JPS61170612A - Automatic surveying instrument for shielding machine - Google Patents

Abstract

PURPOSE:To survey automatically the position and attitude of a shielding machine in real time by installing three luminous spots for detection to the shielding machine and processing the information by detecting these luminous spots in a detecting part installed in the prescribed position behind the shielding machine. CONSTITUTION:The three luminous spots 3a, 3b, 3c for detecting direction are photographed by a TV camera 6 and an automatic collimation optical rangefinder 7. The rangefinder 7 tracks automatically a luminous spot 5 for automatic collimation which is a target and measures the distance up to a reflection prism 4. The three points 3a, 3b, 3c within the image screen of a monitor television 9 are tracked and at the same time the data on the X-Y coordinates on the monitor image screen is read by a personal computer 10 in a moving position detector 8. The deviation of the shielding machine 1 with the planned line, the attitude and direction thereof are calculated from the measured distance data and the X-Y coordinate data. The results are recorded and displayed.

Description

Detailed Description of the Invention (Industrial Application Field) The present invention relates to an automatic surveying device used for surveying the excavation position, direction, etc. of a shield machine in shield tunnel construction. The present invention relates to an automatic surveying device for a shield machine, in which a target part is installed at the front side, and a detection part and a data processing part are installed behind the target part.

(Conventional technology and its problems, etc.) In order to perform shield tunnel construction with high precision and efficiency, it is necessary to constantly grasp the position, attitude, or segment position of the shield machine during excavation in real time, and excavate along the planned line. It is important to make appropriate direction corrections.

Conventionally, underground surveying in shield tunnel construction involves manually determining the shield center line and the position and direction of the shield machine using transshift, leveling, steel tape, etc. based on reference points installed in the shaft. It was customary to use a surveying method to determine the shield aircraft's attitude (pitching, rolling, etc.) using an inclinometer installed on the aircraft.

However, this type of surveying method has the following drawbacks and problems.

■In order to perform shield work with high precision, a wealth of experience and advanced surveying techniques were required.

■Surveying and shield excavation management became complicated.

■Feed bar 2 of survey results will be delayed by every few rings using segment rings. This made it difficult to ensure construction accuracy.

■Surveying is not efficient and labor saving cannot be achieved.

Incidentally, recently, automatic surveying systems using laser beams, gyrocompasses, ITVs, etc. have also been developed. However, all of these automatic survey systems have a detection unit installed inside a shield machine. Therefore, (1) As the shield diameter becomes smaller, equipment maintenance during construction becomes more difficult.

■Due to the bad atmosphere in close proximity to the excavation area, the detection and data processing units, which are precision instruments, are prone to failure.

There was one problem:

(Objective of the Invention) Therefore, the object of the present invention is to be able to automatically measure the position and orientation of a shield machine in real time, and to have a bright spot for detection using a light emitting diode (hereinafter abbreviated as LED) inside the shield machine. An object of the present invention is to provide an automatic surveying device using a shield machine, in which only a target part is installed, and a detection part and a data processing part made up of precision instruments are installed at a far rear position.

(Structure of the Invention) In order to achieve the above object, the automatic surveying device for a shield machine of the present invention has the following features: It consists of a bright spot, a bright spot for automatic reference, a reflective prism for distance measurement, etc., and a target section installed inside the shield machine, (b) a TV right camera that looks at the bright spot for detection, and a bright spot for automatic reference. It consists of an automatic standard light wave distance meter that measures the distance to the gazing and reflecting prism, and a detection unit installed in the shaft or segment behind the shield machine, for example.

(c) Processing the information obtained by the detection unit, that is, the distance to the shield machine and the X-Y coordinate data of the detection bright spot,
It is composed of a data processing unit that calculates the position, attitude, orientation, etc. of the shield machine, for example, by the deviation of the shield machine from the planned line, pitching angle, yawing angle, and rolling angle, and records and displays the results.

(Example) Further details will be explained with reference to the illustrated embodiments.

First, FIG. 1 shows the positioning of the automatic surveying device according to the present invention, which has been adopted and implemented for shield tunnel construction.

In the figure, 1 is a shield machine, and 2 is a segment installed at the rear of the shield machine 1.

In the figure, A is the target section installed inside the shield machine 1, and B is the segment 2 (far behind the shield machine 1).
C is the data processing unit.

The target part A has three direction detection bright spots 3a, 3b,
These three direction detection bright spots 3a~ with 3C as the center
3C each consists of a light emitting diode (LED). As shown in Figure 6, their basic arrangement is that when viewed in the front direction (front view in Figure 6), they are arranged in a horizontal straight line, and when viewed in the plane direction (plan view in Figure 6), the oblique side is long. It is placed at each vertex of an isosceles triangle that is Sagami.

Further, the target portion A includes a reflecting prism 4 and one automatic reference bright spot (LED) 5.

