JP2003161097A - Survey system for tunnel boring machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a survey system for a tunnel boring machine capable of easily measuring the location of the center of a cutting face at an excavating part of the boring machine. <P>SOLUTION: The survey system for the tunnel boring machine 1 is provided with survey equipment 9 provided inside the tunnel boring machine 1 for measuring included angles between survey points and distances to the survey points, a plurality of the survey points A1 and A2 in a tunnel provided for the inner walls of the tunnel T in the rear of the boring machine 1 and situated at known locations with respect to a reference location set on the ground, etc., and a survey point Y in the machine provided inside the boring machine 1 and situated at a known location with respect to the center X of the cutting face at the excavating part. By the survey equipment 9, the location of the survey equipment 9 with respect to locations of the survey points A1 and A2 in the tunnel is surveyed, and the location of the survey point Y in the machine with respect to the location of the survey equipment 9 is surveyed. On the basis of the location of the survey point Y in the machine, the location of the center X of the cutting face is specified. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a survey system for a tunnel machine.

[0002]

2. Description of the Related Art A tunnel excavator (shield excavator, tunnel boring machine, etc.) is an existing segment (tunnel) that is assembled behind the excavator body while excavating a face with a cutter provided in the front part of the excavator body. It takes a reaction force to the wall) and advances the excavator body to excavate the natural ground to construct a tunnel. In recent years, in tunnel construction using such a tunnel excavator, there is an increasing demand for accurately laying a tunnel along a planned line.

To achieve this, it is necessary to accurately grasp the position of the center of the face of the excavation portion of the tunnel excavator for excavating the natural ground. Therefore, conventionally, a surveying instrument (transit, etc.) was installed at the bottom of the tunnel behind the excavator main body, and a plurality of measuring points attached to the excavator main body were surveyed from the surveying instrument and the distance to each measuring point was measured. By measuring the included angle, the posture of the body of the excavator and the distance from the surveying instrument (reference position) were measured.

[0004]

However, in the above system, since the surveying instrument is installed at the bottom of the tunnel, the surveying instrument is installed before the excavator body digs and leaves the effective collimation distance of the surveying instrument or more. It is necessary to remove the tunnel from the bottom and re-install it by bringing it closer to the excavator body. In particular, when constructing a sharp curve tunnel, blind spots are likely to occur, so frequent relocation work must be performed.

[0007] In such a reassembling work of the surveying instrument, a heavy surveying instrument must be installed correctly, so that the work load is large and the surveying accuracy is deteriorated. In particular, when the diameter of the tunnel is small, the surveyor must relocate heavy surveying equipment in the narrow tunnel space, which is a painful task.

Further, it takes a lot of labor and time to level and collimate the surveying instrument each time a surveyor enters the mine each time the position of the body of the excavator is surveyed. Particularly, when the diameter of the tunnel is small, the surveyor must operate the surveying instrument in the narrow tunnel space to perform the surveying work, which is a difficult task.

Further, it is conceivable that the surveying instrument installed in the tunnel may interfere with the operation of the Zuritro dolly or the succeeding dolly. This is particularly likely when the tunnel diameter is small. In this case, after surveying the position of the body of the excavator, the surveying equipment must be removed to ensure the operation of the trolley, and it must be installed again when surveying again.

An object of the present invention, which was conceived in consideration of the above circumstances, is to provide a surveying system for a tunnel excavator capable of easily measuring the position of the face center of the excavation portion of the excavator.

[0009]

In order to achieve the above object, the present invention provides a surveying instrument provided inside a tunnel excavator for measuring an included angle between survey points and a distance to the survey point, and the excavator. A plurality of underground measurement points whose position is known with respect to the reference position set on the ground, etc., provided on the inner wall of the tunnel behind
The inside of the excavator is provided with an in-machine surveying point whose position with respect to the center of the face of the excavation part is known, and the surveying instrument measures the position of the surveying instrument with respect to the position of the underground surveying point, and the surveying instrument The position of the in-machine measuring point with respect to the position is measured, and the position of the face center is specified based on the position of the in-machine measuring point.

