receiving unit can move within a tunnel while keeping a certain distance within a line-of-sight range.

However, in this technique, it is necessary to lay a separate guide in the tunnel, which increases the equipment cost,
The danger of working inside the tunnel at the time of installation cannot be avoided.

In Japanese Patent Application Laid-Open No. Hei 5-61538,
While pulling rails etc. in the tunnel and running the bogie,
There is disclosed a technique for detecting an error in the position of a bogie by receiving an ultrasonic wave for each fixed section, arranging a detecting means for correcting a moving distance calculated from the rotation of wheels of the bogie, and measuring the position.

However, even with this technique, rails, ultrasonic receivers, and the like must be installed in the tunnel, equipment costs are increased, and safety during installation must be considered.

[0009] Regarding the detection of the position of a curved trajectory using a truck, besides, JP-A-5-280982, JP-A-6-137068, and JP-A-6-137071.
Japanese Patent Laid-Open No. 6-137072, Japanese Patent Laid-Open No. 6-1
Japanese Patent No. 58982, etc. are known, but also have the same problems as described above.

[0010] A first object of the present invention is to solve the above-mentioned problem, and it is possible to minimize the entry of a person even in a curved tunnel that cannot be seen, and to provide a simple and low-cost tunnel.
An object of the present invention is to provide a position measuring device for a tunnel, which can accurately measure a predetermined position in the tunnel.

A second object of the present invention is to measure the position of the leading pipe body with respect to the vertical shaft of the tunnel at the propulsion start point when the pipe body is propelled in a curved shape while excavating the tunnel. Provided is a pipe propulsion device that can excavate and propel the leading pipe in a predetermined direction according to the position of the leading pipe, and can automatically lay the pipe in a curved shape along the planned trajectory with high accuracy. It is to be.

[0012]

A position measuring device according to the present invention is disposed at a predetermined position in a tunnel, and has an optical unit having a light emitting unit and a light receiving unit, and can swing the optical unit up, down, left and right. A total station including a rotation unit and a control unit that controls the operation of the rotation unit and electrically processes a signal from the optical unit to measure a distance and an angle; A top reflector provided at a measurement point and provided with a mirror unit for receiving and reflecting a light wave emitted from a light emitting unit of the total station, and a rotating unit capable of swinging the mirror unit up, down, left, and right; A predetermined number of light-emitting portions and a mirror portion for reflecting light waves incident from the mirror portion of the head reflector in a predetermined direction; and the mirror portion, A rotating means capable of shaking down the left and right,
And an intermediate reflector including the above-mentioned optical element, the front reflector, and the mirror portion of the intermediate reflector by operating the rotating means of the total station, the front reflector, and the intermediate reflector. In a predetermined direction, the light wave emitted from the light-emitting unit of the total station is reflected by the mirror unit of the intermediate reflector through the mirror unit of the intermediate reflector, and again through the mirror unit of the intermediate reflector. By sending back to the light receiving unit of the total station, the two-dimensional or three-dimensional position of the measurement point where the front reflector is arranged with respect to the total station is measured.

The mirror portions of the head reflector and the intermediate reflector are each composed of a plane mirror and a corner cube reflector which is fixed around the plane mirror and reflects an incident light wave in the incident direction. Is desirable.

Further, a control device is electrically connected to the control unit of the total station and the rotating means of the front reflector and the intermediate reflector, and by the control device,
The optical part of the total station and the mirror parts of the front reflector and the intermediate reflector are swung up and down and left and right to face in a predetermined direction, and the light wave emitted from the light emitting part of the total station is reflected by the mirror of the intermediate reflector. Through the mirror section of the front reflector, and then again through the mirror section of the intermediate reflector and sent back to the light receiving section of the total station, and at the measurement point where the front reflector is arranged with respect to the total station. It is desirable to measure three-dimensional or three-dimensional position.

In the propulsion device according to the present invention, the plurality of pipe bodies are
The leading conduit arranged at the front end side of the leading tube is sequentially driven by the source pushing jack arranged in the vertical shaft on the rearmost side, and is inserted between the leading tube and the succeeding tube. When the plurality of pipes are laid in a curved shape while excavating a tunnel in a predetermined direction by the group of opening adjustment jacks, the leading pipe is two-dimensional or three-dimensional with respect to the vertical shaft.
The control device that inputs the signal from the position measuring device that measures the position of the dimension is based on the previously input data,
A propulsion device for a pipe body that lays the plurality of pipe bodies in a curved shape by controlling the opening adjustment jack group,
The position measuring device is arranged in the vertical shaft and has an optical part having a light emitting part and a light receiving part, a rotating means capable of swinging the optical part vertically and horizontally, and controlling the operation of the rotating means. A total station including a control unit that electrically processes a signal from the optical unit to measure a distance and an angle, and a light wave emitted from a light emitting unit of the total station, which is disposed in the leading tube body. A front reflector provided with a mirror portion for reflecting the light and a turning means capable of swinging the mirror portion vertically and horizontally, and a predetermined number of the front reflector are arranged between the vertical shaft and the front reflector. An intermediate reflector including a mirror portion for reflecting light waves incident from a light emitting portion of the total station and a mirror portion of the front reflector in a predetermined direction, and a rotating means capable of swinging the mirror portion vertically and horizontally. , And the control device is The control unit of the total station in the position measuring device and the rotating means of the front reflector / intermediate reflector are electrically connected, and the control unit controls the optical unit of the total station, the front reflector, and The mirror portion of the intermediate reflector is swung up and down, left and right and directed in a predetermined direction, and the light wave emitted from the light emitting portion of the total station is passed through the mirror portion of the intermediate reflector to the mirror portion of the front reflector. It is configured such that it is reflected and again sent back to the light receiving section of the total station via the mirror section of the intermediate reflector to measure the two-dimensional or three-dimensional position of the measurement point where the front reflector is arranged with respect to the total station. It is characterized by

Also in the position measuring device used for the propulsion device, the mirror portions of the leading reflector and the intermediate reflector are
It is desirable that each of them is composed of a plane mirror and a corner cube reflecting mirror that is fixed around the plane mirror and reflects an incident light wave in the incident direction.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below with reference to the drawings.

The position measuring device M of the embodiment is shown in FIGS.
As shown in the figure, a total station 3 arranged at one end of the tunnel 1, a head reflector 7 arranged at the other end which is a measurement point of the tunnel 1, and a total station 3 in the tunnel 1
An intermediate reflector 8 is provided at a position where the first reflector 7 and the front reflector 7 can be seen, and a control device 12 for controlling the operation of the total station 3 and the reflectors 7, 8 is provided. The number of the intermediate reflectors 8 may be appropriately increased according to the curved state of the tunnel 1.

The total station 3 is a known station in which an electronic digital theodolite and a lightwave distance meter are integrated, and the distance and angle of a measuring point can be measured electronically and their values can be displayed digitally. An optical unit 4 having a light emitting unit 4a for emitting an infrared beam and a light receiving unit 4b for receiving a light wave emitted from the light emitting unit 4a; a rotating unit 5 capable of swinging the optical unit 4 up, down, left and right; And a control unit 6 for electrically processing signals from the optical unit 4 and measuring the distance and angle.