Next, the detection unit B includes a TV camera 6 for glaring and photographing the three detection bright spots 3a to 3C, and an automatic reference light wave distance meter 7.
It consists of

The automatic reference optical distance meter 7 is composed of a distance measuring section 7a and an automatic collimation section 7b. The automatic collimation section 7b automatically tracks the automatic reference bright spot 5, which is a target, and operates the horizontal and vertical motor sections 7c so that the automatic reference lightwave distance meter 7 constantly orients the target section A. Further, the distance measuring section 7a measures the distance to the reflecting prism 4.

Next, the data processing unit C includes a moving object position detection device 8 to which the image taken by the TV right camera is sent, a monitor TV 9 for displaying the image, and the reflection measured by the automatic reference light wave distance meter 7. It is composed of a personal computer 10 that reads the distance to the prism 4, a CRT 11 that is an image output section (part of a monitor), and a disk unit 12 that is a recording section.

The moving object position detection device 8 tracks three detection bright spots 3a, 3b, and 3C on the screen of the monitor television 9,
At the same time, the personal computer IO reads the X-Y coordinate data on the monitor screen.

The personal computer IO calculates the deviation, attitude, and direction of the shield 4111 from the planned line from the distance measurement data and the XY coordinate data, and records and displays the calculated deviations, orientation, and direction of the shield 4111 from the planned line.

(Concept of calculation) The basic concept of calculation will be explained below based on FIGS. 2 to 4.

First, Δabc indicated by a solid line in FIG. 2 is the monitor screen on which the three detection bright spots 3a to 3C are photographed.

The positional deviation (x, y) of the basic coordinates X-Y of point a of Δabc from the origin O is understood as a deviation with respect to the planned line.

For Δabc, take point a as the coordinate origin x
The coordinates are converted to -y coordinates and the following graphical processing is performed.

First, the shape of Δabc in FIG. 2 viewed from above is Δabc shown by a solid line in FIG.

Therefore, what is rotated until the straight line ap passing through the midpoint P of the hypotenuse bc in Δabc in FIG. is understood as the yawing angle α.

Next, the front view of Δab1 cl in FIG. 3 shown in FIG. 2 is Δabl cl shown in dotted lines, and the side view thereof is Δabl cl shown in dotted lines in FIG. The rotation of the straight line aQ passing through the midpoint Q of the base bl cI in the Δabl cl until it coincides with the axis 2 is Δab2 C2 shown by the two-dot chain line in FIG. At this time, the rotation angle β of the seven points is understood as the pitching angle β of the shield 4!11.

The straight line 2ac2 shown by the two-dot chain line is a reproduction of Δab2c2 in FIG. 4 as a front view in FIG.
This straight line "D-rτ]- is
Basic horizontal-linear arrangement b' of a, 3b, 3c
The rotation angle ゛γ when rotated to match aC′ is
It is understood as the rolling angle γ of the shield a1.

(Calculation formula) Next, the graphic processing described above is performed on the personal computer 10.
We will explain how to obtain it using the calculation formula.

Now, on the screen of the monitor television 9, there are three detection bright spots 3a, 3b, 3C at point a (Xl, Yl) in FIG.
)', point b (X2, Y2), point c (X3
, Y3). Since the original basic arrangement is as shown in Figure 6, ■ the positional deviation (parallel deviation) of the shield 4111 with respect to the planned line is determined by the coordinates of point a, X+, Y+. be able to.

■To find the yawing angle α (+ right direction), first coordinate transformation x1 = Oyl yaw X2 = X2 - X + 72 = Y2 - Y +
=X3-XI 73 =Yz -Y+, and these new coordinates a (0, O), b (xz, 7
2), based on C(X3.73), 22 =
-X2 -72Z 3 = r fL lower”
−* a””−”y =”’, then α=tan’(
It can be determined by normal size -÷)H-).

■To find pitching angle β (front uphill +), use X2
'=X2 cosa-z2 5ina.

Z2'=Z2 Co5(X+X2 5inaX3
'=X3 CQSa-235ina, Z3'
If =Z3cosa+x35ina, then the following can be obtained.

■To find the rolling angle γ (+ clockwise rotation), 72
"=V2 C, O3β-22sinβ, z2"=z2
'cosβ+y2SinβY3''=13 cosa-
z3'sinβ, Z3 #:Z3'CoSβ+y
If 3sinβ, then ``-3l n x can be obtained by ゛-1-111''.

(Calculation example) By the way, Figures 8 to 10 are calculated based on the positions of the three detection bright spots 3a to 3C displayed on the monitor screen as shown in Figure 7, and the results are displayed graphically. This is what I did. By the way, the position of the detection bright spot 3a is (-120, -80)
mm, the position of the detection bright spot 3C is (-50, -40) mm
, the position of the detection bright spot 3b (7) was (25, -55) mm.