Further, a plurality of new underground measuring points are provided on the inner wall of the tunnel closer to the machine than the underground measuring point, and the underground measuring point is newly updated by the surveying instrument provided inside the tunnel according to the progress of the machine. It may be possible to change the measurement points to underground measurement points.

Further, the surveying instrument may have a movable mechanism for changing the collimation direction by remote control.

The surveying instrument may be suspended inside the tunnel machine through a universal joint.

The underground measuring points may be provided on both left and right sides of the inner wall of the tunnel.

[0014]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described with reference to the accompanying drawings.

The tunnel excavator 1 shown in FIG. 1 excavates a face 4 with a cutter 3 provided in the front part of a cylindrical excavator body 2 (shield frame), and an existing segment 5 (which is assembled behind the excavation face 5). The tunnel main body 2 is moved forward by applying a reaction force to the tunnel wall), and the ground is excavated to construct the tunnel T.

Then, a backing material 7 for suppressing the collapse of the side ground and fixing the position of the segment 5 is injected from the shield frame 2 or the segment 5 between the hole 6 and the segment 5. It Also, the tunnel T
At the bottom of the inside, a rail 8 of a trailing truck on which a Zuritro truck for transporting excavated soil and a control device for controlling the operation of the excavator 1 and the like are placed is laid.

Inside the shield frame 2, an optical surveying instrument 9 for measuring the included angle between the measuring points and the distance to the measuring points is attached. As shown in FIG. 2, the surveying instrument 9 has a CCD camera 10 that can be operated remotely and an automatic leveling mechanism, and is capable of performing surveying work from outside the mine via a monitor. The surveying instrument 9 is suspended from the ceiling portion of the shield frame 2 via a universal joint 11 that vertically suspends the instrument 9 by its own weight.

More specifically, a fixed frame 12 is attached to the ceiling portion of the shield frame 2, and a frame-shaped suspension frame 13 is suspended on the fixed frame 12 via a spherical universal joint 11. The surveying instrument 9 is mounted on the bottom of the suspension frame 13 via an automatic leveling table 14. The universal joint 11 is provided with a lock bolt 15 for fixing the angle of the suspension frame 13 with respect to the fixed frame 12. The lock bolt 15 is normally tightened.

The surveying instrument 9 is mounted on an automatic leveling stand 14 installed at the bottom of the hanging frame 13 and is rotatable about a vertical axis of the stand 14, and a first frame 16 and a first frame 16 are provided. A second frame 17 that can swing about a horizontal axis with respect to the camera, and a camera 10 attached to the second frame 17.
The movable mechanisms 14, 16 and 17 can be moved by remote control while watching the monitor on the ground, and the collimation direction of the camera 10 can be changed according to the measurement point. Further, when a measuring point is captured, the distance and angle to the measuring point are automatically measured.

The automatic leveling table 14 has a built-in horizontal sensor such as a gyro, and automatically maintains its level even if the attitude of the shield frame 2 (the excavator main body) changes to some extent. . Then, when the attitude of the shield frame 2 changes beyond the horizontal maintenance range, as shown in FIG. 3, the lock bolt 15 is loosened to suspend the suspension frame 13 substantially vertically with respect to the fixed frame 12. Then, the automatic leveling table 14 is made substantially horizontal, and in that state, the lock bolt 15 is tightened. As a result, even if the posture of the shield frame 2 changes to some extent from that state, the automatic leveling table 14 can be automatically leveled again.

The surveying instrument 9 surveys the following survey points.

As shown in FIG. 1, the relative position (distance / direction) from the reference point set on the ground is set on the inner wall of the tunnel T (inner surface of the segment 5) constructed behind the excavator body 2. A plurality of known underground measurement points A1 and A2 (two or more locations) are provided. These underground measurement points A1 and A2 are measured by measuring the reference point set on the ground with another surveying instrument (the above surveying instrument 9 before being attached to the shield frame 2 may be used) and lowering it to the bottom of the shaft. After relocating to the shaft bottom reference points (after transfer), these shaft bottom reference points were surveyed by the surveying instrument 9 in the shield frame 2 and recalibrated to the inner wall of the tunnel T (inner surface of the segment 5) Is.