Although the infrared beam emitted from the light emitting section 4a is narrowed down but spreads to some extent, the light receiving section 4b measures the point of the reflected light having the highest light receiving intensity.

Further, the control unit 6 of the total station 3
Can output distance and angle measurement data as electric signals, and can be connected to the control device 12 composed of a personal computer via an interface such as RS-422 or GP-IP to perform a series of measurements. In addition to calculation processing, it is also possible to create tables and maps.

Further, the rotating means 5 includes a reflector 7 described later.
Similar to the rotating means 10 of 8, the gimbal that supports the optical unit 4, the vertical servomotor that is coupled to the gimbal so as to rotate the optical unit 4 in the vertical direction, and the optical unit 4 that rotates in the horizontal direction. And a lateral servomotor that holds the gimbal so as to move it. Each of these servo motors has a built-in encoder.

As shown in FIG. 3, the head reflector 7 and the intermediate reflector 8 are both light emitting portions 4a of the total station 3.
The mirror unit 9 includes a mirror unit 9 for reflecting the light wave emitted by the mirror unit 9 and a rotating unit 10 capable of rotating the mirror unit 9 up, down, left and right.

The mirror section 9 includes a circular plane mirror 9a and a plane mirror 9
and a corner cube reflecting mirror 9b fixed to the periphery of a and reflecting the incident light wave in the incident direction. The corner cube reflecting mirror 9b is disposed on a rear frame of the bicycle or the like, and has a structure in which three small plane mirrors orthogonal to each other, which are equivalent to those that serve to reflect the light of a car at night, are combined. A large number of these are arranged in an annular shape with a plastic material.

The turning means 10 includes a gimbal 10a for supporting the mirror 9, a vertical servomotor 10b connected to the gimbal 10a so as to turn the mirror 9 in the vertical direction, and a mirror 9 for moving the mirror 9 in the horizontal direction. A horizontal servomotor 10c for holding the gimbal 10a so as to rotate. Further, each servo motor 10b, 10c has a built-in encoder for reading the rotation angle of each rotation shaft as a digital amount.

The control unit 12 has a power supply circuit, and electrically connects the motors 10b and 10c of the head reflector 7 and the intermediate reflector 8 and the control unit 6 of the total station 3 by using lead wires (not shown). It is connected and controls the operation of each part.

When the position of the measurement point where the head reflector 7 is arranged is measured using the position measuring device M,
As shown in FIGS. 4 to 6, the control device 12 performs a predetermined control to perform an initial operation, a horizontal rough facing and a vertical rough facing of the intermediate reflector 8, an initial setting, and a fine facing of the intermediate reflector 8. , The horizontal setting and the vertical setting of the intermediate reflector 8, the setting of the head reflector 7, etc.
The procedure is 01 to 137.

The optical section 4 of the total station 3
And the head reflector 7 initially face the center line of the tunnel 1, the optical part 4 is along the reference line C1, and the mirror part 9 of the head reflector 7 is orthogonal to the reference line C2. .

(A) In the initial operation, first, step 101
In step, the control device 12 is turned on, and
At 103, the horizontal servo motor 10c of the intermediate reflector 8
To operate the corner cube reflecting mirror 9 of the intermediate reflector 8
b is rotated by a desired lateral angle ψ ₄ minutes, and
In steps 04 and 105, the vertical servo motor 10b of the intermediate reflector 8 is operated, and the corner cube reflecting mirror 9b of the intermediate reflector 8 is rotated by a vertical angle θ ₄ of a meaning. 9 is substantially opposed to the total station 3.

(B) In the horizontal rough facing of the intermediate reflector 8, first,
In step 106, the rotation unit 5 is controlled via the control unit 6.
Is operated, and the optical unit 4 of the total station 3 is reciprocated left and right slowly within, for example, a range of ± 2 °.

At this time, the beam from the total station light emitting section 4a is reflected by the corner cube reflecting mirror 9b of the intermediate reflector 8, and is received by the light receiving section 4b. When the beam hits the plane mirror 9a, the light receiving section 4b does not receive the light even if the light is reflected because the intermediate reflector 8 does not precisely face the total station 3.

Therefore, in one scan of the total station 3 in the left and right directions, as shown in FIG.
The center position of the plane mirror 9a in the left-right direction can be obtained,
In steps 107 and 108, the optical section 4 of the total station 3 is fixed at the central angle.

The optical unit 4 of the total station 3 at this time, the reference line C1 which was facing initially, as shown in FIGS. 1 and 8, will be horizontal angle [psi ₁ shift, in step 109, the horizontal angle [psi _The control device 12 stores “ _1” .

(C) The vertical coarse facing of the intermediate reflector 8 is performed in the vertical direction by the same operation as the horizontal coarse facing. First, in step 110, the optical unit 4 of the total station 3 is slowly moved. For example, reciprocating operation is performed up and down within a range of ± 2 °. At this time, the beam from the total station light emitting section 4a is transmitted to the corner cube reflecting mirror 9 of the intermediate reflector 8.
When the light is reflected by b and received by the light receiving unit 4b, and the beam impinges on the plane mirror 9a, the light is not reflected by the light receiving unit 4b because the intermediate reflector 8 is not precisely opposed to the total station 3.

Accordingly, the vertical center position of the plane mirror 9a can be obtained based on the light receiving portion in one vertical scan of the total station 3, and the step 111
At 112, if the optical unit 4 of the total station 3 is fixed at the central angle, the optical unit 4 of the total station 3 at this time faces the center of the plane mirror 9a of the intermediate reflector 8.

At this time, as shown in FIG. 2 and FIG. 8, the angle θ _{1 is} shifted up and down from the reference line C1 which was initially oriented, and the controller 12 stores the angle θ ₁ in step 113. .

(D) In the exact pair of the intermediate reflector 8, in step 114, the vertical servomotor 10b of the intermediate reflector 8 is used.
And the horizontal servo motor 10c are operated simultaneously while changing the frequency. For example, the vertical servo motor 10b is set to 0.1 Hz
(Reciprocates slowly at a rate of once every 10 seconds), the horizontal servo motor 10c is 1 Hz (reciprocates at a rate of once per second), and the amplitude is ± 1 °.

When a beam is emitted from the light emitting section 4a of the total station 3, the plane mirror 9a of the intermediate reflector 8
The beam strikes the center of the image, and is finely scanned in the range of ± 1 ° in the vertical, horizontal, and vertical directions. At any point, the plane mirror 9a faces the light receiving unit 4b, and the light receiving unit 4b maximizes the light receiving intensity. In step 115, if the plane mirror 9a of the intermediate reflector 8 is fixed at the time of the maximum received light intensity, the plane mirror 9a faces the optical unit 4 of the total station 3. At this time, the angle of the plane mirror 9a in the horizontal direction with respect to the center point of the intermediate reflector plane mirror 9a is as shown in FIG.
And the angle of the plane mirror 9a in the vertical direction with respect to the center point of the intermediate reflector plane mirror 9a is
The direction is the reference line C4 direction shown in FIG.

At this point, the plane mirror 9a of the intermediate reflector 8 faces the optical unit 4 of the total station 3, and the distance L ₁ (see FIG. 8) between the total station 3 and the position of the intermediate reflector 8 is determined. In order to enable the measurement, in step 116, the control unit 6 is operated to set the distance L _1.
The by measuring, for the storage controller 12 the distance L _1.