As a result of calculation based on this, the yawing angle α is 0.779 to the right as shown in the plan view of the shield machine 1 in Figure 8.
It is 0. The pitching angle β is −8,503° forward and downward, as shown in the side view of the shield machine 1 in FIG.
The positional deviation and rolling angle γ are shown in Figure 10 for shield machine 1.
As shown in the rear view, the deviation from the center is (-50
, -40) mm and -7,281' in the left direction, respectively. Therefore, the direction of the shield machine 1 can be corrected in each component direction based on such an image.

(Second Embodiment) As shown in FIG. 11, the detection section B includes an automatic standard light wave distance meter 7' which is composed of a distance measuring section 7a and horizontal and vertical motor sections 7c, excluding an automatic collimation section. It is also possible to use In this case, the automatic reference bright spot 5 is not required.

That is, the value of the positional deviation (parallel deviation) of the shield machine l with respect to the planned line calculated based on the data obtained by the moving object position detection device M8 based on the image taken by the TV right camera is:
This is because it is possible to automatically standardize the reflecting prism 4, which is the target, by performing feedback control on the horizontal and vertical motor sections 7c of the automatic standard light wave distance meter 7'.

(Third Example) The target section A installed in the shield machine I was
Tunnel staff 1 for segment 2 as shown in the figure.
3, the position of the segment 2 can be detected in exactly the same way as in the case of the survey of the shield a1.

In other words, segment 2 is shield 4! ! It is known that positional displacement occurs gradually with the digging operation in step 1. Therefore, it is also important management to calculate the position of the segment with respect to the planned line and record and display its trajectory.

In FIG. 12, 20 is a bright spot for position detection, 21 is a reflecting prism, 22 is a bright spot for automatic reference, and 23 is a level.

(Operation and Effect) As described above in detail in the embodiments, according to the automatic surveying device of the present invention, the surveying of the shield machine 1 is carried out fully automatically, so that labor saving and efficiency of underground surveying can be achieved. I can figure it out.

In addition, the position and attitude of Shield 41Il can be measured in real time at all times even during the excavation operation of Shield 4111, and by extension, the position and attitude of Shield 41Il can be measured in real time. 111 can make quick posture and direction corrections. Therefore, highly accurate and efficient construction is possible.

It is also possible to simplify surveying and excavation management.

In addition, only the target section A is installed inside the shield machine 1, and the detection section B and data processing section C are installed in the stable segment 2 or shaft far behind it, so in case of trouble, It is easy to maintain and can be adopted even when the shield diameter becomes smaller.

[Brief explanation of drawings]

Fig. 1 is an explanatory diagram showing the positioning of the surveying device of the present invention with respect to a shield machine, and Figs. 2 to 4 are a front view, a plan view, and FIG. Figures 5 and 6 are explanatory diagrams showing the coordinate display on the monitor screen and the arrangement of detection bright spots as calculation examples, Figure 7 is an example of the monitor screen, and Figures 88 to 10 are based on the monitor screen. An image screen that graphically displays the yawing, pitching, and rolling states of the shield machine, Figure 11 is a front view showing the automatic standard light wave distance meter as the second embodiment, and Figure 12 is a state in which the target section is installed in the segment. FIG. 4th FiA y 5th figure 71! l Figure 8 9riA 10i! l Figure 11

Claims (1)

[Scope of Claims] [1] (a) A target part (A) consisting of three detection bright spots (3a) to (3c) etc. and installed on the shield machine (1), and (b) the above-mentioned TV staring at detection bright spots (3a) to (3c)
A detection unit (B) consisting of a camera (6), an automatic collimation optical distance meter (7), etc., and installed at a predetermined position behind the shield machine (1); Process the information and use the shield machine (
1) A data processing unit (C) that calculates and records and displays the position, orientation, direction, etc. of the shield machine. [2] The three detection bright spots (3a) to (3c) recited in claim 1 are basically arranged in a straight horizontal line when viewed from the front direction, and when viewed from the plane. An automatic surveying device consisting of a shield machine placed at each vertex of an isosceles triangle. [3] The target portion (
A) is a shield machine automatic surveying device that includes a reflective prism (4) for distance measurement and a bright spot (5) for automatic reference. [4] The automatic collimation optical distance meter (7) described in claim 1 includes a distance measuring section (7a) that measures the distance to the reflecting prism (4), and an automatic collimation bright spot (5). A shield machine consisting of an automatic sighting part (7b) that looks at the target, and horizontal and vertical motor parts (7c) that make the automatic sighting part (7b) automatically track the automatic sighting bright spot (5). automatic surveying equipment. [5] The automatic collimating optical distance meter (7) described in claim 1 includes a distance measuring section (7a) that measures the distance to the reflecting prism (4), and a reflecting distance measuring section (7a). Prism (4)
Horizontal and vertical motor section (7c) for automatic tracking
A shield machine automatic surveying device consisting of. [6] The data processing unit (
C) is the X-Y of the three detection bright spots (3a) to (3c)
An automatic surveying device for a shield machine that calculates and records and displays the deviation, pitching angle, yawing angle, and rolling angle of the shield machine (1) from the planned line from coordinate data.