Thus, the underground measuring points A1 and A2 whose positions from the ground reference point are known are surveyed by the surveying instrument 9 attached to the shield frame 2, and the distances from the surveying instrument 9 to the respective surveying points A1 and A2 are measured. And between the surveying instrument 9 and each measuring point A
The position of the surveying instrument 9 (the position from the ground reference point) can be measured by measuring the included angle between 1 and A2. In this survey, the shaft bottom reference point is used instead of the underground measurement points A1 and A2 immediately after the machine body 2 is started from the shaft. As a result, the position of the surveying instrument 9 can be measured even immediately after starting the vehicle.

At each of the measuring points A1 and A2 and the reference point, a reflecting member (reflecting sheet, prism, etc.) that reflects the measuring light from the surveying instrument 9 in order to accurately perform surveying by the surveying instrument 9.
Is attached. The measuring points A1 and A2 are set on both left and right sides of the inner wall of the tunnel T. This is because when surveying from the surveying instrument 9 in the shield frame 2, the angle between the surveying instrument 9 and each of the measurement points A1 and A2 is increased, and the error can be reduced. However, the measurement points A1 and A2 do not necessarily have to be set on the same ring of the segment 5, and can be set on one side of the inner wall of the tunnel T.

Inside the excavator body 2 (shield frame), an in-machine measuring point Y whose distance and direction to the face center X of the excavating portion is known is provided. That is, the in-machine measuring point Y is the distance from the measuring point Y to the face center X, and the measuring point Y with respect to the line connecting the measuring point Y and the surveying instrument 9.
Is set in the shield frame after measuring the angle of the line connecting the center of the face and the face center X. The in-machine measuring point Y may be set in the shield frame 2 after measuring the distances between the device 9, the measuring point Y and the face center X.

A reflecting member for reflecting the measurement light from the surveying instrument 9 is attached to the in-machine measuring point Y, as in the mine measuring points A1 and A2. Then, the surveying instrument 9 in the shield frame 2 measures the included angle θ between the line connecting the surveying instrument 9 and one of the underground survey points A2 and the line connecting the surveying instrument 9 and the in-machine survey point Y. Thus, the position of the in-flight measuring point Y (position from the ground reference point) can be measured. This is because the positions of the underground measurement point A2 and the surveying instrument 9 (positions from the ground reference point) have already been surveyed, as described above.

Based on the position of the in-machine measuring point Y thus measured (position from the ground reference point), the face center X of the excavating portion
The position (position from the ground reference point) can be specified. The distance from the in-machine measuring point Y to the face center X, and the in-machine measuring point Y and the face center X with respect to the line connecting the in-machine measuring point Y and the surveying instrument 9.
This is because the angle of the line connecting and is known.

Then, each measuring point A1, A by the surveying instrument 9
At the time of collimation of 2 and Y, the surveying instrument 9 can be remotely controlled by CC.
Since it has the D camera 10, the movable mechanisms 14, 16 and 17, and the automatic leveling mechanism, the surveying work can be performed from the outside of the mine (ground) through the monitor. Therefore, there is no need for workers to enter the pit and work.

Particularly, when the shield frame 2 has a small diameter,
Although it is substantially difficult for an operator to enter the shield frame 2 to which the surveying instrument 9 is attached and perform the surveying operation, in the present embodiment, the surveying instrument 9 is remotely operated while looking at the monitor on the ground. Since the collimation direction of the camera 10 is changed and the survey is performed, the surveying work can be performed without any problem even with the small-diameter shield frame 2 that the operator cannot enter.

Further, since the number of measuring points by the surveying instrument 9 is only at least three points, the underground measuring points A1 and A2 and the in-machine measuring point Y, the surveying can be performed quickly and the error is small. That is, since the surveying instrument 9 is attached to the shield frame 2, the attachment position of the surveying instrument 9 itself serves as an in-machine known survey point. Therefore, by measuring the included angle θ between the in-machine measuring point Y and the underground measuring point A2 from the surveying instrument 9, the position of the in-machine measuring point Y (position from the ground reference point) can be measured.

Further, the surveying instrument 9 is the shield frame 2
Since it is attached to the rail, it does not hinder the operation of the succeeding truck or the like traveling on the rail 8. That is, since the surveying instrument 9 was conventionally installed at the bottom of the tunnel T,
In some cases, this may hinder the operation of the succeeding truck or the like traveling on the rail 8, but in the present embodiment, such a problem does not occur.