(E) In the initial setting, steps 117 and 11
In 8, a horizontal servo motor 10c of the top reflector 7 is operated, from the reference line C2, a mirror unit 9 of the top reflector 7 causes laterally angle ψ rotation _thirds Daimune, step 119
At 120, the vertical servo motor 10 of the top reflector 7
b actuate the, Daimune from the reference line C2, a mirror unit 9 of the top reflector 7 by the vertical angle θ rotation _thirds Daimune, a mirror unit 9 of the top reflector 7 in the direction of the intermediate reflector 8 Face up.

[0041] Next, in step 121, 122, a mirror unit 9 of the intermediate reflector 8, the horizontal servo motor 10c is actuated and causes the horizontal angle ψ rotation a _quarter of a large effect shown in FIG. 1, step 123, 124 , The mirror portion 9 of the intermediate reflector 8 is operated by the vertical servomotor 10b,
It is rotated by a vertical angle θ ₄ shown in FIG.

(F) In the horizontal setting of the intermediate reflector 8, in step 125, the horizontal servo motor 10c of the intermediate reflector 8 is set.
Is operated to rotate and scan the mirror portion 9 of the intermediate reflector 8 right and left within a range of, for example, ± 2 °.

At this time, the total station light emitting section 4a
Is reflected by the corner cube reflecting mirror 9b of the head reflector 7, passes through the plane mirror 9a of the intermediate reflector 8, and again passes through the plane mirror 9a of the intermediate reflector 8, and is received by the light receiving unit 4b. When the beam impinges on the plane mirror 9a of the reflector 7, since the head reflector 7 is not precisely aligned with the intermediate reflector 8, the light receiving section 4b does not receive light even if reflected.

Therefore, in one scan of the left and right of the intermediate reflector 8, the beam of the light emitting unit 4a is applied to the center point of the mirror unit 9 (plane mirror 9a) of the head reflector 7 based on the light receiving part. The possible angle of the intermediate reflector 8 in the left-right direction can be obtained. In steps 126 and 127, if the mirror 9 of the intermediate reflector 8 is fixed at that angle, the mirror 9 of the intermediate reflector 8 at this time becomes as shown in FIG. 1, the angle of the horizontal direction with respect to the center point of the mirror unit 9 (a plane mirror 9a) it is made from the reference line C3 and horizontal angle [psi ₄ angles.

[0045] Then, in step 128, the controller 12 stores the horizontal angle [psi ₂ obtained by subtracting the horizontal angle [psi ₄ from 90 °.

(G) In the vertical setting of the intermediate reflector 8, in step 129, the vertical servo motor 10b of the intermediate reflector 8 is set.
Is operated to rotate and scan the mirror portion 9 of the intermediate reflector 8 up and down within a range of, for example, ± 2 °.

At this time, the total station light emitting section 4a
Is reflected by the corner cube reflecting mirror 9b of the head reflector 7, passes through the plane mirror 9a of the intermediate reflector 8, and again passes through the plane mirror 9a of the intermediate reflector 8, and is received by the light receiving unit 4b. When the beam impinges on the plane mirror 9a of the reflector 7, since the head reflector 7 is not precisely aligned with the intermediate reflector 8, the light receiving section 4b does not receive light even if reflected.

Therefore, in one scan of the upper and lower parts of the intermediate reflector 8, the beam of the light emitting part 4a is applied to the center point of the mirror part 9 (plane mirror 9a) of the head reflector 7 based on the light receiving part. The possible vertical angle of the intermediate reflector 8 can be obtained, and in steps 130 and 131, if the mirror 9 of the intermediate reflector 8 is fixed at that angle, the mirror 9 of the intermediate reflector 8 at this time becomes as shown in FIG. 2, vertical line directions of angle relative to the center point of the mirror unit 9 (a plane mirror 9a) is made from the reference line C4 and vertical angle theta ₄ angles.

Then, in step 132, the control device 12 stores the vertical angle θ ₂ obtained by subtracting the vertical angle θ ₄ from 90 °.

(H) In setting the top reflector 7, step 1
At 33, the vertical servomotor 10b and the horizontal servomotor 10c of the head reflector 7 are operated simultaneously at different frequencies. For example, the vertical servo motor 10b is set to 0.1 Hz, the horizontal servo motor 10c is set to 1 Hz, and the amplitude is ± 1.
°.

When a beam is emitted from the light emitting portion 4a of the total station 3, the beam is finely scanned in the range of ± 1 ° in the vertical, horizontal, and rightward directions, similarly to the precise pair of the intermediate reflector 8, and the head is reflected at any point. When the plane mirror 9a of the reflector 7 faces the intermediate reflector 8, the light receiving unit 4b maximizes the received light intensity. In step 134, if the plane mirror 9a of the head reflector 7 is fixed at the time of the maximum received light intensity, The plane mirror 9a of the head reflector 7 faces the intermediate reflector 8.

[0052] At this time, as shown in FIG. 1, the top reflector of a plane mirror 9a to plane mirror 9a with respect to the center point of the horizontal line direction, the horizontal angle from the reference line C2 is, [psi ₃ next, at step 135, the the horizontal angle [psi ₃ controller 12 are stored.

[0053] Also, at this time, as shown in FIG. 2, the top reflector of the plane mirror 9a vertical line direction of the plane mirror 9a of the center point as a reference, the longitudinal angle from the reference line C2 is, theta _3, and the step 136 in the control device and the vertical angle theta ₃ 12
Remembers.

At this point, the plane mirror 9a of the head reflector 7 faces the intermediate reflector 8, and the distance (L ₁ + L) between the total station 3 and the position of the head reflector 7 is determined.
_{Since step 2} ) can be measured, in step 137,
The control unit 6 is operated, distance (L ₁ + L ₂₎ is measured, the distance (L ₁ + L ₂₎ control device 12 stores.

Next, in the control device 12, (L ₁ + L
L ₂ is obtained by subtracting L ₁ from ₂ ).

[0056] Then, the horizontal angle [psi and the vertical angle of the reference line C2 with respect to the reference line C1 theta is represented by _{ψ = ψ 1 + 2ψ 2 +} ψ 3 ... (1) θ = θ 1 + 2θ 2 + θ 3 ... (2) , Θ can be calculated by calculating the equations (1) and (2) in the control device 12.

Therefore, in the position measuring apparatus M of the embodiment, L ₁ , L ₂ , ψ ₁ , ψ ₂ , ψ ₃ , ψ, θ ₁ , θ ₂ ,
Since the values of θ ₃ and θ are automatically measured or calculated, the arrangement position of the head reflector 7 which is the measurement point from the total station 3 can be automatically measured.

Therefore, in the position measuring apparatus M of the embodiment, even if the tunnel 1 has a curved shape that cannot be seen, the total station 3, the top reflector 7, and the intermediate reflector 8 are simply arranged at predetermined positions, and the inside of the tunnel 1 is not changed. Therefore, the position of a predetermined measurement point in the tunnel 1 can be accurately and simply measured at a low cost even if no person enters.

Incidentally, the measuring accuracy of the position measuring device M of the embodiment will be described. The measuring accuracy of the distance of the measuring device M is the accuracy of only the total station 3, and the measuring accuracy of the angle is the accuracy of each part including the total station 3. It is the sum of the motor encoder errors. In an example of a known total station, the standard deviation of the distance error is 2 mm at 1 km, and the standard deviation of the angle error is 0.2 mm.
5 ". In one example of a known encoder, the standard deviation of the angular error is about 2". In the case where one optical relay point is used and two reflectors, the leading reflector 7 and the intermediate reflector 8, are used, the standard deviation of the angle error is about 3 ″, that is, about 8 / 10,000 degrees. Therefore, the measuring device M can measure the position of the measuring point with high accuracy.

When the tunnel 1 is further bent so as to increase the number of the intermediate reflectors 8, the initial operation of the intermediate reflectors closest to the total station 3, horizontal coarse facing, and vertical coarse facing are performed.・ Correct pair, initial setting of the closest and next intermediate reflector, horizontal / vertical setting of the closest intermediate reflector,
Set the next intermediate reflector (the next intermediate reflector's exact pair to the closest intermediate reflector) (these are the FIGS. 4-6).
Is the same as the control of steps 101 to 137), and thereafter, steps 117 to 137 may be repeated sequentially for the number of intermediate reflectors 8 that have increased.

At this time, step 106 in FIGS.
It is desirable that ± 2 ° and ± 1 ° of 110, 114, 125, 129, and 133 be appropriately changed depending on the shape of the tunnel 1.

Further, in the embodiment, the three-dimensional position measurement has been described. However, in the measurement of the measurement point of the two-dimensional tunnel, the optical unit 4 and the reflectors 7.8 of the total station 3 are used.
The mirror portion 9 of the position measuring device M may be set upright without tilting in the vertical direction, and each portion may be controlled using only the signal of the lateral angle of the position measuring device M.

Further, in the embodiment, the control device 12
Is used to automatically measure the measurement point, but of course, without using the control device 12, the rotation unit 5 of the optical unit 4, the head reflector 7, and the intermediate reflector 8 of the total station 3 is used. -You may make it operate manually and sequentially, without automatically controlling 10.

Incidentally, the measurement result of the position measuring device M is not for the center line of the tunnel 1 but for the broken line connecting the relay points of the light waves (the arrangement positions of the intermediate reflectors 8). Therefore, when the measurement is performed on the center line of the curved tunnel 1, it is necessary to convert the measurement result.

When the relay point of the light wave is placed on the center line, it is easy to accurately convert the broken line into the center line curve. However, when the relay point of the light wave is placed offset from the center line. , The distance that can be seen becomes shorter. Therefore, when the lightwave relay point is offset from the center line so as to increase the line-of-sight distance, the number of lightwave relay points can be reduced as compared with the case where the lightwave relay point is installed on the center line. However, in this case, the conversion from the broken line measurement value to the actual center line curve length can be performed only approximately.

The conversion of the measured folding line distance to the center line curve distance for the case where the relay point is placed on the center line and the case where the relay point is offset from the center line will be described.

The difference between the survey collimation line of the curved portion and the center line of the curved portion cannot be seen unless it is within 1/2 of the inner diameter D of the pipe.
To determine the maximum survey length up to the lightwave relay point. This makes it possible to know the required number of lightwave relay points (intermediate reflectors 8).

FIG. 9 is a diagram showing the relevant positions for converting the broken line into the center line length. In FIG. 9, the point of change from a straight line to a curve is the origin (0,0) C, the point where the total station is installed is A, and the extension of AC is the x-axis.
The axis orthogonal to the x-axis is the y-axis. The line APQ is the longest straight line from which the center line of the curve can be seen.

The straight line PQ (length) = {(R−η) ² − (RM) ² ｝ ^1/2 = {η ² −2Rη + M (2R−M)} ^1/2 (3) ΔACP Since ΔOPQ is a similar shape, η / l ₀ = line PQ (length) / (R−M) (4) (3) · The following equation (5) is obtained from equation (4). η = [− R + ｛R ² + MK ₁ (2R−M)｝ ^1/2 ] / K ₁ (5) where K ₁ = {(R−M) / l ₀ ｝ ² −1 and η> 0
Becomes

The equation of the straight line AB is as follows: y = (η / l ₀ ) x + η (6)

R ² = x ² + (R−y) ² (7) As shown in the equation (7) of the circle having the radius R, the following equation is obtained.

The following expression (8) is obtained from the expressions (5) to (7), and x = l ₀ ｛η (R−η) + K ₁ ｝ / (l ₀ ² + η ² ) (8) .

The length of the curve BC is expressed by the following equation (9), and the curve BC (length) = l _C = Rsin ^-1 (x / R) (9)

[0074] survey possible length L ₀ on the total station curve centerline becomes _{L 0 = l O + l C} ... (10).

That is, the maximum measurable x-coordinate when the optical relay point on the center line of the curve is set is expressed by equation (8), and the length of the center line length at that time is expressed by equation (10). It will be.

Next, when the position of the lightwave relay point is offset outside the curve from the center line of the tunnel, the visible distance becomes longer than that on the center line. The conversion from the measurement result in this case to the length on the center line will be described.

In FIG. 10, point A is the position of the total station, and point B is the relay point of the light wave, which is offset from the center line by L ₃ outside the curve. Point E is a measurement point, and point C is a change point between a straight line and a curve.

From the trajectory planning curve, α ₁ , α ₂ ,
α ₃ , L ₃ , L ₄ , and R are assumed to be known.

From these values, L ₁ is L ₁ = (R + L ₃ ) ² + R ² + L ₄ ² -2 (R + L ₃ ) (R ² + L ₄ ² ) ^1/2 cos (using the triangular cosine theorem α ₁ + α ₂ ) ... (11)

[0080] When the measured values of L ₁ and L ₁ ', L ₁ and L
The difference between the ₁ 'is the difference between the actual trajectory and the planned trajectory, which is referred to as [Delta] L _1.

For L ₂ , using the triangle cosine theorem, L ₂ = R ² + (R + L ₃ ) ² -2R (R + L ₃ ) cos α ₃ (12)

[0082] When the measured values of L ₂ and L ₂ ', L ₂ and L
The difference from ₂ ′ is the difference between the planned trajectory and the actual trajectory, and is defined as ΔL ₂ .

On the other hand, the length L of the center line between AEs
L = L ₄ + R (α ₂ + α ₃ ) (13)

Although a difference between the value of L on the planned trajectory and the value of the actual trajectory in a strict sense is not obtained, approximately or practically, a value obtained by adding ΔL ₁ and ΔL ₂ to L (ΔL
₍₁ and ΔL ₂ are positive or negative values) to obtain the actual center line length.

Therefore, the length of the center line between AEs = L + ΔL ₁ + ΔL ₂ = L ₄ + R (α ₂ + α ₃ ) + ΔL ₁ + ΔL ₂ = L ₄ + R (α ₂ + α ₃ ) + L ₁ -L ₁ ′ (measurement value) + L ₂ -L _{2 '(measured) = L 4 + R (α} 2 + α 3) + (R + L 3) 2 + R 2 + L 4 2 -2 (R + L 3) (R 2 + L 4 2) 1/2 cos (Α ₁ + α ₂ ) −L ₁ ′ (measured value) + R ² + (R + L ₃ ) ² -2R (R + L ₃ ) cos α ₃ −L ₂ ′ (measured value) (14) In the above description, the lightwave relay is performed. Although the point has been described for the case of one, the linear distance L _n between the light wave relay point is obtained by (11) - (12). Further, since the center line curve is obtained from the angle α _n occupying the center of the curve by the equation (13), even when there are a plurality of lightwave relay points, applying the equation (14), The difference between the linear distance L _n and the measured value L _n ′,
By adding ΔL _n to the planned trajectory of the center line curve, the center line curve length can be obtained practically.