The surveying instrument 9 in the shield frame 2
When collimating the underground measurement points A1 and A2 to measure the position of the surveying instrument 9 (position from the ground reference point), accurate measurement cannot be performed if the underground measurement points A1 and A2 move. Therefore, it is necessary to check whether the backing material 7 for suppressing the movement of the segment 5 is properly filled.

By the way, when the distance between the surveying instrument 9 and the underground measuring points A1 and A2 is more than the effective collimation distance due to the excavation of the excavator main body 2, or the underground measuring points A1 and A2 are measured in the curve tunnel construction. When the blind spot is reached, the surveying instrument 9 cannot collimate the underground measurement points A1 and A2.

Therefore, prior to that, as shown in FIG. 1, the inner wall of the tunnel T (the inner surface of the segment 7) on the machine body 2 side (tunnel inner side) with respect to the underground measuring points A1 and A2.
In addition, a plurality of new underground measurement points B1 and B2 (two or more locations) are set. These new underground measuring points B1 and B2 are set on both left and right sides of the inner wall of the tunnel T, like the underground measuring points A1 and A2, and the reflecting member is attached to each measuring point B1 and B2. There is.

Then, the surveying instrument 9 is used to measure the underground measuring point A.
The positions of 1 and A2 (positions from the ground reference point) are replaced with new underground measurement points B1 and B2. That is, the position of the surveying instrument 9 (position from the ground reference point) is measured based on the underground measurement points A1 and A2, and the distance to the new underground measurement point B1 (B2) is measured with the position as a reference. By measuring the included angle between the surveying instrument 9 and the new underground measuring point B1 (B2) and any known underground measuring point A1 or A2,
Measure the position of the new underground measuring point B1 (B2) (position from the ground reference point).

After that, by using the new underground measuring points B1 and B2 and repeating the above-described surveying, the position of the face center X of the excavation portion (position from the ground reference point) can be measured.
At this time, since the surveying instrument 9 advances as the excavator body 2 advances, it is not necessary to change the installation position as in the conventional type. Therefore, the worker is
It is possible to reduce the work load by eliminating the need for the refilling work for installing the measuring instrument 9 and to avoid the decrease in accuracy due to the refilling of the surveying instrument 9.

The posture of the excavator body 2 may change (rolling, pitching, yawing) as the excavation proceeds. In this case, if the attitude change of the excavator main body 2 (shield frame) is within a predetermined range, the automatic leveling table 14 on which the surveying instrument 9 is placed automatically maintains the horizontal position, and the surveying instrument 9 is placed in the vertical state. keep. And, even in this case, the position of the camera 10 of the surveying instrument 9 (position from the ground reference point) based on the plurality of underground measurement points A1, A2, etc.
And the position of the in-machine measuring point Y (position from the ground reference point) can be measured based on the position of the camera 10 of the surveying instrument 9.

However, even if the position of the camera 10 of the surveying instrument 9 and the position of the in-machine survey point Y can be measured, a triangle with the camera 10 of the surveying instrument 9 and the in-machine survey point Y and the face center X as apex, The position of the face center X cannot be obtained as it is because it changes before and after the posture change of the excavator body 2.
Therefore, in this case, the attitude leveling angle (rolling angle, pitching angle) of the excavator main body 2 is detected by the automatic leveling platform 14, and the position of the camera 10 of the surveying instrument 9 is corrected by software using the detected angle. Then, the position-corrected camera 10 of the surveying instrument 9, the triangle having the in-machine measuring point Y and the face center X as vertices are prevented from changing before and after the posture change of the excavator body 2. As a result, the position of the face center X (position from the ground reference point) can be specified.