Next, the propulsion device P according to the embodiment of the present invention will be described. As shown in FIG. 11, the propulsion device P includes a plurality of pipes 51 such as a fume pipe, an opening adjusting jack 53, and a cushioning material 55. , A front conduit 62 composed of a cutting edge, a shield machine, and the like arranged on the front end side of the leading pipe body 51A, a main push jack 63, a control device 68, and a position measuring device M.

The opening adjusting jack 53 utilizes a hydraulic jack. As shown in FIGS. 12 and 13, a predetermined bracket (not shown) is fixed near the end face of the pipes 51 and 51. , Shifted 45 ° from top, bottom, left and right
Each opening adjustment jack group 52 is constituted by four.

In the case of the large-diameter tube 51, FIG.
As shown in 15, the opening adjusting jacks 52 are made larger, and between the both ends thereof and the end face of the pipe body 51, an abutment plate 56 made of a steel plate and a cushioning material 57 made of a hard rubber plate are arranged. And further, as the opening adjustment jack group 52,
A plurality of opening adjustment jacks 5 at the positions provided in the embodiment.
3 may be provided.

An opening adjustment detecting sensor 54 composed of a differential transformer or the like capable of detecting the stroke of the piston rod 53a of the hydraulic jack is arranged in each of the opening adjusting jacks 53.
Under the control of the control device main body 69 described later, the operation of the stroke is controlled via an electromagnetic valve (not shown).

In the group of opening adjusting jacks 52 provided with such an opening adjusting jack 53, commands from the control device main body 69 are provided to each of the left and right or upper and lower two of the four tubes 51, 51. If a signal is input, the pipe 51
A predetermined opening difference can be provided between 51.

In the case of the present embodiment, the opening adjustment jack group 52 is used to lay the first pipe 51A along the planned track, so that the first pipe 51A and the second pipe 51 are installed.
Between B and the second tubular body 51B and the third tubular body 5
1C.

That is, as described in Japanese Examined Patent Publication No. 1-56240, adjustment of the opening between the preceding tubular body and the subsequent tubular body is performed at the change point of the tunnel (beginning at the curved portion starting from the straight line portion). A bending point, an inflection point where another curved line portion starts from a curved line portion, and an end bending point where a straight line portion starts from a curved line portion) are performed twice when the preceding pipe body and the subsequent pipe body arrive, further,
If the opening adjustment of the succeeding tube and the succeeding tube is performed once when the succeeding tube reaches the change point, the preceding tube is moved in a curved shape until the change point of the next tunnel. It can be propelled along the planned trajectory, and when the preceding pipe is propelled along the planned trajectory, between the preceding and subsequent pipes and between the subsequent and further subsequent pipes, By disposing the opening adjusting member (opening adjusting jack), the following pipe follows the preceding pipe in combination with the operation of the cushioning material 55 described later, and it becomes easy to propel it accurately along the planned trajectory. Because.

The cushioning member 55 is formed of a foamed plastic material as a continuous or intermittent annular shape capable of abutting on the end face of the tubular body 51 and is adhered to the end face of one tubular body 51. The cushioning material 55 follows the trajectory of the leading tube 51A and compresses the inner part of the curve of the trajectory when an opening difference is to be generated between the following tubes 51 so that the tube 51 is moved to the leading tube. In addition to following the trajectory of the curve of the body 51A, the function of averaging the propulsive force acting on the end face of the tube body 51 is achieved. And since the cushioning material 55 is less expensive than the opening adjustment jack 53, it is not necessary to collect it after the pipe 51 is laid, and it is possible to prevent an increase in construction cost. In the case of the embodiment, the cushioning material 55 is disposed between the third and subsequent tubes 51.

A cylindrical covering pipe 60 made of a steel plate is provided around the edges of the tubular bodies 51 and 51 and around the opening adjusting jack group 52 or the cushioning material 55. As shown in FIGS. 12 to 15, the covering tube 60 is fixed to a rear outer peripheral surface of the tube body 51 and pressed against a rubber ring 61 disposed on the outer peripheral surface of the tube body 51.
Watertightness around the opening adjustment jack group 52 is ensured.

The original push jack 63 is composed of a hydraulic jack and is for propelling the pipe body 51.
A plurality of pits 65 are arranged in a pit 65 excavated at a position serving as a starting point of a planned trajectory. Will be promoted. In addition,
Since the stroke of the piston rod 63a is shorter than the entire length of the tubular body 51, the tubular body 51 is propelled by using a plurality of spacers 64 made of a steel plate or the like. By the way, if the stroke of each piston rod 63a is large, the spacer 64 becomes unnecessary.

The opening adjusting jack 53, the main pushing jack 63, and the hydraulic pressure source 67 for supplying the hydraulic pressure are arranged near the shaft 65.

Further, in this propulsion device P, the pipe 51, the leading conduit 62, the opening adjusting jack group 52, and the buffer 55
And so on in units of three units of A, B, and C pre-assembled. The unit A is provided with a leading conduit 6 at the tip of the tubular body 51.
2 and an opening adjustment jack group 52 and a cover tube 60 are attached to the rear end of the tube body 51.
The unit B has a group of opening adjustment jacks 5 at the rear end of the tubular body 51.
2 and the cover tube 60 are attached. Unit C
Is constructed by attaching a buffer material 55 and a cover tube 60 to the rear end of the tube body 51.

Further, a head reflector 7 of the position measuring device M is provided in the head tube 51A of the unit A.
It is desirable that the installation position of the head reflector 7 be located at the center position of the head tube 51A on the center line of the tunnel 1 so that the distance can be easily calculated.

Further, the intermediate reflector 8 of the position measuring device M is installed in the tube 51 in the middle of the curve. As described in the above description, the installation of the intermediate reflector 8 is planned in advance on a planned track so that the number of optical relay points is minimized. At the time of insertion, the tube 51 is installed in consideration of the offset amount from the center line and the like.

The total station 3 of the position measuring device M is installed on the center line of the planned orbit in the shaft 65.

Although the control device 12 of the position measuring device M used for the propulsion device P is arranged near the shaft 65, the function of the control device 12 may be shared by the control device body 69.

The lead wire extending from the servomotors 10b and 10c of the head reflector 7 and the intermediate reflector 8 and connected to the control device 12, the lead wire extending from the sensor 54, and the hydraulic piping extending from the jack 53 are as follows. Although omitted,
When sequentially adding the pipe body 51, in the shaft 65,
Each time a new pipe 51 is added, a new pipe is added,
Alternatively, it may be prepared in advance and connected to the reflectors 7 and 8 for the length of the tunnel 1 to be excavated. Therefore, a lead wire or the like can be installed without a person entering the tunnel 1.