When the posture change of the shield frame 2 exceeds the movable range of the automatic leveling table 14, the lock bolt 15 of the universal joint 11 is loosened to make the surveying instrument 9 substantially vertical, as shown in FIG. Tighten the lock bolt 15 in the suspended state. As a result, the posture change of the shield frame 2 can be allowed within the movable range of the automatic leveling table 14 with the state of FIG. 3 as a reference. And in this state,
The position of the camera 10 of the surveying instrument 9 (position from the ground reference point) is measured based on the plurality of underground measurement points A1, A2, etc.,
By measuring the position of the in-flight measuring point Y (position from the ground reference point) based on the position of the camera 10 of the surveying instrument 9, the position of the face center X (from the ground reference point) as described in the preceding paragraph. Position) can be specified.

The lock bolt 15 is tightened in order to prevent the suspension frame 14 from moving with respect to the fixed frame 12 when the surveying instrument 9 collimates the measuring points A1, A2, Y and the like. It is a thing. Therefore, when the hanging frame 14 does not move with respect to the fixed frame 12 at the time of collimating the measurement points A1, A2, Y, etc. by the surveying instrument 9, the lock bolt 15 may be always loosened,
It can be omitted.

Also, as shown in FIGS. 4 and 5, when the friction of the universal joint 11 is small and the suspension frame 13 (surveying device 9) can be suspended vertically regardless of the posture of the shield frame 2 (pendulum type). Etc.), the posture change angle of the shield frame can be measured by measuring the distance from the camera 10 of the surveying instrument 9 to the measuring points Y1 and Y2 mounted in the shield frame 2 before and after the posture change.

That is, in FIG. 4, the distance from the camera 10 of the surveying instrument 9 to the measuring point Y1 attached to the inner surface of the side of the shield frame 2 is measured before the posture change of the shield frame 2 (FIG. 4 (a)). ) And after (FIG. 4 (b)), the rolling angle of the shield frame 2 can be measured. In addition, in FIG. 5, the distance from the camera 10 of the surveying instrument 9 to the measuring point Y2 attached to the inner surface of the bulkhead of the shield frame 2 is measured before and after the posture change of the shield frame 2 (FIG. 5 (a)). By measuring with (FIG. 5 (b)), the pitching angle of the shield frame 2 can be measured.

[0043]

As described above, according to the survey system of the tunnel excavator according to the present invention, the position of the face center of the excavation portion of the excavator can be easily surveyed.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of a survey system of a tunnel machine according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram showing a surveying instrument of the surveying system.

FIG. 3 is an explanatory diagram showing an operation of the universal joint of the surveying system.

FIG. 4 is an explanatory view showing a modified example, (a) showing a state before rolling and (b) showing a state after rolling.

FIG. 5 is an explanatory view showing a modified example, (a) showing a state before pitching and (b) showing a state after pitching.

[Explanation of symbols]

1 tunnel machine 9 Surveying equipment 11 universal joints 14 Automatic leveling table as a movable mechanism 16 First frame as a movable mechanism 17 Second frame as a movable mechanism T tunnel X face center Y Inside station A1 Underground station A2 underground measuring point B1 New underground measuring point B2 New underground measuring point

Claims (5)

[Claims] 1. A surveying instrument provided inside a tunnel machine to measure an included angle between measurement points and a distance to the measurement point, and a plurality of measurement instruments provided on an inner wall of a tunnel behind the machine and set on the ground or the like. Equipped with an underground measuring point whose position with respect to the reference position is known, and an internal measuring point whose position with respect to the center of the face of the excavation portion provided inside the excavator is known, and the position of the underground measuring point with respect to the position of the underground measuring point Surveying the position of the surveying instrument, measuring the position of the in-machine survey point relative to the position of the surveying instrument, and specifying the position of the face center based on the position of the in-machine survey point system. 2. A plurality of new underground measurement points are provided on the inner wall of the tunnel closer to the machine than the underground measurement point, and the underground measurement point is newly created by a surveying instrument provided inside the tunnel according to the excavation of the machine. The surveying system for a tunnel excavator according to claim 1, wherein the surveying system is relocated to an underground measuring point. 3. The surveying system for a tunnel excavator according to claim 1, wherein the surveying instrument has a movable mechanism for changing the collimation direction by remote control. 4. The surveying system for a tunnel excavator according to claim 1, wherein the surveying instrument is suspended inside the tunnel excavator through a universal joint. 5. The surveying system for a tunnel excavator according to claim 1, wherein the underground measuring points are provided on both left and right sides of an inner wall of the tunnel.