The control device 68 is disposed in the vicinity of the shaft 65, and as shown in FIG.
0, indicator 71, keyboard 72, operation panel 73, power supply 7
4 and the like. Further, the control device 68 is
An operation switch (not shown) for simultaneously operating the main push jacks 63 is provided.

As shown in FIG. 17, the control device main body 69 includes two calculation units 69a and 69b and a predetermined control unit and storage unit (not shown), and an xy representing a planned trajectory in three dimensions.
The data of the z coordinate is input, and the calculation unit 69b calculates the horizontal position and the vertical position obtained from the xyz coordinate data of the planned trajectory, and the horizontal position and the vertical position measured by the position measuring device M. Closed loop control (feedback control) to eliminate errors
Is what you do.

In general, in closed loop control, control is performed so that the error signal becomes zero by increasing the loop gain which is the product of the individual gains of the components in the loop. The computing unit 69b is a part that serves as a control device generally called a controller. The controller has PID characteristics, that is, characteristics obtained by synthesizing P (proportional), I (integral), and D (differential) characteristics. Can be adjusted. P serves to adjust the gain of all frequency bands,
I serves to adjust the gain of only the low frequency band, and D serves to adjust the gain of only the high frequency band. The gain of the PID is adjusted according to the control target, and the loop signal is increased to control the error signal to zero. If the error signal becomes zero, the coordinate position of the planned track and the position signal of the position measuring device M match, and the unit A can be installed so as to match the planned track accurately.

The three-dimensional coordinate data input to the control device main body 69 are the values of x, y, and z at a number of points on the planned trajectory, as shown in FIG. Input to the main body 69. Note that this data may be directly input to the control device main body 69 by using a graphic reading device such as a drum scanner or a curve tracer for the planned trajectory. Further, this data is configured so that it can be displayed on the display 70 and confirmed after the input.

The propulsion of the units A, B, and C of the propulsion device P under the control of the control device main body 69 is performed as follows.

The propulsion is performed by operating the operation switch (not shown) of the control device 68 to sequentially operate the main push jack 63, burying the unit A, and thereafter,
C will be buried sequentially and propelled.

A. First, the position measuring device M is sequentially operated to move the position (x, y, z) of the head unit A.
Is measured, and a signal of the distance and the angle is output to the control device main body 69.

The position measuring device M measures the position by the control shown in the flow charts of FIGS. 4 to 6, but the leading reflector 7 and the intermediate reflector 8 start to be propelled along the planned trajectory. For example, since the beam from the light emitting portion 4a of the total station 3 strikes the substantially center of the mirror portion 9 of each reflector 7.8, steps 106, 110, 125, ...
At 129, the amplitude may be set to be small, for example, about ± 0.1 °, and may be sequentially performed.

B. The calculation unit 69a uses the xyz coordinate data to calculate dy, dx, and d of the dL component at each point on the planned trajectory.
z is determined, and the angle ψ ₀ of the tangential horizontal component of each point and the angle θ ₀ of the vertical component of each point are calculated as ψ ₀ = tan ⁻¹ (dy / d
x), calculated as θ ₀ = tan ⁻¹ (dz / dx).

Further, the length L ₀ on the planned trajectory up to each point is
When the horizontal direction position y ₀ at L ₀ position, the vertical position _{z 0, L 0 = ∫ (} (dy) 2 + (dx) 2 + (dz) 2) 1/2 y 0 = ∫ (dy) z _It is calculated as ₀ = ₀ (dz), and the values are stored in the storage unit together with the angles ψ ₀ and θ ₀ at each point.

C. In the operation unit 69b, a position measuring device
Linear distance L output from M₁ , L _Two From, play (14)
Calculation (measured linear distance L₁ To L₁ ´, L_Two To L_Two When
And substitute in equation (14) to calculate), the center line length L
The value converted to is calculated.

From the broken line distances L ₁ and L ₂ , the horizontal angle ψ, and the vertical angle θ, the position measurement values y and z are obtained as follows.

[0115] This Determination is in L ₁ interval from 8, and _{y 1 = L 1 cos θ 1} sin ψ 1 ... (15) z 1 = L 1 sin θ 1 ... (16).

Next, in the L ₂ section, as shown in FIG. 8, y ₂ = L ₂ cos (2θ ₂ + θ ₃ ) sin ( _{2 2} + ψ ₃ ) (17) z ₂ = L ₂ sin (2θ ₂ + θ ₃ ) … (18)

[0117] by combining _{these, y = L 1 cos θ 1} sin ψ 1 + L 2 cos (2θ 2 + θ 3) sin (2ψ 2 + ψ 3) ... (19) z = L 1 sin θ 1 + L 2 sin ( 2θ ₂ + θ ₃ ) (20)

Then, the value converted into the center line length L
L, which was stored in the storage unit earlier, corresponding to₀ Read
And then the L₀ Corresponding to₀ , Θ₀ , Y
₀ , Z ₀ And read (ψ₀ −ψ) × (K_I / S + K_P + K_D S) and (θ₀ −θ) × (G_I / S + G_P + G_D S) and (y₀ −y) × (H_I / S + H_P + H_D S) and (z₀ −z) × (J_I / S + J_P + J_D S) and are calculated. Note that K_I , G_I , H_I , J_I Is the integral gay
N, K_P , G_P , H_P , J_P Is the proportional gain, K_D , G
_D , H_D , J_D Is the differential gain. Also, 1 / S is the product
Minutes and S represent differentiation. In addition, the above integral gain, proportional
Each value of gain and differential gain is controlled by each control of PID control.
This is a gain and is determined in advance according to the control target.

Then, in accordance with the calculated value, the left and right upper and lower two opening adjustment jacks 53 in the opening adjustment jack group 52 are controlled, and (ψ ₀ −ψ), (θ ₀ −
θ), (y ₀ −y), and (z ₀ −z) are controlled to be zero.

At this time, the moved position signals x, y,
Based on z, the trajectory of the unit A is calculated and stored at regular intervals, and the construction trajectory is displayed on the display 70.

D. Then, (ψ ₀ −ψ), (θ ₀ −
θ), (y ₀ −y), and (z ₀ −z), based on the signal of the opening adjustment detecting sensor 54 which detects the stroke of each leading opening adjusting jack 53 when the value becomes zero. The controller main body 69 stores an opening difference S provided between the first unit A and the subsequent unit B.

E. After that, Unit A is sequentially promoted,
When the succeeding unit B moves to the position where the unit A is controlled, a predetermined corrected aperture difference obtained by correcting the stored aperture difference S is provided between the unit B that has reached the position and the unit C immediately after that. Each opening adjustment jack 53 of the subsequent group of opening adjustment jacks 52 is controlled so as to cause the occurrence.

Incidentally, the movement distance of the subsequent unit B is calculated by calculating the distance from the installation position of the head reflector 7 to the unit B by the movement distance L of the head reflector 7 of the unit A measured by the position measuring device M. Then, subtract it. The distance from the installation position of the head reflector 7 to the unit B is the distance from the head reflector 7 measured in advance to the rear end of the head opening adjustment jack 53 in a state where the piston rod 53a is not extended. And the aperture adjustment detection sensor 54
This is a value obtained by adding the average stroke of the leading opening adjustment jack group 52 based on the signal from the first unit and the moving distance of the subsequent unit B can be easily calculated.

The corrected aperture difference is calculated by calculating the unit length ratio (Tb (standard length of unit B to be controlled) / Ta (standard length of unit A)) in the arithmetic unit 69a. Is multiplied by. The standard length of the unit refers to the piston rod 53a of the opening adjustment jack 53.
Is the length of the unit excluding the covering tube 60 in a state where is not extended.

As for the opening difference of the succeeding unit B, the value of the theoretical opening difference calculated from the curve of the planned trajectory is used instead of the above, and the opening adjusting jack group 52 is controlled by the value. You may do it.

The theoretical opening difference (opening difference (m) at jack position (m)) S ₁ is as follows: S ₁ = (B _C −t) δ / 2 ^1/2 (21) where B _C : outer diameter of pipe ( m), t: tube thickness (m), δ:
The declination (rad) that allows the length of the tube to be centered on the curve.

In this propulsion device P, if the units A, B, and C are sequentially inserted into the shaft 65 and each unit is propelled by the propulsion force of the original pushing jack 63, the control device main body is 69 performs the above control to determine the moving distance L of the head unit A by the position measuring device M.
, And the leading unit A is closed-loop controlled, propelled and laid accurately and accurately along the planned trajectory in accordance with the actually measured moving distance L, and the subsequent units B and C are also laid out. Since the unit is propelled and laid along with the head unit A, each unit can be laid with high accuracy along an arbitrary curve in the three-dimensional planned trajectory. Further, the position of the unit A and the construction track can be displayed on the display 70, which is convenient.

After the laying, if the intermediate reflector 8 and the like in the tunnel 1 are collected, they can be used for the next laying work, and the equipment can be effectively used.

In the propulsion device P, the case where the planned trajectory is three-dimensional is shown. However, if the planned trajectory is two-dimensional, for example, a curved curve in the horizontal direction, only the signal of the lateral angle of the position measuring device M is used. By doing so, each unit can be laid in a horizontal curved shape. Control device body 69 in this case
Are the values of x and y at many points on the planned trajectory, and may be input to the control device main body 69 using the keyboard 72.

Further, when the tunnel 1 at the time of excavation becomes long, a middle push jack using the same hydraulic pressure as the main push jack 63 is provided between the pipes 51, 51, and the rear pipe 5 is provided.
1 is provided with an opening adjustment jack group 52, between the front and rear pipes 51 around the middle push jack, and the opening adjustment jack group 5;
2 and a unit D provided with a covering pipe 60 covering the periphery of
May be appropriately disposed between the units C, and the pipe body 51 may be propelled. The operation of the middle push jack is performed by operating an operation switch (not shown) of the control device 68.
What is necessary is just to operate like the original push jack 63.

Further, when the curvature of the tunnel 1 is large and the curve of the tunnel 1 is sharp, for example, when the following unit is difficult to follow the unit A, the unit A and the unit A can be used without using the unit C. Propulsion may be performed using the number of units B and the above-described units D.

In the propulsion in this case, the control of the control device main body 69 is performed according to a. b. c. d. e. Is similar to
e. In the above, when a subsequent unit moves to a position where the unit A is controlled, a predetermined corrected aperture difference in which the stored aperture difference S is corrected is generated between the unit that has reached that position and the unit immediately after that. Then, it is only necessary to control each adjustment jack group 53 of the opening adjustment jack group 52 of the subsequent unit.

In this case, the movement distance of the subsequent unit is calculated in advance by using the standard length of the unit to be buried (the cover tube 60 in a state where the piston rod such as the opening adjustment jack 53 or the middle pushing jack is not extended) is omitted. The length of each unit) is sequentially input to the control device main body 69, and the arithmetic unit 69a subtracts the length from the head reflector 7 to the unit from the moving distance L of the unit A. . That is, the length obtained by integrating the standard length of each unit, which is between the unit A and the unit, the average stroke of each opening adjustment jack group 52 based on the signal from the opening adjustment detection sensor 54, and the middle push jack The value obtained by adding the distance from the installation position of the head reflector 7 to the head unit B is added to the value obtained by adding the stroke of the middle pressing jack based on the signal from the middle pressing detection sensor that detects the stroke of What is necessary is just to subtract from L.

The corrected aperture difference is calculated by calculating the unit length ratio (T (standard length of the unit to be controlled) / Ta (standard length of the unit A)) in the stored aperture difference S in the calculating unit 69a. Multiplied value.

[0135]

The tunnel position measuring device according to the present invention operates the total station, the head reflector, and the intermediate reflector turning means so that the optics of the total station and the mirrors of the head reflector and the intermediate reflector can be used. In a predetermined direction, and the light wave emitted from the light emitting section of the total station optical section is
Through the mirror part of the intermediate reflector, reflected on the mirror part of the head reflector, again sent through the mirror part of the intermediate reflector, and returned to the light receiving part of the total station optical part, thereby disposing the head reflector for the total station. The two-dimensional or three-dimensional position of the measurement point can be measured.

That is, the total station, the head reflector, and the
If the intermediate reflector is set, then the position of a predetermined measuring point in the tunnel can be accurately measured without humans entering the tunnel. It is only necessary to use a reflecting mirror that can be swung to any position, and position measurement can be performed simply and at low cost because no rail or the like is laid.

Therefore, with the position measuring apparatus according to the present invention, it is possible to measure a predetermined position in the tunnel accurately and simply, at low cost, with a minimum of human entry.

If the mirrors of the head reflector and the intermediate reflector are composed of a plane mirror and a corner cube reflector arranged around the plane mirror, a total station by reflection from the corner cube reflector and the plane mirror is provided. The angle of each mirror unit can be easily determined based on the light receiving intensity of the light receiving unit of the optical unit, the mirror unit of each reflector can be easily turned in a predetermined direction, and the number of work for position measurement can be reduced.

Furthermore, the rotation means of the optical unit of the total station is controlled, and the control unit for calculating the distance and angle by calculating the signal from the optical unit and the rotation means of the front reflector and the intermediate reflector are also controlled. If you configure it so that it can automatically measure the position by controlling it with the device,
The position of the measurement point can be measured more easily.

In the pipe propulsion device according to the present invention, the plurality of pipes are sequentially propelled by the main pushing jacks arranged in the shaft on the opening side, and are arranged on the front end side of the leading pipe. A plurality of pipes are laid in a curved shape while excavating a tunnel in a predetermined direction by a group of opening adjustment jacks interposed between a leading pipe and a pipe subsequent to the leading pipe. . Then, the control device inputs the signals of the distance and the angle from the position measuring device that detects the two-dimensional or three-dimensional position of the leading tube body, and controls the opening adjustment jack group based on the data input in advance. Then, the leading pipe body having the leading pipe is excavated in a predetermined direction, and a plurality of pipe bodies are laid in a curved shape.

In the pipe propulsion device according to the present invention, since the position measuring device according to the present invention measures the position of the leading pipe from the pit with high precision, the position measuring apparatus can be accurately and automatically automated to provide a plurality of pipes. Can be laid in a curved shape. Also, when the pipes are sequentially inserted into the vertical shaft and propelled, the top reflector / intermediate reflector of the position measuring device can be installed in the pipe,
Even if a person does not enter the tunnel as much as possible, the pipe can be laid in a curved shape, and the pipe can be laid safely.

[Brief description of drawings]

FIG. 1 is a view showing a position measuring device according to an embodiment of the present invention, showing a state where a tunnel is projected on a horizontal plane.

FIG. 2 is a diagram showing the position measuring device of the embodiment, showing a state where the tunnel is projected on a vertical surface.

FIG. 3 is a front view of a reflector used in the position measuring device of the embodiment.

FIG. 4 is a flowchart showing control of the position measuring device of the embodiment.

FIG. 5 is a flowchart showing the control of the position measuring device of the embodiment, and shows a state after the state shown in FIG. 4;

FIG. 6 is a flowchart showing the control of the position measuring device of the embodiment, and shows the state after the state shown in FIG. 5;

FIG. 7 is a diagram showing a fluctuation state of a light receiving output when a light receiving unit of the total station of the embodiment receives light reflected from a corner cube reflecting mirror.

FIG. 8 shows a lateral angle measured by the position measuring device of the embodiment.
It is a figure which shows the state of a vertical angle and distance.

FIG. 9 is a diagram illustrating an equation for converting the distance to the measurement point on the center line, the position of which is measured in the same embodiment, to the center line of the tunnel.

FIG. 10 is a diagram illustrating a formula for converting a distance from a center line measured in position in the embodiment to a measurement point offset from the center line to a center line of a tunnel.

FIG. 11 is a diagram showing a propulsion device according to an embodiment of the present invention.

FIG. 12 is a diagram showing a group of opening adjustment jacks of the embodiment.

13 is a diagram showing a schematic cross-sectional view of a XIII-XIII site in FIG.

FIG. 14 is a view showing a modification of the group of opening adjustment jacks.

15 is a diagram showing a schematic cross-sectional view of an XV-XV portion in FIG.

FIG. 16 is a front view of the control device of the embodiment.

FIG. 17 is a block diagram of a control system of the embodiment.

FIG. 18 is a diagram showing a state in which a planned trajectory is represented by xyz coordinates.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Tunnel, 3 ... Total station, 4 ... Optical part, 4a ... Light emitting part, 4b ... Light receiving part, 5 ... Rotating means, 6 ... Control part, 7 ... Top reflector, 8 ... Intermediate reflector, 9 ... Mirror part 9a: Plane mirror, 9b: Corner cube reflecting mirror, 10: Rotating means, 10a: Gimbal, 10b: Vertical servo motor, 10c: Horizontal servo motor, 12: Control device, 51: Pipe body, 52: Opening adjustment jack group 62, a front pipe, 63, a main jack, 65, a shaft, 68, a control device, M, a position measuring device, P, a propulsion device.

Claims (5)

[Claims] 1. An optical unit having a light emitting unit and a light receiving unit disposed at a predetermined position in a tunnel, a rotating unit capable of swinging the optical unit up, down, left and right, and controlling operation of the rotating unit. And a control unit for electrically processing a signal from the optical unit to measure a distance and an angle, and a control unit for measuring a distance and an angle. A mirror unit that receives and reflects the emitted light wave, and a rotating unit that can swing the mirror unit up, down, left, and right, and a top reflector, between the total station and the top reflector,
A mirror unit, which is arranged in a predetermined number and reflects light waves incident from the light emitting unit of the total station and the mirror unit of the front reflector in a predetermined direction, and a rotating unit capable of swinging the mirror unit vertically and horizontally. And an intermediate reflector, which activates the rotating means of the total station, the leading reflector, and the intermediate reflector to connect the optical section and the mirror section of the leading reflector and the intermediate reflector. In a predetermined direction, the light wave emitted from the light emitting portion of the total station is reflected by the mirror portion of the leading reflector through the mirror portion of the intermediate reflector, and again through the mirror portion of the intermediate reflector, Position of the tunnel that is configured to measure the two-dimensional or three-dimensional position of the measurement point where the front reflector is arranged with respect to the total station by sending it back to the light receiving unit of the total station. Constant apparatus. 2. The mirror portions of the front reflector and the intermediate reflector are each a flat mirror and a corner cube reflecting mirror that is fixed around the flat mirror and reflects an incident light wave in an incident direction. The position measuring device for a tunnel according to claim 1, which is configured. 3. A control unit of the total station,
A control device is electrically connected to the rotating means of the front reflector and the intermediate reflector, and the control device controls the optical unit of the total station and the mirror portions of the front reflector and the intermediate reflector. , To move in a predetermined direction by swinging up, down, left and right, the light wave emitted from the light emitting portion of the total station is reflected through the mirror portion of the intermediate reflector to the mirror portion of the leading reflector, and again,
The two-dimensional or three-dimensional position of the measurement point where the front reflector is arranged with respect to the total station is measured by sending the light back to the light receiving section of the total station via the mirror section of the intermediate reflector.
Alternatively, the position measuring device for a tunnel according to claim 2. 4. A plurality of pipes are sequentially propelled by an original push jack arranged in the vertical shaft on the rearmost side, and a leading conduit arranged on the front end side of the leading pipe is the leading pipe of the leading pipe. When laying the plurality of pipes in a curved shape while excavating a tunnel in a predetermined direction by a group of opening adjustment jacks that are interposed between the pipes and the subsequent pipe, the front pipe of the top pipe is provided with respect to the vertical shaft. A control device that inputs a signal from a position measuring device that measures a three-dimensional or three-dimensional position controls the plurality of pipe bodies by controlling the opening adjustment jack group based on previously input data. A propulsion device for a pipe body laid in a curved line, wherein the position measuring device is arranged in the vertical shaft, and an optical part having a light emitting part and a light receiving part, and a swivel capable of swinging the optical part vertically and horizontally. The moving means and the operation of the rotating means. A total station comprising a control unit for controlling the distance and the angle by electrically processing a signal from the optical unit and measuring a distance and an angle; and a light wave emitted from a light emitting unit of the total station, which is disposed in the leading tube. A mirror section for incident and reflecting
A head reflector having a turning means capable of swinging the mirror part up, down, left and right, and a predetermined number of light emitting units of the total station, which are arranged in a tube between the shaft and the head reflector, and A mirror unit that reflects a light wave incident from a mirror unit of the head reflector in a predetermined direction, and a rotating unit that can swing the mirror unit up, down, left, and right,
An intermediate reflector including a control unit, and the control device is electrically connected to a control unit of the total station in the position measuring device and a rotating unit of the head reflector and the intermediate reflector. By the control device, the optical unit of the total station, and the mirror portion of the head reflector and the intermediate reflector are swung up and down, left and right, and directed in a predetermined direction, and a light wave emitted from the light emitting unit of the total station, After passing through the mirror portion of the intermediate reflector, it is reflected by the mirror portion of the front reflector, and again through the mirror portion of the intermediate reflector and sent back to the light receiving portion of the total station, and the front reflector is arranged for the total station. A propulsion device for a tubular body, characterized by measuring a two-dimensional or three-dimensional position of the measured point. 5. The mirror portions of the front reflector and the intermediate reflector are each composed of a plane mirror and a corner cube reflector which is fixed around the plane mirror and reflects an incident light wave in an incident direction. The propulsion device for a tubular body according to claim 4, which is configured.